mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-21 06:02:08 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
0a6503e503 |
-19
@@ -1,19 +0,0 @@
|
||||
---
|
||||
Checks: '
|
||||
bugprone-*,
|
||||
-bugprone-integer-division,
|
||||
-bugprone-narrowing-conversions,
|
||||
performance-*,
|
||||
clang-analyzer-*,
|
||||
misc-*,
|
||||
-misc-unused-parameters,
|
||||
modernize-*,
|
||||
-modernize-avoid-c-arrays,
|
||||
-modernize-deprecated-headers,
|
||||
-modernize-use-auto,
|
||||
-modernize-use-using,
|
||||
-modernize-use-nullptr,
|
||||
-modernize-use-trailing-return-type,
|
||||
'
|
||||
CheckOptions:
|
||||
...
|
||||
@@ -1,3 +1,6 @@
|
||||
Wen
|
||||
REGIST
|
||||
PullRequest
|
||||
cancelled
|
||||
FOF
|
||||
NoO
|
||||
|
||||
@@ -13,27 +13,6 @@
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
|
||||
venv/
|
||||
.venv/
|
||||
|
||||
notebooks
|
||||
phone
|
||||
massivemap
|
||||
neos
|
||||
installer
|
||||
chffr/app2
|
||||
chffr/backend/env
|
||||
selfdrive/nav
|
||||
selfdrive/baseui
|
||||
selfdrive/test/simulator2
|
||||
**/cache_data
|
||||
xx/plus
|
||||
xx/community
|
||||
xx/projects
|
||||
!xx/projects/eon_testing_master
|
||||
!xx/projects/map3d
|
||||
xx/ops
|
||||
xx/junk
|
||||
|
||||
+1
-1
@@ -5,7 +5,7 @@ end_of_line = lf
|
||||
insert_final_newline = true
|
||||
trim_trailing_whitespace = true
|
||||
|
||||
[{*.py, *.pyx, *.pxd}]
|
||||
[*.{py,pyx,pxd}]
|
||||
charset = utf-8
|
||||
indent_style = space
|
||||
indent_size = 2
|
||||
|
||||
+24
-41
@@ -10,15 +10,16 @@ venv/
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
.cache/
|
||||
bin/
|
||||
|
||||
/docs_site/
|
||||
|
||||
*.mp4
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pem
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
@@ -35,78 +36,60 @@ a.out
|
||||
*.class
|
||||
*.pyxbldc
|
||||
*.vcd
|
||||
*.qm
|
||||
*.mo
|
||||
*_pyx.cpp
|
||||
*.stats
|
||||
*.pkl
|
||||
*.pkl*
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
compare_runtime*.html
|
||||
selfdrive/modeld/models/tg_input_devices.json
|
||||
|
||||
persist
|
||||
# build artifacts
|
||||
docs_site/
|
||||
selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
cereal/messaging/bridge
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
system/proclogd/proclogd
|
||||
selfdrive/ui/translations/alerts_generated.h
|
||||
selfdrive/ui/translations/tmp
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/car/tests/cars_dump
|
||||
system/camerad/camerad
|
||||
system/camerad/test/ae_gray_test
|
||||
|
||||
notebooks
|
||||
hyperthneed
|
||||
provisioning
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
htmlcov
|
||||
pandaextra
|
||||
|
||||
.mypy_cache/
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
selfdrive/modeld/models/*.thneed
|
||||
selfdrive/modeld/models/*.pkl
|
||||
sunnypilot/modeld*/thneed/compile
|
||||
sunnypilot/modeld*/models/*.thneed
|
||||
sunnypilot/modeld*/models/*.pkl
|
||||
|
||||
# openpilot log files
|
||||
*.bz2
|
||||
*.zst
|
||||
*.rlog
|
||||
|
||||
build/
|
||||
|
||||
!**/.gitkeep
|
||||
|
||||
poetry.toml
|
||||
Pipfile
|
||||
|
||||
### VisualStudioCode ###
|
||||
*.vsix
|
||||
.history
|
||||
.ionide
|
||||
.vscode/*
|
||||
.history/
|
||||
!.vscode/settings.json
|
||||
!.vscode/tasks.json
|
||||
!.vscode/launch.json
|
||||
!.vscode/extensions.json
|
||||
!.vscode/*.code-snippets
|
||||
|
||||
# Local History for Visual Studio Code
|
||||
.history/
|
||||
|
||||
# Built Visual Studio Code Extensions
|
||||
*.vsix
|
||||
|
||||
### VisualStudioCode Patch ###
|
||||
# Ignore all local history of files
|
||||
.history
|
||||
.ionide
|
||||
# agents
|
||||
.claude/
|
||||
.context/
|
||||
PLAN.md
|
||||
TASK.md
|
||||
CLAUDE.md
|
||||
SKILL.md
|
||||
|
||||
### JetBrains ###
|
||||
!.idea/customTargets.xml
|
||||
|
||||
Generated
-25
@@ -1,25 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="CLionExternalBuildManager">
|
||||
<target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
|
||||
<configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
|
||||
<build type="TOOL">
|
||||
<tool actionId="Tool_External Tools_uv Scons Build Debug" />
|
||||
</build>
|
||||
<clean type="TOOL">
|
||||
<tool actionId="Tool_External Tools_uv Scons Clean" />
|
||||
</clean>
|
||||
</configuration>
|
||||
</target>
|
||||
<target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
|
||||
<configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
|
||||
<build type="TOOL">
|
||||
<tool actionId="Tool_External Tools_uv Scons Build Release" />
|
||||
</build>
|
||||
<clean type="TOOL">
|
||||
<tool actionId="Tool_External Tools_uv Scons Clean" />
|
||||
</clean>
|
||||
</configuration>
|
||||
</target>
|
||||
</component>
|
||||
</project>
|
||||
Generated
-23
@@ -1,23 +0,0 @@
|
||||
<toolSet name="External Tools">
|
||||
<tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
|
||||
<exec>
|
||||
<option name="COMMAND" value="bash" />
|
||||
<option name="PARAMETERS" value="-c "source .venv/bin/activate && scons -u -j$(nproc) --compile_db --ccflags=\"-fno-inline\""" />
|
||||
<option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
|
||||
</exec>
|
||||
</tool>
|
||||
<tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
|
||||
<exec>
|
||||
<option name="COMMAND" value="bash" />
|
||||
<option name="PARAMETERS" value="-c "source .venv/bin/activate && scons -c" " />
|
||||
<option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
|
||||
</exec>
|
||||
</tool>
|
||||
<tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
|
||||
<exec>
|
||||
<option name="COMMAND" value="bash" />
|
||||
<option name="PARAMETERS" value="-c "source .venv/bin/activate && scons -u -j$(nproc) --compile_db" " />
|
||||
<option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
|
||||
</exec>
|
||||
</tool>
|
||||
</toolSet>
|
||||
@@ -0,0 +1 @@
|
||||
3.12.13
|
||||
@@ -1,10 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
|
||||
<envs>
|
||||
<env name="QT_DBL_CLICK_DIST" value="150" />
|
||||
</envs>
|
||||
<method v="2">
|
||||
<option name="CLION.EXTERNAL.BUILD" enabled="true" />
|
||||
</method>
|
||||
</configuration>
|
||||
</component>
|
||||
@@ -1,10 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
|
||||
<envs>
|
||||
<env name="QT_DBL_CLICK_DIST" value="150" />
|
||||
</envs>
|
||||
<method v="2">
|
||||
<option name="CLION.EXTERNAL.BUILD" enabled="true" />
|
||||
</method>
|
||||
</configuration>
|
||||
</component>
|
||||
Vendored
+43
-1
@@ -23,6 +23,11 @@
|
||||
"id": "args",
|
||||
"description": "Arguments to pass to the process",
|
||||
"type": "promptString"
|
||||
},
|
||||
{
|
||||
"id": "replayArg",
|
||||
"type": "promptString",
|
||||
"description": "Enter route or segment to replay."
|
||||
}
|
||||
],
|
||||
"configurations": [
|
||||
@@ -40,7 +45,44 @@
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/${input:cpp_process}",
|
||||
"cwd": "${workspaceFolder}",
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
{
|
||||
"name": "Attach LLDB to Replay drive",
|
||||
"type": "lldb",
|
||||
"request": "attach",
|
||||
"pid": "${command:pickMyProcess}",
|
||||
"sourceMap": {
|
||||
".": "${workspaceFolder}/opendbc/safety"
|
||||
},
|
||||
"initCommands": [
|
||||
"script import time; time.sleep(3)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Replay drive",
|
||||
"type": "debugpy",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
|
||||
"args": [
|
||||
"${input:replayArg}"
|
||||
],
|
||||
"console": "integratedTerminal",
|
||||
"justMyCode": false,
|
||||
"env": {
|
||||
"PYTHONPATH": "${workspaceFolder}"
|
||||
},
|
||||
"subProcess": true,
|
||||
"stopOnEntry": false
|
||||
}
|
||||
],
|
||||
"compounds": [
|
||||
{
|
||||
"name": "Replay drive + Safety LLDB",
|
||||
"configurations": [
|
||||
"Replay drive",
|
||||
"Attach LLDB to Replay drive"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
Vendored
-1
@@ -21,7 +21,6 @@
|
||||
"common/**",
|
||||
"selfdrive/**",
|
||||
"system/**",
|
||||
"third_party/**",
|
||||
"tools/**",
|
||||
]
|
||||
}
|
||||
|
||||
+1291
File diff suppressed because it is too large
Load Diff
+30
-5
@@ -1,13 +1,38 @@
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV OPENPILOT_PATH=/home/batman/openpilot
|
||||
ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
ENV OPENPILOT_PATH=/home/$USER/openpilot
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
COPY --chown=$USER . ${OPENPILOT_PATH}/
|
||||
|
||||
RUN scons --cache-readonly -j$(nproc)
|
||||
ENV UV_BIN="/home/$USER/.local/bin/"
|
||||
ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
|
||||
ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN tools/setup_dependencies.sh && \
|
||||
sudo rm -rf /var/lib/apt/lists/*
|
||||
|
||||
USER root
|
||||
RUN git config --global --add safe.directory '*'
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
|
||||
RUN /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
rm -rf /var/lib/apt/lists/* /tmp/* && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
|
||||
|
||||
# Add OpenCL
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
apt-utils \
|
||||
alien \
|
||||
unzip \
|
||||
tar \
|
||||
curl \
|
||||
xz-utils \
|
||||
dbus \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
libx11-6 \
|
||||
wget \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX=1
|
||||
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
COPY --chown=$USER pyproject.toml uv.lock /home/$USER
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /home/$USER && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
rm -rf tools/ pyproject.toml uv.lock .cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
@@ -1,107 +1,74 @@
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
|
||||
<h1>openpilot</h1>
|
||||
## 🌞 What is sunnypilot?
|
||||
[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
|
||||
|
||||
<p>
|
||||
<b>openpilot is an operating system for robotics.</b>
|
||||
<br>
|
||||
Currently, it upgrades the driver assistance system in 275+ supported cars.
|
||||
</p>
|
||||
## 💭 Join our Community Forum
|
||||
Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
|
||||
* https://community.sunnypilot.ai/
|
||||
|
||||
<h3>
|
||||
<a href="https://docs.comma.ai">Docs</a>
|
||||
<span> · </span>
|
||||
<a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
|
||||
<span> · </span>
|
||||
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||
<span> · </span>
|
||||
<a href="https://discord.comma.ai">Community</a>
|
||||
<span> · </span>
|
||||
<a href="https://comma.ai/shop">Try it on a comma 3X</a>
|
||||
</h3>
|
||||
## Documentation
|
||||
https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
|
||||
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
## 🚘 Running on a dedicated device in a car
|
||||
First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
|
||||
|
||||
|
||||
[](https://codecov.io/gh/commaai/openpilot)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
## Installation
|
||||
Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
|
||||
|
||||
</div>
|
||||
## 🎆 Pull Requests
|
||||
We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
|
||||
<td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
Pull requests should be against the most current `master` branch.
|
||||
|
||||
## 📊 User Data
|
||||
|
||||
By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
|
||||
|
||||
sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
|
||||
|
||||
sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
|
||||
|
||||
By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
|
||||
## Licensing
|
||||
|
||||
sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
|
||||
|
||||
The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
|
||||
|
||||
> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
>
|
||||
> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
>
|
||||
> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
> NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
For full license terms, please see the [`LICENSE`](LICENSE) file.
|
||||
|
||||
## 💰 Support sunnypilot
|
||||
If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
|
||||
|
||||
|
||||
Using openpilot in a car
|
||||
------
|
||||
By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
|
||||
|
||||
To use openpilot in a car, you need four things:
|
||||
1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
|
||||
2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
|
||||
3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
|
||||
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
|
||||
|
||||
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
|
||||
<h3>GitHub Sponsor</h3>
|
||||
|
||||
### Branches
|
||||
| branch | URL | description |
|
||||
|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
|
||||
| `release3` | openpilot.comma.ai | This is openpilot's release branch. |
|
||||
| `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
|
||||
| `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
|
||||
| `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
|
||||
<a href="https://github.com/sponsors/sunnyhaibin">
|
||||
<img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
|
||||
</a>
|
||||
<br>
|
||||
|
||||
To start developing openpilot
|
||||
------
|
||||
<h3>PayPal</h3>
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
|
||||
<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
|
||||
<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
|
||||
</a>
|
||||
<br></br>
|
||||
|
||||
* Join the [community Discord](https://discord.comma.ai)
|
||||
* Check out [the contributing docs](docs/CONTRIBUTING.md)
|
||||
* Check out the [openpilot tools](tools/)
|
||||
* Read about the [development workflow](docs/WORKFLOW.md)
|
||||
* Code documentation lives at https://docs.comma.ai
|
||||
* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
|
||||
Your continuous love and support are greatly appreciated! Enjoy 🥰
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
User Data and comma Account
|
||||
------
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
<span>-</span> Jason, Founder of sunnypilot
|
||||
|
||||
+73
-2
@@ -1,12 +1,83 @@
|
||||
Version 0.9.9 (2025-04-XX)
|
||||
Version 0.11.2 (2026-06-15)
|
||||
========================
|
||||
|
||||
|
||||
Version 0.11.1 (2026-05-18)
|
||||
========================
|
||||
* New driver monitoring model
|
||||
* Improved image processing pipeline for driver camera
|
||||
* Improved thermal policy for comma four
|
||||
* Acura MDX 2022-24 support thanks to mvl-boston!
|
||||
* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
|
||||
|
||||
Version 0.11.0 (2026-03-17)
|
||||
========================
|
||||
* New driving model #36798
|
||||
* Fully trained using a learned simulator
|
||||
* Improved longitudinal performance in Experimental mode
|
||||
* Reduce comma four standby power usage by 77% to 52 mW
|
||||
* Kia K7 2017 support thanks to royjr!
|
||||
* Lexus LS 2018 support thanks to Hacheoy!
|
||||
|
||||
Version 0.10.3 (2025-12-17)
|
||||
========================
|
||||
* New driving model #36249
|
||||
* New temporal policy architecture
|
||||
* New on-policy training physics noise model
|
||||
* New driver monitoring model #36409
|
||||
* Trained on a new dataset, including comma four data
|
||||
* Improved inter-process communication memory efficiency
|
||||
|
||||
Version 0.10.2 (2025-11-19)
|
||||
========================
|
||||
* comma four support
|
||||
|
||||
Version 0.10.1 (2025-09-08)
|
||||
========================
|
||||
* New driving model #36276
|
||||
* World Model: removed global localization inputs
|
||||
* World Model: 2x the number of parameters
|
||||
* World Model: trained on 4x the number of segments
|
||||
* VAE Compression Model: new architecture and training objective
|
||||
* Driving Vision Model: trained on 4x the number of segments
|
||||
* New Driver Monitoring model #36198
|
||||
* Acura TLX 2021 support thanks to MVL!
|
||||
* Honda City 2023 support thanks to vanillagorillaa and drFritz!
|
||||
* Honda N-Box 2018 support thanks to miettal!
|
||||
* Honda Odyssey 2021-25 support thanks to csouers and MVL!
|
||||
* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
|
||||
|
||||
Version 0.10.0 (2025-08-05)
|
||||
========================
|
||||
* New driving model
|
||||
* New training architecture
|
||||
* Described in our CVPR paper: "Learning to Drive from a World Model"
|
||||
* Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
|
||||
* Action from lateral MPC as training objective replaced by E2E planning from World Model
|
||||
* Low-speed lead car ground-truth fixes
|
||||
* Enable live-learned steering actuation delay
|
||||
* Opt-in audio recording for dashcam video
|
||||
* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
|
||||
* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
|
||||
Version 0.9.9 (2025-05-23)
|
||||
========================
|
||||
* New driving model
|
||||
* New training architecture using parts from MLSIM
|
||||
* Steering actuation delay is now learned online
|
||||
* Ford Escape 2023-24 support thanks to incognitojam!
|
||||
* Ford Kuga 2024 support thanks to incognitojam!
|
||||
* Hyundai Nexo 2021 support thanks to sunnyhaibin!
|
||||
* Tesla Model 3 and Y support thanks to lukasloetkolben!
|
||||
* Lexus RC 2023 support thanks to nelsonjchen!
|
||||
|
||||
Version 0.9.8 (2025-02-28)
|
||||
========================
|
||||
* New driving model
|
||||
* Model now gates applying positive acceleration in Chill mode
|
||||
* New driving monitoring model
|
||||
* New driver monitoring model
|
||||
* Reduced false positives related to passengers
|
||||
* Image processing pipeline moved to the ISP
|
||||
* More GPU time for bigger driving models
|
||||
|
||||
+6
-4
@@ -1,9 +1,11 @@
|
||||
import os
|
||||
import capnp
|
||||
from importlib.resources import as_file, files
|
||||
|
||||
CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
|
||||
capnp.remove_import_hook()
|
||||
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
|
||||
with as_file(files("cereal")) as fspath:
|
||||
CEREAL_PATH = fspath.as_posix()
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
|
||||
|
||||
+330
-30
@@ -25,8 +25,92 @@ struct ModularAssistiveDrivingSystem {
|
||||
}
|
||||
}
|
||||
|
||||
struct IntelligentCruiseButtonManagement {
|
||||
state @0 :IntelligentCruiseButtonManagementState;
|
||||
sendButton @1 :SendButtonState;
|
||||
vTarget @2 :Float32;
|
||||
|
||||
enum IntelligentCruiseButtonManagementState {
|
||||
inactive @0; # No button press or default state
|
||||
preActive @1; # Pre-active state before transitioning to increasing or decreasing
|
||||
increasing @2; # Increasing speed
|
||||
decreasing @3; # Decreasing speed
|
||||
holding @4; # Holding steady speed
|
||||
}
|
||||
|
||||
enum SendButtonState {
|
||||
none @0;
|
||||
increase @1;
|
||||
decrease @2;
|
||||
}
|
||||
}
|
||||
|
||||
# Same struct as Log.RadarState.LeadData
|
||||
struct LeadData {
|
||||
dRel @0 :Float32;
|
||||
yRel @1 :Float32;
|
||||
vRel @2 :Float32;
|
||||
aRel @3 :Float32;
|
||||
vLead @4 :Float32;
|
||||
dPath @6 :Float32;
|
||||
vLat @7 :Float32;
|
||||
vLeadK @8 :Float32;
|
||||
aLeadK @9 :Float32;
|
||||
fcw @10 :Bool;
|
||||
status @11 :Bool;
|
||||
aLeadTau @12 :Float32;
|
||||
modelProb @13 :Float32;
|
||||
radar @14 :Bool;
|
||||
radarTrackId @15 :Int32 = -1;
|
||||
|
||||
aLeadDEPRECATED @5 :Float32;
|
||||
}
|
||||
|
||||
struct SelfdriveStateSP @0x81c2f05a394cf4af {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
|
||||
|
||||
enum AudibleAlert {
|
||||
none @0;
|
||||
|
||||
engage @1;
|
||||
disengage @2;
|
||||
refuse @3;
|
||||
|
||||
warningSoft @4;
|
||||
warningImmediate @5;
|
||||
|
||||
prompt @6;
|
||||
promptRepeat @7;
|
||||
promptDistracted @8;
|
||||
|
||||
# unused, these are reserved for upstream events so we don't collide
|
||||
reserved9 @9;
|
||||
reserved10 @10;
|
||||
reserved11 @11;
|
||||
reserved12 @12;
|
||||
reserved13 @13;
|
||||
reserved14 @14;
|
||||
reserved15 @15;
|
||||
reserved16 @16;
|
||||
reserved17 @17;
|
||||
reserved18 @18;
|
||||
reserved19 @19;
|
||||
reserved20 @20;
|
||||
reserved21 @21;
|
||||
reserved22 @22;
|
||||
reserved23 @23;
|
||||
reserved24 @24;
|
||||
reserved25 @25;
|
||||
reserved26 @26;
|
||||
reserved27 @27;
|
||||
reserved28 @28;
|
||||
reserved29 @29;
|
||||
reserved30 @30;
|
||||
|
||||
promptSingleLow @31;
|
||||
promptSingleHigh @32;
|
||||
}
|
||||
}
|
||||
|
||||
struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
@@ -39,20 +123,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
sha256 @1 :Text;
|
||||
}
|
||||
|
||||
enum Type {
|
||||
drive @0;
|
||||
navigation @1;
|
||||
metadata @2;
|
||||
}
|
||||
|
||||
struct Model {
|
||||
fullName @0 :Text;
|
||||
fileName @1 :Text;
|
||||
downloadUri @2 :DownloadUri;
|
||||
downloadProgress @3 :DownloadProgress;
|
||||
type @4 :Type;
|
||||
}
|
||||
|
||||
enum DownloadStatus {
|
||||
notDownloading @0;
|
||||
downloading @1;
|
||||
@@ -67,12 +137,38 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
eta @2 :UInt32;
|
||||
}
|
||||
|
||||
struct Artifact {
|
||||
fileName @0 :Text;
|
||||
downloadUri @1 :DownloadUri;
|
||||
downloadProgress @2 :DownloadProgress;
|
||||
}
|
||||
|
||||
struct Model {
|
||||
type @0 :Type;
|
||||
artifact @1 :Artifact; # Main artifact
|
||||
metadata @2 :Artifact; # Metadata artifact
|
||||
|
||||
enum Type {
|
||||
supercombo @0;
|
||||
navigation @1;
|
||||
vision @2;
|
||||
policy @3;
|
||||
offPolicy @4;
|
||||
onPolicy @5;
|
||||
}
|
||||
}
|
||||
|
||||
enum Runner {
|
||||
snpe @0;
|
||||
tinygrad @1;
|
||||
stock @2;
|
||||
}
|
||||
|
||||
struct Override {
|
||||
key @0 :Text;
|
||||
value @1 :Text;
|
||||
}
|
||||
|
||||
struct ModelBundle {
|
||||
index @0 :UInt32;
|
||||
internalName @1 :Text;
|
||||
@@ -83,11 +179,21 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
environment @6 :Text;
|
||||
runner @7 :Runner;
|
||||
is20hz @8 :Bool;
|
||||
ref @9 :Text;
|
||||
minimumSelectorVersion @10 :UInt32;
|
||||
overrides @11 :List(Override);
|
||||
}
|
||||
}
|
||||
|
||||
struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
dec @0 :DynamicExperimentalControl;
|
||||
longitudinalPlanSource @1 :LongitudinalPlanSource;
|
||||
smartCruiseControl @2 :SmartCruiseControl;
|
||||
speedLimit @3 :SpeedLimit;
|
||||
vTarget @4 :Float32;
|
||||
aTarget @5 :Float32;
|
||||
events @6 :List(OnroadEventSP.Event);
|
||||
e2eAlerts @7 :E2eAlerts;
|
||||
|
||||
struct DynamicExperimentalControl {
|
||||
state @0 :DynamicExperimentalControlState;
|
||||
@@ -99,22 +205,117 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
blended @1;
|
||||
}
|
||||
}
|
||||
|
||||
struct SmartCruiseControl {
|
||||
vision @0 :Vision;
|
||||
map @1 :Map;
|
||||
|
||||
struct Vision {
|
||||
state @0 :VisionState;
|
||||
vTarget @1 :Float32;
|
||||
aTarget @2 :Float32;
|
||||
currentLateralAccel @3 :Float32;
|
||||
maxPredictedLateralAccel @4 :Float32;
|
||||
enabled @5 :Bool;
|
||||
active @6 :Bool;
|
||||
}
|
||||
|
||||
struct Map {
|
||||
state @0 :MapState;
|
||||
vTarget @1 :Float32;
|
||||
aTarget @2 :Float32;
|
||||
enabled @3 :Bool;
|
||||
active @4 :Bool;
|
||||
}
|
||||
|
||||
enum VisionState {
|
||||
disabled @0; # System disabled or inactive.
|
||||
enabled @1; # No predicted substantial turn on vision range.
|
||||
entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
|
||||
turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
|
||||
leaving @4; # Road ahead straightens. Start to allow positive acceleration.
|
||||
overriding @5; # System overriding with manual control.
|
||||
}
|
||||
|
||||
enum MapState {
|
||||
disabled @0; # System disabled or inactive.
|
||||
enabled @1; # No predicted substantial turn on map range.
|
||||
turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
|
||||
overriding @3; # System overriding with manual control.
|
||||
}
|
||||
}
|
||||
|
||||
struct SpeedLimit {
|
||||
resolver @0 :Resolver;
|
||||
assist @1 :Assist;
|
||||
|
||||
struct Resolver {
|
||||
speedLimit @0 :Float32;
|
||||
distToSpeedLimit @1 :Float32;
|
||||
source @2 :Source;
|
||||
speedLimitOffset @3 :Float32;
|
||||
speedLimitLast @4 :Float32;
|
||||
speedLimitFinal @5 :Float32;
|
||||
speedLimitFinalLast @6 :Float32;
|
||||
speedLimitValid @7 :Bool;
|
||||
speedLimitLastValid @8 :Bool;
|
||||
}
|
||||
|
||||
struct Assist {
|
||||
state @0 :AssistState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
vTarget @3 :Float32;
|
||||
aTarget @4 :Float32;
|
||||
}
|
||||
|
||||
enum Source {
|
||||
none @0;
|
||||
car @1;
|
||||
map @2;
|
||||
}
|
||||
|
||||
enum AssistState {
|
||||
disabled @0;
|
||||
inactive @1; # No speed limit set or not enabled by parameter.
|
||||
preActive @2;
|
||||
pending @3; # Awaiting new speed limit.
|
||||
adapting @4; # Reducing speed to match new speed limit.
|
||||
active @5; # Cruising at speed limit.
|
||||
}
|
||||
}
|
||||
|
||||
enum LongitudinalPlanSource {
|
||||
cruise @0;
|
||||
sccVision @1;
|
||||
sccMap @2;
|
||||
speedLimitAssist @3;
|
||||
}
|
||||
|
||||
struct E2eAlerts {
|
||||
greenLightAlert @0 :Bool;
|
||||
leadDepartAlert @1 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
struct OnroadEventSP @0xda96579883444c35 {
|
||||
name @0 :EventName;
|
||||
events @0 :List(Event);
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
struct Event {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
}
|
||||
|
||||
enum EventName {
|
||||
lkasEnable @0;
|
||||
@@ -132,28 +333,127 @@ struct OnroadEventSP @0xda96579883444c35 {
|
||||
controlsMismatchLateral @12;
|
||||
hyundaiRadarTracksConfirmed @13;
|
||||
experimentalModeSwitched @14;
|
||||
wrongCarModeAlertOnly @15;
|
||||
pedalPressedAlertOnly @16;
|
||||
laneTurnLeft @17;
|
||||
laneTurnRight @18;
|
||||
speedLimitPreActive @19;
|
||||
speedLimitActive @20;
|
||||
speedLimitChanged @21;
|
||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
}
|
||||
}
|
||||
|
||||
struct CarParamsSP @0x80ae746ee2596b11 {
|
||||
flags @0 :UInt32; # flags for car specific quirks in sunnypilot
|
||||
safetyParam @1 : Int16; # flags for sunnypilot's custom safety flags
|
||||
pcmCruiseSpeed @3 :Bool;
|
||||
intelligentCruiseButtonManagementAvailable @4 :Bool;
|
||||
enableGasInterceptor @5 :Bool;
|
||||
|
||||
neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
|
||||
|
||||
struct NeuralNetworkLateralControl {
|
||||
model @0 :Model;
|
||||
fuzzyFingerprint @1 :Bool;
|
||||
|
||||
struct Model {
|
||||
path @0 :Text;
|
||||
name @1 :Text;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct CarControlSP @0xa5cd762cd951a455 {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
params @1 :List(Param);
|
||||
leadOne @2 :LeadData;
|
||||
leadTwo @3 :LeadData;
|
||||
intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
|
||||
|
||||
struct Param {
|
||||
key @0 :Text;
|
||||
type @2 :ParamType;
|
||||
value @3 :Data;
|
||||
|
||||
valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
|
||||
}
|
||||
|
||||
enum ParamType {
|
||||
string @0;
|
||||
bool @1;
|
||||
int @2;
|
||||
float @3;
|
||||
time @4;
|
||||
json @5;
|
||||
bytes @6;
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved6 @0xf98d843bfd7004a3 {
|
||||
struct BackupManagerSP @0xf98d843bfd7004a3 {
|
||||
backupStatus @0 :Status;
|
||||
restoreStatus @1 :Status;
|
||||
backupProgress @2 :Float32;
|
||||
restoreProgress @3 :Float32;
|
||||
lastError @4 :Text;
|
||||
currentBackup @5 :BackupInfo;
|
||||
backupHistory @6 :List(BackupInfo);
|
||||
|
||||
enum Status {
|
||||
idle @0;
|
||||
inProgress @1;
|
||||
completed @2;
|
||||
failed @3;
|
||||
}
|
||||
|
||||
struct Version {
|
||||
major @0 :UInt16;
|
||||
minor @1 :UInt16;
|
||||
patch @2 :UInt16;
|
||||
build @3 :UInt16;
|
||||
branch @4 :Text;
|
||||
}
|
||||
|
||||
struct MetadataEntry {
|
||||
key @0 :Text;
|
||||
value @1 :Text;
|
||||
tags @2 :List(Text);
|
||||
}
|
||||
|
||||
struct BackupInfo {
|
||||
deviceId @0 :Text;
|
||||
version @1 :UInt32;
|
||||
config @2 :Text;
|
||||
isEncrypted @3 :Bool;
|
||||
createdAt @4 :Text; # ISO timestamp
|
||||
updatedAt @5 :Text; # ISO timestamp
|
||||
sunnypilotVersion @6 :Version;
|
||||
backupMetadata @7 :List(MetadataEntry);
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved7 @0xb86e6369214c01c8 {
|
||||
struct CarStateSP @0xb86e6369214c01c8 {
|
||||
speedLimit @0 :Float32;
|
||||
}
|
||||
|
||||
struct CustomReserved8 @0xf416ec09499d9d19 {
|
||||
struct LiveMapDataSP @0xf416ec09499d9d19 {
|
||||
speedLimitValid @0 :Bool;
|
||||
speedLimit @1 :Float32;
|
||||
speedLimitAheadValid @2 :Bool;
|
||||
speedLimitAhead @3 :Float32;
|
||||
speedLimitAheadDistance @4 :Float32;
|
||||
roadName @5 :Text;
|
||||
}
|
||||
|
||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
||||
struct ModelDataV2SP @0xa1680744031fdb2d {
|
||||
laneTurnDirection @0 :TurnDirection;
|
||||
|
||||
enum TurnDirection {
|
||||
none @0;
|
||||
turnLeft @1;
|
||||
turnRight @2;
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved10 @0xcb9fd56c7057593a {
|
||||
|
||||
@@ -0,0 +1,789 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# deprecated.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
path @1 :Text;
|
||||
}
|
||||
|
||||
struct LiveUI @0xc08240f996aefced {
|
||||
rearViewCam @0 :Bool;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
awarenessStatus @3 :Float32;
|
||||
}
|
||||
|
||||
struct UiLayoutState @0x88dcce08ad29dda0 {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App @0x9917470acf94d285 {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
|
||||
correctionMonoTime @0 :UInt64;
|
||||
prePositionECEF @1 :List(Float64);
|
||||
postPositionECEF @2 :List(Float64);
|
||||
prePoseQuatECEF @3 :List(Float32);
|
||||
postPoseQuatECEF @4 :List(Float32);
|
||||
numInliers @5 :UInt32;
|
||||
}
|
||||
|
||||
struct EthernetPacket @0xa99a9d5b33cf5859 {
|
||||
pkt @0 :Data;
|
||||
ts @1 :Float32;
|
||||
}
|
||||
|
||||
struct CellInfo @0xcff7566681c277ce {
|
||||
timestamp @0 :UInt64;
|
||||
repr @1 :Text; # android toString() for now
|
||||
}
|
||||
|
||||
struct WifiScan @0xd4df5a192382ba0b {
|
||||
bssid @0 :Text;
|
||||
ssid @1 :Text;
|
||||
capabilities @2 :Text;
|
||||
frequency @3 :Int32;
|
||||
level @4 :Int32;
|
||||
timestamp @5 :Int64;
|
||||
|
||||
centerFreq0 @6 :Int32;
|
||||
centerFreq1 @7 :Int32;
|
||||
channelWidth @8 :ChannelWidth;
|
||||
operatorFriendlyName @9 :Text;
|
||||
venueName @10 :Text;
|
||||
is80211mcResponder @11 :Bool;
|
||||
passpoint @12 :Bool;
|
||||
|
||||
distanceCm @13 :Int32;
|
||||
distanceSdCm @14 :Int32;
|
||||
|
||||
enum ChannelWidth @0xcb6a279f015f6b51 {
|
||||
w20Mhz @0;
|
||||
w40Mhz @1;
|
||||
w80Mhz @2;
|
||||
w160Mhz @3;
|
||||
w80Plus80Mhz @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData @0x94b7baa90c5c321e {
|
||||
name @0 :Text;
|
||||
value @1 :Int32;
|
||||
}
|
||||
|
||||
struct ModelData @0xb8aad62cffef28a9 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
rightLane @3 :PathData;
|
||||
lead @4 :LeadData;
|
||||
freePath @6 :List(Float32);
|
||||
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
longitudinal @11 :LongitudinalData;
|
||||
|
||||
struct PathData @0x8817eeea389e9f08 {
|
||||
points @0 :List(Float32);
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData @0xd1c9bef96d26fa91 {
|
||||
dist @0 :Float32;
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
relVel @3 :Float32;
|
||||
relVelStd @4 :Float32;
|
||||
relY @5 :Float32;
|
||||
relYStd @6 :Float32;
|
||||
relA @7 :Float32;
|
||||
relAStd @8 :Float32;
|
||||
}
|
||||
|
||||
struct ModelSettings @0xa26e3710efd3e914 {
|
||||
bigBoxX @0 :UInt16;
|
||||
bigBoxY @1 :UInt16;
|
||||
bigBoxWidth @2 :UInt16;
|
||||
bigBoxHeight @3 :UInt16;
|
||||
boxProjection @4 :List(Float32);
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData @0x9744f25fb60f2bf8 {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LongitudinalData @0xf98f999c6a071122 {
|
||||
distances @2 :List(Float32);
|
||||
speeds @0 :List(Float32);
|
||||
accelerations @1 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct ECEFPoint @0xc25bbbd524983447 {
|
||||
x @0 :Float64;
|
||||
y @1 :Float64;
|
||||
z @2 :Float64;
|
||||
}
|
||||
|
||||
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
|
||||
x @0 :Float32;
|
||||
y @1 :Float32;
|
||||
z @2 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
|
||||
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
|
||||
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
|
||||
curPos @6 :ECEFPoint;
|
||||
points @7 :List(ECEFPoint);
|
||||
valid @2 :Bool;
|
||||
trackName @3 :Text;
|
||||
speedLimit @4 :Float32;
|
||||
accelTarget @5 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
|
||||
valid @0 :Bool;
|
||||
poly @1 :List(Float32);
|
||||
trackName @2 :Text;
|
||||
speed @3 :Float32;
|
||||
acceleration @4 :Float32;
|
||||
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
|
||||
points @6 :List(ECEFPoint);
|
||||
xLookahead @7 :Float32;
|
||||
}
|
||||
|
||||
struct UiNavigationEvent @0x90c8426c3eaddd3b {
|
||||
type @0: Type;
|
||||
status @1: Status;
|
||||
distanceTo @2: Float32;
|
||||
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
|
||||
endRoadPoint @4: ECEFPoint;
|
||||
|
||||
enum Type @0xe8db07dcf8fcea05 {
|
||||
none @0;
|
||||
laneChangeLeft @1;
|
||||
laneChangeRight @2;
|
||||
mergeLeft @3;
|
||||
mergeRight @4;
|
||||
turnLeft @5;
|
||||
turnRight @6;
|
||||
}
|
||||
|
||||
enum Status @0xb9aa88c75ef99a1f {
|
||||
none @0;
|
||||
passive @1;
|
||||
approaching @2;
|
||||
active @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData @0xb99b2bc7a57e8128 {
|
||||
status @0 :UInt8;
|
||||
|
||||
# 3D fix
|
||||
lat @1 :Float64;
|
||||
lon @2 :Float64;
|
||||
alt @3 :Float32; # m
|
||||
|
||||
# speed
|
||||
speed @4 :Float32; # m/s
|
||||
|
||||
# NED velocity components
|
||||
vNED @5 :List(Float32);
|
||||
|
||||
# roll, pitch, heading (x,y,z)
|
||||
roll @6 :Float32; # WRT to center of earth?
|
||||
pitch @7 :Float32; # WRT to center of earth?
|
||||
heading @8 :Float32; # WRT to north?
|
||||
|
||||
# what are these?
|
||||
wanderAngle @9 :Float32;
|
||||
trackAngle @10 :Float32;
|
||||
|
||||
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
|
||||
|
||||
# gyro, in car frame, deg/s
|
||||
gyro @11 :List(Float32);
|
||||
|
||||
# accel, in car frame, m/s^2
|
||||
accel @12 :List(Float32);
|
||||
|
||||
accuracy @13 :Accuracy;
|
||||
|
||||
source @14 :SensorSource;
|
||||
# if we are fixing a location in the past
|
||||
fixMonoTime @15 :UInt64;
|
||||
|
||||
gpsWeek @16 :Int32;
|
||||
timeOfWeek @17 :Float64;
|
||||
|
||||
positionECEF @18 :List(Float64);
|
||||
poseQuatECEF @19 :List(Float32);
|
||||
pitchCalibration @20 :Float32;
|
||||
yawCalibration @21 :Float32;
|
||||
imuFrame @22 :List(Float32);
|
||||
|
||||
struct Accuracy @0x943dc4625473b03f {
|
||||
pNEDError @0 :List(Float32);
|
||||
vNEDError @1 :List(Float32);
|
||||
rollError @2 :Float32;
|
||||
pitchError @3 :Float32;
|
||||
headingError @4 :Float32;
|
||||
ellipsoidSemiMajorError @5 :Float32;
|
||||
ellipsoidSemiMinorError @6 :Float32;
|
||||
ellipsoidOrientationError @7 :Float32;
|
||||
}
|
||||
|
||||
enum SensorSource @0xc871d3cc252af657 {
|
||||
applanix @0;
|
||||
kalman @1;
|
||||
orbslam @2;
|
||||
timing @3;
|
||||
dummy @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbOdometry @0xd7700859ed1f5b76 {
|
||||
# timing first
|
||||
startMonoTime @0 :UInt64;
|
||||
endMonoTime @1 :UInt64;
|
||||
|
||||
# fundamental matrix and error
|
||||
f @2: List(Float64);
|
||||
err @3: Float64;
|
||||
|
||||
# number of inlier points
|
||||
inliers @4: Int32;
|
||||
|
||||
# for debug only
|
||||
# indexed by endMonoTime features
|
||||
# value is startMonoTime feature match
|
||||
# -1 if no match
|
||||
matches @5: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeatures @0xcd60164a8a0159ef {
|
||||
timestampEof @0 :UInt64;
|
||||
# transposed arrays of normalized image coordinates
|
||||
# len(xs) == len(ys) == len(descriptors) * 32
|
||||
xs @1 :List(Float32);
|
||||
ys @2 :List(Float32);
|
||||
descriptors @3 :Data;
|
||||
octaves @4 :List(Int8);
|
||||
|
||||
# match index to last OrbFeatures
|
||||
# -1 if no match
|
||||
timestampLastEof @5 :UInt64;
|
||||
matches @6: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
|
||||
timestampEof @0 :UInt64;
|
||||
timestampLastEof @1 :UInt64;
|
||||
|
||||
featureCount @2 :UInt16;
|
||||
matchCount @3 :UInt16;
|
||||
computeNs @4 :UInt64;
|
||||
}
|
||||
|
||||
struct OrbKeyFrame @0xc8233c0345e27e24 {
|
||||
# this is a globally unique id for the KeyFrame
|
||||
id @0: UInt64;
|
||||
|
||||
# this is the location of the KeyFrame
|
||||
pos @1: ECEFPoint;
|
||||
|
||||
# these are the features in the world
|
||||
# len(dpos) == len(descriptors) * 32
|
||||
dpos @2 :List(ECEFPoint);
|
||||
descriptors @3 :Data;
|
||||
}
|
||||
|
||||
struct KalmanOdometry @0x92e21bb7ea38793a {
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct OrbObservation @0x9b326d4e436afec7 {
|
||||
observationMonoTime @0 :UInt64;
|
||||
normalizedCoordinates @1 :List(Float32);
|
||||
locationECEF @2 :List(Float64);
|
||||
matchDistance @3: UInt32;
|
||||
}
|
||||
|
||||
struct CalibrationFeatures @0x8fdfadb254ea867a {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
p0 @1 :List(Float32);
|
||||
p1 @2 :List(Float32);
|
||||
status @3 :List(Int8);
|
||||
}
|
||||
|
||||
struct NavStatus @0xbd8822120928120c {
|
||||
isNavigating @0 :Bool;
|
||||
currentAddress @1 :Address;
|
||||
|
||||
struct Address @0xce7cd672cacc7814 {
|
||||
title @0 :Text;
|
||||
lat @1 :Float64;
|
||||
lng @2 :Float64;
|
||||
house @3 :Text;
|
||||
address @4 :Text;
|
||||
street @5 :Text;
|
||||
city @6 :Text;
|
||||
state @7 :Text;
|
||||
country @8 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct NavUpdate @0xdb98be6565516acb {
|
||||
isNavigating @0 :Bool;
|
||||
curSegment @1 :Int32;
|
||||
segments @2 :List(Segment);
|
||||
|
||||
struct LatLng @0x9eaef9187cadbb9b {
|
||||
lat @0 :Float64;
|
||||
lng @1 :Float64;
|
||||
}
|
||||
|
||||
struct Segment @0xa5b39b4fc4d7da3f {
|
||||
from @0 :LatLng;
|
||||
to @1 :LatLng;
|
||||
updateTime @2 :Int32;
|
||||
distance @3 :Int32;
|
||||
crossTime @4 :Int32;
|
||||
exitNo @5 :Int32;
|
||||
instruction @6 :Instruction;
|
||||
|
||||
parts @7 :List(LatLng);
|
||||
|
||||
enum Instruction @0xc5417a637451246f {
|
||||
turnLeft @0;
|
||||
turnRight @1;
|
||||
keepLeft @2;
|
||||
keepRight @3;
|
||||
straight @4;
|
||||
roundaboutExitNumber @5;
|
||||
roundaboutExit @6;
|
||||
roundaboutTurnLeft @7;
|
||||
unkn8 @8;
|
||||
roundaboutStraight @9;
|
||||
unkn10 @10;
|
||||
roundaboutTurnRight @11;
|
||||
unkn12 @12;
|
||||
roundaboutUturn @13;
|
||||
unkn14 @14;
|
||||
arrive @15;
|
||||
exitLeft @16;
|
||||
exitRight @17;
|
||||
unkn18 @18;
|
||||
uturn @19;
|
||||
# ...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct TrafficEvent @0xacfa74a094e62626 {
|
||||
type @0 :Type;
|
||||
distance @1 :Float32;
|
||||
action @2 :Action;
|
||||
resuming @3 :Bool;
|
||||
|
||||
enum Type @0xd85d75253435bf4b {
|
||||
stopSign @0;
|
||||
lightRed @1;
|
||||
lightYellow @2;
|
||||
lightGreen @3;
|
||||
stopLight @4;
|
||||
}
|
||||
|
||||
enum Action @0xa6f6ce72165ccb49 {
|
||||
none @0;
|
||||
yield @1;
|
||||
stop @2;
|
||||
resumeReady @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct AndroidGnss @0xdfdf30d03fc485bd {
|
||||
union {
|
||||
measurements @0 :Measurements;
|
||||
navigationMessage @1 :NavigationMessage;
|
||||
}
|
||||
|
||||
struct Measurements @0xa20710d4f428d6cd {
|
||||
clock @0 :Clock;
|
||||
measurements @1 :List(Measurement);
|
||||
|
||||
struct Clock @0xa0e27b453a38f450 {
|
||||
timeNanos @0 :Int64;
|
||||
hardwareClockDiscontinuityCount @1 :Int32;
|
||||
|
||||
hasTimeUncertaintyNanos @2 :Bool;
|
||||
timeUncertaintyNanos @3 :Float64;
|
||||
|
||||
hasLeapSecond @4 :Bool;
|
||||
leapSecond @5 :Int32;
|
||||
|
||||
hasFullBiasNanos @6 :Bool;
|
||||
fullBiasNanos @7 :Int64;
|
||||
|
||||
hasBiasNanos @8 :Bool;
|
||||
biasNanos @9 :Float64;
|
||||
|
||||
hasBiasUncertaintyNanos @10 :Bool;
|
||||
biasUncertaintyNanos @11 :Float64;
|
||||
|
||||
hasDriftNanosPerSecond @12 :Bool;
|
||||
driftNanosPerSecond @13 :Float64;
|
||||
|
||||
hasDriftUncertaintyNanosPerSecond @14 :Bool;
|
||||
driftUncertaintyNanosPerSecond @15 :Float64;
|
||||
}
|
||||
|
||||
struct Measurement @0xd949bf717d77614d {
|
||||
svId @0 :Int32;
|
||||
constellation @1 :Constellation;
|
||||
|
||||
timeOffsetNanos @2 :Float64;
|
||||
state @3 :Int32;
|
||||
receivedSvTimeNanos @4 :Int64;
|
||||
receivedSvTimeUncertaintyNanos @5 :Int64;
|
||||
cn0DbHz @6 :Float64;
|
||||
pseudorangeRateMetersPerSecond @7 :Float64;
|
||||
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
|
||||
accumulatedDeltaRangeState @9 :Int32;
|
||||
accumulatedDeltaRangeMeters @10 :Float64;
|
||||
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
|
||||
|
||||
hasCarrierFrequencyHz @12 :Bool;
|
||||
carrierFrequencyHz @13 :Float32;
|
||||
hasCarrierCycles @14 :Bool;
|
||||
carrierCycles @15 :Int64;
|
||||
hasCarrierPhase @16 :Bool;
|
||||
carrierPhase @17 :Float64;
|
||||
hasCarrierPhaseUncertainty @18 :Bool;
|
||||
carrierPhaseUncertainty @19 :Float64;
|
||||
hasSnrInDb @20 :Bool;
|
||||
snrInDb @21 :Float64;
|
||||
|
||||
multipathIndicator @22 :MultipathIndicator;
|
||||
|
||||
enum Constellation @0x9ef1f3ff0deb5ffb {
|
||||
unknown @0;
|
||||
gps @1;
|
||||
sbas @2;
|
||||
glonass @3;
|
||||
qzss @4;
|
||||
beidou @5;
|
||||
galileo @6;
|
||||
}
|
||||
|
||||
enum State @0xcbb9490adce12d72 {
|
||||
unknown @0;
|
||||
codeLock @1;
|
||||
bitSync @2;
|
||||
subframeSync @3;
|
||||
towDecoded @4;
|
||||
msecAmbiguous @5;
|
||||
symbolSync @6;
|
||||
gloStringSync @7;
|
||||
gloTodDecoded @8;
|
||||
bdsD2BitSync @9;
|
||||
bdsD2SubframeSync @10;
|
||||
galE1bcCodeLock @11;
|
||||
galE1c2ndCodeLock @12;
|
||||
galE1bPageSync @13;
|
||||
sbasSync @14;
|
||||
}
|
||||
|
||||
enum MultipathIndicator @0xc04e7b6231d4caa8 {
|
||||
unknown @0;
|
||||
detected @1;
|
||||
notDetected @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct NavigationMessage @0xe2517b083095fd4e {
|
||||
type @0 :Int32;
|
||||
svId @1 :Int32;
|
||||
messageId @2 :Int32;
|
||||
submessageId @3 :Int32;
|
||||
data @4 :Data;
|
||||
status @5 :Status;
|
||||
|
||||
enum Status @0xec1ff7996b35366f {
|
||||
unknown @0;
|
||||
parityPassed @1;
|
||||
parityRebuilt @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
reflect @2 :List(UInt8); # uint8 0-255
|
||||
|
||||
# For storing out of file.
|
||||
idx @3 :UInt64;
|
||||
|
||||
# For storing in file
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
struct LiveTracksDEPRECATED @0xb16f60103159415a {
|
||||
trackId @0 :Int32;
|
||||
dRel @1 :Float32;
|
||||
yRel @2 :Float32;
|
||||
vRel @3 :Float32;
|
||||
aRel @4 :Float32;
|
||||
timeStamp @5 :Float32;
|
||||
status @6 :Float32;
|
||||
currentTime @7 :Float32;
|
||||
stationary @8 :Bool;
|
||||
oncoming @9 :Bool;
|
||||
}
|
||||
|
||||
struct LiveMpcData @0x92a5e332a85f32a0 {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
psi @2 :List(Float32);
|
||||
curvature @3 :List(Float32);
|
||||
qpIterations @4 :UInt32;
|
||||
calculationTime @5 :UInt64;
|
||||
cost @6 :Float64;
|
||||
}
|
||||
|
||||
struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
|
||||
xEgo @0 :List(Float32);
|
||||
vEgo @1 :List(Float32);
|
||||
aEgo @2 :List(Float32);
|
||||
xLead @3 :List(Float32);
|
||||
vLead @4 :List(Float32);
|
||||
aLead @5 :List(Float32);
|
||||
aLeadTau @6 :Float32; # lead accel time constant
|
||||
qpIterations @7 :UInt32;
|
||||
mpcId @8 :UInt32;
|
||||
calculationTime @9 :UInt64;
|
||||
cost @10 :Float64;
|
||||
}
|
||||
|
||||
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
|
||||
frameId @0 :UInt32;
|
||||
modelExecutionTime @14 :Float32;
|
||||
dspExecutionTime @16 :Float32;
|
||||
rawPredictions @15 :Data;
|
||||
|
||||
faceOrientation @3 :List(Float32);
|
||||
facePosition @4 :List(Float32);
|
||||
faceProb @5 :Float32;
|
||||
leftEyeProb @6 :Float32;
|
||||
rightEyeProb @7 :Float32;
|
||||
leftBlinkProb @8 :Float32;
|
||||
rightBlinkProb @9 :Float32;
|
||||
faceOrientationStd @11 :List(Float32);
|
||||
facePositionStd @12 :List(Float32);
|
||||
sunglassesProb @13 :Float32;
|
||||
poorVision @17 :Float32;
|
||||
partialFace @18 :Float32;
|
||||
distractedPose @19 :Float32;
|
||||
distractedEyes @20 :Float32;
|
||||
eyesOnRoad @21 :Float32;
|
||||
phoneUse @22 :Float32;
|
||||
occludedProb @23 :Float32;
|
||||
|
||||
readyProb @24 :List(Float32);
|
||||
notReadyProb @25 :List(Float32);
|
||||
|
||||
irPwrDEPRECATED @10 :Float32;
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
stdDEPRECATED @2 :Float32;
|
||||
}
|
||||
|
||||
struct NavModelData @0xac3de5c437be057a {
|
||||
frameId @0 :UInt32;
|
||||
locationMonoTime @6 :UInt64;
|
||||
modelExecutionTime @1 :Float32;
|
||||
dspExecutionTime @2 :Float32;
|
||||
features @3 :List(Float32);
|
||||
# predicted future position
|
||||
position @4 :XYData;
|
||||
desirePrediction @5 :List(Float32);
|
||||
|
||||
# All SI units and in device frame
|
||||
struct XYData @0xbe09e615b2507e26 {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
xStd @2 :List(Float32);
|
||||
yStd @3 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct AndroidBuildInfo @0xfe2919d5c21f426c {
|
||||
board @0 :Text;
|
||||
bootloader @1 :Text;
|
||||
brand @2 :Text;
|
||||
device @3 :Text;
|
||||
display @4 :Text;
|
||||
fingerprint @5 :Text;
|
||||
hardware @6 :Text;
|
||||
host @7 :Text;
|
||||
id @8 :Text;
|
||||
manufacturer @9 :Text;
|
||||
model @10 :Text;
|
||||
product @11 :Text;
|
||||
radioVersion @12 :Text;
|
||||
serial @13 :Text;
|
||||
supportedAbis @14 :List(Text);
|
||||
tags @15 :Text;
|
||||
time @16 :Int64;
|
||||
type @17 :Text;
|
||||
user @18 :Text;
|
||||
|
||||
versionCodename @19 :Text;
|
||||
versionRelease @20 :Text;
|
||||
versionSdk @21 :Int32;
|
||||
versionSecurityPatch @22 :Text;
|
||||
}
|
||||
|
||||
struct AndroidSensor @0x9b513b93a887dbcd {
|
||||
id @0 :Int32;
|
||||
name @1 :Text;
|
||||
vendor @2 :Text;
|
||||
version @3 :Int32;
|
||||
handle @4 :Int32;
|
||||
type @5 :Int32;
|
||||
maxRange @6 :Float32;
|
||||
resolution @7 :Float32;
|
||||
power @8 :Float32;
|
||||
minDelay @9 :Int32;
|
||||
fifoReservedEventCount @10 :UInt32;
|
||||
fifoMaxEventCount @11 :UInt32;
|
||||
stringType @12 :Text;
|
||||
maxDelay @13 :Int32;
|
||||
}
|
||||
|
||||
struct IosBuildInfo @0xd97e3b28239f5580 {
|
||||
appVersion @0 :Text;
|
||||
appBuild @1 :UInt32;
|
||||
osVersion @2 :Text;
|
||||
deviceModel @3 :Text;
|
||||
}
|
||||
|
||||
enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
|
||||
unknown @0;
|
||||
neo @1;
|
||||
chffrAndroid @2;
|
||||
front @3;
|
||||
}
|
||||
|
||||
struct AndroidCaptureResult @0xbcc3efbac41d2048 {
|
||||
sensitivity @0 :Int32;
|
||||
frameDuration @1 :Int64;
|
||||
exposureTime @2 :Int64;
|
||||
rollingShutterSkew @3 :UInt64;
|
||||
colorCorrectionTransform @4 :List(Int32);
|
||||
colorCorrectionGains @5 :List(Float32);
|
||||
displayRotation @6 :Int8;
|
||||
}
|
||||
|
||||
enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
|
||||
none @0;
|
||||
client @1;
|
||||
cdp @2;
|
||||
dcp @3;
|
||||
}
|
||||
|
||||
struct LateralINDIState @0x939463348632375e {
|
||||
active @0 :Bool;
|
||||
steeringAngleDeg @1 :Float32;
|
||||
steeringRateDeg @2 :Float32;
|
||||
steeringAccelDeg @3 :Float32;
|
||||
rateSetPoint @4 :Float32;
|
||||
accelSetPoint @5 :Float32;
|
||||
accelError @6 :Float32;
|
||||
delayedOutput @7 :Float32;
|
||||
delta @8 :Float32;
|
||||
output @9 :Float32;
|
||||
saturated @10 :Bool;
|
||||
steeringAngleDesiredDeg @11 :Float32;
|
||||
steeringRateDesiredDeg @12 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRState @0x9024e2d790c82ade {
|
||||
active @0 :Bool;
|
||||
steeringAngleDeg @1 :Float32;
|
||||
i @2 :Float32;
|
||||
output @3 :Float32;
|
||||
lqrOutput @4 :Float32;
|
||||
saturated @5 :Bool;
|
||||
steeringAngleDesiredDeg @6 :Float32;
|
||||
}
|
||||
|
||||
struct LateralCurvatureState @0xad9d8095c06f7c61 {
|
||||
active @0 :Bool;
|
||||
actualCurvature @1 :Float32;
|
||||
desiredCurvature @2 :Float32;
|
||||
error @3 :Float32;
|
||||
p @4 :Float32;
|
||||
i @5 :Float32;
|
||||
f @6 :Float32;
|
||||
output @7 :Float32;
|
||||
saturated @8 :Bool;
|
||||
}
|
||||
|
||||
struct LateralPlannerSolution @0x84caeca5a6b4acfe {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
yaw @2 :List(Float32);
|
||||
yawRate @3 :List(Float32);
|
||||
xStd @4 :List(Float32);
|
||||
yStd @5 :List(Float32);
|
||||
yawStd @6 :List(Float32);
|
||||
yawRateStd @7 :List(Float32);
|
||||
}
|
||||
|
||||
struct GpsTrajectory @0x8cfeb072f5301000 {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
}
|
||||
+975
-753
File diff suppressed because it is too large
Load Diff
+415
-106
@@ -8,7 +8,7 @@
|
||||
|
||||
#ifndef CAPNP_VERSION
|
||||
#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?"
|
||||
#elif CAPNP_VERSION != 1000002
|
||||
#elif CAPNP_VERSION != 1000001
|
||||
#error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library."
|
||||
#endif
|
||||
|
||||
@@ -185,13 +185,14 @@ enum class Type_e16100205414717c: uint16_t {
|
||||
CAPNP_DECLARE_ENUM(Type, e16100205414717c);
|
||||
CAPNP_DECLARE_SCHEMA(888ad6581cf0aacb);
|
||||
CAPNP_DECLARE_SCHEMA(e8a86679ebba76ad);
|
||||
enum class Error_e8a86679ebba76ad: uint16_t {
|
||||
CAPNP_DECLARE_SCHEMA(8ff333ebac1fdf36);
|
||||
CAPNP_DECLARE_SCHEMA(df7276c3de4fc23d);
|
||||
enum class ErrorDEPRECATED_df7276c3de4fc23d: uint16_t {
|
||||
CAN_ERROR,
|
||||
FAULT,
|
||||
WRONG_CONFIG,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(Error, e8a86679ebba76ad);
|
||||
CAPNP_DECLARE_SCHEMA(8ff333ebac1fdf36);
|
||||
CAPNP_DECLARE_ENUM(ErrorDEPRECATED, df7276c3de4fc23d);
|
||||
CAPNP_DECLARE_SCHEMA(f78829049ab814af);
|
||||
CAPNP_DECLARE_SCHEMA(e97275a919432828);
|
||||
CAPNP_DECLARE_SCHEMA(e40f3a917d908282);
|
||||
@@ -433,12 +434,28 @@ struct RadarData {
|
||||
class Reader;
|
||||
class Builder;
|
||||
class Pipeline;
|
||||
typedef ::capnp::schemas::Error_e8a86679ebba76ad Error;
|
||||
|
||||
struct Error;
|
||||
struct RadarPoint;
|
||||
typedef ::capnp::schemas::ErrorDEPRECATED_df7276c3de4fc23d ErrorDEPRECATED;
|
||||
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(888ad6581cf0aacb, 0, 3)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(888ad6581cf0aacb, 0, 4)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
};
|
||||
};
|
||||
|
||||
struct RadarData::Error {
|
||||
Error() = delete;
|
||||
|
||||
class Reader;
|
||||
class Builder;
|
||||
class Pipeline;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(e8a86679ebba76ad, 1, 0)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -633,7 +650,7 @@ struct CarParams::LateralTorqueTuning {
|
||||
class Pipeline;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 4, 0)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 5, 0)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -874,11 +891,11 @@ public:
|
||||
inline bool hasWheelSpeeds() const;
|
||||
inline ::cereal::CarState::WheelSpeeds::Reader getWheelSpeeds() const;
|
||||
|
||||
inline float getGas() const;
|
||||
inline float getGasDEPRECATED() const;
|
||||
|
||||
inline bool getGasPressed() const;
|
||||
|
||||
inline float getBrake() const;
|
||||
inline float getBrakeDEPRECATED() const;
|
||||
|
||||
inline bool getBrakePressed() const;
|
||||
|
||||
@@ -928,7 +945,7 @@ public:
|
||||
|
||||
inline float getSteeringTorqueEps() const;
|
||||
|
||||
inline bool getClutchPressed() const;
|
||||
inline bool getClutchPressedDEPRECATED() const;
|
||||
|
||||
inline bool getSteeringRateLimitedDEPRECATED() const;
|
||||
|
||||
@@ -964,7 +981,7 @@ public:
|
||||
|
||||
inline bool getRegenBraking() const;
|
||||
|
||||
inline float getEngineRpm() const;
|
||||
inline float getEngineRpmDEPRECATED() const;
|
||||
|
||||
inline bool getCarFaultedNonCritical() const;
|
||||
|
||||
@@ -988,6 +1005,12 @@ public:
|
||||
|
||||
inline bool getButtonEnable() const;
|
||||
|
||||
inline bool getSteeringDisengage() const;
|
||||
|
||||
inline bool getStockLkas() const;
|
||||
|
||||
inline bool getBlockPcmEnable() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -1034,14 +1057,14 @@ public:
|
||||
inline void adoptWheelSpeeds(::capnp::Orphan< ::cereal::CarState::WheelSpeeds>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::CarState::WheelSpeeds> disownWheelSpeeds();
|
||||
|
||||
inline float getGas();
|
||||
inline void setGas(float value);
|
||||
inline float getGasDEPRECATED();
|
||||
inline void setGasDEPRECATED(float value);
|
||||
|
||||
inline bool getGasPressed();
|
||||
inline void setGasPressed(bool value);
|
||||
|
||||
inline float getBrake();
|
||||
inline void setBrake(float value);
|
||||
inline float getBrakeDEPRECATED();
|
||||
inline void setBrakeDEPRECATED(float value);
|
||||
|
||||
inline bool getBrakePressed();
|
||||
inline void setBrakePressed(bool value);
|
||||
@@ -1126,8 +1149,8 @@ public:
|
||||
inline float getSteeringTorqueEps();
|
||||
inline void setSteeringTorqueEps(float value);
|
||||
|
||||
inline bool getClutchPressed();
|
||||
inline void setClutchPressed(bool value);
|
||||
inline bool getClutchPressedDEPRECATED();
|
||||
inline void setClutchPressedDEPRECATED(bool value);
|
||||
|
||||
inline bool getSteeringRateLimitedDEPRECATED();
|
||||
inline void setSteeringRateLimitedDEPRECATED(bool value);
|
||||
@@ -1180,8 +1203,8 @@ public:
|
||||
inline bool getRegenBraking();
|
||||
inline void setRegenBraking(bool value);
|
||||
|
||||
inline float getEngineRpm();
|
||||
inline void setEngineRpm(float value);
|
||||
inline float getEngineRpmDEPRECATED();
|
||||
inline void setEngineRpmDEPRECATED(float value);
|
||||
|
||||
inline bool getCarFaultedNonCritical();
|
||||
inline void setCarFaultedNonCritical(bool value);
|
||||
@@ -1216,6 +1239,15 @@ public:
|
||||
inline bool getButtonEnable();
|
||||
inline void setButtonEnable(bool value);
|
||||
|
||||
inline bool getSteeringDisengage();
|
||||
inline void setSteeringDisengage(bool value);
|
||||
|
||||
inline bool getStockLkas();
|
||||
inline void setStockLkas(bool value);
|
||||
|
||||
inline bool getBlockPcmEnable();
|
||||
inline void setBlockPcmEnable(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -1358,7 +1390,7 @@ public:
|
||||
|
||||
inline bool getAvailable() const;
|
||||
|
||||
inline float getSpeedOffset() const;
|
||||
inline float getSpeedOffsetDEPRECATED() const;
|
||||
|
||||
inline bool getStandstill() const;
|
||||
|
||||
@@ -1403,8 +1435,8 @@ public:
|
||||
inline bool getAvailable();
|
||||
inline void setAvailable(bool value);
|
||||
|
||||
inline float getSpeedOffset();
|
||||
inline void setSpeedOffset(float value);
|
||||
inline float getSpeedOffsetDEPRECATED();
|
||||
inline void setSpeedOffsetDEPRECATED(float value);
|
||||
|
||||
inline bool getStandstill();
|
||||
inline void setStandstill(bool value);
|
||||
@@ -1539,8 +1571,8 @@ public:
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool hasErrors() const;
|
||||
inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader getErrors() const;
|
||||
inline bool hasErrorsDEPRECATED() const;
|
||||
inline ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>::Reader getErrorsDEPRECATED() const;
|
||||
|
||||
inline bool hasPoints() const;
|
||||
inline ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>::Reader getPoints() const;
|
||||
@@ -1548,6 +1580,9 @@ public:
|
||||
inline bool hasCanMonoTimesDEPRECATED() const;
|
||||
inline ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>::Reader getCanMonoTimesDEPRECATED() const;
|
||||
|
||||
inline bool hasErrors() const;
|
||||
inline ::cereal::RadarData::Error::Reader getErrors() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -1576,13 +1611,13 @@ public:
|
||||
inline ::kj::StringTree toString() const { return asReader().toString(); }
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool hasErrors();
|
||||
inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder getErrors();
|
||||
inline void setErrors( ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader value);
|
||||
inline void setErrors(::kj::ArrayPtr<const ::cereal::RadarData::Error> value);
|
||||
inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder initErrors(unsigned int size);
|
||||
inline void adoptErrors(::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>> disownErrors();
|
||||
inline bool hasErrorsDEPRECATED();
|
||||
inline ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>::Builder getErrorsDEPRECATED();
|
||||
inline void setErrorsDEPRECATED( ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>::Reader value);
|
||||
inline void setErrorsDEPRECATED(::kj::ArrayPtr<const ::cereal::RadarData::ErrorDEPRECATED> value);
|
||||
inline ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>::Builder initErrorsDEPRECATED(unsigned int size);
|
||||
inline void adoptErrorsDEPRECATED(::capnp::Orphan< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>> disownErrorsDEPRECATED();
|
||||
|
||||
inline bool hasPoints();
|
||||
inline ::capnp::List< ::cereal::RadarData::RadarPoint, ::capnp::Kind::STRUCT>::Builder getPoints();
|
||||
@@ -1599,6 +1634,13 @@ public:
|
||||
inline void adoptCanMonoTimesDEPRECATED(::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>> disownCanMonoTimesDEPRECATED();
|
||||
|
||||
inline bool hasErrors();
|
||||
inline ::cereal::RadarData::Error::Builder getErrors();
|
||||
inline void setErrors( ::cereal::RadarData::Error::Reader value);
|
||||
inline ::cereal::RadarData::Error::Builder initErrors();
|
||||
inline void adoptErrors(::capnp::Orphan< ::cereal::RadarData::Error>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::RadarData::Error> disownErrors();
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -1617,6 +1659,98 @@ public:
|
||||
inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
|
||||
: _typeless(kj::mv(typeless)) {}
|
||||
|
||||
inline ::cereal::RadarData::Error::Pipeline getErrors();
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class RadarData::Error::Reader {
|
||||
public:
|
||||
typedef Error Reads;
|
||||
|
||||
Reader() = default;
|
||||
inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const {
|
||||
return _reader.totalSize().asPublic();
|
||||
}
|
||||
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const {
|
||||
return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool getCanError() const;
|
||||
|
||||
inline bool getRadarFault() const;
|
||||
|
||||
inline bool getWrongConfig() const;
|
||||
|
||||
inline bool getRadarUnavailableTemporary() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::List;
|
||||
friend class ::capnp::MessageBuilder;
|
||||
friend class ::capnp::Orphanage;
|
||||
};
|
||||
|
||||
class RadarData::Error::Builder {
|
||||
public:
|
||||
typedef Error Builds;
|
||||
|
||||
Builder() = delete; // Deleted to discourage incorrect usage.
|
||||
// You can explicitly initialize to nullptr instead.
|
||||
inline Builder(decltype(nullptr)) {}
|
||||
inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
|
||||
inline operator Reader() const { return Reader(_builder.asReader()); }
|
||||
inline Reader asReader() const { return *this; }
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const { return asReader().toString(); }
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool getCanError();
|
||||
inline void setCanError(bool value);
|
||||
|
||||
inline bool getRadarFault();
|
||||
inline void setRadarFault(bool value);
|
||||
|
||||
inline bool getWrongConfig();
|
||||
inline void setWrongConfig(bool value);
|
||||
|
||||
inline bool getRadarUnavailableTemporary();
|
||||
inline void setRadarUnavailableTemporary(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
friend class ::capnp::Orphanage;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
};
|
||||
|
||||
#if !CAPNP_LITE
|
||||
class RadarData::Error::Pipeline {
|
||||
public:
|
||||
typedef Error Pipelines;
|
||||
|
||||
inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
|
||||
inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
|
||||
: _typeless(kj::mv(typeless)) {}
|
||||
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
@@ -2377,7 +2511,7 @@ public:
|
||||
|
||||
inline bool getEnableCameraDEPRECATED() const;
|
||||
|
||||
inline bool getEnableDsu() const;
|
||||
inline bool getEnableDsuDEPRECATED() const;
|
||||
|
||||
inline bool getEnableApgsDEPRECATED() const;
|
||||
|
||||
@@ -2514,7 +2648,7 @@ public:
|
||||
|
||||
inline bool getStartingState() const;
|
||||
|
||||
inline bool getExperimentalLongitudinalAvailable() const;
|
||||
inline bool getAlphaLongitudinalAvailable() const;
|
||||
|
||||
inline float getTireStiffnessFactor() const;
|
||||
|
||||
@@ -2526,6 +2660,8 @@ public:
|
||||
|
||||
inline bool getSecOcKeyAvailable() const;
|
||||
|
||||
inline bool getSteerAtStandstill() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -2577,8 +2713,8 @@ public:
|
||||
inline bool getEnableCameraDEPRECATED();
|
||||
inline void setEnableCameraDEPRECATED(bool value);
|
||||
|
||||
inline bool getEnableDsu();
|
||||
inline void setEnableDsu(bool value);
|
||||
inline bool getEnableDsuDEPRECATED();
|
||||
inline void setEnableDsuDEPRECATED(bool value);
|
||||
|
||||
inline bool getEnableApgsDEPRECATED();
|
||||
inline void setEnableApgsDEPRECATED(bool value);
|
||||
@@ -2816,8 +2952,8 @@ public:
|
||||
inline bool getStartingState();
|
||||
inline void setStartingState(bool value);
|
||||
|
||||
inline bool getExperimentalLongitudinalAvailable();
|
||||
inline void setExperimentalLongitudinalAvailable(bool value);
|
||||
inline bool getAlphaLongitudinalAvailable();
|
||||
inline void setAlphaLongitudinalAvailable(bool value);
|
||||
|
||||
inline float getTireStiffnessFactor();
|
||||
inline void setTireStiffnessFactor(float value);
|
||||
@@ -2834,6 +2970,9 @@ public:
|
||||
inline bool getSecOcKeyAvailable();
|
||||
inline void setSecOcKeyAvailable(bool value);
|
||||
|
||||
inline bool getSteerAtStandstill();
|
||||
inline void setSteerAtStandstill(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -3184,15 +3323,15 @@ public:
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool getUseSteeringAngle() const;
|
||||
inline bool getUseSteeringAngleDEPRECATED() const;
|
||||
|
||||
inline float getKp() const;
|
||||
inline float getKpDEPRECATED() const;
|
||||
|
||||
inline float getKi() const;
|
||||
inline float getKiDEPRECATED() const;
|
||||
|
||||
inline float getFriction() const;
|
||||
|
||||
inline float getKf() const;
|
||||
inline float getKfDEPRECATED() const;
|
||||
|
||||
inline float getSteeringAngleDeadzoneDeg() const;
|
||||
|
||||
@@ -3200,6 +3339,8 @@ public:
|
||||
|
||||
inline float getLatAccelOffset() const;
|
||||
|
||||
inline float getKdDEPRECATED() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -3228,20 +3369,20 @@ public:
|
||||
inline ::kj::StringTree toString() const { return asReader().toString(); }
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool getUseSteeringAngle();
|
||||
inline void setUseSteeringAngle(bool value);
|
||||
inline bool getUseSteeringAngleDEPRECATED();
|
||||
inline void setUseSteeringAngleDEPRECATED(bool value);
|
||||
|
||||
inline float getKp();
|
||||
inline void setKp(float value);
|
||||
inline float getKpDEPRECATED();
|
||||
inline void setKpDEPRECATED(float value);
|
||||
|
||||
inline float getKi();
|
||||
inline void setKi(float value);
|
||||
inline float getKiDEPRECATED();
|
||||
inline void setKiDEPRECATED(float value);
|
||||
|
||||
inline float getFriction();
|
||||
inline void setFriction(float value);
|
||||
|
||||
inline float getKf();
|
||||
inline void setKf(float value);
|
||||
inline float getKfDEPRECATED();
|
||||
inline void setKfDEPRECATED(float value);
|
||||
|
||||
inline float getSteeringAngleDeadzoneDeg();
|
||||
inline void setSteeringAngleDeadzoneDeg(float value);
|
||||
@@ -3252,6 +3393,9 @@ public:
|
||||
inline float getLatAccelOffset();
|
||||
inline void setLatAccelOffset(float value);
|
||||
|
||||
inline float getKdDEPRECATED();
|
||||
inline void setKdDEPRECATED(float value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -3313,7 +3457,7 @@ public:
|
||||
inline bool hasDeadzoneVDEPRECATED() const;
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getDeadzoneVDEPRECATED() const;
|
||||
|
||||
inline float getKf() const;
|
||||
inline float getKfDEPRECATED() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
@@ -3391,8 +3535,8 @@ public:
|
||||
inline void adoptDeadzoneVDEPRECATED(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownDeadzoneVDEPRECATED();
|
||||
|
||||
inline float getKf();
|
||||
inline void setKf(float value);
|
||||
inline float getKfDEPRECATED();
|
||||
inline void setKfDEPRECATED(float value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
@@ -4245,16 +4389,16 @@ inline ::capnp::Orphan< ::cereal::CarState::WheelSpeeds> CarState::Builder::diso
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline float CarState::Reader::getGas() const {
|
||||
inline float CarState::Reader::getGasDEPRECATED() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarState::Builder::getGas() {
|
||||
inline float CarState::Builder::getGasDEPRECATED() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarState::Builder::setGas(float value) {
|
||||
inline void CarState::Builder::setGasDEPRECATED(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -4273,16 +4417,16 @@ inline void CarState::Builder::setGasPressed(bool value) {
|
||||
::capnp::bounded<64>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarState::Reader::getBrake() const {
|
||||
inline float CarState::Reader::getBrakeDEPRECATED() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarState::Builder::getBrake() {
|
||||
inline float CarState::Builder::getBrakeDEPRECATED() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarState::Builder::setBrake(float value) {
|
||||
inline void CarState::Builder::setBrakeDEPRECATED(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -4684,16 +4828,16 @@ inline void CarState::Builder::setSteeringTorqueEps(float value) {
|
||||
::capnp::bounded<10>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarState::Reader::getClutchPressed() const {
|
||||
inline bool CarState::Reader::getClutchPressedDEPRECATED() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<75>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool CarState::Builder::getClutchPressed() {
|
||||
inline bool CarState::Builder::getClutchPressedDEPRECATED() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<75>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarState::Builder::setClutchPressed(bool value) {
|
||||
inline void CarState::Builder::setClutchPressedDEPRECATED(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<75>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -4936,16 +5080,16 @@ inline void CarState::Builder::setRegenBraking(bool value) {
|
||||
::capnp::bounded<361>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarState::Reader::getEngineRpm() const {
|
||||
inline float CarState::Reader::getEngineRpmDEPRECATED() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<15>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarState::Builder::getEngineRpm() {
|
||||
inline float CarState::Builder::getEngineRpmDEPRECATED() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<15>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarState::Builder::setEngineRpm(float value) {
|
||||
inline void CarState::Builder::setEngineRpmDEPRECATED(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<15>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -5104,6 +5248,48 @@ inline void CarState::Builder::setButtonEnable(bool value) {
|
||||
::capnp::bounded<368>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarState::Reader::getSteeringDisengage() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<369>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool CarState::Builder::getSteeringDisengage() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<369>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarState::Builder::setSteeringDisengage(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<369>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarState::Reader::getStockLkas() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<370>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool CarState::Builder::getStockLkas() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<370>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarState::Builder::setStockLkas(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<370>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarState::Reader::getBlockPcmEnable() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<371>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool CarState::Builder::getBlockPcmEnable() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<371>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarState::Builder::setBlockPcmEnable(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<371>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarState::WheelSpeeds::Reader::getFl() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
@@ -5202,16 +5388,16 @@ inline void CarState::CruiseState::Builder::setAvailable(bool value) {
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarState::CruiseState::Reader::getSpeedOffset() const {
|
||||
inline float CarState::CruiseState::Reader::getSpeedOffsetDEPRECATED() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarState::CruiseState::Builder::getSpeedOffset() {
|
||||
inline float CarState::CruiseState::Builder::getSpeedOffsetDEPRECATED() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarState::CruiseState::Builder::setSpeedOffset(float value) {
|
||||
inline void CarState::CruiseState::Builder::setSpeedOffsetDEPRECATED(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -5286,41 +5472,41 @@ inline void CarState::ButtonEvent::Builder::setType( ::cereal::CarState::ButtonE
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool RadarData::Reader::hasErrors() const {
|
||||
inline bool RadarData::Reader::hasErrorsDEPRECATED() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool RadarData::Builder::hasErrors() {
|
||||
inline bool RadarData::Builder::hasErrorsDEPRECATED() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader RadarData::Reader::getErrors() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::get(_reader.getPointerField(
|
||||
inline ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>::Reader RadarData::Reader::getErrorsDEPRECATED() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>>::get(_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder RadarData::Builder::getErrors() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::get(_builder.getPointerField(
|
||||
inline ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>::Builder RadarData::Builder::getErrorsDEPRECATED() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>>::get(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void RadarData::Builder::setErrors( ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::set(_builder.getPointerField(
|
||||
inline void RadarData::Builder::setErrorsDEPRECATED( ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline void RadarData::Builder::setErrors(::kj::ArrayPtr<const ::cereal::RadarData::Error> value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::set(_builder.getPointerField(
|
||||
inline void RadarData::Builder::setErrorsDEPRECATED(::kj::ArrayPtr<const ::cereal::RadarData::ErrorDEPRECATED> value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>::Builder RadarData::Builder::initErrors(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::init(_builder.getPointerField(
|
||||
inline ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>::Builder RadarData::Builder::initErrorsDEPRECATED(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>>::init(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), size);
|
||||
}
|
||||
inline void RadarData::Builder::adoptErrors(
|
||||
::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::adopt(_builder.getPointerField(
|
||||
inline void RadarData::Builder::adoptErrorsDEPRECATED(
|
||||
::capnp::Orphan< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>> RadarData::Builder::disownErrors() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::Error, ::capnp::Kind::ENUM>>::disown(_builder.getPointerField(
|
||||
inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>> RadarData::Builder::disownErrorsDEPRECATED() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarData::ErrorDEPRECATED, ::capnp::Kind::ENUM>>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
@@ -5396,6 +5582,101 @@ inline ::capnp::Orphan< ::capnp::List< ::uint64_t, ::capnp::Kind::PRIMITIVE>> R
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool RadarData::Reader::hasErrors() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool RadarData::Builder::hasErrors() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::cereal::RadarData::Error::Reader RadarData::Reader::getErrors() const {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::RadarData::Error>::get(_reader.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::cereal::RadarData::Error::Builder RadarData::Builder::getErrors() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::RadarData::Error>::get(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS));
|
||||
}
|
||||
#if !CAPNP_LITE
|
||||
inline ::cereal::RadarData::Error::Pipeline RadarData::Pipeline::getErrors() {
|
||||
return ::cereal::RadarData::Error::Pipeline(_typeless.getPointerField(3));
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
inline void RadarData::Builder::setErrors( ::cereal::RadarData::Error::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::cereal::RadarData::Error>::set(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::cereal::RadarData::Error::Builder RadarData::Builder::initErrors() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::RadarData::Error>::init(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void RadarData::Builder::adoptErrors(
|
||||
::capnp::Orphan< ::cereal::RadarData::Error>&& value) {
|
||||
::capnp::_::PointerHelpers< ::cereal::RadarData::Error>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::cereal::RadarData::Error> RadarData::Builder::disownErrors() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::RadarData::Error>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool RadarData::Error::Reader::getCanError() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool RadarData::Error::Builder::getCanError() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void RadarData::Error::Builder::setCanError(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool RadarData::Error::Reader::getRadarFault() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool RadarData::Error::Builder::getRadarFault() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void RadarData::Error::Builder::setRadarFault(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool RadarData::Error::Reader::getWrongConfig() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool RadarData::Error::Builder::getWrongConfig() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void RadarData::Error::Builder::setWrongConfig(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool RadarData::Error::Reader::getRadarUnavailableTemporary() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool RadarData::Error::Builder::getRadarUnavailableTemporary() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void RadarData::Error::Builder::setRadarUnavailableTemporary(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::uint64_t RadarData::RadarPoint::Reader::getTrackId() const {
|
||||
return _reader.getDataField< ::uint64_t>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
@@ -6393,16 +6674,16 @@ inline void CarParams::Builder::setEnableCameraDEPRECATED(bool value) {
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarParams::Reader::getEnableDsu() const {
|
||||
inline bool CarParams::Reader::getEnableDsuDEPRECATED() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool CarParams::Builder::getEnableDsu() {
|
||||
inline bool CarParams::Builder::getEnableDsuDEPRECATED() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::Builder::setEnableDsu(bool value) {
|
||||
inline void CarParams::Builder::setEnableDsuDEPRECATED(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -7531,16 +7812,16 @@ inline void CarParams::Builder::setStartingState(bool value) {
|
||||
::capnp::bounded<994>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarParams::Reader::getExperimentalLongitudinalAvailable() const {
|
||||
inline bool CarParams::Reader::getAlphaLongitudinalAvailable() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<995>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool CarParams::Builder::getExperimentalLongitudinalAvailable() {
|
||||
inline bool CarParams::Builder::getAlphaLongitudinalAvailable() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<995>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::Builder::setExperimentalLongitudinalAvailable(bool value) {
|
||||
inline void CarParams::Builder::setAlphaLongitudinalAvailable(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<995>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -7615,6 +7896,20 @@ inline void CarParams::Builder::setSecOcKeyAvailable(bool value) {
|
||||
::capnp::bounded<998>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarParams::Reader::getSteerAtStandstill() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<999>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool CarParams::Builder::getSteerAtStandstill() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<999>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::Builder::setSteerAtStandstill(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<999>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::cereal::CarParams::SafetyModel CarParams::SafetyConfig::Reader::getSafetyModel() const {
|
||||
return _reader.getDataField< ::cereal::CarParams::SafetyModel>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
@@ -7913,44 +8208,44 @@ inline void CarParams::LateralPIDTuning::Builder::setKf(float value) {
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarParams::LateralTorqueTuning::Reader::getUseSteeringAngle() const {
|
||||
inline bool CarParams::LateralTorqueTuning::Reader::getUseSteeringAngleDEPRECATED() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool CarParams::LateralTorqueTuning::Builder::getUseSteeringAngle() {
|
||||
inline bool CarParams::LateralTorqueTuning::Builder::getUseSteeringAngleDEPRECATED() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setUseSteeringAngle(bool value) {
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setUseSteeringAngleDEPRECATED(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKp() const {
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKpDEPRECATED() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKp() {
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKpDEPRECATED() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKp(float value) {
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKpDEPRECATED(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKi() const {
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKiDEPRECATED() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKi() {
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKiDEPRECATED() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKi(float value) {
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKiDEPRECATED(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -7969,16 +8264,16 @@ inline void CarParams::LateralTorqueTuning::Builder::setFriction(float value) {
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKf() const {
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKfDEPRECATED() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKf() {
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKfDEPRECATED() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKf(float value) {
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKfDEPRECATED(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -8025,6 +8320,20 @@ inline void CarParams::LateralTorqueTuning::Builder::setLatAccelOffset(float val
|
||||
::capnp::bounded<7>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKdDEPRECATED() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<8>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKdDEPRECATED() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<8>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKdDEPRECATED(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<8>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarParams::LongitudinalPIDTuning::Reader::hasKpBP() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
@@ -8253,16 +8562,16 @@ inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> CarPara
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline float CarParams::LongitudinalPIDTuning::Reader::getKf() const {
|
||||
inline float CarParams::LongitudinalPIDTuning::Reader::getKfDEPRECATED() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarParams::LongitudinalPIDTuning::Builder::getKf() {
|
||||
inline float CarParams::LongitudinalPIDTuning::Builder::getKfDEPRECATED() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LongitudinalPIDTuning::Builder::setKf(float value) {
|
||||
inline void CarParams::LongitudinalPIDTuning::Builder::setKfDEPRECATED(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
+3918
-379
File diff suppressed because it is too large
Load Diff
+5381
-389
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
+8605
-8820
File diff suppressed because it is too large
Load Diff
+10591
-10622
File diff suppressed because it is too large
Load Diff
@@ -1,574 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# legacy.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
path @1 :Text;
|
||||
}
|
||||
|
||||
struct LiveUI @0xc08240f996aefced {
|
||||
rearViewCam @0 :Bool;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
awarenessStatus @3 :Float32;
|
||||
}
|
||||
|
||||
struct UiLayoutState @0x88dcce08ad29dda0 {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App @0x9917470acf94d285 {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
|
||||
correctionMonoTime @0 :UInt64;
|
||||
prePositionECEF @1 :List(Float64);
|
||||
postPositionECEF @2 :List(Float64);
|
||||
prePoseQuatECEF @3 :List(Float32);
|
||||
postPoseQuatECEF @4 :List(Float32);
|
||||
numInliers @5 :UInt32;
|
||||
}
|
||||
|
||||
struct EthernetPacket @0xa99a9d5b33cf5859 {
|
||||
pkt @0 :Data;
|
||||
ts @1 :Float32;
|
||||
}
|
||||
|
||||
struct CellInfo @0xcff7566681c277ce {
|
||||
timestamp @0 :UInt64;
|
||||
repr @1 :Text; # android toString() for now
|
||||
}
|
||||
|
||||
struct WifiScan @0xd4df5a192382ba0b {
|
||||
bssid @0 :Text;
|
||||
ssid @1 :Text;
|
||||
capabilities @2 :Text;
|
||||
frequency @3 :Int32;
|
||||
level @4 :Int32;
|
||||
timestamp @5 :Int64;
|
||||
|
||||
centerFreq0 @6 :Int32;
|
||||
centerFreq1 @7 :Int32;
|
||||
channelWidth @8 :ChannelWidth;
|
||||
operatorFriendlyName @9 :Text;
|
||||
venueName @10 :Text;
|
||||
is80211mcResponder @11 :Bool;
|
||||
passpoint @12 :Bool;
|
||||
|
||||
distanceCm @13 :Int32;
|
||||
distanceSdCm @14 :Int32;
|
||||
|
||||
enum ChannelWidth @0xcb6a279f015f6b51 {
|
||||
w20Mhz @0;
|
||||
w40Mhz @1;
|
||||
w80Mhz @2;
|
||||
w160Mhz @3;
|
||||
w80Plus80Mhz @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData @0x94b7baa90c5c321e {
|
||||
name @0 :Text;
|
||||
value @1 :Int32;
|
||||
}
|
||||
|
||||
struct ModelData @0xb8aad62cffef28a9 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
rightLane @3 :PathData;
|
||||
lead @4 :LeadData;
|
||||
freePath @6 :List(Float32);
|
||||
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
longitudinal @11 :LongitudinalData;
|
||||
|
||||
struct PathData @0x8817eeea389e9f08 {
|
||||
points @0 :List(Float32);
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData @0xd1c9bef96d26fa91 {
|
||||
dist @0 :Float32;
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
relVel @3 :Float32;
|
||||
relVelStd @4 :Float32;
|
||||
relY @5 :Float32;
|
||||
relYStd @6 :Float32;
|
||||
relA @7 :Float32;
|
||||
relAStd @8 :Float32;
|
||||
}
|
||||
|
||||
struct ModelSettings @0xa26e3710efd3e914 {
|
||||
bigBoxX @0 :UInt16;
|
||||
bigBoxY @1 :UInt16;
|
||||
bigBoxWidth @2 :UInt16;
|
||||
bigBoxHeight @3 :UInt16;
|
||||
boxProjection @4 :List(Float32);
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData @0x9744f25fb60f2bf8 {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LongitudinalData @0xf98f999c6a071122 {
|
||||
distances @2 :List(Float32);
|
||||
speeds @0 :List(Float32);
|
||||
accelerations @1 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct ECEFPoint @0xc25bbbd524983447 {
|
||||
x @0 :Float64;
|
||||
y @1 :Float64;
|
||||
z @2 :Float64;
|
||||
}
|
||||
|
||||
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
|
||||
x @0 :Float32;
|
||||
y @1 :Float32;
|
||||
z @2 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
|
||||
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
|
||||
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
|
||||
curPos @6 :ECEFPoint;
|
||||
points @7 :List(ECEFPoint);
|
||||
valid @2 :Bool;
|
||||
trackName @3 :Text;
|
||||
speedLimit @4 :Float32;
|
||||
accelTarget @5 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
|
||||
valid @0 :Bool;
|
||||
poly @1 :List(Float32);
|
||||
trackName @2 :Text;
|
||||
speed @3 :Float32;
|
||||
acceleration @4 :Float32;
|
||||
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
|
||||
points @6 :List(ECEFPoint);
|
||||
xLookahead @7 :Float32;
|
||||
}
|
||||
|
||||
struct UiNavigationEvent @0x90c8426c3eaddd3b {
|
||||
type @0: Type;
|
||||
status @1: Status;
|
||||
distanceTo @2: Float32;
|
||||
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
|
||||
endRoadPoint @4: ECEFPoint;
|
||||
|
||||
enum Type @0xe8db07dcf8fcea05 {
|
||||
none @0;
|
||||
laneChangeLeft @1;
|
||||
laneChangeRight @2;
|
||||
mergeLeft @3;
|
||||
mergeRight @4;
|
||||
turnLeft @5;
|
||||
turnRight @6;
|
||||
}
|
||||
|
||||
enum Status @0xb9aa88c75ef99a1f {
|
||||
none @0;
|
||||
passive @1;
|
||||
approaching @2;
|
||||
active @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData @0xb99b2bc7a57e8128 {
|
||||
status @0 :UInt8;
|
||||
|
||||
# 3D fix
|
||||
lat @1 :Float64;
|
||||
lon @2 :Float64;
|
||||
alt @3 :Float32; # m
|
||||
|
||||
# speed
|
||||
speed @4 :Float32; # m/s
|
||||
|
||||
# NED velocity components
|
||||
vNED @5 :List(Float32);
|
||||
|
||||
# roll, pitch, heading (x,y,z)
|
||||
roll @6 :Float32; # WRT to center of earth?
|
||||
pitch @7 :Float32; # WRT to center of earth?
|
||||
heading @8 :Float32; # WRT to north?
|
||||
|
||||
# what are these?
|
||||
wanderAngle @9 :Float32;
|
||||
trackAngle @10 :Float32;
|
||||
|
||||
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
|
||||
|
||||
# gyro, in car frame, deg/s
|
||||
gyro @11 :List(Float32);
|
||||
|
||||
# accel, in car frame, m/s^2
|
||||
accel @12 :List(Float32);
|
||||
|
||||
accuracy @13 :Accuracy;
|
||||
|
||||
source @14 :SensorSource;
|
||||
# if we are fixing a location in the past
|
||||
fixMonoTime @15 :UInt64;
|
||||
|
||||
gpsWeek @16 :Int32;
|
||||
timeOfWeek @17 :Float64;
|
||||
|
||||
positionECEF @18 :List(Float64);
|
||||
poseQuatECEF @19 :List(Float32);
|
||||
pitchCalibration @20 :Float32;
|
||||
yawCalibration @21 :Float32;
|
||||
imuFrame @22 :List(Float32);
|
||||
|
||||
struct Accuracy @0x943dc4625473b03f {
|
||||
pNEDError @0 :List(Float32);
|
||||
vNEDError @1 :List(Float32);
|
||||
rollError @2 :Float32;
|
||||
pitchError @3 :Float32;
|
||||
headingError @4 :Float32;
|
||||
ellipsoidSemiMajorError @5 :Float32;
|
||||
ellipsoidSemiMinorError @6 :Float32;
|
||||
ellipsoidOrientationError @7 :Float32;
|
||||
}
|
||||
|
||||
enum SensorSource @0xc871d3cc252af657 {
|
||||
applanix @0;
|
||||
kalman @1;
|
||||
orbslam @2;
|
||||
timing @3;
|
||||
dummy @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbOdometry @0xd7700859ed1f5b76 {
|
||||
# timing first
|
||||
startMonoTime @0 :UInt64;
|
||||
endMonoTime @1 :UInt64;
|
||||
|
||||
# fundamental matrix and error
|
||||
f @2: List(Float64);
|
||||
err @3: Float64;
|
||||
|
||||
# number of inlier points
|
||||
inliers @4: Int32;
|
||||
|
||||
# for debug only
|
||||
# indexed by endMonoTime features
|
||||
# value is startMonoTime feature match
|
||||
# -1 if no match
|
||||
matches @5: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeatures @0xcd60164a8a0159ef {
|
||||
timestampEof @0 :UInt64;
|
||||
# transposed arrays of normalized image coordinates
|
||||
# len(xs) == len(ys) == len(descriptors) * 32
|
||||
xs @1 :List(Float32);
|
||||
ys @2 :List(Float32);
|
||||
descriptors @3 :Data;
|
||||
octaves @4 :List(Int8);
|
||||
|
||||
# match index to last OrbFeatures
|
||||
# -1 if no match
|
||||
timestampLastEof @5 :UInt64;
|
||||
matches @6: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
|
||||
timestampEof @0 :UInt64;
|
||||
timestampLastEof @1 :UInt64;
|
||||
|
||||
featureCount @2 :UInt16;
|
||||
matchCount @3 :UInt16;
|
||||
computeNs @4 :UInt64;
|
||||
}
|
||||
|
||||
struct OrbKeyFrame @0xc8233c0345e27e24 {
|
||||
# this is a globally unique id for the KeyFrame
|
||||
id @0: UInt64;
|
||||
|
||||
# this is the location of the KeyFrame
|
||||
pos @1: ECEFPoint;
|
||||
|
||||
# these are the features in the world
|
||||
# len(dpos) == len(descriptors) * 32
|
||||
dpos @2 :List(ECEFPoint);
|
||||
descriptors @3 :Data;
|
||||
}
|
||||
|
||||
struct KalmanOdometry @0x92e21bb7ea38793a {
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct OrbObservation @0x9b326d4e436afec7 {
|
||||
observationMonoTime @0 :UInt64;
|
||||
normalizedCoordinates @1 :List(Float32);
|
||||
locationECEF @2 :List(Float64);
|
||||
matchDistance @3: UInt32;
|
||||
}
|
||||
|
||||
struct CalibrationFeatures @0x8fdfadb254ea867a {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
p0 @1 :List(Float32);
|
||||
p1 @2 :List(Float32);
|
||||
status @3 :List(Int8);
|
||||
}
|
||||
|
||||
struct NavStatus @0xbd8822120928120c {
|
||||
isNavigating @0 :Bool;
|
||||
currentAddress @1 :Address;
|
||||
|
||||
struct Address @0xce7cd672cacc7814 {
|
||||
title @0 :Text;
|
||||
lat @1 :Float64;
|
||||
lng @2 :Float64;
|
||||
house @3 :Text;
|
||||
address @4 :Text;
|
||||
street @5 :Text;
|
||||
city @6 :Text;
|
||||
state @7 :Text;
|
||||
country @8 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct NavUpdate @0xdb98be6565516acb {
|
||||
isNavigating @0 :Bool;
|
||||
curSegment @1 :Int32;
|
||||
segments @2 :List(Segment);
|
||||
|
||||
struct LatLng @0x9eaef9187cadbb9b {
|
||||
lat @0 :Float64;
|
||||
lng @1 :Float64;
|
||||
}
|
||||
|
||||
struct Segment @0xa5b39b4fc4d7da3f {
|
||||
from @0 :LatLng;
|
||||
to @1 :LatLng;
|
||||
updateTime @2 :Int32;
|
||||
distance @3 :Int32;
|
||||
crossTime @4 :Int32;
|
||||
exitNo @5 :Int32;
|
||||
instruction @6 :Instruction;
|
||||
|
||||
parts @7 :List(LatLng);
|
||||
|
||||
enum Instruction @0xc5417a637451246f {
|
||||
turnLeft @0;
|
||||
turnRight @1;
|
||||
keepLeft @2;
|
||||
keepRight @3;
|
||||
straight @4;
|
||||
roundaboutExitNumber @5;
|
||||
roundaboutExit @6;
|
||||
roundaboutTurnLeft @7;
|
||||
unkn8 @8;
|
||||
roundaboutStraight @9;
|
||||
unkn10 @10;
|
||||
roundaboutTurnRight @11;
|
||||
unkn12 @12;
|
||||
roundaboutUturn @13;
|
||||
unkn14 @14;
|
||||
arrive @15;
|
||||
exitLeft @16;
|
||||
exitRight @17;
|
||||
unkn18 @18;
|
||||
uturn @19;
|
||||
# ...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct TrafficEvent @0xacfa74a094e62626 {
|
||||
type @0 :Type;
|
||||
distance @1 :Float32;
|
||||
action @2 :Action;
|
||||
resuming @3 :Bool;
|
||||
|
||||
enum Type @0xd85d75253435bf4b {
|
||||
stopSign @0;
|
||||
lightRed @1;
|
||||
lightYellow @2;
|
||||
lightGreen @3;
|
||||
stopLight @4;
|
||||
}
|
||||
|
||||
enum Action @0xa6f6ce72165ccb49 {
|
||||
none @0;
|
||||
yield @1;
|
||||
stop @2;
|
||||
resumeReady @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct AndroidGnss @0xdfdf30d03fc485bd {
|
||||
union {
|
||||
measurements @0 :Measurements;
|
||||
navigationMessage @1 :NavigationMessage;
|
||||
}
|
||||
|
||||
struct Measurements @0xa20710d4f428d6cd {
|
||||
clock @0 :Clock;
|
||||
measurements @1 :List(Measurement);
|
||||
|
||||
struct Clock @0xa0e27b453a38f450 {
|
||||
timeNanos @0 :Int64;
|
||||
hardwareClockDiscontinuityCount @1 :Int32;
|
||||
|
||||
hasTimeUncertaintyNanos @2 :Bool;
|
||||
timeUncertaintyNanos @3 :Float64;
|
||||
|
||||
hasLeapSecond @4 :Bool;
|
||||
leapSecond @5 :Int32;
|
||||
|
||||
hasFullBiasNanos @6 :Bool;
|
||||
fullBiasNanos @7 :Int64;
|
||||
|
||||
hasBiasNanos @8 :Bool;
|
||||
biasNanos @9 :Float64;
|
||||
|
||||
hasBiasUncertaintyNanos @10 :Bool;
|
||||
biasUncertaintyNanos @11 :Float64;
|
||||
|
||||
hasDriftNanosPerSecond @12 :Bool;
|
||||
driftNanosPerSecond @13 :Float64;
|
||||
|
||||
hasDriftUncertaintyNanosPerSecond @14 :Bool;
|
||||
driftUncertaintyNanosPerSecond @15 :Float64;
|
||||
}
|
||||
|
||||
struct Measurement @0xd949bf717d77614d {
|
||||
svId @0 :Int32;
|
||||
constellation @1 :Constellation;
|
||||
|
||||
timeOffsetNanos @2 :Float64;
|
||||
state @3 :Int32;
|
||||
receivedSvTimeNanos @4 :Int64;
|
||||
receivedSvTimeUncertaintyNanos @5 :Int64;
|
||||
cn0DbHz @6 :Float64;
|
||||
pseudorangeRateMetersPerSecond @7 :Float64;
|
||||
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
|
||||
accumulatedDeltaRangeState @9 :Int32;
|
||||
accumulatedDeltaRangeMeters @10 :Float64;
|
||||
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
|
||||
|
||||
hasCarrierFrequencyHz @12 :Bool;
|
||||
carrierFrequencyHz @13 :Float32;
|
||||
hasCarrierCycles @14 :Bool;
|
||||
carrierCycles @15 :Int64;
|
||||
hasCarrierPhase @16 :Bool;
|
||||
carrierPhase @17 :Float64;
|
||||
hasCarrierPhaseUncertainty @18 :Bool;
|
||||
carrierPhaseUncertainty @19 :Float64;
|
||||
hasSnrInDb @20 :Bool;
|
||||
snrInDb @21 :Float64;
|
||||
|
||||
multipathIndicator @22 :MultipathIndicator;
|
||||
|
||||
enum Constellation @0x9ef1f3ff0deb5ffb {
|
||||
unknown @0;
|
||||
gps @1;
|
||||
sbas @2;
|
||||
glonass @3;
|
||||
qzss @4;
|
||||
beidou @5;
|
||||
galileo @6;
|
||||
}
|
||||
|
||||
enum State @0xcbb9490adce12d72 {
|
||||
unknown @0;
|
||||
codeLock @1;
|
||||
bitSync @2;
|
||||
subframeSync @3;
|
||||
towDecoded @4;
|
||||
msecAmbiguous @5;
|
||||
symbolSync @6;
|
||||
gloStringSync @7;
|
||||
gloTodDecoded @8;
|
||||
bdsD2BitSync @9;
|
||||
bdsD2SubframeSync @10;
|
||||
galE1bcCodeLock @11;
|
||||
galE1c2ndCodeLock @12;
|
||||
galE1bPageSync @13;
|
||||
sbasSync @14;
|
||||
}
|
||||
|
||||
enum MultipathIndicator @0xc04e7b6231d4caa8 {
|
||||
unknown @0;
|
||||
detected @1;
|
||||
notDetected @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct NavigationMessage @0xe2517b083095fd4e {
|
||||
type @0 :Int32;
|
||||
svId @1 :Int32;
|
||||
messageId @2 :Int32;
|
||||
submessageId @3 :Int32;
|
||||
data @4 :Data;
|
||||
status @5 :Status;
|
||||
|
||||
enum Status @0xec1ff7996b35366f {
|
||||
unknown @0;
|
||||
parityPassed @1;
|
||||
parityRebuilt @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
reflect @2 :List(UInt8); # uint8 0-255
|
||||
|
||||
# For storing out of file.
|
||||
idx @3 :UInt64;
|
||||
|
||||
# For storing in file
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
|
||||
+474
-489
File diff suppressed because it is too large
Load Diff
@@ -1,10 +1,8 @@
|
||||
# must be built with scons
|
||||
from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
from msgq.ipc_pyx import MultiplePublishersError, IpcError
|
||||
from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
|
||||
from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
|
||||
Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
import msgq
|
||||
|
||||
import os
|
||||
import capnp
|
||||
import time
|
||||
@@ -13,11 +11,25 @@ from typing import Optional, List, Union, Dict
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.util import MovingAverage
|
||||
from openpilot.common.utils import MovingAverage
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.pub_sock(endpoint, segment_size)
|
||||
|
||||
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
|
||||
timeout=timeout, segment_size=segment_size)
|
||||
|
||||
|
||||
def reset_context():
|
||||
msgq.context = Context()
|
||||
|
||||
@@ -145,12 +157,16 @@ class SubMaster:
|
||||
self.updated = {s: False for s in services}
|
||||
self.recv_time = {s: 0. for s in services}
|
||||
self.recv_frame = {s: 0 for s in services}
|
||||
self.alive = {s: False for s in services}
|
||||
self.freq_ok = {s: False for s in services}
|
||||
self.sock = {}
|
||||
self.data = {}
|
||||
self.valid = {}
|
||||
self.logMonoTime = {}
|
||||
self.logMonoTime = {s: 0 for s in services}
|
||||
|
||||
# zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
|
||||
on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
|
||||
self.static_freq_services = set(s for s in services if not on_demand[s])
|
||||
self.alive = {s: on_demand[s] for s in services}
|
||||
self.freq_ok = {s: on_demand[s] for s in services}
|
||||
self.valid = {s: on_demand[s] for s in services}
|
||||
|
||||
self.freq_tracker: Dict[str, FrequencyTracker] = {}
|
||||
self.poller = Poller()
|
||||
@@ -177,8 +193,6 @@ class SubMaster:
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data.as_reader(), s)
|
||||
self.logMonoTime[s] = 0
|
||||
self.valid[s] = False
|
||||
self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
|
||||
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
@@ -215,14 +229,10 @@ class SubMaster:
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
for s in self.services:
|
||||
if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
|
||||
# alive if delay is within 10x the expected frequency
|
||||
self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
|
||||
self.freq_ok[s] = self.freq_tracker[s].valid
|
||||
else:
|
||||
self.freq_ok[s] = True
|
||||
self.alive[s] = self.seen[s] if self.simulation else True
|
||||
for s in self.static_freq_services:
|
||||
# alive if delay is within 10x the expected frequency; checks relaxed in simulator
|
||||
self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
|
||||
self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
|
||||
|
||||
def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
|
||||
@@ -249,11 +259,11 @@ class PubMaster:
|
||||
self.sock[s].send(dat)
|
||||
|
||||
def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
|
||||
for _ in range(int(timeout*(1./dt))):
|
||||
if self.sock[s].all_readers_updated():
|
||||
return True
|
||||
time.sleep(dt)
|
||||
return False
|
||||
try:
|
||||
self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
|
||||
return True
|
||||
except TimeoutError:
|
||||
return False
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated() # type: ignore
|
||||
return self.sock[s].all_readers_updated()
|
||||
|
||||
Binary file not shown.
@@ -0,0 +1,72 @@
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
ExitHandler do_exit;
|
||||
|
||||
static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
|
||||
std::vector<std::string> service_list;
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.second.name;
|
||||
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
|
||||
if (zmq_to_msgq && !in_whitelist) {
|
||||
continue;
|
||||
}
|
||||
service_list.push_back(name);
|
||||
}
|
||||
return service_list;
|
||||
}
|
||||
|
||||
void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
MsgqToZmq bridge;
|
||||
bridge.run(endpoints, ip);
|
||||
}
|
||||
|
||||
void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
auto poller = std::make_unique<BridgeZmqPoller>();
|
||||
auto pub_context = std::make_unique<Context>();
|
||||
auto sub_context = std::make_unique<BridgeZmqContext>();
|
||||
std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
|
||||
|
||||
for (auto endpoint : endpoints) {
|
||||
auto pub_sock = new PubSocket();
|
||||
auto sub_sock = new BridgeZmqSubSocket();
|
||||
size_t queue_size = services.at(endpoint).queue_size;
|
||||
pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
|
||||
sub_sock->connect(sub_context.get(), endpoint, ip, false);
|
||||
|
||||
poller->registerSocket(sub_sock);
|
||||
sub2pub[sub_sock] = pub_sock;
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
for (auto sub_sock : poller->poll(100)) {
|
||||
std::unique_ptr<Message> msg(sub_sock->receive(true));
|
||||
if (msg) {
|
||||
sub2pub[sub_sock]->sendMessage(msg.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up allocated sockets
|
||||
for (auto &[sub_sock, pub_sock] : sub2pub) {
|
||||
delete sub_sock;
|
||||
delete pub_sock;
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
bool is_zmq_to_msgq = argc > 2;
|
||||
std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
|
||||
std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
|
||||
std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
|
||||
|
||||
if (is_zmq_to_msgq) {
|
||||
zmq_to_msgq(endpoints, ip);
|
||||
} else {
|
||||
msgq_to_zmq(endpoints, ip);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,170 @@
|
||||
#include "cereal/messaging/bridge_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <unistd.h>
|
||||
|
||||
static size_t fnv1a_hash(const std::string &str) {
|
||||
const size_t fnv_prime = 0x100000001b3;
|
||||
size_t hash_value = 0xcbf29ce484222325;
|
||||
for (char c : str) {
|
||||
hash_value ^= (unsigned char)c;
|
||||
hash_value *= fnv_prime;
|
||||
}
|
||||
return hash_value;
|
||||
}
|
||||
|
||||
// FIXME: This is a hack to get the port number from the socket name, might have collisions.
|
||||
static int get_port(std::string endpoint) {
|
||||
size_t hash_value = fnv1a_hash(endpoint);
|
||||
int start_port = 8023;
|
||||
int max_port = 65535;
|
||||
return start_port + (hash_value % (max_port - start_port));
|
||||
}
|
||||
|
||||
BridgeZmqContext::BridgeZmqContext() {
|
||||
context = zmq_ctx_new();
|
||||
}
|
||||
|
||||
BridgeZmqContext::~BridgeZmqContext() {
|
||||
if (context != nullptr) {
|
||||
zmq_ctx_term(context);
|
||||
}
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::init(char *d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::close() {
|
||||
if (size > 0) {
|
||||
delete[] data;
|
||||
}
|
||||
data = nullptr;
|
||||
size = 0;
|
||||
}
|
||||
|
||||
BridgeZmqMessage::~BridgeZmqMessage() {
|
||||
close();
|
||||
}
|
||||
|
||||
int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
|
||||
if (sock == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
|
||||
|
||||
if (conflate) {
|
||||
int arg = 1;
|
||||
zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
|
||||
}
|
||||
|
||||
int reconnect_ivl = 500;
|
||||
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
|
||||
|
||||
full_endpoint = "tcp://" + address + ":";
|
||||
if (check_endpoint) {
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
void BridgeZmqSubSocket::setTimeout(int timeout) {
|
||||
zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
|
||||
}
|
||||
|
||||
Message *BridgeZmqSubSocket::receive(bool non_blocking) {
|
||||
zmq_msg_t msg;
|
||||
assert(zmq_msg_init(&msg) == 0);
|
||||
|
||||
int flags = non_blocking ? ZMQ_DONTWAIT : 0;
|
||||
int rc = zmq_msg_recv(&msg, sock, flags);
|
||||
|
||||
Message *ret = nullptr;
|
||||
if (rc >= 0) {
|
||||
ret = new BridgeZmqMessage;
|
||||
ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
|
||||
zmq_msg_close(&msg);
|
||||
return ret;
|
||||
}
|
||||
|
||||
BridgeZmqSubSocket::~BridgeZmqSubSocket() {
|
||||
if (sock != nullptr) {
|
||||
zmq_close(sock);
|
||||
}
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
if (check_endpoint) {
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
// ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
|
||||
pid = getpid();
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::sendMessage(Message *message) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::send(char *data, size_t size) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, data, size, ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
BridgeZmqPubSocket::~BridgeZmqPubSocket() {
|
||||
if (sock != nullptr) {
|
||||
zmq_close(sock);
|
||||
}
|
||||
}
|
||||
|
||||
void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
|
||||
assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
|
||||
polls[num_polls].socket = socket->getRawSocket();
|
||||
polls[num_polls].events = ZMQ_POLLIN;
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
}
|
||||
|
||||
std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
|
||||
std::vector<BridgeZmqSubSocket *> ret;
|
||||
|
||||
int rc = zmq_poll(polls, num_polls, timeout);
|
||||
if (rc < 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < num_polls; i++) {
|
||||
if (polls[i].revents) {
|
||||
ret.push_back(sockets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -0,0 +1,72 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include <zmq.h>
|
||||
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
class BridgeZmqContext {
|
||||
public:
|
||||
BridgeZmqContext();
|
||||
void *getRawContext() { return context; }
|
||||
~BridgeZmqContext();
|
||||
|
||||
private:
|
||||
void *context = nullptr;
|
||||
};
|
||||
|
||||
class BridgeZmqMessage : public Message {
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
void close();
|
||||
size_t getSize() { return size; }
|
||||
char *getData() { return data; }
|
||||
~BridgeZmqMessage();
|
||||
|
||||
private:
|
||||
char *data = nullptr;
|
||||
size_t size = 0;
|
||||
};
|
||||
|
||||
class BridgeZmqSubSocket {
|
||||
public:
|
||||
int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
|
||||
void setTimeout(int timeout);
|
||||
Message *receive(bool non_blocking = false);
|
||||
void *getRawSocket() { return sock; }
|
||||
~BridgeZmqSubSocket();
|
||||
|
||||
private:
|
||||
void *sock = nullptr;
|
||||
std::string full_endpoint;
|
||||
};
|
||||
|
||||
class BridgeZmqPubSocket {
|
||||
public:
|
||||
int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
void *getRawSocket() { return sock; }
|
||||
~BridgeZmqPubSocket();
|
||||
|
||||
private:
|
||||
void *sock = nullptr;
|
||||
std::string full_endpoint;
|
||||
int pid = -1;
|
||||
};
|
||||
|
||||
class BridgeZmqPoller {
|
||||
public:
|
||||
void registerSocket(BridgeZmqSubSocket *socket);
|
||||
std::vector<BridgeZmqSubSocket *> poll(int timeout);
|
||||
|
||||
private:
|
||||
static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
|
||||
std::vector<BridgeZmqSubSocket *> sockets;
|
||||
zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
|
||||
size_t num_polls = 0;
|
||||
};
|
||||
@@ -0,0 +1,146 @@
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
extern ExitHandler do_exit;
|
||||
|
||||
// Max messages to process per socket per poll
|
||||
constexpr int MAX_MESSAGES_PER_SOCKET = 50;
|
||||
|
||||
static std::string recv_zmq_msg(void *sock) {
|
||||
zmq_msg_t msg;
|
||||
zmq_msg_init(&msg);
|
||||
std::string ret;
|
||||
if (zmq_msg_recv(&msg, sock, 0) > 0) {
|
||||
ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
zmq_msg_close(&msg);
|
||||
return ret;
|
||||
}
|
||||
|
||||
void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
zmq_context = std::make_unique<BridgeZmqContext>();
|
||||
msgq_context = std::make_unique<Context>();
|
||||
|
||||
// Create ZMQPubSockets for each endpoint
|
||||
for (const auto &endpoint : endpoints) {
|
||||
auto &socket_pair = socket_pairs.emplace_back();
|
||||
socket_pair.endpoint = endpoint;
|
||||
socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
|
||||
int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
|
||||
if (ret != 0) {
|
||||
printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// Start ZMQ monitoring thread to monitor socket events
|
||||
std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
|
||||
|
||||
// Main loop for processing messages
|
||||
while (!do_exit) {
|
||||
{
|
||||
std::unique_lock lk(mutex);
|
||||
cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
|
||||
if (do_exit) break;
|
||||
|
||||
for (auto sub_sock : msgq_poller->poll(100)) {
|
||||
// Process messages for each socket
|
||||
BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
|
||||
auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
|
||||
if (!msg) break;
|
||||
|
||||
while (pub_sock->sendMessage(msg.get()) == -1) {
|
||||
if (errno != EINTR) break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
util::sleep_for(1); // Give zmqMonitorThread a chance to acquire the mutex
|
||||
}
|
||||
|
||||
thread.join();
|
||||
}
|
||||
|
||||
void MsgqToZmq::zmqMonitorThread() {
|
||||
std::vector<zmq_pollitem_t> pollitems;
|
||||
|
||||
// Set up ZMQ monitor for each pub socket
|
||||
for (int i = 0; i < socket_pairs.size(); ++i) {
|
||||
std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
|
||||
void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
|
||||
zmq_connect(monitor_socket, addr.c_str());
|
||||
pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
|
||||
if (ret < 0) {
|
||||
if (errno == EINTR) {
|
||||
// Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
|
||||
// to reduce CPU usage during retry attempts.
|
||||
util::sleep_for(200);
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
if (pollitems[i].revents & ZMQ_POLLIN) {
|
||||
// First frame in message contains event number and value
|
||||
std::string frame = recv_zmq_msg(pollitems[i].socket);
|
||||
if (frame.empty()) continue;
|
||||
|
||||
uint16_t event_type = *(uint16_t *)(frame.data());
|
||||
|
||||
// Second frame in message contains event address
|
||||
frame = recv_zmq_msg(pollitems[i].socket);
|
||||
if (frame.empty()) continue;
|
||||
|
||||
std::unique_lock lk(mutex);
|
||||
auto &pair = socket_pairs[i];
|
||||
if (event_type & ZMQ_EVENT_ACCEPTED) {
|
||||
printf("socket [%s] connected\n", pair.endpoint.c_str());
|
||||
if (++pair.connected_clients == 1) {
|
||||
// Create new MSGQ subscriber socket and map to ZMQ publisher
|
||||
pair.sub_sock = std::make_unique<MSGQSubSocket>();
|
||||
size_t queue_size = services.at(pair.endpoint).queue_size;
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
|
||||
sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
|
||||
registerSockets();
|
||||
}
|
||||
} else if (event_type & ZMQ_EVENT_DISCONNECTED) {
|
||||
printf("socket [%s] disconnected\n", pair.endpoint.c_str());
|
||||
if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
|
||||
// Remove MSGQ subscriber socket from mapping and reset it
|
||||
sub2pub.erase(pair.sub_sock.get());
|
||||
pair.sub_sock.reset(nullptr);
|
||||
registerSockets();
|
||||
}
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up monitor sockets
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
|
||||
zmq_close(pollitems[i].socket);
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
|
||||
void MsgqToZmq::registerSockets() {
|
||||
msgq_poller = std::make_unique<MSGQPoller>();
|
||||
for (const auto &socket_pair : socket_pairs) {
|
||||
if (socket_pair.sub_sock) {
|
||||
msgq_poller->registerSocket(socket_pair.sub_sock.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -7,9 +7,8 @@
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define private public
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
#include "cereal/messaging/bridge_zmq.h"
|
||||
|
||||
class MsgqToZmq {
|
||||
public:
|
||||
@@ -22,16 +21,16 @@ protected:
|
||||
|
||||
struct SocketPair {
|
||||
std::string endpoint;
|
||||
std::unique_ptr<ZMQPubSocket> pub_sock;
|
||||
std::unique_ptr<BridgeZmqPubSocket> pub_sock;
|
||||
std::unique_ptr<MSGQSubSocket> sub_sock;
|
||||
int connected_clients = 0;
|
||||
};
|
||||
|
||||
std::unique_ptr<MSGQContext> msgq_context;
|
||||
std::unique_ptr<ZMQContext> zmq_context;
|
||||
std::unique_ptr<Context> msgq_context;
|
||||
std::unique_ptr<BridgeZmqContext> zmq_context;
|
||||
std::mutex mutex;
|
||||
std::condition_variable cv;
|
||||
std::unique_ptr<MSGQPoller> msgq_poller;
|
||||
std::map<SubSocket *, ZMQPubSocket *> sub2pub;
|
||||
std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
|
||||
std::vector<SocketPair> socket_pairs;
|
||||
};
|
||||
|
||||
@@ -0,0 +1,204 @@
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
#include <mutex>
|
||||
|
||||
#include "cereal/services.h"
|
||||
#include "cereal/messaging/messaging.h"
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
static inline bool inList(const std::vector<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
class MessageContext {
|
||||
public:
|
||||
MessageContext() : ctx_(nullptr) {}
|
||||
~MessageContext() { delete ctx_; }
|
||||
inline Context *context() {
|
||||
std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
|
||||
return ctx_;
|
||||
}
|
||||
private:
|
||||
Context *ctx_;
|
||||
std::once_flag init_flag;
|
||||
};
|
||||
|
||||
MessageContext message_context;
|
||||
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
float freq = 0.0f;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
bool is_polled = false;
|
||||
capnp::FlatArrayMessageReader *msg_reader = nullptr;
|
||||
AlignedBuffer aligned_buf;
|
||||
cereal::Event::Reader event;
|
||||
};
|
||||
|
||||
SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
|
||||
const char *address, const std::vector<const char *> &ignore_alive) {
|
||||
poller_ = Poller::create();
|
||||
for (auto name : service_list) {
|
||||
assert(services.count(std::string(name)) > 0);
|
||||
|
||||
service serv = services.at(std::string(name));
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
|
||||
assert(socket != 0);
|
||||
bool is_polled = inList(poll, name) || poll.empty();
|
||||
if (is_polled) poller_->registerSocket(socket);
|
||||
SubMessage *m = new SubMessage{
|
||||
.name = name,
|
||||
.socket = socket,
|
||||
.freq = serv.frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.is_polled = is_polled};
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
|
||||
messages_[socket] = m;
|
||||
services_[name] = m;
|
||||
}
|
||||
}
|
||||
|
||||
void SubMaster::update(int timeout) {
|
||||
for (auto &kv : messages_) kv.second->updated = false;
|
||||
|
||||
auto sockets = poller_->poll(timeout);
|
||||
|
||||
// add non-polled sockets for non-blocking receive
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
SubSocket *s = kv.first;
|
||||
if (!m->is_polled) sockets.push_back(s);
|
||||
}
|
||||
|
||||
uint64_t current_time = nanos_since_boot();
|
||||
|
||||
std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
|
||||
|
||||
for (auto s : sockets) {
|
||||
Message *msg = s->receive(true);
|
||||
if (msg == nullptr) continue;
|
||||
|
||||
SubMessage *m = messages_.at(s);
|
||||
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
capnp::ReaderOptions options;
|
||||
options.traversalLimitInWords = kj::maxValue; // Don't limit
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
|
||||
delete msg;
|
||||
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
|
||||
}
|
||||
|
||||
update_msgs(current_time, messages);
|
||||
}
|
||||
|
||||
void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
|
||||
if (++frame == UINT64_MAX) frame = 1;
|
||||
|
||||
for (auto &kv : messages) {
|
||||
auto m_find = services_.find(kv.first);
|
||||
if (m_find == services_.end()){
|
||||
continue;
|
||||
}
|
||||
SubMessage *m = m_find->second;
|
||||
m->event = kv.second;
|
||||
m->updated = true;
|
||||
m->rcv_time = current_time;
|
||||
m->rcv_frame = frame;
|
||||
m->valid = m->event.getValid();
|
||||
if (SIMULATION) m->alive = true;
|
||||
}
|
||||
|
||||
if (!SIMULATION) {
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
|
||||
int found = 0;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
|
||||
found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
|
||||
}
|
||||
}
|
||||
return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
|
||||
}
|
||||
|
||||
void SubMaster::drain() {
|
||||
while (true) {
|
||||
auto polls = poller_->poll(0);
|
||||
if (polls.size() == 0)
|
||||
break;
|
||||
|
||||
for (auto sock : polls) {
|
||||
Message *msg = sock->receive(true);
|
||||
delete msg;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::updated(const char *name) const {
|
||||
return services_.at(name)->updated;
|
||||
}
|
||||
|
||||
bool SubMaster::alive(const char *name) const {
|
||||
return services_.at(name)->alive;
|
||||
}
|
||||
|
||||
bool SubMaster::valid(const char *name) const {
|
||||
return services_.at(name)->valid;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_frame(const char *name) const {
|
||||
return services_.at(name)->rcv_frame;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_time(const char *name) const {
|
||||
return services_.at(name)->rcv_time;
|
||||
}
|
||||
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) const {
|
||||
return services_.at(name)->event;
|
||||
}
|
||||
|
||||
SubMaster::~SubMaster() {
|
||||
delete poller_;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
free(m->allocated_msg_reader);
|
||||
delete m->socket;
|
||||
delete m;
|
||||
}
|
||||
}
|
||||
|
||||
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
|
||||
for (auto name : service_list) {
|
||||
assert(services.count(name) > 0);
|
||||
service serv = services.at(std::string(name));
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
|
||||
assert(socket);
|
||||
sockets_[name] = socket;
|
||||
}
|
||||
}
|
||||
|
||||
int PubMaster::send(const char *name, MessageBuilder &msg) {
|
||||
auto bytes = msg.toBytes();
|
||||
return send(name, bytes.begin(), bytes.size());
|
||||
}
|
||||
|
||||
PubMaster::~PubMaster() {
|
||||
for (auto s : sockets_) delete s.second;
|
||||
}
|
||||
@@ -5,7 +5,7 @@ import numbers
|
||||
import random
|
||||
import threading
|
||||
import time
|
||||
from parameterized import parameterized
|
||||
from openpilot.common.parameterized import parameterized
|
||||
import pytest
|
||||
|
||||
from cereal import log, car
|
||||
@@ -30,7 +30,7 @@ def zmq_sleep(t=1):
|
||||
|
||||
# TODO: this should take any capnp struct and returrn a msg with random populated data
|
||||
def random_carstate():
|
||||
fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"]
|
||||
fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
|
||||
msg = messaging.new_message("carState")
|
||||
cs = msg.carState
|
||||
for f in fields:
|
||||
@@ -177,8 +177,8 @@ class TestMessaging:
|
||||
|
||||
# wait 5 socket timeouts before sending
|
||||
msg = random_carstate()
|
||||
delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
|
||||
start_time = time.monotonic()
|
||||
delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
|
||||
recvd = messaging.recv_one_retry(sub_sock)
|
||||
assert (time.monotonic() - start_time) >= sock_timeout*5
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
|
||||
@@ -6,6 +6,7 @@ import cereal.messaging as messaging
|
||||
from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
|
||||
random_bytes, random_carstate, assert_carstate, \
|
||||
zmq_sleep
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
|
||||
class TestSubMaster:
|
||||
@@ -26,7 +27,9 @@ class TestSubMaster:
|
||||
sm = messaging.SubMaster(socks)
|
||||
assert sm.frame == -1
|
||||
assert not any(sm.updated.values())
|
||||
assert not any(sm.alive.values())
|
||||
assert not any(sm.seen.values())
|
||||
on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
|
||||
assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
|
||||
assert all(t == 0. for t in sm.recv_time.values())
|
||||
assert all(f == 0 for f in sm.recv_frame.values())
|
||||
assert all(t == 0 for t in sm.logMonoTime.values())
|
||||
@@ -83,6 +86,7 @@ class TestSubMaster:
|
||||
"cameraOdometry": (20, 10),
|
||||
"liveCalibration": (4, 4),
|
||||
"carParams": (None, None),
|
||||
"userBookmark": (None, None),
|
||||
}
|
||||
|
||||
for service, (max_freq, min_freq) in checks.items():
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
import tempfile
|
||||
from typing import Dict
|
||||
from parameterized import parameterized
|
||||
from openpilot.common.parameterized import parameterized
|
||||
|
||||
import cereal.services as services
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
+256
@@ -0,0 +1,256 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
|
||||
|
||||
Rules (per struct matched across sides by typeId):
|
||||
R1 shared ordinal must reference the same type.
|
||||
R2 sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
|
||||
R3 sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
|
||||
R4 upstream-only ordinal -> OK.
|
||||
R5 sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from typing import Any
|
||||
|
||||
NO_DISCRIMINANT = 0xFFFF
|
||||
|
||||
|
||||
def hex_id(value: int) -> str:
|
||||
return f"0x{value:016x}"
|
||||
|
||||
|
||||
def encode_type(type_node: Any) -> dict:
|
||||
which = type_node.which()
|
||||
if which == "struct":
|
||||
return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
|
||||
if which == "enum":
|
||||
return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
|
||||
if which == "interface":
|
||||
return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
|
||||
if which == "list":
|
||||
return {"kind": "list", "element": encode_type(type_node.list.elementType)}
|
||||
if which == "anyPointer":
|
||||
return {"kind": "anyPointer"}
|
||||
return {"kind": which}
|
||||
|
||||
|
||||
def encode_field(name: str, field: Any) -> dict:
|
||||
proto = field.proto
|
||||
ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
|
||||
discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
|
||||
|
||||
if proto.which() == "group":
|
||||
type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
|
||||
else:
|
||||
type_desc = encode_type(proto.slot.type)
|
||||
|
||||
return {
|
||||
"name": name,
|
||||
"ordinal": ordinal,
|
||||
"discriminant": discriminant,
|
||||
"type": type_desc,
|
||||
}
|
||||
|
||||
|
||||
def encode_struct(schema: Any) -> dict:
|
||||
node = schema.node
|
||||
return {
|
||||
"typeId": hex_id(node.id),
|
||||
"displayName": node.displayName,
|
||||
"hasUnion": node.struct.discriminantCount > 0,
|
||||
"fields": [encode_field(name, field) for name, field in schema.fields.items()],
|
||||
}
|
||||
|
||||
|
||||
def _child_struct_schema(field: Any) -> Any:
|
||||
proto = field.proto
|
||||
if proto.which() == "group":
|
||||
return field.schema
|
||||
type_node = proto.slot.type
|
||||
which = type_node.which()
|
||||
if which == "struct":
|
||||
return field.schema
|
||||
if which == "list":
|
||||
container = field.schema
|
||||
element_type = type_node.list.elementType
|
||||
while element_type.which() == "list":
|
||||
container = container.elementType
|
||||
element_type = element_type.list.elementType
|
||||
if element_type.which() == "struct":
|
||||
return container.elementType
|
||||
return None
|
||||
|
||||
|
||||
def collect_schema(root: Any) -> dict[str, dict]:
|
||||
structs: dict[str, dict] = {}
|
||||
stack = [root]
|
||||
while stack:
|
||||
schema = stack.pop()
|
||||
type_id = hex_id(schema.node.id)
|
||||
if type_id in structs:
|
||||
continue
|
||||
structs[type_id] = encode_struct(schema)
|
||||
for _name, field in schema.fields.items():
|
||||
try:
|
||||
child = _child_struct_schema(field)
|
||||
except Exception:
|
||||
child = None
|
||||
if child is not None:
|
||||
stack.append(child)
|
||||
return structs
|
||||
|
||||
|
||||
def load_log(cereal_dir: str) -> Any:
|
||||
import capnp
|
||||
cereal_dir = os.path.abspath(cereal_dir)
|
||||
capnp.remove_import_hook()
|
||||
return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
|
||||
|
||||
|
||||
def dump_schema(cereal_dir: str, path: str) -> None:
|
||||
log = load_log(cereal_dir)
|
||||
payload = {
|
||||
"root": hex_id(log.Event.schema.node.id),
|
||||
"structs": collect_schema(log.Event.schema),
|
||||
}
|
||||
with open(path, "w", encoding="utf-8") as handle:
|
||||
json.dump(payload, handle, indent=2, sort_keys=True)
|
||||
print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
|
||||
|
||||
|
||||
def types_equal(a: dict, b: dict) -> bool:
|
||||
if a.get("kind") != b.get("kind"):
|
||||
return False
|
||||
kind = a["kind"]
|
||||
if kind in ("struct", "enum", "interface", "group"):
|
||||
return a.get("typeId") == b.get("typeId")
|
||||
if kind == "list":
|
||||
return types_equal(a["element"], b["element"])
|
||||
return True
|
||||
|
||||
|
||||
def type_repr(t: dict) -> str:
|
||||
kind = t.get("kind", "?")
|
||||
if kind in ("struct", "enum", "interface", "group"):
|
||||
return f"{kind}({t.get('typeId')})"
|
||||
if kind == "list":
|
||||
return f"list<{type_repr(t['element'])}>"
|
||||
return kind
|
||||
|
||||
|
||||
def field_is_union_variant(field: dict) -> bool:
|
||||
return field.get("discriminant") is not None
|
||||
|
||||
|
||||
def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
|
||||
indexed: dict[int, dict] = {}
|
||||
for field in struct["fields"]:
|
||||
ordinal = field.get("ordinal")
|
||||
if ordinal is None:
|
||||
continue
|
||||
indexed[ordinal] = field
|
||||
return indexed
|
||||
|
||||
|
||||
def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
|
||||
violations: list[str] = []
|
||||
sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
|
||||
upstream_structs: dict[str, dict] = upstream_dump["structs"]
|
||||
|
||||
sunnypilot_struct_referenced_from_shared: set[str] = set()
|
||||
|
||||
for type_id, sunnypilot_struct in sunnypilot_structs.items():
|
||||
upstream_struct = upstream_structs.get(type_id)
|
||||
if upstream_struct is None:
|
||||
continue
|
||||
|
||||
sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
|
||||
upstream_fields = index_fields_by_ordinal(upstream_struct)
|
||||
display = sunnypilot_struct["displayName"]
|
||||
|
||||
for ordinal, sunnypilot_field in sunnypilot_fields.items():
|
||||
upstream_field = upstream_fields.get(ordinal)
|
||||
if upstream_field is None:
|
||||
if field_is_union_variant(sunnypilot_field):
|
||||
violations.append(
|
||||
f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
|
||||
f"union variant not present upstream. upstream cannot parse this discriminant."
|
||||
)
|
||||
continue
|
||||
|
||||
if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
|
||||
violations.append(
|
||||
f"[R1] {display} @{ordinal}: type mismatch. "
|
||||
f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
|
||||
f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
|
||||
)
|
||||
continue
|
||||
|
||||
cursor = sunnypilot_field["type"]
|
||||
while cursor.get("kind") == "list":
|
||||
cursor = cursor["element"]
|
||||
if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
|
||||
sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
|
||||
|
||||
for type_id, sunnypilot_struct in sunnypilot_structs.items():
|
||||
if type_id in upstream_structs:
|
||||
continue
|
||||
if type_id in sunnypilot_struct_referenced_from_shared:
|
||||
violations.append(
|
||||
f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
|
||||
f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
|
||||
)
|
||||
|
||||
return violations
|
||||
|
||||
|
||||
def load_peer(path: str) -> dict:
|
||||
with open(path, "r", encoding="utf-8") as handle:
|
||||
return json.load(handle)
|
||||
|
||||
|
||||
def run_read(cereal_dir: str, peer_path: str) -> int:
|
||||
log = load_log(cereal_dir)
|
||||
peer_dump = load_peer(peer_path)
|
||||
local_dump = {
|
||||
"root": hex_id(log.Event.schema.node.id),
|
||||
"structs": collect_schema(log.Event.schema),
|
||||
}
|
||||
violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
|
||||
|
||||
if not violations:
|
||||
print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
|
||||
"(no leaked structs, no ordinal collisions).")
|
||||
return 0
|
||||
|
||||
print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
|
||||
f"({len(violations)} violation(s)):")
|
||||
for v in violations:
|
||||
print(f" {v}")
|
||||
return 1
|
||||
|
||||
|
||||
def main() -> int:
|
||||
parser = argparse.ArgumentParser(
|
||||
description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
|
||||
)
|
||||
mode = parser.add_mutually_exclusive_group(required=True)
|
||||
mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
|
||||
mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
|
||||
parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
|
||||
parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.generate:
|
||||
dump_schema(args.cereal_dir, args.file)
|
||||
return 0
|
||||
return run_read(args.cereal_dir, args.file)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(main())
|
||||
+81
-84
@@ -3,91 +3,88 @@
|
||||
#define __SERVICES_H
|
||||
#include <map>
|
||||
#include <string>
|
||||
struct service { std::string name; bool should_log; int frequency; int decimation; };
|
||||
struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };
|
||||
static std::map<std::string, service> services = {
|
||||
{ "gyroscope", {"gyroscope", true, 104, 104}},
|
||||
{ "gyroscope2", {"gyroscope2", true, 100, 100}},
|
||||
{ "accelerometer", {"accelerometer", true, 104, 104}},
|
||||
{ "accelerometer2", {"accelerometer2", true, 100, 100}},
|
||||
{ "magnetometer", {"magnetometer", true, 25, -1}},
|
||||
{ "lightSensor", {"lightSensor", true, 100, 100}},
|
||||
{ "temperatureSensor", {"temperatureSensor", true, 2, 200}},
|
||||
{ "temperatureSensor2", {"temperatureSensor2", true, 2, 200}},
|
||||
{ "gpsNMEA", {"gpsNMEA", true, 9, -1}},
|
||||
{ "deviceState", {"deviceState", true, 2, 1}},
|
||||
{ "touch", {"touch", true, 20, 1}},
|
||||
{ "can", {"can", true, 100, 2053}},
|
||||
{ "controlsState", {"controlsState", true, 100, 10}},
|
||||
{ "selfdriveState", {"selfdriveState", true, 100, 10}},
|
||||
{ "pandaStates", {"pandaStates", true, 10, 1}},
|
||||
{ "peripheralState", {"peripheralState", true, 2, 1}},
|
||||
{ "radarState", {"radarState", true, 20, 5}},
|
||||
{ "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}},
|
||||
{ "liveTracks", {"liveTracks", true, 20, -1}},
|
||||
{ "sendcan", {"sendcan", true, 100, 139}},
|
||||
{ "logMessage", {"logMessage", true, 0, -1}},
|
||||
{ "errorLogMessage", {"errorLogMessage", true, 0, 1}},
|
||||
{ "liveCalibration", {"liveCalibration", true, 4, 4}},
|
||||
{ "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}},
|
||||
{ "androidLog", {"androidLog", true, 0, -1}},
|
||||
{ "carState", {"carState", true, 100, 10}},
|
||||
{ "carControl", {"carControl", true, 100, 10}},
|
||||
{ "carOutput", {"carOutput", true, 100, 10}},
|
||||
{ "longitudinalPlan", {"longitudinalPlan", true, 20, 10}},
|
||||
{ "driverAssistance", {"driverAssistance", true, 20, 20}},
|
||||
{ "procLog", {"procLog", true, 0, 15}},
|
||||
{ "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}},
|
||||
{ "gpsLocation", {"gpsLocation", true, 1, 1}},
|
||||
{ "ubloxGnss", {"ubloxGnss", true, 10, -1}},
|
||||
{ "qcomGnss", {"qcomGnss", true, 2, -1}},
|
||||
{ "gnssMeasurements", {"gnssMeasurements", true, 10, 10}},
|
||||
{ "clocks", {"clocks", true, 0, 1}},
|
||||
{ "ubloxRaw", {"ubloxRaw", true, 20, -1}},
|
||||
{ "livePose", {"livePose", true, 20, 4}},
|
||||
{ "liveParameters", {"liveParameters", true, 20, 5}},
|
||||
{ "cameraOdometry", {"cameraOdometry", true, 20, 10}},
|
||||
{ "thumbnail", {"thumbnail", true, 0, 1}},
|
||||
{ "onroadEvents", {"onroadEvents", true, 1, 1}},
|
||||
{ "carParams", {"carParams", true, 0, 1}},
|
||||
{ "roadCameraState", {"roadCameraState", true, 20, 20}},
|
||||
{ "driverCameraState", {"driverCameraState", true, 20, 20}},
|
||||
{ "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}},
|
||||
{ "driverStateV2", {"driverStateV2", true, 20, 10}},
|
||||
{ "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
|
||||
{ "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
|
||||
{ "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
|
||||
{ "drivingModelData", {"drivingModelData", true, 20, 10}},
|
||||
{ "modelV2", {"modelV2", true, 20, -1}},
|
||||
{ "managerState", {"managerState", true, 2, 1}},
|
||||
{ "uploaderState", {"uploaderState", true, 0, 1}},
|
||||
{ "navInstruction", {"navInstruction", true, 1, 10}},
|
||||
{ "navRoute", {"navRoute", true, 0, -1}},
|
||||
{ "navThumbnail", {"navThumbnail", true, 0, -1}},
|
||||
{ "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
|
||||
{ "userFlag", {"userFlag", true, 0, 1}},
|
||||
{ "microphone", {"microphone", true, 10, 10}},
|
||||
{ "modelManagerSP", {"modelManagerSP", false, 1, 1}},
|
||||
{ "selfdriveStateSP", {"selfdriveStateSP", true, 100, 10}},
|
||||
{ "longitudinalPlanSP", {"longitudinalPlanSP", true, 20, 10}},
|
||||
{ "onroadEventsSP", {"onroadEventsSP", true, 1, 1}},
|
||||
{ "carParamsSP", {"carParamsSP", true, 0, 1}},
|
||||
{ "carControlSP", {"carControlSP", true, 100, 10}},
|
||||
{ "uiDebug", {"uiDebug", true, 0, 1}},
|
||||
{ "testJoystick", {"testJoystick", true, 0, -1}},
|
||||
{ "alertDebug", {"alertDebug", true, 20, 5}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20, -1}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20, -1}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}},
|
||||
{ "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}},
|
||||
{ "customReservedRawData0", {"customReservedRawData0", true, 0, -1}},
|
||||
{ "customReservedRawData1", {"customReservedRawData1", true, 0, -1}},
|
||||
{ "customReservedRawData2", {"customReservedRawData2", true, 0, -1}},
|
||||
{ "gyroscope", {"gyroscope", true, 104.000000, 104, 256000}},
|
||||
{ "accelerometer", {"accelerometer", true, 104.000000, 104, 256000}},
|
||||
{ "temperatureSensor", {"temperatureSensor", true, 2.000000, 200, 256000}},
|
||||
{ "deviceState", {"deviceState", true, 2.000000, 1, 256000}},
|
||||
{ "touch", {"touch", true, 20.000000, 1, 256000}},
|
||||
{ "can", {"can", true, 100.000000, 2053, 10485760}},
|
||||
{ "controlsState", {"controlsState", true, 100.000000, 10, 2097152}},
|
||||
{ "selfdriveState", {"selfdriveState", true, 100.000000, 10, 256000}},
|
||||
{ "pandaStates", {"pandaStates", true, 10.000000, 1, 256000}},
|
||||
{ "peripheralState", {"peripheralState", true, 2.000000, 1, 256000}},
|
||||
{ "radarState", {"radarState", true, 20.000000, 5, 256000}},
|
||||
{ "roadEncodeIdx", {"roadEncodeIdx", false, 20.000000, 1, 256000}},
|
||||
{ "liveTracks", {"liveTracks", true, 20.000000, -1, 256000}},
|
||||
{ "sendcan", {"sendcan", true, 100.000000, 139, 2097152}},
|
||||
{ "logMessage", {"logMessage", true, 0.000000, -1, 10485760}},
|
||||
{ "errorLogMessage", {"errorLogMessage", true, 0.000000, 1, 10485760}},
|
||||
{ "liveCalibration", {"liveCalibration", true, 4.000000, 4, 256000}},
|
||||
{ "liveTorqueParameters", {"liveTorqueParameters", true, 4.000000, 1, 256000}},
|
||||
{ "liveDelay", {"liveDelay", true, 4.000000, 1, 256000}},
|
||||
{ "androidLog", {"androidLog", true, 0.000000, -1, 256000}},
|
||||
{ "carState", {"carState", true, 100.000000, 10, 256000}},
|
||||
{ "carControl", {"carControl", true, 100.000000, 10, 256000}},
|
||||
{ "carOutput", {"carOutput", true, 100.000000, 10, 256000}},
|
||||
{ "longitudinalPlan", {"longitudinalPlan", true, 20.000000, 10, 256000}},
|
||||
{ "lateralManeuverPlan", {"lateralManeuverPlan", true, 20.000000, -1, 256000}},
|
||||
{ "driverAssistance", {"driverAssistance", true, 20.000000, 20, 256000}},
|
||||
{ "procLog", {"procLog", true, 0.500000, 15, 10485760}},
|
||||
{ "gpsLocationExternal", {"gpsLocationExternal", true, 10.000000, 10, 256000}},
|
||||
{ "gpsLocation", {"gpsLocation", true, 1.000000, 1, 256000}},
|
||||
{ "ubloxGnss", {"ubloxGnss", true, 10.000000, -1, 256000}},
|
||||
{ "qcomGnss", {"qcomGnss", true, 2.000000, -1, 256000}},
|
||||
{ "clocks", {"clocks", true, 0.100000, 1, 256000}},
|
||||
{ "ubloxRaw", {"ubloxRaw", true, 20.000000, -1, 256000}},
|
||||
{ "livePose", {"livePose", true, 20.000000, 4, 256000}},
|
||||
{ "liveParameters", {"liveParameters", true, 20.000000, 5, 256000}},
|
||||
{ "cameraOdometry", {"cameraOdometry", true, 20.000000, 10, 256000}},
|
||||
{ "thumbnail", {"thumbnail", true, 0.016667, 1, 256000}},
|
||||
{ "onroadEvents", {"onroadEvents", true, 1.000000, 1, 256000}},
|
||||
{ "carParams", {"carParams", true, 0.020000, 1, 256000}},
|
||||
{ "roadCameraState", {"roadCameraState", true, 20.000000, 20, 256000}},
|
||||
{ "driverCameraState", {"driverCameraState", true, 20.000000, 20, 256000}},
|
||||
{ "driverEncodeIdx", {"driverEncodeIdx", false, 20.000000, 1, 256000}},
|
||||
{ "driverStateV2", {"driverStateV2", true, 20.000000, 10, 256000}},
|
||||
{ "driverMonitoringState", {"driverMonitoringState", true, 20.000000, 10, 256000}},
|
||||
{ "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20.000000, 1, 256000}},
|
||||
{ "wideRoadCameraState", {"wideRoadCameraState", true, 20.000000, 20, 256000}},
|
||||
{ "drivingModelData", {"drivingModelData", true, 20.000000, 10, 256000}},
|
||||
{ "modelV2", {"modelV2", true, 20.000000, -1, 10485760}},
|
||||
{ "managerState", {"managerState", true, 2.000000, 1, 256000}},
|
||||
{ "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20.000000, -1, 256000}},
|
||||
{ "userBookmark", {"userBookmark", true, 0.000000, 1, 256000}},
|
||||
{ "soundPressure", {"soundPressure", true, 10.000000, 10, 256000}},
|
||||
{ "rawAudioData", {"rawAudioData", false, 20.000000, -1, 256000}},
|
||||
{ "bookmarkButton", {"bookmarkButton", true, 0.000000, 1, 256000}},
|
||||
{ "audioFeedback", {"audioFeedback", true, 0.000000, 1, 256000}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "qRoadEncodeData", {"qRoadEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "modelManagerSP", {"modelManagerSP", false, 1.000000, 1, 10485760}},
|
||||
{ "backupManagerSP", {"backupManagerSP", false, 1.000000, 1, 10485760}},
|
||||
{ "selfdriveStateSP", {"selfdriveStateSP", true, 100.000000, 10, 256000}},
|
||||
{ "longitudinalPlanSP", {"longitudinalPlanSP", true, 20.000000, 10, 256000}},
|
||||
{ "onroadEventsSP", {"onroadEventsSP", true, 1.000000, 1, 256000}},
|
||||
{ "carParamsSP", {"carParamsSP", true, 0.020000, 1, 256000}},
|
||||
{ "carControlSP", {"carControlSP", true, 100.000000, 10, 256000}},
|
||||
{ "carStateSP", {"carStateSP", true, 100.000000, 10, 256000}},
|
||||
{ "liveMapDataSP", {"liveMapDataSP", true, 1.000000, 1, 256000}},
|
||||
{ "modelDataV2SP", {"modelDataV2SP", true, 20.000000, -1, 10485760}},
|
||||
{ "liveLocationKalman", {"liveLocationKalman", true, 20.000000, -1, 256000}},
|
||||
{ "uiDebug", {"uiDebug", true, 0.000000, 1, 256000}},
|
||||
{ "testJoystick", {"testJoystick", true, 0.000000, -1, 256000}},
|
||||
{ "alertDebug", {"alertDebug", true, 20.000000, 5, 256000}},
|
||||
{ "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20.000000, -1, 256000}},
|
||||
{ "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20.000000, -1, 256000}},
|
||||
{ "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20.000000, -1, 256000}},
|
||||
{ "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20.000000, -1, 2097152}},
|
||||
{ "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20.000000, -1, 2097152}},
|
||||
{ "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20.000000, -1, 2097152}},
|
||||
{ "customReservedRawData0", {"customReservedRawData0", true, 0.000000, -1, 256000}},
|
||||
};
|
||||
#endif
|
||||
|
||||
|
||||
+41
-34
@@ -1,53 +1,58 @@
|
||||
#!/usr/bin/env python3
|
||||
from enum import IntEnum
|
||||
from typing import Optional
|
||||
|
||||
|
||||
# TODO: this should be automatically determined using the capnp schema
|
||||
class QueueSize(IntEnum):
|
||||
BIG = 10 * 1024 * 1024 # 10MB - video frames, large AI outputs
|
||||
MEDIUM = 2 * 1024 * 1024 # 2MB - high freq (CAN), livestream
|
||||
SMALL = 250 * 1024 # 250KB - most services
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
|
||||
queue_size: QueueSize = QueueSize.SMALL):
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
self.queue_size = queue_size
|
||||
|
||||
|
||||
_services: dict[str, tuple] = {
|
||||
# service: (should_log, frequency, qlog decimation (optional))
|
||||
# note: the "EncodeIdx" packets will still be in the log
|
||||
"gyroscope": (True, 104., 104),
|
||||
"gyroscope2": (True, 100., 100),
|
||||
"accelerometer": (True, 104., 104),
|
||||
"accelerometer2": (True, 100., 100),
|
||||
"magnetometer": (True, 25.),
|
||||
"lightSensor": (True, 100., 100),
|
||||
"temperatureSensor": (True, 2., 200),
|
||||
"temperatureSensor2": (True, 2., 200),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"touch": (True, 20., 1),
|
||||
"can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10),
|
||||
"can": (True, 100., 2053, QueueSize.BIG), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10, QueueSize.MEDIUM),
|
||||
"selfdriveState": (True, 100., 10),
|
||||
"pandaStates": (True, 10., 1),
|
||||
"peripheralState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (False, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100., 139),
|
||||
"logMessage": (True, 0.),
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"sendcan": (True, 100., 139, QueueSize.MEDIUM),
|
||||
"logMessage": (True, 0., None, QueueSize.BIG),
|
||||
"errorLogMessage": (True, 0., 1, QueueSize.BIG),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"liveTorqueParameters": (True, 4., 1),
|
||||
"liveDelay": (True, 4., 1),
|
||||
"androidLog": (True, 0.),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"carOutput": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 10),
|
||||
"lateralManeuverPlan": (True, 20.),
|
||||
"driverAssistance": (True, 20., 20),
|
||||
"procLog": (True, 0.5, 15),
|
||||
"procLog": (True, 0.5, 15, QueueSize.BIG),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"qcomGnss": (True, 2.),
|
||||
"gnssMeasurements": (True, 10., 10),
|
||||
"clocks": (True, 0.1, 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"livePose": (True, 20., 4),
|
||||
@@ -64,41 +69,43 @@ _services: dict[str, tuple] = {
|
||||
"wideRoadEncodeIdx": (False, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"drivingModelData": (True, 20., 10),
|
||||
"modelV2": (True, 20.),
|
||||
"modelV2": (True, 20., None, QueueSize.BIG),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
"qRoadEncodeIdx": (False, 20.),
|
||||
"userFlag": (True, 0., 1),
|
||||
"microphone": (True, 10., 10),
|
||||
"userBookmark": (True, 0., 1),
|
||||
"soundPressure": (True, 10., 10),
|
||||
"rawAudioData": (False, 20.),
|
||||
"bookmarkButton": (True, 0., 1),
|
||||
"audioFeedback": (True, 0., 1),
|
||||
"roadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"driverEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"qRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
|
||||
# sunnypilot
|
||||
"modelManagerSP": (False, 1., 1),
|
||||
"modelManagerSP": (False, 1., 1, QueueSize.BIG),
|
||||
"backupManagerSP": (False, 1., 1, QueueSize.BIG),
|
||||
"selfdriveStateSP": (True, 100., 10),
|
||||
"longitudinalPlanSP": (True, 20., 10),
|
||||
"onroadEventsSP": (True, 1., 1),
|
||||
"carParamsSP": (True, 0.02, 1),
|
||||
"carControlSP": (True, 100., 10),
|
||||
"carStateSP": (True, 100., 10),
|
||||
"liveMapDataSP": (True, 1., 1),
|
||||
"modelDataV2SP": (True, 20., None, QueueSize.BIG),
|
||||
"liveLocationKalman": (True, 20.),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
"testJoystick": (True, 0.),
|
||||
"alertDebug": (True, 20., 5),
|
||||
"roadEncodeData": (False, 20.),
|
||||
"driverEncodeData": (False, 20.),
|
||||
"wideRoadEncodeData": (False, 20.),
|
||||
"qRoadEncodeData": (False, 20.),
|
||||
"livestreamWideRoadEncodeIdx": (False, 20.),
|
||||
"livestreamRoadEncodeIdx": (False, 20.),
|
||||
"livestreamDriverEncodeIdx": (False, 20.),
|
||||
"livestreamWideRoadEncodeData": (False, 20.),
|
||||
"livestreamRoadEncodeData": (False, 20.),
|
||||
"livestreamDriverEncodeData": (False, 20.),
|
||||
"livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"customReservedRawData0": (True, 0.),
|
||||
"customReservedRawData1": (True, 0.),
|
||||
"customReservedRawData2": (True, 0.),
|
||||
}
|
||||
SERVICE_LIST = {name: Service(*vals) for
|
||||
idx, (name, vals) in enumerate(_services.items())}
|
||||
@@ -113,13 +120,13 @@ def build_header():
|
||||
h += "#include <map>\n"
|
||||
h += "#include <string>\n"
|
||||
|
||||
h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
|
||||
h += "static std::map<std::string, service> services = {\n"
|
||||
for k, v in SERVICE_LIST.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { "%s", {"%s", %s, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation)
|
||||
h += ' { "%s", {"%s", %s, %f, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation, v.queue_size)
|
||||
h += "};\n"
|
||||
|
||||
h += "#endif\n"
|
||||
|
||||
-13
@@ -1,13 +0,0 @@
|
||||
comment: false
|
||||
coverage:
|
||||
status:
|
||||
project:
|
||||
default:
|
||||
informational: true
|
||||
patch: off
|
||||
|
||||
ignore:
|
||||
- "**/test_*.py"
|
||||
- "selfdrive/test/**"
|
||||
- "system/version.py" # codecov changes depending on if we are in a branch or not
|
||||
- "tools"
|
||||
@@ -1 +0,0 @@
|
||||
*.cpp
|
||||
@@ -14,9 +14,13 @@ class Api:
|
||||
def post(self, *args, **kwargs):
|
||||
return self.service.post(*args, **kwargs)
|
||||
|
||||
def get_token(self, expiry_hours=1):
|
||||
return self.service.get_token(expiry_hours)
|
||||
def get_token(self, payload_extra=None, expiry_hours=1):
|
||||
return self.service.get_token(payload_extra, expiry_hours)
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
|
||||
return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
|
||||
|
||||
|
||||
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
|
||||
return CommaConnectApi(None).get_key_pair()
|
||||
|
||||
+24
-8
@@ -1,18 +1,22 @@
|
||||
import jwt
|
||||
import os
|
||||
import requests
|
||||
import unicodedata
|
||||
from datetime import datetime, timedelta, UTC
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.version import get_version
|
||||
|
||||
# name: jwt signature algorithm
|
||||
KEYS = {"id_rsa": "RS256",
|
||||
"id_ecdsa": "ES256"}
|
||||
|
||||
|
||||
class BaseApi:
|
||||
def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
|
||||
self.dongle_id = dongle_id
|
||||
self.api_host = api_host
|
||||
self.user_agent = user_agent
|
||||
with open(f'{Paths.persist_root()}/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
self.jwt_algorithm, self.private_key, _ = self.get_key_pair()
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
@@ -23,7 +27,7 @@ class BaseApi:
|
||||
def request(self, method, endpoint, timeout=None, access_token=None, **params):
|
||||
return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def _get_token(self, expiry_hours=1, **extra_payload):
|
||||
def _get_token(self, payload_extra=None, expiry_hours=1, **extra_payload):
|
||||
now = datetime.now(UTC).replace(tzinfo=None)
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
@@ -32,20 +36,22 @@ class BaseApi:
|
||||
'exp': now + timedelta(hours=expiry_hours),
|
||||
**extra_payload
|
||||
}
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if payload_extra is not None:
|
||||
payload.update(payload_extra)
|
||||
token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
def get_token(self, expiry_hours=1):
|
||||
return self._get_token(expiry_hours)
|
||||
def get_token(self, payload_extra=None, expiry_hours=1):
|
||||
return self._get_token(payload_extra, expiry_hours)
|
||||
|
||||
def remove_non_ascii_chars(self, text):
|
||||
normalized_text = unicodedata.normalize('NFD', text)
|
||||
ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
|
||||
return ascii_encoded_text.decode()
|
||||
|
||||
def api_get(self, endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
def api_get(self, endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
@@ -53,4 +59,14 @@ class BaseApi:
|
||||
version = self.remove_non_ascii_chars(get_version())
|
||||
headers['User-Agent'] = self.user_agent + version
|
||||
|
||||
return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, params=params)
|
||||
# TODO: add session to Api
|
||||
req = requests if session is None else session
|
||||
return req.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
|
||||
|
||||
@staticmethod
|
||||
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
|
||||
for key in KEYS:
|
||||
if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
|
||||
with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
|
||||
return KEYS[key], private.read(), public.read()
|
||||
return None, None, None
|
||||
|
||||
@@ -1,28 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
|
||||
#define CL_CHECK(_expr) \
|
||||
do { \
|
||||
assert(CL_SUCCESS == (_expr)); \
|
||||
} while (0)
|
||||
|
||||
#define CL_CHECK_ERR(_expr) \
|
||||
({ \
|
||||
cl_int err = CL_INVALID_VALUE; \
|
||||
__typeof__(_expr) _ret = _expr; \
|
||||
assert(_ret&& err == CL_SUCCESS); \
|
||||
_ret; \
|
||||
})
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type);
|
||||
cl_context cl_create_context(cl_device_id device_id);
|
||||
void cl_release_context(cl_context context);
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
|
||||
@@ -0,0 +1,23 @@
|
||||
import numpy as np
|
||||
|
||||
# conversions
|
||||
class CV:
|
||||
# Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
|
||||
|
||||
ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2
|
||||
@@ -1,19 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
class Conversions:
|
||||
# Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
@@ -1,9 +0,0 @@
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
@@ -1,8 +0,0 @@
|
||||
import platform
|
||||
|
||||
|
||||
def suffix():
|
||||
if platform.system() == "Darwin":
|
||||
return ".dylib"
|
||||
else:
|
||||
return ".so"
|
||||
Executable
+55
@@ -0,0 +1,55 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
import math
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
CHUNK_SIZE = 45 * 1024 * 1024 # 45MB, under GitHub's 50MB limit
|
||||
|
||||
def get_chunk_name(name, idx, num_chunks):
|
||||
return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
|
||||
|
||||
def get_manifest_path(name):
|
||||
return f"{name}.chunkmanifest"
|
||||
|
||||
def _chunk_paths(path, num_chunks):
|
||||
return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
|
||||
|
||||
def get_chunk_targets(path, file_size):
|
||||
num_chunks = math.ceil(file_size / CHUNK_SIZE)
|
||||
return _chunk_paths(path, num_chunks)
|
||||
|
||||
def chunk_file(path, targets):
|
||||
manifest_path, *chunk_paths = targets
|
||||
with open(path, 'rb') as f:
|
||||
data = f.read()
|
||||
actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
|
||||
assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
|
||||
for i, chunk_path in enumerate(chunk_paths):
|
||||
with open(chunk_path, 'wb') as f:
|
||||
f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
|
||||
Path(manifest_path).write_text(str(len(chunk_paths)))
|
||||
os.remove(path)
|
||||
|
||||
def get_existing_chunks(path):
|
||||
if os.path.isfile(path):
|
||||
return [path]
|
||||
if os.path.isfile(manifest := get_manifest_path(path)):
|
||||
num_chunks = int(Path(manifest).read_text().strip())
|
||||
return _chunk_paths(path, num_chunks)
|
||||
raise FileNotFoundError(path)
|
||||
|
||||
def read_file_chunked(path):
|
||||
manifest_path = get_manifest_path(path)
|
||||
if os.path.isfile(manifest_path):
|
||||
num_chunks = int(Path(manifest_path).read_text().strip())
|
||||
return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
|
||||
if os.path.isfile(path):
|
||||
return Path(path).read_bytes()
|
||||
raise FileNotFoundError(path)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
path = sys.argv[1]
|
||||
chunk_paths = get_chunk_targets(path, os.path.getsize(path))
|
||||
chunk_file(path, chunk_paths)
|
||||
@@ -1,58 +0,0 @@
|
||||
import io
|
||||
import os
|
||||
import tempfile
|
||||
import contextlib
|
||||
import zstandard as zstd
|
||||
|
||||
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
"""Wraps a file, but overrides the read method to also
|
||||
call a callback function with the number of bytes read so far."""
|
||||
def __init__(self, f, callback, *args):
|
||||
self.f = f
|
||||
self.callback = callback
|
||||
self.cb_args = args
|
||||
self.total_read = 0
|
||||
|
||||
def __getattr__(self, attr):
|
||||
return getattr(self.f, attr)
|
||||
|
||||
def read(self, *args, **kwargs):
|
||||
chunk = self.f.read(*args, **kwargs)
|
||||
self.total_read += len(chunk)
|
||||
self.callback(*self.cb_args, self.total_read)
|
||||
return chunk
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
|
||||
overwrite: bool = False):
|
||||
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
|
||||
dir_name = os.path.dirname(path)
|
||||
|
||||
if not overwrite and os.path.exists(path):
|
||||
raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
|
||||
|
||||
with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
|
||||
yield tmp_file
|
||||
tmp_file_name = tmp_file.name
|
||||
os.replace(tmp_file_name, path)
|
||||
|
||||
|
||||
def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
|
||||
if not should_compress:
|
||||
file_size = os.path.getsize(filepath)
|
||||
file_stream = open(filepath, "rb")
|
||||
return file_stream, file_size
|
||||
|
||||
# Compress the file on the fly
|
||||
compressed_stream = io.BytesIO()
|
||||
compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
|
||||
|
||||
with open(filepath, "rb") as f:
|
||||
compressor.copy_stream(f, compressed_stream)
|
||||
compressed_size = compressed_stream.tell()
|
||||
compressed_stream.seek(0)
|
||||
return compressed_stream, compressed_size
|
||||
+17
-1
@@ -1,5 +1,4 @@
|
||||
class FirstOrderFilter:
|
||||
# first order filter
|
||||
def __init__(self, x0, rc, dt, initialized=True):
|
||||
self.x = x0
|
||||
self.dt = dt
|
||||
@@ -16,3 +15,20 @@ class FirstOrderFilter:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
|
||||
|
||||
class BounceFilter(FirstOrderFilter):
|
||||
def __init__(self, x0, rc, dt, initialized=True, bounce=2):
|
||||
self.velocity = FirstOrderFilter(0.0, 0.15, dt)
|
||||
self.bounce = bounce
|
||||
super().__init__(x0, rc, dt, initialized)
|
||||
|
||||
def update(self, x):
|
||||
super().update(x)
|
||||
scale = self.dt / (1.0 / 60.0) # tuned at 60 fps
|
||||
self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
|
||||
self.velocity.update(0.0)
|
||||
if abs(self.velocity.x) < 1e-3:
|
||||
self.velocity.x = 0.0
|
||||
self.x += self.velocity.x
|
||||
return self.x
|
||||
|
||||
+7
-7
@@ -1,30 +1,30 @@
|
||||
from functools import cache
|
||||
import subprocess
|
||||
from openpilot.common.run import run_cmd, run_cmd_default
|
||||
from openpilot.common.utils import run_cmd, run_cmd_default
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
|
||||
def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
|
||||
def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_short_branch(cwd: str = None) -> str:
|
||||
def get_short_branch(cwd: str | None = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_branch(cwd: str = None) -> str:
|
||||
def get_branch(cwd: str | None = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_origin(cwd: str = None) -> str:
|
||||
def get_origin(cwd: str | None = None) -> str:
|
||||
try:
|
||||
local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
|
||||
tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
|
||||
@@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str:
|
||||
|
||||
|
||||
@cache
|
||||
def get_normalized_origin(cwd: str = None) -> str:
|
||||
def get_normalized_origin(cwd: str | None = None) -> str:
|
||||
return get_origin(cwd) \
|
||||
.replace("git@", "", 1) \
|
||||
.replace(".git", "", 1) \
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
// Pin definitions
|
||||
#ifdef QCOM2
|
||||
#define GPIO_HUB_RST_N 30
|
||||
#define GPIO_UBLOX_RST_N 32
|
||||
#define GPIO_UBLOX_SAFEBOOT_N 33
|
||||
#define GPIO_GNSS_PWR_EN 34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
|
||||
#define GPIO_STM_RST_N 124
|
||||
#define GPIO_STM_BOOT0 134
|
||||
#define GPIO_BMX_ACCEL_INT 21
|
||||
#define GPIO_BMX_GYRO_INT 23
|
||||
#define GPIO_BMX_MAGN_INT 87
|
||||
#define GPIO_LSM_INT 84
|
||||
#define GPIOCHIP_INT 0
|
||||
#else
|
||||
#define GPIO_HUB_RST_N 0
|
||||
#define GPIO_UBLOX_RST_N 0
|
||||
#define GPIO_UBLOX_SAFEBOOT_N 0
|
||||
#define GPIO_GNSS_PWR_EN 0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
|
||||
#define GPIO_STM_RST_N 0
|
||||
#define GPIO_STM_BOOT0 0
|
||||
#define GPIO_BMX_ACCEL_INT 0
|
||||
#define GPIO_BMX_GYRO_INT 0
|
||||
#define GPIO_BMX_MAGN_INT 0
|
||||
#define GPIO_LSM_INT 0
|
||||
#define GPIOCHIP_INT 0
|
||||
#endif
|
||||
|
||||
int gpio_init(int pin_nr, bool output);
|
||||
int gpio_set(int pin_nr, bool high);
|
||||
|
||||
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
|
||||
@@ -1,4 +1,6 @@
|
||||
import os
|
||||
import fcntl
|
||||
import ctypes
|
||||
from functools import cache
|
||||
|
||||
def gpio_init(pin: int, output: bool) -> None:
|
||||
@@ -52,3 +54,36 @@ def get_irqs_for_action(action: str) -> list[str]:
|
||||
if irq.isdigit() and action in get_irq_action(irq):
|
||||
ret.append(irq)
|
||||
return ret
|
||||
|
||||
# *** gpiochip ***
|
||||
|
||||
class gpioevent_data(ctypes.Structure):
|
||||
_fields_ = [
|
||||
("timestamp", ctypes.c_uint64),
|
||||
("id", ctypes.c_uint32),
|
||||
]
|
||||
|
||||
class gpioevent_request(ctypes.Structure):
|
||||
_fields_ = [
|
||||
("lineoffset", ctypes.c_uint32),
|
||||
("handleflags", ctypes.c_uint32),
|
||||
("eventflags", ctypes.c_uint32),
|
||||
("label", ctypes.c_char * 32),
|
||||
("fd", ctypes.c_int)
|
||||
]
|
||||
|
||||
def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
|
||||
GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
|
||||
GPIOHANDLE_REQUEST_INPUT = 0x1
|
||||
GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
|
||||
|
||||
rq = gpioevent_request()
|
||||
rq.lineoffset = pin
|
||||
rq.handleflags = GPIOHANDLE_REQUEST_INPUT
|
||||
rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
|
||||
rq.label = label.encode('utf-8')[:31] + b'\0'
|
||||
|
||||
fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
|
||||
fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
|
||||
os.close(fd)
|
||||
return int(rq.fd)
|
||||
|
||||
@@ -1,19 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
#include <mutex>
|
||||
|
||||
#include <sys/types.h>
|
||||
|
||||
class I2CBus {
|
||||
private:
|
||||
int i2c_fd;
|
||||
std::mutex m;
|
||||
|
||||
public:
|
||||
I2CBus(uint8_t bus_id);
|
||||
~I2CBus();
|
||||
|
||||
int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
|
||||
int set_register(uint8_t device_address, uint register_address, uint8_t data);
|
||||
};
|
||||
@@ -0,0 +1,81 @@
|
||||
import os
|
||||
import fcntl
|
||||
import ctypes
|
||||
|
||||
# I2C constants from /usr/include/linux/i2c-dev.h
|
||||
I2C_SLAVE = 0x0703
|
||||
I2C_SLAVE_FORCE = 0x0706
|
||||
I2C_SMBUS = 0x0720
|
||||
|
||||
# SMBus transfer types
|
||||
I2C_SMBUS_READ = 1
|
||||
I2C_SMBUS_WRITE = 0
|
||||
I2C_SMBUS_BYTE_DATA = 2
|
||||
I2C_SMBUS_I2C_BLOCK_DATA = 8
|
||||
|
||||
I2C_SMBUS_BLOCK_MAX = 32
|
||||
|
||||
|
||||
class _I2cSmbusData(ctypes.Union):
|
||||
_fields_ = [
|
||||
("byte", ctypes.c_uint8),
|
||||
("word", ctypes.c_uint16),
|
||||
("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
|
||||
]
|
||||
|
||||
|
||||
class _I2cSmbusIoctlData(ctypes.Structure):
|
||||
_fields_ = [
|
||||
("read_write", ctypes.c_uint8),
|
||||
("command", ctypes.c_uint8),
|
||||
("size", ctypes.c_uint32),
|
||||
("data", ctypes.POINTER(_I2cSmbusData)),
|
||||
]
|
||||
|
||||
|
||||
class SMBus:
|
||||
def __init__(self, bus: int):
|
||||
self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
|
||||
|
||||
def __enter__(self) -> 'SMBus':
|
||||
return self
|
||||
|
||||
def __exit__(self, *args) -> None:
|
||||
self.close()
|
||||
|
||||
def close(self) -> None:
|
||||
if hasattr(self, '_fd') and self._fd >= 0:
|
||||
os.close(self._fd)
|
||||
self._fd = -1
|
||||
|
||||
def _set_address(self, addr: int, force: bool = False) -> None:
|
||||
ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
|
||||
fcntl.ioctl(self._fd, ioctl_arg, addr)
|
||||
|
||||
def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
|
||||
ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
|
||||
fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
|
||||
|
||||
def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
|
||||
self._set_address(addr, force)
|
||||
data = _I2cSmbusData()
|
||||
self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
|
||||
return int(data.byte)
|
||||
|
||||
def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
|
||||
self._set_address(addr, force)
|
||||
data = _I2cSmbusData()
|
||||
data.byte = value & 0xFF
|
||||
self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
|
||||
|
||||
def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
|
||||
self._set_address(addr, force)
|
||||
if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
|
||||
raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
|
||||
|
||||
data = _I2cSmbusData()
|
||||
data.block[0] = length
|
||||
self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
|
||||
read_len = int(data.block[0]) or length
|
||||
read_len = min(read_len, length)
|
||||
return [int(b) for b in data.block[1 : read_len + 1]]
|
||||
@@ -199,7 +199,6 @@ class SwagLogger(logging.Logger):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
|
||||
# TODO: is this pylint exception correct?
|
||||
if filename == _srcfile:
|
||||
f = f.f_back
|
||||
continue
|
||||
|
||||
@@ -1,85 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
typedef struct vec3 {
|
||||
float v[3];
|
||||
} vec3;
|
||||
|
||||
typedef struct vec4 {
|
||||
float v[4];
|
||||
} vec4;
|
||||
|
||||
typedef struct mat3 {
|
||||
float v[3*3];
|
||||
} mat3;
|
||||
|
||||
typedef struct mat4 {
|
||||
float v[4*4];
|
||||
} mat4;
|
||||
|
||||
static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
|
||||
mat3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<3; k++) {
|
||||
v += a.v[r*3+k] * b.v[k*3+c];
|
||||
}
|
||||
ret.v[r*3+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
|
||||
vec3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
ret.v[r] += a.v[r*3+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline mat4 matmul(const mat4 &a, const mat4 &b) {
|
||||
mat4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<4; k++) {
|
||||
v += a.v[r*4+k] * b.v[k*4+c];
|
||||
}
|
||||
ret.v[r*4+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
|
||||
vec4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
ret.v[r] += a.v[r*4+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// scales the input and output space of a transformation matrix
|
||||
// that assumes pixel-center origin.
|
||||
static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
|
||||
// in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
|
||||
|
||||
mat3 transform_out = {{
|
||||
1.0f/s, 0.0f, 0.5f,
|
||||
0.0f, 1.0f/s, 0.5f,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
mat3 transform_in = {{
|
||||
s, 0.0f, -0.5f*s,
|
||||
0.0f, s, -0.5f*s,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
return matmul3(transform_in, matmul3(in, transform_out));
|
||||
}
|
||||
@@ -1 +0,0 @@
|
||||
#define DEFAULT_MODEL "Filet o Fish (Default)"
|
||||
@@ -0,0 +1,54 @@
|
||||
import re
|
||||
import sys
|
||||
import pytest
|
||||
import inspect
|
||||
|
||||
|
||||
def _to_safe_name(s):
|
||||
return re.sub(r"[^a-zA-Z0-9_]+", "_", str(s)).strip("_")
|
||||
|
||||
|
||||
class parameterized:
|
||||
@staticmethod
|
||||
def expand(cases):
|
||||
cases = list(cases)
|
||||
|
||||
if not cases:
|
||||
return lambda func: pytest.mark.skip("no parameterized cases")(func)
|
||||
|
||||
def decorator(func):
|
||||
params = [p for p in inspect.signature(func).parameters if p != 'self']
|
||||
normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
|
||||
# Infer arg count from first case so extra params (e.g. from @given) are left untouched
|
||||
expand_params = params[: len(normalized[0])]
|
||||
if len(expand_params) == 1:
|
||||
return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
|
||||
return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def parameterized_class(attrs, input_list=None):
|
||||
if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
|
||||
params_list = attrs
|
||||
else:
|
||||
assert input_list is not None
|
||||
attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
|
||||
params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
|
||||
|
||||
def decorator(cls):
|
||||
globs = sys._getframe(1).f_globals
|
||||
for i, params in enumerate(params_list):
|
||||
# append sanitized string param values so pytest -k can filter by them
|
||||
suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
|
||||
name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
|
||||
new_cls = type(name, (cls,), dict(params))
|
||||
new_cls.__module__ = cls.__module__
|
||||
new_cls.__test__ = True # override inherited False so pytest collects this subclass
|
||||
globs[name] = new_cls
|
||||
# Don't collect the un-parametrised base, but return it so outer decorators
|
||||
# (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
|
||||
cls.__test__ = False
|
||||
return cls
|
||||
|
||||
return decorator
|
||||
@@ -0,0 +1,244 @@
|
||||
#include "common/params.h"
|
||||
|
||||
#include <dirent.h>
|
||||
#include <sys/file.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <unordered_map>
|
||||
|
||||
#include "common/params_keys.h"
|
||||
#include "common/queue.h"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
namespace {
|
||||
|
||||
volatile sig_atomic_t params_do_exit = 0;
|
||||
void params_sig_handler(int signal) {
|
||||
params_do_exit = 1;
|
||||
}
|
||||
|
||||
int fsync_dir(const std::string &path) {
|
||||
int result = -1;
|
||||
int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
|
||||
if (fd >= 0) {
|
||||
result = HANDLE_EINTR(fsync(fd));
|
||||
HANDLE_EINTR(close(fd));
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
bool create_params_path(const std::string ¶m_path, const std::string &key_path) {
|
||||
// Make sure params path exists
|
||||
if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// See if the symlink exists, otherwise create it
|
||||
if (!util::file_exists(key_path)) {
|
||||
// 1) Create temp folder
|
||||
// 2) Symlink it to temp link
|
||||
// 3) Move symlink to <params>/d
|
||||
|
||||
std::string tmp_path = param_path + "/.tmp_XXXXXX";
|
||||
// this should be OK since mkdtemp just replaces characters in place
|
||||
char *tmp_dir = mkdtemp((char *)tmp_path.c_str());
|
||||
if (tmp_dir == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string link_path = std::string(tmp_dir) + ".link";
|
||||
if (symlink(tmp_dir, link_path.c_str()) != 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// don't return false if it has been created by other
|
||||
if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
|
||||
std::string params_path = path.empty() ? Path::params() : path;
|
||||
if (!create_params_path(params_path, params_path + prefix)) {
|
||||
throw std::runtime_error(util::string_format(
|
||||
"Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
|
||||
errno, params_path.c_str(), prefix.c_str()));
|
||||
}
|
||||
return params_path;
|
||||
}
|
||||
|
||||
class FileLock {
|
||||
public:
|
||||
FileLock(const std::string &fn) {
|
||||
fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
|
||||
if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
|
||||
LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
|
||||
}
|
||||
}
|
||||
~FileLock() { close(fd_); }
|
||||
|
||||
private:
|
||||
int fd_ = -1;
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
Params::Params(const std::string &path) {
|
||||
params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
|
||||
params_path = ensure_params_path(params_prefix, path);
|
||||
}
|
||||
|
||||
Params::~Params() {
|
||||
if (future.valid()) {
|
||||
future.wait();
|
||||
}
|
||||
assert(queue.empty());
|
||||
}
|
||||
|
||||
std::vector<std::string> Params::allKeys(ParamKeyFlag flag) const {
|
||||
std::vector<std::string> ret;
|
||||
for (auto &p : keys) {
|
||||
if (flag == ALL || (p.second.flags & flag)) {
|
||||
ret.push_back(p.first);
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool Params::checkKey(const std::string &key) {
|
||||
return keys.find(key) != keys.end();
|
||||
}
|
||||
|
||||
ParamKeyFlag Params::getKeyFlag(const std::string &key) {
|
||||
return static_cast<ParamKeyFlag>(keys[key].flags);
|
||||
}
|
||||
|
||||
ParamKeyType Params::getKeyType(const std::string &key) {
|
||||
return keys[key].type;
|
||||
}
|
||||
|
||||
std::optional<std::string> Params::getKeyDefaultValue(const std::string &key) {
|
||||
return keys[key].default_value;
|
||||
}
|
||||
|
||||
int Params::put(const char* key, const char* value, size_t value_size) {
|
||||
// Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
|
||||
// 1) Create temp file
|
||||
// 2) Write data to temp file
|
||||
// 3) fsync() the temp file
|
||||
// 4) rename the temp file to the real name
|
||||
// 5) fsync() the containing directory
|
||||
std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
|
||||
int tmp_fd = mkstemp((char*)tmp_path.c_str());
|
||||
if (tmp_fd < 0) return -1;
|
||||
|
||||
int result = -1;
|
||||
do {
|
||||
// Write value to temp.
|
||||
ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size));
|
||||
if (bytes_written < 0 || (size_t)bytes_written != value_size) {
|
||||
result = -20;
|
||||
break;
|
||||
}
|
||||
|
||||
// fsync to force persist the changes.
|
||||
if ((result = HANDLE_EINTR(fsync(tmp_fd))) < 0) break;
|
||||
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
// Move temp into place.
|
||||
if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break;
|
||||
|
||||
// fsync parent directory
|
||||
result = fsync_dir(getParamPath());
|
||||
} while (false);
|
||||
|
||||
close(tmp_fd);
|
||||
if (result != 0) {
|
||||
::unlink(tmp_path.c_str());
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
int Params::remove(const std::string &key) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
int result = unlink(getParamPath(key).c_str());
|
||||
if (result != 0) {
|
||||
return result;
|
||||
}
|
||||
return fsync_dir(getParamPath());
|
||||
}
|
||||
|
||||
std::string Params::get(const std::string &key, bool block) {
|
||||
if (!block) {
|
||||
return util::read_file(getParamPath(key));
|
||||
} else {
|
||||
// blocking read until successful
|
||||
params_do_exit = 0;
|
||||
void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
|
||||
void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
|
||||
|
||||
std::string value;
|
||||
while (!params_do_exit) {
|
||||
if (value = util::read_file(getParamPath(key)); !value.empty()) {
|
||||
break;
|
||||
}
|
||||
util::sleep_for(100); // 0.1 s
|
||||
}
|
||||
|
||||
std::signal(SIGINT, prev_handler_sigint);
|
||||
std::signal(SIGTERM, prev_handler_sigterm);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
std::map<std::string, std::string> Params::readAll() {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
return util::read_files_in_dir(getParamPath());
|
||||
}
|
||||
|
||||
void Params::clearAll(ParamKeyFlag key_flag) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
// 1) delete params of key_flag
|
||||
// 2) delete files that are not defined in the keys.
|
||||
if (DIR *d = opendir(getParamPath().c_str())) {
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (de->d_type != DT_DIR) {
|
||||
auto it = keys.find(de->d_name);
|
||||
if (it == keys.end() || (it->second.flags & key_flag)) {
|
||||
unlink(getParamPath(de->d_name).c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
closedir(d);
|
||||
}
|
||||
|
||||
fsync_dir(getParamPath());
|
||||
}
|
||||
|
||||
void Params::putNonBlocking(const std::string &key, const std::string &val) {
|
||||
queue.push(std::make_pair(key, val));
|
||||
// start thread on demand
|
||||
if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
|
||||
future = std::async(std::launch::async, &Params::asyncWriteThread, this);
|
||||
}
|
||||
}
|
||||
|
||||
void Params::asyncWriteThread() {
|
||||
// TODO: write the latest one if a key has multiple values in the queue.
|
||||
std::pair<std::string, std::string> p;
|
||||
while (queue.try_pop(p, 0)) {
|
||||
// Params::put is Thread-Safe
|
||||
put(p.first, p.second);
|
||||
}
|
||||
}
|
||||
+24
-4
@@ -2,6 +2,7 @@
|
||||
|
||||
#include <future>
|
||||
#include <map>
|
||||
#include <optional>
|
||||
#include <string>
|
||||
#include <tuple>
|
||||
#include <utility>
|
||||
@@ -9,17 +10,34 @@
|
||||
|
||||
#include "common/queue.h"
|
||||
|
||||
enum ParamKeyType {
|
||||
enum ParamKeyFlag {
|
||||
PERSISTENT = 0x02,
|
||||
CLEAR_ON_MANAGER_START = 0x04,
|
||||
CLEAR_ON_ONROAD_TRANSITION = 0x08,
|
||||
CLEAR_ON_OFFROAD_TRANSITION = 0x10,
|
||||
DONT_LOG = 0x20,
|
||||
DEVELOPMENT_ONLY = 0x40,
|
||||
BACKUP = 0x80,
|
||||
CLEAR_ON_IGNITION_ON = 0x80,
|
||||
BACKUP = 0x100,
|
||||
ALL = 0xFFFFFFFF
|
||||
};
|
||||
|
||||
enum ParamKeyType {
|
||||
STRING = 0, // must be utf-8 decodable
|
||||
BOOL = 1,
|
||||
INT = 2,
|
||||
FLOAT = 3,
|
||||
TIME = 4, // ISO 8601
|
||||
JSON = 5,
|
||||
BYTES = 6
|
||||
};
|
||||
|
||||
struct ParamKeyAttributes {
|
||||
uint32_t flags;
|
||||
ParamKeyType type;
|
||||
std::optional<std::string> default_value = std::nullopt;
|
||||
};
|
||||
|
||||
class Params {
|
||||
public:
|
||||
explicit Params(const std::string &path = {});
|
||||
@@ -28,16 +46,18 @@ public:
|
||||
Params(const Params&) = delete;
|
||||
Params& operator=(const Params&) = delete;
|
||||
|
||||
std::vector<std::string> allKeys() const;
|
||||
std::vector<std::string> allKeys(ParamKeyFlag flag = ALL) const;
|
||||
bool checkKey(const std::string &key);
|
||||
ParamKeyFlag getKeyFlag(const std::string &key);
|
||||
ParamKeyType getKeyType(const std::string &key);
|
||||
std::optional<std::string> getKeyDefaultValue(const std::string &key);
|
||||
inline std::string getParamPath(const std::string &key = {}) {
|
||||
return params_path + params_prefix + (key.empty() ? "" : "/" + key);
|
||||
}
|
||||
|
||||
// Delete a value
|
||||
int remove(const std::string &key);
|
||||
void clearAll(ParamKeyType type);
|
||||
void clearAll(ParamKeyFlag flag);
|
||||
|
||||
// helpers for reading values
|
||||
std::string get(const std::string &key, bool block = false);
|
||||
|
||||
+3
-2
@@ -1,5 +1,6 @@
|
||||
from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
|
||||
from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
|
||||
assert Params
|
||||
assert ParamKeyFlag
|
||||
assert ParamKeyType
|
||||
assert UnknownKeyName
|
||||
|
||||
@@ -13,6 +14,6 @@ if __name__ == "__main__":
|
||||
if len(sys.argv) == 3:
|
||||
val = sys.argv[2]
|
||||
print(f"SET: {key} = {val}")
|
||||
params.put(key, val)
|
||||
params.put(key, val, block=True)
|
||||
elif len(sys.argv) == 2:
|
||||
print(f"GET: {key} = {params.get(key)}")
|
||||
|
||||
+264
-143
@@ -3,158 +3,279 @@
|
||||
#include <string>
|
||||
#include <unordered_map>
|
||||
|
||||
inline static std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
|
||||
{"AdbEnabled", PERSISTENT},
|
||||
{"AlwaysOnDM", PERSISTENT},
|
||||
{"ApiCache_Device", PERSISTENT},
|
||||
{"ApiCache_FirehoseStats", PERSISTENT},
|
||||
{"AssistNowToken", PERSISTENT},
|
||||
{"AthenadPid", PERSISTENT},
|
||||
{"AthenadUploadQueue", PERSISTENT},
|
||||
{"AthenadRecentlyViewedRoutes", PERSISTENT},
|
||||
{"BootCount", PERSISTENT},
|
||||
{"CalibrationParams", PERSISTENT},
|
||||
{"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
|
||||
{"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
|
||||
{"CarBatteryCapacity", PERSISTENT},
|
||||
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"CarParamsCache", CLEAR_ON_MANAGER_START},
|
||||
{"CarParamsPersistent", PERSISTENT},
|
||||
{"CarParamsPrevRoute", PERSISTENT},
|
||||
{"CompletedTrainingVersion", PERSISTENT},
|
||||
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"CurrentBootlog", PERSISTENT},
|
||||
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"DisablePowerDown", PERSISTENT | BACKUP},
|
||||
{"DisableUpdates", PERSISTENT | BACKUP},
|
||||
{"DisengageOnAccelerator", PERSISTENT | BACKUP},
|
||||
{"DongleId", PERSISTENT},
|
||||
{"DoReboot", CLEAR_ON_MANAGER_START},
|
||||
{"DoShutdown", CLEAR_ON_MANAGER_START},
|
||||
{"DoUninstall", CLEAR_ON_MANAGER_START},
|
||||
{"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
|
||||
{"ExperimentalMode", PERSISTENT | BACKUP},
|
||||
{"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
|
||||
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ForcePowerDown", PERSISTENT},
|
||||
{"GitBranch", PERSISTENT},
|
||||
{"GitCommit", PERSISTENT},
|
||||
{"GitCommitDate", PERSISTENT},
|
||||
{"GitDiff", PERSISTENT},
|
||||
{"GithubSshKeys", PERSISTENT | BACKUP},
|
||||
{"GithubUsername", PERSISTENT | BACKUP},
|
||||
{"GitRemote", PERSISTENT},
|
||||
{"GsmApn", PERSISTENT | BACKUP},
|
||||
{"GsmMetered", PERSISTENT | BACKUP},
|
||||
{"GsmRoaming", PERSISTENT | BACKUP},
|
||||
{"HardwareSerial", PERSISTENT},
|
||||
{"HasAcceptedTerms", PERSISTENT},
|
||||
{"InstallDate", PERSISTENT},
|
||||
{"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
|
||||
{"IsEngaged", PERSISTENT},
|
||||
{"IsLdwEnabled", PERSISTENT | BACKUP},
|
||||
{"IsMetric", PERSISTENT | BACKUP},
|
||||
{"IsOffroad", CLEAR_ON_MANAGER_START},
|
||||
{"IsOnroad", PERSISTENT},
|
||||
{"IsRhdDetected", PERSISTENT},
|
||||
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
|
||||
{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
|
||||
{"IsTestedBranch", CLEAR_ON_MANAGER_START},
|
||||
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"LanguageSetting", PERSISTENT | BACKUP},
|
||||
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
|
||||
{"LastGPSPosition", PERSISTENT},
|
||||
{"LastManagerExitReason", CLEAR_ON_MANAGER_START},
|
||||
{"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
|
||||
{"LastUpdateException", CLEAR_ON_MANAGER_START},
|
||||
{"LastUpdateTime", PERSISTENT},
|
||||
{"LiveParameters", PERSISTENT},
|
||||
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
||||
{"LocationFilterInitialState", PERSISTENT},
|
||||
{"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"LongitudinalPersonality", PERSISTENT | BACKUP},
|
||||
{"NetworkMetered", PERSISTENT},
|
||||
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
|
||||
{"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
|
||||
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"PandaSignatures", CLEAR_ON_MANAGER_START},
|
||||
{"PrimeType", PERSISTENT},
|
||||
{"RecordFront", PERSISTENT | BACKUP},
|
||||
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
|
||||
{"SecOCKey", PERSISTENT | DONT_LOG}, // Candidate for | BACKUP
|
||||
{"RouteCount", PERSISTENT},
|
||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"SshEnabled", PERSISTENT | BACKUP},
|
||||
{"TermsVersion", PERSISTENT},
|
||||
{"TrainingVersion", PERSISTENT},
|
||||
{"UbloxAvailable", PERSISTENT},
|
||||
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterAvailableBranches", PERSISTENT},
|
||||
{"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterState", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterLastFetchTime", PERSISTENT},
|
||||
{"Version", PERSISTENT},
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
|
||||
inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
|
||||
{"AdbEnabled", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"AlwaysOnDM", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"ApiCache_Device", {PERSISTENT, STRING}},
|
||||
{"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
|
||||
{"AssistNowToken", {PERSISTENT, STRING}},
|
||||
{"AthenadPid", {PERSISTENT, INT}},
|
||||
{"AthenadUploadQueue", {PERSISTENT, JSON}},
|
||||
{"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
|
||||
{"BootCount", {PERSISTENT, INT}},
|
||||
{"CalibrationParams", {PERSISTENT, BYTES}},
|
||||
{"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"CarBatteryCapacity", {PERSISTENT, INT}},
|
||||
{"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
|
||||
{"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"CarParamsPersistent", {PERSISTENT, BYTES}},
|
||||
{"CarParamsPrevRoute", {PERSISTENT, BYTES}},
|
||||
{"CompletedTrainingVersion", {PERSISTENT, STRING, "0"}},
|
||||
{"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"CurrentBootlog", {PERSISTENT, STRING}},
|
||||
{"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"DisengageOnAccelerator", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"DongleId", {PERSISTENT, STRING}},
|
||||
{"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
|
||||
{"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"ForcePowerDown", {PERSISTENT, BOOL}},
|
||||
{"GitBranch", {PERSISTENT, STRING}},
|
||||
{"GitCommit", {PERSISTENT, STRING}},
|
||||
{"GitCommitDate", {PERSISTENT, STRING}},
|
||||
{"GitDiff", {PERSISTENT, STRING}},
|
||||
{"GithubSshKeys", {PERSISTENT | BACKUP, STRING}},
|
||||
{"GithubUsername", {PERSISTENT | BACKUP, STRING}},
|
||||
{"GitRemote", {PERSISTENT, STRING}},
|
||||
{"GsmApn", {PERSISTENT | BACKUP, STRING}},
|
||||
{"GsmMetered", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"GsmRoaming", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"HardwareSerial", {PERSISTENT, STRING}},
|
||||
{"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
|
||||
{"InstallDate", {PERSISTENT, TIME}},
|
||||
{"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsEngaged", {PERSISTENT, BOOL}},
|
||||
{"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"IsMetric", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsOnroad", {PERSISTENT, BOOL}},
|
||||
{"IsRhdDetected", {PERSISTENT, BOOL}},
|
||||
{"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
|
||||
{"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"LastGPSPosition", {PERSISTENT, STRING}},
|
||||
{"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
|
||||
{"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"LastUpdateTime", {PERSISTENT, TIME}},
|
||||
{"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
|
||||
{"LiveParameters", {PERSISTENT, JSON}},
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
{"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
|
||||
{"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
|
||||
{"LocationFilterInitialState", {PERSISTENT, BYTES}},
|
||||
{"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
|
||||
{"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
|
||||
{"Offroad_IsTakingSnapshot", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"PrimeType", {PERSISTENT, INT}},
|
||||
{"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RecordFront", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet
|
||||
{"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
|
||||
{"ShowDebugInfo", {PERSISTENT, BOOL}},
|
||||
{"RouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"TermsVersion", {PERSISTENT, STRING}},
|
||||
{"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrainingVersion", {PERSISTENT, STRING}},
|
||||
{"UbloxAvailable", {PERSISTENT, BOOL}},
|
||||
{"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"UpdaterAvailableBranches", {PERSISTENT, STRING}},
|
||||
{"UpdaterCurrentDescription", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterCurrentReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"UpdaterFetchAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"UpdaterNewDescription", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterNewReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"UpdaterState", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterTargetBranch", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterLastFetchTime", {PERSISTENT, TIME}},
|
||||
{"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"Version", {PERSISTENT, STRING}},
|
||||
|
||||
// --- sunnypilot params --- //
|
||||
{"ApiCache_DriveStats", PERSISTENT},
|
||||
{"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"CarParamsSPCache", CLEAR_ON_MANAGER_START},
|
||||
{"CarParamsSPPersistent", PERSISTENT},
|
||||
{"CarPlatformBundle", PERSISTENT},
|
||||
{"EnableGithubRunner", PERSISTENT | BACKUP},
|
||||
{"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"OffroadMode", CLEAR_ON_MANAGER_START},
|
||||
{"OffroadMode_Status", CLEAR_ON_MANAGER_START},
|
||||
{"ApiCache_DriveStats", {PERSISTENT, JSON}},
|
||||
{"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}}, // seconds
|
||||
{"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}}, // MPH or km/h
|
||||
{"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"CarList", {PERSISTENT, JSON}},
|
||||
{"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
|
||||
{"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"CarParamsSPPersistent", {PERSISTENT, BYTES}},
|
||||
{"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
|
||||
{"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
|
||||
{"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
|
||||
{"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
|
||||
{"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
{"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
|
||||
{"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
|
||||
{"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"LastGPSPositionLLK", {PERSISTENT, STRING}},
|
||||
{"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
|
||||
{"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
|
||||
{"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
|
||||
{"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
|
||||
{"OnroadScreenOffTimerMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
|
||||
{"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// MADS params
|
||||
{"Mads", PERSISTENT | BACKUP},
|
||||
{"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
|
||||
{"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
|
||||
{"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
|
||||
{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"MadsSteeringMode", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
|
||||
// Model Manager params
|
||||
{"ModelManager_ActiveBundle", PERSISTENT},
|
||||
{"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"ModelManager_ModelsCache", PERSISTENT | BACKUP},
|
||||
{"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
|
||||
{"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
|
||||
{"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
|
||||
{"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
|
||||
|
||||
// Neural Network Lateral Control
|
||||
{"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// sunnylink params
|
||||
{"EnableSunnylinkUploader", PERSISTENT | BACKUP},
|
||||
{"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
|
||||
{"SunnylinkCache_Roles", PERSISTENT},
|
||||
{"SunnylinkCache_Users", PERSISTENT},
|
||||
{"SunnylinkDongleId", PERSISTENT},
|
||||
{"SunnylinkdPid", PERSISTENT},
|
||||
{"SunnylinkEnabled", PERSISTENT},
|
||||
{"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"ParamsVersion", {PERSISTENT, INT}},
|
||||
{"SunnylinkCache_Roles", {PERSISTENT, STRING}},
|
||||
{"SunnylinkCache_Users", {PERSISTENT, STRING}},
|
||||
{"SunnylinkDongleId", {PERSISTENT, STRING}},
|
||||
{"SunnylinkdPid", {PERSISTENT, INT}},
|
||||
{"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
|
||||
{"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
|
||||
|
||||
// Backup Manager params
|
||||
{"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
|
||||
{"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
|
||||
|
||||
// sunnypilot car specific params
|
||||
{"HyundaiRadarTracks", PERSISTENT},
|
||||
{"HyundaiRadarTracksConfirmed", PERSISTENT},
|
||||
{"HyundaiRadarTracksPersistent", PERSISTENT},
|
||||
{"HyundaiRadarTracksToggle", PERSISTENT},
|
||||
{"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
{"DynamicExperimentalControl", PERSISTENT},
|
||||
{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// sunnypilot model params
|
||||
{"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
|
||||
{"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
|
||||
{"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
|
||||
{"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
|
||||
{"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
|
||||
|
||||
// mapd
|
||||
{"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
|
||||
{"MapdVersion", {PERSISTENT, STRING}},
|
||||
{"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
|
||||
{"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}}, // mapd database update happens with device ON, reset on boot
|
||||
{"OSMDownloadBounds", {PERSISTENT, STRING}},
|
||||
{"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
|
||||
{"OSMDownloadLocations", {PERSISTENT, JSON}},
|
||||
{"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OsmLocal", {PERSISTENT, BOOL}},
|
||||
{"OsmLocationName", {PERSISTENT, STRING}},
|
||||
{"OsmLocationTitle", {PERSISTENT, STRING}},
|
||||
{"OsmLocationUrl", {PERSISTENT, STRING}},
|
||||
{"OsmStateName", {PERSISTENT, STRING, "All"}},
|
||||
{"OsmStateTitle", {PERSISTENT, STRING}},
|
||||
{"OsmWayTest", {PERSISTENT, STRING}},
|
||||
{"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Speed Limit
|
||||
{"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
{"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
|
||||
{"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
|
||||
// Smart Cruise Control
|
||||
{"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Torque lateral control custom params
|
||||
{"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
|
||||
{"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
|
||||
{"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
|
||||
};
|
||||
|
||||
+10707
-11005
File diff suppressed because it is too large
Load Diff
+99
-30
@@ -1,18 +1,35 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
import builtins
|
||||
import datetime
|
||||
import json
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp.optional cimport optional
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
cdef extern from "common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
cpdef enum ParamKeyFlag:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_ONROAD_TRANSITION
|
||||
CLEAR_ON_OFFROAD_TRANSITION
|
||||
DEVELOPMENT_ONLY
|
||||
CLEAR_ON_IGNITION_ON
|
||||
BACKUP
|
||||
ALL
|
||||
|
||||
cpdef enum ParamKeyType:
|
||||
STRING
|
||||
BOOL
|
||||
INT
|
||||
FLOAT
|
||||
TIME
|
||||
JSON
|
||||
BYTES
|
||||
|
||||
cdef cppclass c_Params "Params":
|
||||
c_Params(string) except + nogil
|
||||
string get(string, bool) nogil
|
||||
@@ -23,10 +40,31 @@ cdef extern from "common/params.h":
|
||||
void putBoolNonBlocking(string, bool) nogil
|
||||
int putBool(string, bool) nogil
|
||||
bool checkKey(string) nogil
|
||||
ParamKeyType getKeyType(string) nogil
|
||||
optional[string] getKeyDefaultValue(string) nogil
|
||||
string getParamPath(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
vector[string] allKeys()
|
||||
void clearAll(ParamKeyFlag)
|
||||
vector[string] allKeys(ParamKeyFlag)
|
||||
|
||||
PYTHON_2_CPP = {
|
||||
(str, STRING): lambda v: v,
|
||||
(builtins.bool, BOOL): lambda v: "1" if v else "0",
|
||||
(int, INT): str,
|
||||
(float, FLOAT): str,
|
||||
(datetime.datetime, TIME): lambda v: v.isoformat(),
|
||||
(dict, JSON): json.dumps,
|
||||
(list, JSON): json.dumps,
|
||||
(bytes, BYTES): lambda v: v,
|
||||
}
|
||||
CPP_2_PYTHON = {
|
||||
STRING: lambda v: v.decode("utf-8"),
|
||||
BOOL: lambda v: v == b"1",
|
||||
INT: int,
|
||||
FLOAT: float,
|
||||
TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
|
||||
JSON: json.loads,
|
||||
BYTES: lambda v: v,
|
||||
}
|
||||
|
||||
def ensure_bytes(v):
|
||||
return v.encode() if isinstance(v, str) else v
|
||||
@@ -50,8 +88,8 @@ cdef class Params:
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=ParamKeyType.ALL):
|
||||
self.p.clearAll(tx_type)
|
||||
def clear_all(self, tx_flag=ParamKeyFlag.ALL):
|
||||
self.p.clearAll(tx_flag)
|
||||
|
||||
def check_key(self, key):
|
||||
key = ensure_bytes(key)
|
||||
@@ -59,21 +97,38 @@ cdef class Params:
|
||||
raise UnknownKeyName(key)
|
||||
return key
|
||||
|
||||
def get(self, key, bool block=False, encoding=None):
|
||||
def python2cpp(self, proposed_type, expected_type, value, key):
|
||||
cast = PYTHON_2_CPP.get((proposed_type, expected_type))
|
||||
if cast:
|
||||
return cast(value)
|
||||
raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
|
||||
|
||||
def _cpp2python(self, t, value, default, key):
|
||||
if value is None:
|
||||
return None
|
||||
try:
|
||||
return CPP_2_PYTHON[t](value)
|
||||
except (KeyError, TypeError, ValueError):
|
||||
cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
|
||||
return self._cpp2python(t, default, None, key)
|
||||
|
||||
def get(self, key, bool block=False, bool return_default=False):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
cdef optional[string] default = self.p.getKeyDefaultValue(k)
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, block)
|
||||
|
||||
default_val = (default.value() if default.has_value() else None) if return_default else None
|
||||
if val == b"":
|
||||
if block:
|
||||
# If we got no value while running in blocked mode
|
||||
# it means we got an interrupt while waiting
|
||||
raise KeyboardInterrupt
|
||||
else:
|
||||
return None
|
||||
|
||||
return val if encoding is None else val.decode(encoding)
|
||||
return self._cpp2python(t, default_val, None, key)
|
||||
return self._cpp2python(t, val, default_val, key)
|
||||
|
||||
def get_bool(self, key, bool block=False):
|
||||
cdef string k = self.check_key(key)
|
||||
@@ -82,33 +137,33 @@ cdef class Params:
|
||||
r = self.p.getBool(k, block)
|
||||
return r
|
||||
|
||||
def put(self, key, dat):
|
||||
def _put_cast(self, key, dat):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
|
||||
|
||||
def put(self, key, dat, bool block = False):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
Warning: block=True blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
Use block=False in time sensitive code, but in general try to avoid
|
||||
writing params as much as possible.
|
||||
"""
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = ensure_bytes(dat)
|
||||
cdef string dat_bytes = self._put_cast(key, dat)
|
||||
with nogil:
|
||||
self.p.put(k, dat_bytes)
|
||||
if block:
|
||||
self.p.put(k, dat_bytes)
|
||||
else:
|
||||
self.p.putNonBlocking(k, dat_bytes)
|
||||
|
||||
def put_bool(self, key, bool val):
|
||||
def put_bool(self, key, bool val, bool block = False):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putBool(k, val)
|
||||
|
||||
def put_nonblocking(self, key, dat):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = ensure_bytes(dat)
|
||||
with nogil:
|
||||
self.p.putNonBlocking(k, dat_bytes)
|
||||
|
||||
def put_bool_nonblocking(self, key, bool val):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putBoolNonBlocking(k, val)
|
||||
if block:
|
||||
self.p.putBool(k, val)
|
||||
else:
|
||||
self.p.putBoolNonBlocking(k, val)
|
||||
|
||||
def remove(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
@@ -119,5 +174,19 @@ cdef class Params:
|
||||
cdef string key_bytes = ensure_bytes(key)
|
||||
return self.p.getParamPath(key_bytes).decode("utf-8")
|
||||
|
||||
def all_keys(self):
|
||||
return self.p.allKeys()
|
||||
def get_type(self, key):
|
||||
return self.p.getKeyType(self.check_key(key))
|
||||
|
||||
def all_keys(self, flag=ParamKeyFlag.ALL):
|
||||
return self.p.allKeys(flag)
|
||||
|
||||
def get_default_value(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
cdef optional[string] default = self.p.getKeyDefaultValue(k)
|
||||
return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
|
||||
|
||||
def cpp2python(self, key, value):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
return self._cpp2python(t, value, None, key)
|
||||
|
||||
Binary file not shown.
+21
-34
@@ -2,23 +2,14 @@ import numpy as np
|
||||
from numbers import Number
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p = k_p
|
||||
self._k_i = k_i
|
||||
self._k_d = k_d
|
||||
self.k_f = k_f # feedforward gain
|
||||
if isinstance(self._k_p, Number):
|
||||
self._k_p = [[0], [self._k_p]]
|
||||
if isinstance(self._k_i, Number):
|
||||
self._k_i = [[0], [self._k_i]]
|
||||
if isinstance(self._k_d, Number):
|
||||
self._k_d = [[0], [self._k_d]]
|
||||
def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
|
||||
self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
|
||||
self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
|
||||
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
self.set_limits(pos_limit, neg_limit)
|
||||
|
||||
self.i_unwind_rate = 0.3 / rate
|
||||
self.i_rate = 1.0 / rate
|
||||
self.i_dt = 1.0 / rate
|
||||
self.speed = 0.0
|
||||
|
||||
self.reset()
|
||||
@@ -35,10 +26,6 @@ class PIDController:
|
||||
def k_d(self):
|
||||
return np.interp(self.speed, self._k_d[0], self._k_d[1])
|
||||
|
||||
@property
|
||||
def error_integral(self):
|
||||
return self.i/self.k_i
|
||||
|
||||
def reset(self):
|
||||
self.p = 0.0
|
||||
self.i = 0.0
|
||||
@@ -46,25 +33,25 @@ class PIDController:
|
||||
self.f = 0.0
|
||||
self.control = 0
|
||||
|
||||
def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
|
||||
def set_limits(self, pos_limit, neg_limit):
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
|
||||
def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
|
||||
self.speed = speed
|
||||
self.p = self.k_p * float(error)
|
||||
self.d = self.k_d * error_rate
|
||||
self.f = feedforward
|
||||
|
||||
self.p = float(error) * self.k_p
|
||||
self.f = feedforward * self.k_f
|
||||
self.d = error_rate * self.k_d
|
||||
if not freeze_integrator:
|
||||
i = self.i + self.k_i * self.i_dt * error
|
||||
|
||||
if override:
|
||||
self.i -= self.i_unwind_rate * float(np.sign(self.i))
|
||||
else:
|
||||
if not freeze_integrator:
|
||||
self.i = self.i + error * self.k_i * self.i_rate
|
||||
|
||||
# Clip i to prevent exceeding control limits
|
||||
control_no_i = self.p + self.d + self.f
|
||||
control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
|
||||
self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
|
||||
# Don't allow windup if already clipping
|
||||
test_control = self.p + i + self.d + self.f
|
||||
i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
|
||||
i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
|
||||
self.i = np.clip(i, i_lowerbound, i_upperbound)
|
||||
|
||||
control = self.p + self.i + self.d + self.f
|
||||
|
||||
self.control = np.clip(control, self.neg_limit, self.pos_limit)
|
||||
return self.control
|
||||
|
||||
+9
-5
@@ -13,7 +13,11 @@ public:
|
||||
if (prefix.empty()) {
|
||||
prefix = util::random_string(15);
|
||||
}
|
||||
msgq_path = Path::shm_path() + "/" + prefix;
|
||||
#ifdef __APPLE__
|
||||
msgq_path = "/tmp/msgq_" + prefix;
|
||||
#else
|
||||
msgq_path = "/dev/shm/msgq_" + prefix;
|
||||
#endif
|
||||
bool ret = util::create_directories(msgq_path, 0777);
|
||||
assert(ret);
|
||||
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
|
||||
@@ -23,14 +27,14 @@ public:
|
||||
auto param_path = Params().getParamPath();
|
||||
if (util::file_exists(param_path)) {
|
||||
std::string real_path = util::readlink(param_path);
|
||||
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
|
||||
util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
|
||||
unlink(param_path.c_str());
|
||||
}
|
||||
if (getenv("COMMA_CACHE") == nullptr) {
|
||||
system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
|
||||
util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
|
||||
}
|
||||
system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
|
||||
system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
|
||||
util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
|
||||
util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
|
||||
unsetenv("OPENPILOT_PREFIX");
|
||||
}
|
||||
|
||||
|
||||
+15
-7
@@ -1,4 +1,5 @@
|
||||
import os
|
||||
import platform
|
||||
import shutil
|
||||
import uuid
|
||||
|
||||
@@ -9,20 +10,20 @@ from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
|
||||
class OpenpilotPrefix:
|
||||
def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
|
||||
self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
|
||||
shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
|
||||
self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
|
||||
self.create_dirs_on_enter = create_dirs_on_enter
|
||||
self.clean_dirs_on_exit = clean_dirs_on_exit
|
||||
self.shared_download_cache = shared_download_cache
|
||||
|
||||
def __enter__(self):
|
||||
self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
|
||||
os.environ['OPENPILOT_PREFIX'] = self.prefix
|
||||
try:
|
||||
os.mkdir(self.msgq_path)
|
||||
except FileExistsError:
|
||||
pass
|
||||
os.makedirs(Paths.log_root(), exist_ok=True)
|
||||
|
||||
if self.create_dirs_on_enter:
|
||||
self.create_dirs()
|
||||
|
||||
if self.shared_download_cache:
|
||||
os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
@@ -40,6 +41,13 @@ class OpenpilotPrefix:
|
||||
pass
|
||||
return False
|
||||
|
||||
def create_dirs(self):
|
||||
try:
|
||||
os.mkdir(self.msgq_path)
|
||||
except FileExistsError:
|
||||
pass
|
||||
os.makedirs(Paths.log_root(), exist_ok=True)
|
||||
|
||||
def clean_dirs(self):
|
||||
symlink_path = Params().get_param_path()
|
||||
if os.path.exists(symlink_path):
|
||||
|
||||
@@ -0,0 +1,40 @@
|
||||
#include "common/ratekeeper.h"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
#include "common/swaglog.h"
|
||||
#include "common/timing.h"
|
||||
#include "common/util.h"
|
||||
|
||||
RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
|
||||
: name(name_),
|
||||
print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
|
||||
interval = 1 / rate;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
}
|
||||
|
||||
bool RateKeeper::keepTime() {
|
||||
bool lagged = monitorTime();
|
||||
if (remaining_ > 0) {
|
||||
util::sleep_for(remaining_ * 1000);
|
||||
}
|
||||
return lagged;
|
||||
}
|
||||
|
||||
bool RateKeeper::monitorTime() {
|
||||
++frame_;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
remaining_ = next_frame_time - last_monitor_time;
|
||||
|
||||
bool lagged = remaining_ < 0;
|
||||
if (lagged) {
|
||||
if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) {
|
||||
LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000);
|
||||
}
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
} else {
|
||||
next_frame_time += interval;
|
||||
}
|
||||
return lagged;
|
||||
}
|
||||
+9
-3
@@ -1,11 +1,12 @@
|
||||
"""Utilities for reading real time clocks and keeping soft real time constraints."""
|
||||
import gc
|
||||
import os
|
||||
import sys
|
||||
import time
|
||||
|
||||
from setproctitle import getproctitle
|
||||
|
||||
from openpilot.common.util import MovingAverage
|
||||
from openpilot.common.utils import MovingAverage
|
||||
from openpilot.system.hardware import PC
|
||||
|
||||
|
||||
@@ -27,14 +28,19 @@ class Priority:
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def drop_realtime() -> None:
|
||||
if sys.platform == 'linux' and not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
|
||||
|
||||
|
||||
def set_core_affinity(cores: list[int]) -> None:
|
||||
if not PC:
|
||||
if sys.platform == 'linux' and not PC:
|
||||
os.sched_setaffinity(0, cores)
|
||||
|
||||
|
||||
def config_realtime_process(cores: int | list[int], priority: int) -> None:
|
||||
gc.disable()
|
||||
if not PC:
|
||||
if sys.platform == 'linux' and not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
|
||||
c = cores if isinstance(cores, list) else [cores, ]
|
||||
set_core_affinity(c)
|
||||
|
||||
@@ -1,30 +0,0 @@
|
||||
import time
|
||||
import functools
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
|
||||
def retry(attempts=3, delay=1.0, ignore_failure=False):
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
for _ in range(attempts):
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
except Exception:
|
||||
cloudlog.exception(f"{func.__name__} failed, trying again")
|
||||
time.sleep(delay)
|
||||
|
||||
if ignore_failure:
|
||||
cloudlog.error(f"{func.__name__} failed after retry")
|
||||
else:
|
||||
raise Exception(f"{func.__name__} failed after retry")
|
||||
return wrapper
|
||||
return decorator
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
@retry(attempts=10)
|
||||
def abc():
|
||||
raise ValueError("abc failed :(")
|
||||
abc()
|
||||
@@ -1,13 +0,0 @@
|
||||
import subprocess
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
|
||||
|
||||
|
||||
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
|
||||
try:
|
||||
return run_cmd(cmd, cwd=cwd, env=env)
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
Regular → Executable
+2
-2
@@ -6,9 +6,9 @@ from openpilot.common.basedir import BASEDIR
|
||||
class Spinner:
|
||||
def __init__(self):
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
self.spinner_proc = subprocess.Popen(["./spinner.py"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
cwd=os.path.join(BASEDIR, "system", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
|
||||
@@ -0,0 +1,157 @@
|
||||
#ifndef _GNU_SOURCE
|
||||
#define _GNU_SOURCE
|
||||
#endif
|
||||
|
||||
#include "common/swaglog.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <limits>
|
||||
#include <mutex>
|
||||
#include <string>
|
||||
|
||||
#include <zmq.h>
|
||||
#include <stdarg.h>
|
||||
#include "json11/json11.hpp"
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
#include "sunnypilot/common/version.h"
|
||||
|
||||
class SwaglogState {
|
||||
public:
|
||||
SwaglogState() {
|
||||
zctx = zmq_ctx_new();
|
||||
sock = zmq_socket(zctx, ZMQ_PUSH);
|
||||
|
||||
// Timeout on shutdown for messages to be received by the logging process
|
||||
int timeout = 100;
|
||||
zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
|
||||
zmq_connect(sock, Path::swaglog_ipc().c_str());
|
||||
|
||||
// workaround for https://github.com/dropbox/json11/issues/38
|
||||
setlocale(LC_NUMERIC, "C");
|
||||
|
||||
print_level = CLOUDLOG_WARNING;
|
||||
if (const char* print_lvl = getenv("LOGPRINT")) {
|
||||
if (strcmp(print_lvl, "debug") == 0) {
|
||||
print_level = CLOUDLOG_DEBUG;
|
||||
} else if (strcmp(print_lvl, "info") == 0) {
|
||||
print_level = CLOUDLOG_INFO;
|
||||
} else if (strcmp(print_lvl, "warning") == 0) {
|
||||
print_level = CLOUDLOG_WARNING;
|
||||
}
|
||||
}
|
||||
|
||||
ctx_j = json11::Json::object{};
|
||||
if (char* dongle_id = getenv("DONGLE_ID")) {
|
||||
ctx_j["dongle_id"] = dongle_id;
|
||||
}
|
||||
if (char* git_origin = getenv("GIT_ORIGIN")) {
|
||||
ctx_j["origin"] = git_origin;
|
||||
}
|
||||
if (char* git_branch = getenv("GIT_BRANCH")) {
|
||||
ctx_j["branch"] = git_branch;
|
||||
}
|
||||
if (char* git_commit = getenv("GIT_COMMIT")) {
|
||||
ctx_j["commit"] = git_commit;
|
||||
}
|
||||
if (char* daemon_name = getenv("MANAGER_DAEMON")) {
|
||||
ctx_j["daemon"] = daemon_name;
|
||||
}
|
||||
ctx_j["version"] = SUNNYPILOT_VERSION;
|
||||
ctx_j["dirty"] = !getenv("CLEAN");
|
||||
ctx_j["device"] = Hardware::get_name();
|
||||
}
|
||||
|
||||
~SwaglogState() {
|
||||
zmq_close(sock);
|
||||
zmq_ctx_destroy(zctx);
|
||||
}
|
||||
|
||||
void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) {
|
||||
std::lock_guard lk(lock);
|
||||
if (levelnum >= print_level) {
|
||||
printf("%s: %s\n", filename, msg);
|
||||
}
|
||||
zmq_send(sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK);
|
||||
}
|
||||
|
||||
std::mutex lock;
|
||||
void* zctx = nullptr;
|
||||
void* sock = nullptr;
|
||||
int print_level;
|
||||
json11::Json::object ctx_j;
|
||||
};
|
||||
|
||||
bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS");
|
||||
uint32_t NO_FRAME_ID = std::numeric_limits<uint32_t>::max();
|
||||
|
||||
static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
|
||||
char* msg_buf, const json11::Json::object &msg_j={}) {
|
||||
static SwaglogState s;
|
||||
|
||||
json11::Json::object log_j = json11::Json::object {
|
||||
{"ctx", s.ctx_j},
|
||||
{"levelnum", levelnum},
|
||||
{"filename", filename},
|
||||
{"lineno", lineno},
|
||||
{"funcname", func},
|
||||
{"created", seconds_since_epoch()}
|
||||
};
|
||||
if (msg_j.empty()) {
|
||||
log_j["msg"] = msg_buf;
|
||||
} else {
|
||||
log_j["msg"] = msg_j;
|
||||
}
|
||||
|
||||
std::string log_s;
|
||||
log_s += (char)levelnum;
|
||||
((json11::Json)log_j).dump(log_s);
|
||||
s.log(levelnum, filename, lineno, func, msg_buf, log_s);
|
||||
|
||||
free(msg_buf);
|
||||
}
|
||||
|
||||
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
|
||||
const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
char* msg_buf = nullptr;
|
||||
int ret = vasprintf(&msg_buf, fmt, args);
|
||||
va_end(args);
|
||||
if (ret <= 0 || !msg_buf) return;
|
||||
cloudlog_common(levelnum, filename, lineno, func, msg_buf);
|
||||
}
|
||||
|
||||
void cloudlog_t_common(int levelnum, const char* filename, int lineno, const char* func,
|
||||
uint32_t frame_id, const char* fmt, va_list args) {
|
||||
if (!LOG_TIMESTAMPS) return;
|
||||
char* msg_buf = nullptr;
|
||||
int ret = vasprintf(&msg_buf, fmt, args);
|
||||
if (ret <= 0 || !msg_buf) return;
|
||||
json11::Json::object tspt_j = json11::Json::object{
|
||||
{"event", msg_buf},
|
||||
{"time", std::to_string(nanos_since_boot())}
|
||||
};
|
||||
if (frame_id < NO_FRAME_ID) {
|
||||
tspt_j["frame_id"] = std::to_string(frame_id);
|
||||
}
|
||||
tspt_j = json11::Json::object{{"timestamp", tspt_j}};
|
||||
cloudlog_common(levelnum, filename, lineno, func, msg_buf, tspt_j);
|
||||
}
|
||||
|
||||
|
||||
void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
|
||||
const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
cloudlog_t_common(levelnum, filename, lineno, func, NO_FRAME_ID, fmt, args);
|
||||
va_end(args);
|
||||
}
|
||||
void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
|
||||
uint32_t frame_id, const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
|
||||
va_end(args);
|
||||
}
|
||||
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
from uuid import uuid4
|
||||
|
||||
from openpilot.common.file_helpers import atomic_write_in_dir
|
||||
from openpilot.common.utils import atomic_write
|
||||
|
||||
|
||||
class TestFileHelpers:
|
||||
@@ -15,5 +15,5 @@ class TestFileHelpers:
|
||||
assert f.read() == "test"
|
||||
os.remove(path)
|
||||
|
||||
def test_atomic_write_in_dir(self):
|
||||
self.run_atomic_write_func(atomic_write_in_dir)
|
||||
def test_atomic_write(self):
|
||||
self.run_atomic_write_func(atomic_write)
|
||||
|
||||
@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown
|
||||
|
||||
class TestMarkdown:
|
||||
def test_all_release_notes(self):
|
||||
with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
|
||||
with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
|
||||
release_notes = f.read().split("\n\n")
|
||||
assert len(release_notes) > 10
|
||||
|
||||
|
||||
@@ -0,0 +1,27 @@
|
||||
#include "catch2/catch.hpp"
|
||||
#define private public
|
||||
#include "common/params.h"
|
||||
#include "common/util.h"
|
||||
|
||||
TEST_CASE("params_nonblocking_put") {
|
||||
char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
|
||||
const std::string param_path = mkdtemp(tmp_path);
|
||||
auto param_names = {"CarParams", "IsMetric"};
|
||||
{
|
||||
Params params(param_path);
|
||||
for (const auto &name : param_names) {
|
||||
params.putNonBlocking(name, "1");
|
||||
// param is empty
|
||||
REQUIRE(params.get(name).empty());
|
||||
}
|
||||
|
||||
// check if thread is running
|
||||
REQUIRE(params.future.valid());
|
||||
REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
|
||||
}
|
||||
// check results
|
||||
Params p(param_path);
|
||||
for (const auto &name : param_names) {
|
||||
REQUIRE(p.get(name) == "1");
|
||||
}
|
||||
}
|
||||
+53
-21
@@ -1,27 +1,28 @@
|
||||
import pytest
|
||||
import datetime
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
import uuid
|
||||
|
||||
from openpilot.common.params import Params, ParamKeyType, UnknownKeyName
|
||||
from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
|
||||
|
||||
class TestParams:
|
||||
def setup_method(self):
|
||||
self.params = Params()
|
||||
|
||||
def test_params_put_and_get(self):
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
assert self.params.get("DongleId") == b"cb38263377b873ee"
|
||||
self.params.put("DongleId", "cb38263377b873ee", block=True)
|
||||
assert self.params.get("DongleId") == "cb38263377b873ee"
|
||||
|
||||
def test_params_non_ascii(self):
|
||||
st = b"\xe1\x90\xff"
|
||||
self.params.put("CarParams", st)
|
||||
self.params.put("CarParams", st, block=True)
|
||||
assert self.params.get("CarParams") == st
|
||||
|
||||
def test_params_get_cleared_manager_start(self):
|
||||
self.params.put("CarParams", "test")
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
self.params.put("CarParams", b"test", block=True)
|
||||
self.params.put("DongleId", "cb38263377b873ee", block=True)
|
||||
assert self.params.get("CarParams") == b"test"
|
||||
|
||||
undefined_param = self.params.get_param_path(uuid.uuid4().hex)
|
||||
@@ -29,24 +30,24 @@ class TestParams:
|
||||
f.write("test")
|
||||
assert os.path.isfile(undefined_param)
|
||||
|
||||
self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
|
||||
self.params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("DongleId") is not None
|
||||
assert not os.path.isfile(undefined_param)
|
||||
|
||||
def test_params_two_things(self):
|
||||
self.params.put("DongleId", "bob")
|
||||
self.params.put("AthenadPid", "123")
|
||||
assert self.params.get("DongleId") == b"bob"
|
||||
assert self.params.get("AthenadPid") == b"123"
|
||||
self.params.put("DongleId", "bob", block=True)
|
||||
self.params.put("AthenadPid", 123, block=True)
|
||||
assert self.params.get("DongleId") == "bob"
|
||||
assert self.params.get("AthenadPid") == 123
|
||||
|
||||
def test_params_get_block(self):
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
self.params.put("CarParams", "test")
|
||||
self.params.put("CarParams", b"test", block=True)
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("CarParams", True) == b"test"
|
||||
assert self.params.get("CarParams", block=True) == b"test"
|
||||
|
||||
def test_params_unknown_key_fails(self):
|
||||
with pytest.raises(UnknownKeyName):
|
||||
@@ -56,10 +57,10 @@ class TestParams:
|
||||
self.params.get_bool("swag")
|
||||
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.put("swag", "abc")
|
||||
self.params.put("swag", "abc", block=True)
|
||||
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.put_bool("swag", True)
|
||||
self.params.put_bool("swag", True, block=True)
|
||||
|
||||
def test_remove_not_there(self):
|
||||
assert self.params.get("CarParams") is None
|
||||
@@ -70,23 +71,23 @@ class TestParams:
|
||||
self.params.remove("IsMetric")
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put_bool("IsMetric", True)
|
||||
self.params.put_bool("IsMetric", True, block=True)
|
||||
assert self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put_bool("IsMetric", False)
|
||||
self.params.put_bool("IsMetric", False, block=True)
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put("IsMetric", "1")
|
||||
self.params.put("IsMetric", True, block=True)
|
||||
assert self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put("IsMetric", "0")
|
||||
self.params.put("IsMetric", False, block=True)
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
def test_put_non_blocking_with_get_block(self):
|
||||
q = Params()
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
Params().put_nonblocking("CarParams", "test")
|
||||
Params().put("CarParams", b"test")
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert q.get("CarParams") is None
|
||||
assert q.get("CarParams", True) == b"test"
|
||||
@@ -95,7 +96,7 @@ class TestParams:
|
||||
q = Params()
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
Params().put_bool_nonblocking("CarParams", True)
|
||||
Params().put_bool("CarParams", True)
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert q.get("CarParams") is None
|
||||
assert q.get("CarParams", True) == b"1"
|
||||
@@ -107,3 +108,34 @@ class TestParams:
|
||||
assert len(keys) > 20
|
||||
assert len(keys) == len(set(keys))
|
||||
assert b"CarParams" in keys
|
||||
|
||||
def test_params_default_value(self):
|
||||
self.params.remove("LanguageSetting")
|
||||
self.params.remove("LongitudinalPersonality")
|
||||
self.params.remove("LiveParameters")
|
||||
|
||||
assert self.params.get("LanguageSetting") is None
|
||||
assert self.params.get("LanguageSetting", return_default=False) is None
|
||||
assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
|
||||
assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
|
||||
assert self.params.get("LiveParameters") is None
|
||||
assert self.params.get("LiveParameters", return_default=True) is None
|
||||
|
||||
def test_params_get_type(self):
|
||||
# json
|
||||
self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)
|
||||
assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
|
||||
|
||||
# int
|
||||
self.params.put("BootCount", 1441, block=True)
|
||||
assert self.params.get("BootCount") == 1441
|
||||
|
||||
# bool
|
||||
self.params.put("AdbEnabled", True, block=True)
|
||||
assert self.params.get("AdbEnabled")
|
||||
assert isinstance(self.params.get("AdbEnabled"), bool)
|
||||
|
||||
# time
|
||||
now = datetime.datetime.now(datetime.UTC)
|
||||
self.params.put("InstallDate", now, block=True)
|
||||
assert self.params.get("InstallDate") == now
|
||||
|
||||
@@ -0,0 +1,2 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
@@ -24,6 +24,6 @@ class TestSimpleKalman:
|
||||
self.kf.set_x([[1.0], [1.0]])
|
||||
assert self.kf.x == [[1.0], [1.0]]
|
||||
|
||||
def update_returns_state(self):
|
||||
def test_update_returns_state(self):
|
||||
x = self.kf.update(100)
|
||||
assert x == self.kf.x
|
||||
assert x == [i[0] for i in self.kf.x]
|
||||
|
||||
@@ -0,0 +1,90 @@
|
||||
#include <zmq.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
#include "json11/json11.hpp"
|
||||
|
||||
#include "sunnypilot/common/version.h"
|
||||
|
||||
std::string daemon_name = "testy";
|
||||
std::string dongle_id = "test_dongle_id";
|
||||
int LINE_NO = 0;
|
||||
|
||||
void log_thread(int thread_id, int msg_cnt) {
|
||||
for (int i = 0; i < msg_cnt; ++i) {
|
||||
LOGD("%d", thread_id);
|
||||
LINE_NO = __LINE__ - 1;
|
||||
usleep(1);
|
||||
}
|
||||
}
|
||||
|
||||
void recv_log(int thread_cnt, int thread_msg_cnt) {
|
||||
void *zctx = zmq_ctx_new();
|
||||
void *sock = zmq_socket(zctx, ZMQ_PULL);
|
||||
zmq_bind(sock, Path::swaglog_ipc().c_str());
|
||||
std::vector<int> thread_msgs(thread_cnt);
|
||||
int total_count = 0;
|
||||
|
||||
for (auto start = std::chrono::steady_clock::now(), now = start;
|
||||
now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
|
||||
now = std::chrono::steady_clock::now()) {
|
||||
char buf[4096] = {};
|
||||
if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
|
||||
if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
|
||||
break;
|
||||
}
|
||||
|
||||
REQUIRE(buf[0] == CLOUDLOG_DEBUG);
|
||||
std::string err;
|
||||
auto msg = json11::Json::parse(buf + 1, err);
|
||||
REQUIRE(!msg.is_null());
|
||||
|
||||
REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
|
||||
REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
|
||||
REQUIRE(msg["funcname"].string_value() == "log_thread");
|
||||
REQUIRE(msg["lineno"].int_value() == LINE_NO);
|
||||
|
||||
auto ctx = msg["ctx"];
|
||||
|
||||
REQUIRE(ctx["daemon"].string_value() == daemon_name);
|
||||
REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
|
||||
REQUIRE(ctx["dirty"].bool_value() == true);
|
||||
|
||||
REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
|
||||
|
||||
std::string device = Hardware::get_name();
|
||||
REQUIRE(ctx["device"].string_value() == device);
|
||||
|
||||
int thread_id = atoi(msg["msg"].string_value().c_str());
|
||||
REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
|
||||
thread_msgs[thread_id]++;
|
||||
total_count++;
|
||||
}
|
||||
for (int i = 0; i < thread_cnt; ++i) {
|
||||
INFO("thread :" << i);
|
||||
REQUIRE(thread_msgs[i] == thread_msg_cnt);
|
||||
}
|
||||
zmq_close(sock);
|
||||
zmq_ctx_destroy(zctx);
|
||||
}
|
||||
|
||||
TEST_CASE("swaglog") {
|
||||
setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
|
||||
setenv("DONGLE_ID", dongle_id.c_str(), 1);
|
||||
setenv("dirty", "1", 1);
|
||||
const int thread_cnt = 5;
|
||||
const int thread_msg_cnt = 100;
|
||||
|
||||
std::vector<std::thread> log_threads;
|
||||
for (int i = 0; i < thread_cnt; ++i) {
|
||||
log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
|
||||
}
|
||||
for (auto &t : log_threads) t.join();
|
||||
|
||||
recv_log(thread_cnt, thread_msg_cnt);
|
||||
}
|
||||
@@ -0,0 +1,147 @@
|
||||
|
||||
#include <dirent.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <climits>
|
||||
#include <fstream>
|
||||
#include <random>
|
||||
#include <string>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "common/util.h"
|
||||
|
||||
std::string random_bytes(int size) {
|
||||
std::random_device rd;
|
||||
std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
|
||||
std::string bytes(size + 1, '\0');
|
||||
std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
|
||||
return bytes;
|
||||
}
|
||||
|
||||
TEST_CASE("util::read_file") {
|
||||
SECTION("read /proc/version") {
|
||||
std::string ret = util::read_file("/proc/version");
|
||||
REQUIRE(ret.find("Linux version") != std::string::npos);
|
||||
}
|
||||
SECTION("read from sysfs") {
|
||||
std::string ret = util::read_file("/sys/power/wakeup_count");
|
||||
REQUIRE(!ret.empty());
|
||||
}
|
||||
SECTION("read file") {
|
||||
char filename[] = "/tmp/test_read_XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
|
||||
REQUIRE(util::read_file(filename).empty());
|
||||
|
||||
std::string content = random_bytes(64 * 1024);
|
||||
REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
|
||||
std::string ret = util::read_file(filename);
|
||||
bool equal = (ret == content);
|
||||
REQUIRE(equal);
|
||||
close(fd);
|
||||
}
|
||||
SECTION("read directory") {
|
||||
REQUIRE(util::read_file(".").empty());
|
||||
}
|
||||
SECTION("read non-existent file") {
|
||||
std::string ret = util::read_file("does_not_exist");
|
||||
REQUIRE(ret.empty());
|
||||
}
|
||||
SECTION("read non-permission") {
|
||||
REQUIRE(util::read_file("/proc/kmsg").empty());
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("util::file_exists") {
|
||||
char filename[] = "/tmp/test_file_exists_XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
REQUIRE(fd != -1);
|
||||
close(fd);
|
||||
|
||||
SECTION("existent file") {
|
||||
REQUIRE(util::file_exists(filename));
|
||||
REQUIRE(util::file_exists("/tmp"));
|
||||
}
|
||||
SECTION("nonexistent file") {
|
||||
std::string fn = filename;
|
||||
REQUIRE(!util::file_exists(fn + "/nonexistent"));
|
||||
}
|
||||
SECTION("file has no access permissions") {
|
||||
std::string fn = "/proc/kmsg";
|
||||
std::ifstream f(fn);
|
||||
REQUIRE(f.good() == false);
|
||||
REQUIRE(util::file_exists(fn));
|
||||
}
|
||||
::remove(filename);
|
||||
}
|
||||
|
||||
TEST_CASE("util::read_files_in_dir") {
|
||||
char tmp_path[] = "/tmp/test_XXXXXX";
|
||||
const std::string test_path = mkdtemp(tmp_path);
|
||||
const std::string files[] = {".test1", "'test2'", "test3"};
|
||||
for (auto fn : files) {
|
||||
std::ofstream{test_path + "/" + fn} << fn;
|
||||
}
|
||||
mkdir((test_path + "/dir").c_str(), 0777);
|
||||
|
||||
std::map<std::string, std::string> result = util::read_files_in_dir(test_path);
|
||||
REQUIRE(result.find("dir") == result.end());
|
||||
REQUIRE(result.size() == std::size(files));
|
||||
for (auto& [k, v] : result) {
|
||||
REQUIRE(k == v);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("util::safe_fwrite") {
|
||||
char filename[] = "/tmp/XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
close(fd);
|
||||
std::string dat = random_bytes(1024 * 1024);
|
||||
|
||||
FILE *f = util::safe_fopen(filename, "wb");
|
||||
REQUIRE(f != nullptr);
|
||||
size_t size = util::safe_fwrite(dat.data(), 1, dat.size(), f);
|
||||
REQUIRE(size == dat.size());
|
||||
int ret = util::safe_fflush(f);
|
||||
REQUIRE(ret == 0);
|
||||
ret = fclose(f);
|
||||
REQUIRE(ret == 0);
|
||||
bool equal = (dat == util::read_file(filename));
|
||||
REQUIRE(equal);
|
||||
}
|
||||
|
||||
TEST_CASE("util::create_directories") {
|
||||
REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
|
||||
std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
|
||||
|
||||
auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
|
||||
struct stat st = {};
|
||||
return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
|
||||
};
|
||||
|
||||
SECTION("create_directories") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
REQUIRE(check_dir_permissions(dir, 0755));
|
||||
}
|
||||
SECTION("dir already exists") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
}
|
||||
SECTION("a file exists with the same name") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
|
||||
REQUIRE(f != -1);
|
||||
close(f);
|
||||
REQUIRE(util::create_directories(dir + "/file", 0755) == false);
|
||||
REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
|
||||
}
|
||||
SECTION("end with slashes") {
|
||||
REQUIRE(util::create_directories(dir + "/", 0755));
|
||||
}
|
||||
SECTION("empty") {
|
||||
REQUIRE(util::create_directories("", 0755) == false);
|
||||
}
|
||||
}
|
||||
@@ -8,9 +8,9 @@ from openpilot.common.basedir import BASEDIR
|
||||
class TextWindow:
|
||||
def __init__(self, text):
|
||||
try:
|
||||
self.text_proc = subprocess.Popen(["./text", text],
|
||||
self.text_proc = subprocess.Popen(["./text.py", text],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
cwd=os.path.join(BASEDIR, "system", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.text_proc = None
|
||||
|
||||
@@ -2,6 +2,7 @@ import datetime
|
||||
from pathlib import Path
|
||||
|
||||
MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
|
||||
MAX_DATE = datetime.datetime(year=2035, month=1, day=1)
|
||||
|
||||
def min_date():
|
||||
# on systemd systems, the default time is the systemd build time
|
||||
@@ -12,4 +13,4 @@ def min_date():
|
||||
return MIN_DATE
|
||||
|
||||
def system_time_valid():
|
||||
return datetime.datetime.now() > min_date()
|
||||
return min_date() < datetime.datetime.now() < MAX_DATE
|
||||
|
||||
@@ -1,2 +0,0 @@
|
||||
transformations
|
||||
transformations.cpp
|
||||
@@ -102,3 +102,36 @@ class TestNED:
|
||||
np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
|
||||
ecef_positions_offset_batch,
|
||||
rtol=1e-9, atol=1e-7)
|
||||
|
||||
def test_errors(self):
|
||||
# Test wrong shape/type for geodetic2ecef
|
||||
# numpy_wrap raises IndexError for scalar input
|
||||
with np.testing.assert_raises(IndexError):
|
||||
coord.geodetic2ecef(1.0)
|
||||
|
||||
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
|
||||
coord.geodetic2ecef([0, 0])
|
||||
|
||||
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
|
||||
coord.geodetic2ecef([0, 0, 0, 0])
|
||||
|
||||
with np.testing.assert_raises(TypeError):
|
||||
coord.geodetic2ecef(['a', 'b', 'c'])
|
||||
|
||||
# Test LocalCoord constructor errors
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.LocalCoord.from_geodetic([0, 0])
|
||||
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.LocalCoord.from_geodetic(1)
|
||||
|
||||
with np.testing.assert_raises(TypeError):
|
||||
coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
|
||||
|
||||
# Test wrong shape/type for ecef2geodetic
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.ecef2geodetic([1, 2])
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.ecef2geodetic([1, 2, 3, 4])
|
||||
with np.testing.assert_raises(IndexError):
|
||||
coord.ecef2geodetic(1.0)
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
|
||||
rot2quat, quat2rot, \
|
||||
@@ -59,3 +60,32 @@ class TestOrientation:
|
||||
np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
|
||||
#np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
|
||||
# np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
|
||||
|
||||
def test_inputs(self):
|
||||
with pytest.raises(ValueError):
|
||||
euler2quat([1, 2])
|
||||
|
||||
with pytest.raises(ValueError):
|
||||
quat2rot([1, 2, 3])
|
||||
|
||||
with pytest.raises(IndexError):
|
||||
rot2quat(np.zeros((2, 2)))
|
||||
|
||||
def test_euler_rot_consistency(self):
|
||||
rpy = [0.1, 0.2, 0.3]
|
||||
R = euler2rot(rpy)
|
||||
|
||||
# R -> q -> R
|
||||
q = rot2quat(R)
|
||||
R_new = quat2rot(q)
|
||||
np.testing.assert_allclose(R, R_new, atol=1e-15)
|
||||
|
||||
# q -> R -> Euler (quat2euler) -> R
|
||||
rpy_new = quat2euler(q)
|
||||
R_new2 = euler2rot(rpy_new)
|
||||
np.testing.assert_allclose(R, R_new2, atol=1e-15)
|
||||
|
||||
# R -> Euler (rot2euler) -> R
|
||||
rpy_from_rot = rot2euler(R)
|
||||
R_new3 = euler2rot(rpy_from_rot)
|
||||
np.testing.assert_allclose(R, R_new3, atol=1e-15)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,72 +0,0 @@
|
||||
# cython: language_level=3
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "orientation.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "orientation.hpp":
|
||||
cdef cppclass Quaternion "Eigen::Quaterniond":
|
||||
Quaternion()
|
||||
Quaternion(double, double, double, double)
|
||||
double w()
|
||||
double x()
|
||||
double y()
|
||||
double z()
|
||||
|
||||
cdef cppclass Vector3 "Eigen::Vector3d":
|
||||
Vector3()
|
||||
Vector3(double, double, double)
|
||||
double operator()(int)
|
||||
|
||||
cdef cppclass Matrix3 "Eigen::Matrix3d":
|
||||
Matrix3()
|
||||
Matrix3(double*)
|
||||
|
||||
double operator()(int, int)
|
||||
|
||||
Quaternion euler2quat(const Vector3 &)
|
||||
Vector3 quat2euler(const Quaternion &)
|
||||
Matrix3 quat2rot(const Quaternion &)
|
||||
Quaternion rot2quat(const Matrix3 &)
|
||||
Vector3 rot2euler(const Matrix3 &)
|
||||
Matrix3 euler2rot(const Vector3 &)
|
||||
Matrix3 rot_matrix(double, double, double)
|
||||
Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
|
||||
Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
|
||||
|
||||
|
||||
cdef extern from "coordinates.cc":
|
||||
cdef struct ECEF:
|
||||
double x
|
||||
double y
|
||||
double z
|
||||
|
||||
cdef struct NED:
|
||||
double n
|
||||
double e
|
||||
double d
|
||||
|
||||
cdef struct Geodetic:
|
||||
double lat
|
||||
double lon
|
||||
double alt
|
||||
bool radians
|
||||
|
||||
ECEF geodetic2ecef(const Geodetic &)
|
||||
Geodetic ecef2geodetic(const ECEF &)
|
||||
|
||||
cdef cppclass LocalCoord_c "LocalCoord":
|
||||
Matrix3 ned2ecef_matrix
|
||||
Matrix3 ecef2ned_matrix
|
||||
|
||||
LocalCoord_c(const Geodetic &, const ECEF &)
|
||||
LocalCoord_c(const Geodetic &)
|
||||
LocalCoord_c(const ECEF &)
|
||||
|
||||
NED ecef2ned(const ECEF &)
|
||||
ECEF ned2ecef(const NED &)
|
||||
NED geodetic2ned(const Geodetic &)
|
||||
Geodetic ned2geodetic(const NED &)
|
||||
|
||||
cdef extern from "coordinates.hpp":
|
||||
pass
|
||||
@@ -0,0 +1,342 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
# Constants
|
||||
a = 6378137.0
|
||||
b = 6356752.3142
|
||||
esq = 6.69437999014e-3
|
||||
e1sq = 6.73949674228e-3
|
||||
|
||||
|
||||
def geodetic2ecef_single(g):
|
||||
"""
|
||||
Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
|
||||
"""
|
||||
try:
|
||||
if len(g) != 3:
|
||||
raise ValueError("Geodetic must be size 3")
|
||||
except TypeError:
|
||||
raise ValueError("Geodetic must be a sequence of length 3") from None
|
||||
|
||||
lat, lon, alt = g
|
||||
lat = np.radians(lat)
|
||||
lon = np.radians(lon)
|
||||
xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
|
||||
x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
|
||||
y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
|
||||
z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
|
||||
return np.array([x, y, z])
|
||||
|
||||
|
||||
def ecef2geodetic_single(e):
|
||||
"""
|
||||
Convert ECEF to geodetic coordinates using Ferrari's solution.
|
||||
"""
|
||||
x, y, z = e
|
||||
r = np.sqrt(x**2 + y**2)
|
||||
Esq = a**2 - b**2
|
||||
F = 54 * b**2 * z**2
|
||||
G = r**2 + (1 - esq) * z**2 - esq * Esq
|
||||
C = (esq**2 * F * r**2) / (G**3)
|
||||
S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
|
||||
P = F / (3 * (S + 1 / S + 1)**2 * G**2)
|
||||
Q = np.sqrt(1 + 2 * esq**2 * P)
|
||||
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
|
||||
U = np.sqrt((r - esq * r_0)**2 + z**2)
|
||||
V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
|
||||
Z_0 = b**2 * z / (a * V)
|
||||
h = U * (1 - b**2 / (a * V))
|
||||
lat = np.arctan((z + e1sq * Z_0) / r)
|
||||
lon = np.arctan2(y, x)
|
||||
return np.array([np.degrees(lat), np.degrees(lon), h])
|
||||
|
||||
|
||||
def euler2quat_single(euler):
|
||||
"""
|
||||
Convert Euler angles (roll, pitch, yaw) to a quaternion.
|
||||
Rotation order: Z-Y-X (yaw, pitch, roll).
|
||||
"""
|
||||
phi, theta, psi = euler
|
||||
|
||||
c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
|
||||
c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
|
||||
c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
|
||||
|
||||
w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
|
||||
x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
|
||||
y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
|
||||
z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
|
||||
|
||||
if w < 0:
|
||||
return np.array([-w, -x, -y, -z])
|
||||
return np.array([w, x, y, z])
|
||||
|
||||
|
||||
def quat2euler_single(q):
|
||||
"""
|
||||
Convert a quaternion to Euler angles (roll, pitch, yaw).
|
||||
"""
|
||||
w, x, y, z = q
|
||||
gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
|
||||
sin_arg = 2 * (w * y - z * x)
|
||||
sin_arg = np.clip(sin_arg, -1.0, 1.0)
|
||||
theta = np.arcsin(sin_arg)
|
||||
psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
|
||||
return np.array([gamma, theta, psi])
|
||||
|
||||
|
||||
def quat2rot_single(q):
|
||||
"""
|
||||
Convert a quaternion to a 3x3 rotation matrix.
|
||||
"""
|
||||
w, x, y, z = q
|
||||
xx, yy, zz = x * x, y * y, z * z
|
||||
xy, xz, yz = x * y, x * z, y * z
|
||||
wx, wy, wz = w * x, w * y, w * z
|
||||
|
||||
mat = np.array([
|
||||
[1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
|
||||
[2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
|
||||
[2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
|
||||
])
|
||||
return mat
|
||||
|
||||
|
||||
def rot2quat_single(rot):
|
||||
"""
|
||||
Convert a 3x3 rotation matrix to a quaternion.
|
||||
"""
|
||||
trace = np.trace(rot)
|
||||
if trace > 0:
|
||||
s = 0.5 / np.sqrt(trace + 1.0)
|
||||
w = 0.25 / s
|
||||
x = (rot[2, 1] - rot[1, 2]) * s
|
||||
y = (rot[0, 2] - rot[2, 0]) * s
|
||||
z = (rot[1, 0] - rot[0, 1]) * s
|
||||
else:
|
||||
if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
|
||||
w = (rot[2, 1] - rot[1, 2]) / s
|
||||
x = 0.25 * s
|
||||
y = (rot[0, 1] + rot[1, 0]) / s
|
||||
z = (rot[0, 2] + rot[2, 0]) / s
|
||||
elif rot[1, 1] > rot[2, 2]:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
|
||||
w = (rot[0, 2] - rot[2, 0]) / s
|
||||
x = (rot[0, 1] + rot[1, 0]) / s
|
||||
y = 0.25 * s
|
||||
z = (rot[1, 2] + rot[2, 1]) / s
|
||||
else:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
|
||||
w = (rot[1, 0] - rot[0, 1]) / s
|
||||
x = (rot[0, 2] + rot[2, 0]) / s
|
||||
y = (rot[1, 2] + rot[2, 1]) / s
|
||||
z = 0.25 * s
|
||||
|
||||
if w < 0:
|
||||
return np.array([-w, -x, -y, -z])
|
||||
return np.array([w, x, y, z])
|
||||
|
||||
|
||||
def euler2rot_single(euler):
|
||||
"""
|
||||
Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
|
||||
Rotation order: Z-Y-X (yaw, pitch, roll).
|
||||
"""
|
||||
phi, theta, psi = euler
|
||||
|
||||
cx, sx = np.cos(phi), np.sin(phi)
|
||||
cy, sy = np.cos(theta), np.sin(theta)
|
||||
cz, sz = np.cos(psi), np.sin(psi)
|
||||
|
||||
Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
|
||||
Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
|
||||
Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
|
||||
|
||||
return Rz @ Ry @ Rx
|
||||
|
||||
|
||||
def rot2euler_single(rot):
|
||||
"""
|
||||
Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
|
||||
"""
|
||||
return quat2euler_single(rot2quat_single(rot))
|
||||
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
"""
|
||||
Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
|
||||
"""
|
||||
return euler2rot_single([roll, pitch, yaw])
|
||||
|
||||
|
||||
def axis_angle_to_rot(axis, angle):
|
||||
"""
|
||||
Convert an axis-angle representation to a 3x3 rotation matrix.
|
||||
"""
|
||||
c = np.cos(angle / 2)
|
||||
s = np.sin(angle / 2)
|
||||
q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
|
||||
return quat2rot_single(q)
|
||||
|
||||
|
||||
class LocalCoord:
|
||||
"""
|
||||
A class to handle conversions between ECEF and local NED coordinates.
|
||||
"""
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
"""
|
||||
Initialize LocalCoord with either geodetic or ECEF coordinates.
|
||||
"""
|
||||
if geodetic is not None:
|
||||
self.init_ecef = geodetic2ecef_single(geodetic)
|
||||
lat, lon, _ = geodetic
|
||||
elif ecef is not None:
|
||||
self.init_ecef = np.array(ecef)
|
||||
lat, lon, _ = ecef2geodetic_single(ecef)
|
||||
else:
|
||||
raise ValueError("Must provide geodetic or ecef")
|
||||
|
||||
lat = np.radians(lat)
|
||||
lon = np.radians(lon)
|
||||
|
||||
self.ned2ecef_matrix = np.array([
|
||||
[-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
|
||||
[-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
|
||||
[np.cos(lat), 0, -np.sin(lat)]
|
||||
])
|
||||
self.ecef2ned_matrix = self.ned2ecef_matrix.T
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
"""
|
||||
Create a LocalCoord instance from geodetic coordinates.
|
||||
"""
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
"""
|
||||
Create a LocalCoord instance from ECEF coordinates.
|
||||
"""
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
"""
|
||||
Convert a single ECEF point to NED coordinates relative to the origin.
|
||||
"""
|
||||
return self.ecef2ned_matrix @ (ecef - self.init_ecef)
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
"""
|
||||
Convert a single NED point to ECEF coordinates.
|
||||
"""
|
||||
return self.ned2ecef_matrix @ ned + self.init_ecef
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
"""
|
||||
Convert a single geodetic point to NED coordinates.
|
||||
"""
|
||||
ecef = geodetic2ecef_single(geodetic)
|
||||
return self.ecef2ned_single(ecef)
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
"""
|
||||
Convert a single NED point to geodetic coordinates.
|
||||
"""
|
||||
ecef = self.ned2ecef_single(ned)
|
||||
return ecef2geodetic_single(ecef)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
"""
|
||||
Returns the rotation matrix from ECEF to NED coordinates.
|
||||
"""
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
"""
|
||||
Returns the rotation matrix from NED to ECEF coordinates.
|
||||
"""
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
"""
|
||||
Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
|
||||
to equivalent ECEF Euler angles.
|
||||
"""
|
||||
converter = LocalCoord(ecef=ecef_init)
|
||||
zero = np.array(ecef_init)
|
||||
|
||||
x0 = converter.ned2ecef_single([1, 0, 0]) - zero
|
||||
y0 = converter.ned2ecef_single([0, 1, 0]) - zero
|
||||
z0 = converter.ned2ecef_single([0, 0, 1]) - zero
|
||||
|
||||
phi, theta, psi = ned_pose
|
||||
|
||||
x1 = axis_angle_to_rot(z0, psi) @ x0
|
||||
y1 = axis_angle_to_rot(z0, psi) @ y0
|
||||
z1 = axis_angle_to_rot(z0, psi) @ z0
|
||||
|
||||
x2 = axis_angle_to_rot(y1, theta) @ x1
|
||||
y2 = axis_angle_to_rot(y1, theta) @ y1
|
||||
z2 = axis_angle_to_rot(y1, theta) @ z1
|
||||
|
||||
x3 = axis_angle_to_rot(x2, phi) @ x2
|
||||
y3 = axis_angle_to_rot(x2, phi) @ y2
|
||||
|
||||
x0 = np.array([1.0, 0, 0])
|
||||
y0 = np.array([0, 1.0, 0])
|
||||
z0 = np.array([0, 0, 1.0])
|
||||
|
||||
psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
|
||||
theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
|
||||
|
||||
y2 = axis_angle_to_rot(z0, psi_out) @ y0
|
||||
z2 = axis_angle_to_rot(y2, theta_out) @ z0
|
||||
|
||||
phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
|
||||
|
||||
return np.array([phi_out, theta_out, psi_out])
|
||||
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
"""
|
||||
Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
|
||||
to equivalent NED Euler angles.
|
||||
"""
|
||||
converter = LocalCoord(ecef=ecef_init)
|
||||
|
||||
x0 = np.array([1.0, 0, 0])
|
||||
y0 = np.array([0, 1.0, 0])
|
||||
z0 = np.array([0, 0, 1.0])
|
||||
|
||||
phi, theta, psi = ecef_pose
|
||||
|
||||
x1 = axis_angle_to_rot(z0, psi) @ x0
|
||||
y1 = axis_angle_to_rot(z0, psi) @ y0
|
||||
z1 = axis_angle_to_rot(z0, psi) @ z0
|
||||
|
||||
x2 = axis_angle_to_rot(y1, theta) @ x1
|
||||
y2 = axis_angle_to_rot(y1, theta) @ y1
|
||||
z2 = axis_angle_to_rot(y1, theta) @ z1
|
||||
|
||||
x3 = axis_angle_to_rot(x2, phi) @ x2
|
||||
y3 = axis_angle_to_rot(x2, phi) @ y2
|
||||
|
||||
zero = np.array(ecef_init)
|
||||
x0 = converter.ned2ecef_single([1, 0, 0]) - zero
|
||||
y0 = converter.ned2ecef_single([0, 1, 0]) - zero
|
||||
z0 = converter.ned2ecef_single([0, 0, 1]) - zero
|
||||
|
||||
psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
|
||||
theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
|
||||
|
||||
y2 = axis_angle_to_rot(z0, psi_out) @ y0
|
||||
z2 = axis_angle_to_rot(y2, theta_out) @ z0
|
||||
|
||||
phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
|
||||
|
||||
return np.array([phi_out, theta_out, psi_out])
|
||||
@@ -1,173 +0,0 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
|
||||
from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
|
||||
|
||||
from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
|
||||
from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
|
||||
from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
|
||||
from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
|
||||
from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
|
||||
from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
|
||||
from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
|
||||
from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
|
||||
from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
|
||||
from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
|
||||
from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
|
||||
from openpilot.common.transformations.transformations cimport LocalCoord_c
|
||||
|
||||
|
||||
import numpy as np
|
||||
cimport numpy as np
|
||||
|
||||
cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
|
||||
return np.array([
|
||||
[m(0, 0), m(0, 1), m(0, 2)],
|
||||
[m(1, 0), m(1, 1), m(1, 2)],
|
||||
[m(2, 0), m(2, 1), m(2, 2)],
|
||||
])
|
||||
|
||||
cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
|
||||
assert m.shape[0] == 3
|
||||
assert m.shape[1] == 3
|
||||
return Matrix3(<double*>m.data)
|
||||
|
||||
cdef ECEF list2ecef(ecef):
|
||||
cdef ECEF e
|
||||
e.x = ecef[0]
|
||||
e.y = ecef[1]
|
||||
e.z = ecef[2]
|
||||
return e
|
||||
|
||||
cdef NED list2ned(ned):
|
||||
cdef NED n
|
||||
n.n = ned[0]
|
||||
n.e = ned[1]
|
||||
n.d = ned[2]
|
||||
return n
|
||||
|
||||
cdef Geodetic list2geodetic(geodetic):
|
||||
cdef Geodetic g
|
||||
g.lat = geodetic[0]
|
||||
g.lon = geodetic[1]
|
||||
g.alt = geodetic[2]
|
||||
return g
|
||||
|
||||
def euler2quat_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Quaternion q = euler2quat_c(e)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def quat2euler_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Vector3 e = quat2euler_c(q)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def quat2rot_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Matrix3 r = quat2rot_c(q)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2quat_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Quaternion q = rot2quat_c(r)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def euler2rot_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Matrix3 r = euler2rot_c(e)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2euler_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Vector3 e = rot2euler_c(r)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
|
||||
|
||||
cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
|
||||
|
||||
cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def geodetic2ecef_single(geodetic):
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef ECEF e = geodetic2ecef_c(g)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def ecef2geodetic_single(ecef):
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef Geodetic g = ecef2geodetic_c(e)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
|
||||
cdef class LocalCoord:
|
||||
cdef LocalCoord_c * lc
|
||||
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
assert (geodetic is not None) or (ecef is not None)
|
||||
if geodetic is not None:
|
||||
self.lc = new LocalCoord_c(list2geodetic(geodetic))
|
||||
elif ecef is not None:
|
||||
self.lc = new LocalCoord_c(list2ecef(ecef))
|
||||
|
||||
@property
|
||||
def ned2ecef_matrix(self):
|
||||
return matrix2numpy(self.lc.ned2ecef_matrix)
|
||||
|
||||
@property
|
||||
def ecef2ned_matrix(self):
|
||||
return matrix2numpy(self.lc.ecef2ned_matrix)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
assert self.lc
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef NED n = self.lc.ecef2ned(e)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef ECEF e = self.lc.ned2ecef(n)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
assert self.lc
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef NED n = self.lc.geodetic2ned(g)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef Geodetic g = self.lc.ned2geodetic(n)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.lc
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user