mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-10-19 01:03:42 +08:00
Compare commits
3 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 nayan
|
58c9c3d9de | ||
|
nayan
|
c15c6cfc25 | ||
|
nayan
|
7f5c157d45 |
-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:
|
||||
...
|
||||
@@ -1,39 +0,0 @@
|
||||
**/.git
|
||||
.DS_Store
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
.*.swo
|
||||
.*.un~
|
||||
*.tmp
|
||||
*.o
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
|
||||
venv/
|
||||
.venv/
|
||||
|
||||
notebooks
|
||||
phone
|
||||
massivemap
|
||||
neos
|
||||
installer
|
||||
chffr/app2
|
||||
chffr/backend/env
|
||||
selfdrive/nav
|
||||
selfdrive/baseui
|
||||
selfdrive/test/simulator2
|
||||
**/cache_data
|
||||
xx/plus
|
||||
xx/community
|
||||
xx/projects
|
||||
!xx/projects/eon_testing_master
|
||||
!xx/projects/map3d
|
||||
xx/ops
|
||||
xx/junk
|
||||
@@ -1,11 +0,0 @@
|
||||
root = true
|
||||
|
||||
[*]
|
||||
end_of_line = lf
|
||||
insert_final_newline = true
|
||||
trim_trailing_whitespace = true
|
||||
|
||||
[{*.py, *.pyx, *.pxd}]
|
||||
charset = utf-8
|
||||
indent_style = space
|
||||
indent_size = 2
|
||||
-105
@@ -1,105 +0,0 @@
|
||||
venv/
|
||||
.venv/
|
||||
.ci_cache
|
||||
.env
|
||||
.clang-format
|
||||
.DS_Store
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
.idea
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
|
||||
/docs_site/
|
||||
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
.*.swo
|
||||
.*.un~
|
||||
*.tmp
|
||||
*.o
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
*.clb
|
||||
*.class
|
||||
*.pyxbldc
|
||||
*.vcd
|
||||
*.qm
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
compare_runtime*.html
|
||||
|
||||
persist
|
||||
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
|
||||
|
||||
*.bz2
|
||||
*.zst
|
||||
|
||||
build/
|
||||
|
||||
!**/.gitkeep
|
||||
|
||||
poetry.toml
|
||||
Pipfile
|
||||
|
||||
### VisualStudioCode ###
|
||||
.vscode/*
|
||||
!.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
|
||||
Vendored
-266
@@ -1,266 +0,0 @@
|
||||
def retryWithDelay(int maxRetries, int delay, Closure body) {
|
||||
for (int i = 0; i < maxRetries; i++) {
|
||||
try {
|
||||
return body()
|
||||
} catch (Exception e) {
|
||||
sleep(delay)
|
||||
}
|
||||
}
|
||||
throw Exception("Failed after ${maxRetries} retries")
|
||||
}
|
||||
|
||||
def device(String ip, String step_label, String cmd) {
|
||||
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
|
||||
|
||||
set -e
|
||||
|
||||
export TERM=xterm-256color
|
||||
|
||||
shopt -s huponexit # kill all child processes when the shell exits
|
||||
|
||||
export CI=1
|
||||
export PYTHONWARNINGS=error
|
||||
export LOGPRINT=debug
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export SOURCE_DIR=${env.SOURCE_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
|
||||
export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
|
||||
export AZURE_TOKEN='${env.AZURE_TOKEN}'
|
||||
# only use 1 thread for tici tests since most require HIL
|
||||
export PYTEST_ADDOPTS="-n 0"
|
||||
|
||||
|
||||
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /TICI ]; then
|
||||
source /etc/profile
|
||||
|
||||
rm -rf /tmp/tmp*
|
||||
rm -rf ~/.commacache
|
||||
rm -rf /dev/shm/*
|
||||
rm -rf /dev/tmp/tmp*
|
||||
|
||||
if ! systemctl is-active --quiet systemd-resolved; then
|
||||
echo "restarting resolved"
|
||||
sudo systemctl start systemd-resolved
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
# restart aux USB
|
||||
if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
|
||||
echo "restarting aux usb"
|
||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
|
||||
sleep 0.5
|
||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
|
||||
fi
|
||||
fi
|
||||
if [ -f /data/openpilot/launch_env.sh ]; then
|
||||
source /data/openpilot/launch_env.sh
|
||||
fi
|
||||
|
||||
ln -snf ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
cd ${env.TEST_DIR} || true
|
||||
time ${cmd}
|
||||
END"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
|
||||
stage(stageName) {
|
||||
if (currentBuild.result != null) {
|
||||
return
|
||||
}
|
||||
|
||||
def extra = extra_env.collect { "export ${it}" }.join('\n');
|
||||
def branch = env.BRANCH_NAME ?: 'master';
|
||||
def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
|
||||
|
||||
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
|
||||
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
|
||||
timeout(time: 35, unit: 'MINUTES') {
|
||||
retry (3) {
|
||||
def date = sh(script: 'date', returnStdout: true).trim();
|
||||
device(device_ip, "set time", "date -s '" + date + "'")
|
||||
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
|
||||
}
|
||||
steps.each { item ->
|
||||
def name = item[0]
|
||||
def cmd = item[1]
|
||||
|
||||
def args = item[2]
|
||||
def diffPaths = args.diffPaths ?: []
|
||||
def cmdTimeout = args.timeout ?: 9999
|
||||
|
||||
if (branch != "master" && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
|
||||
println "Skipping ${name}: no changes in ${diffPaths}."
|
||||
return
|
||||
} else {
|
||||
timeout(time: cmdTimeout, unit: 'SECONDS') {
|
||||
device(device_ip, name, cmd)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def hasPathChanged(String gitDiff, List<String> paths) {
|
||||
for (path in paths) {
|
||||
if (gitDiff.contains(path)) {
|
||||
return true
|
||||
}
|
||||
}
|
||||
return false
|
||||
}
|
||||
|
||||
def setupCredentials() {
|
||||
withCredentials([
|
||||
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
|
||||
]) {
|
||||
env.AZURE_TOKEN = "${AZURE_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
|
||||
]) {
|
||||
env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
|
||||
]) {
|
||||
env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
|
||||
}
|
||||
}
|
||||
|
||||
def step(String name, String cmd, Map args = [:]) {
|
||||
return [name, cmd, args]
|
||||
}
|
||||
|
||||
node {
|
||||
env.CI = "1"
|
||||
env.PYTHONWARNINGS = "error"
|
||||
env.TEST_DIR = "/data/openpilot"
|
||||
env.SOURCE_DIR = "/data/openpilot_source/"
|
||||
setupCredentials()
|
||||
|
||||
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
|
||||
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
|
||||
|
||||
def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
|
||||
'testing-closet*', 'hotfix-*']
|
||||
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
|
||||
|
||||
if (env.BRANCH_NAME != 'master') {
|
||||
properties([
|
||||
disableConcurrentBuilds(abortPrevious: true)
|
||||
])
|
||||
}
|
||||
|
||||
try {
|
||||
if (env.BRANCH_NAME == 'devel-staging') {
|
||||
deviceStage("build release3-staging", "tici-needs-can", [], [
|
||||
step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
}
|
||||
|
||||
if (env.BRANCH_NAME == 'master-ci') {
|
||||
parallel (
|
||||
'nightly': {
|
||||
deviceStage("build nightly", "tici-needs-can", [], [
|
||||
step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
'nightly-dev': {
|
||||
deviceStage("build nightly-dev", "tici-needs-can", [], [
|
||||
step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
if (!env.BRANCH_NAME.matches(excludeRegex)) {
|
||||
parallel (
|
||||
// tici tests
|
||||
'onroad tests': {
|
||||
deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
|
||||
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
|
||||
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("check dirty", "release/check-dirty.sh"),
|
||||
step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
|
||||
//["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
|
||||
])
|
||||
},
|
||||
'HW + Unit Tests': {
|
||||
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
|
||||
step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
|
||||
step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
|
||||
step("test manager", "pytest system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
'loopback': {
|
||||
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
])
|
||||
},
|
||||
'camerad': {
|
||||
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
])
|
||||
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
])
|
||||
},
|
||||
'sensord': {
|
||||
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
},
|
||||
'replay': {
|
||||
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
])
|
||||
},
|
||||
'tizi': {
|
||||
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
|
||||
step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
|
||||
])
|
||||
},
|
||||
|
||||
)
|
||||
}
|
||||
} catch (Exception e) {
|
||||
currentBuild.result = 'FAILED'
|
||||
throw e
|
||||
}
|
||||
}
|
||||
@@ -1,98 +0,0 @@
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
<h1>openpilot</h1>
|
||||
|
||||
<p>
|
||||
<b>openpilot is an operating system for robotics.</b>
|
||||
<br>
|
||||
Currently, it upgrades the driver assistance system in 275+ supported cars.
|
||||
</p>
|
||||
|
||||
<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>
|
||||
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
|
||||
|
||||
[](https://codecov.io/gh/commaai/openpilot)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
|
||||
</div>
|
||||
|
||||
<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>
|
||||
|
||||
To start using openpilot in a car
|
||||
------
|
||||
|
||||
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.
|
||||
|
||||
To start developing openpilot
|
||||
------
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
|
||||
|
||||
* Join the [community Discord](https://discord.comma.ai)
|
||||
* Check out [the contributing docs](docs/CONTRIBUTING.md)
|
||||
* Check out the [openpilot tools](tools/)
|
||||
* 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)
|
||||
|
||||
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.
|
||||
-1044
File diff suppressed because it is too large
Load Diff
+1564
File diff suppressed because it is too large
Load Diff
-394
@@ -1,394 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import numpy as np
|
||||
|
||||
import SCons.Errors
|
||||
|
||||
SCons.Warnings.warningAsException(True)
|
||||
|
||||
# pending upstream fix - https://github.com/SCons/scons/issues/4461
|
||||
#SetOption('warn', 'all')
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
AGNOS = TICI
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
SetOption('num_jobs', int(os.cpu_count()/2))
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--coverage',
|
||||
action='store_true',
|
||||
help='build with test coverage options')
|
||||
|
||||
AddOption('--clazy',
|
||||
action='store_true',
|
||||
help='build with clazy')
|
||||
|
||||
AddOption('--compile_db',
|
||||
action='store_true',
|
||||
help='build clang compilation database')
|
||||
|
||||
AddOption('--ccflags',
|
||||
action='store',
|
||||
type='string',
|
||||
default='',
|
||||
help='pass arbitrary flags over the command line')
|
||||
|
||||
AddOption('--snpe',
|
||||
action='store_true',
|
||||
help='use SNPE on PC')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
AddOption('--pc-thneed',
|
||||
action='store_true',
|
||||
dest='pc_thneed',
|
||||
help='use thneed on pc')
|
||||
|
||||
AddOption('--mutation',
|
||||
action='store_true',
|
||||
help='generate mutation-ready code')
|
||||
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
|
||||
help='the minimum build to run openpilot. no tests, tools, etc.')
|
||||
|
||||
## Architecture name breakdown (arch)
|
||||
## - larch64: linux tici aarch64
|
||||
## - aarch64: linux pc aarch64
|
||||
## - x86_64: linux pc x64
|
||||
## - Darwin: mac x64 or arm64
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
|
||||
elif arch == "aarch64" and AGNOS:
|
||||
arch = "larch64"
|
||||
assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
|
||||
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
|
||||
|
||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
|
||||
}
|
||||
|
||||
rpath = lenv["LD_LIBRARY_PATH"].copy()
|
||||
|
||||
if arch == "larch64":
|
||||
cpppath = [
|
||||
"#third_party/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/system/vendor/lib64",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
]
|
||||
|
||||
libpath += [
|
||||
"#third_party/snpe/larch64",
|
||||
"#third_party/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath += ["/usr/local/lib"]
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
rpath += []
|
||||
|
||||
# MacOS
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"{brew_prefix}/lib",
|
||||
f"{brew_prefix}/opt/openssl@3.0/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += [
|
||||
f"{brew_prefix}/include",
|
||||
f"{brew_prefix}/opt/openssl@3.0/include",
|
||||
]
|
||||
lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
|
||||
# Linux
|
||||
else:
|
||||
libpath = [
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
if arch == "x86_64":
|
||||
libpath += [
|
||||
f"#third_party/snpe/{arch}"
|
||||
]
|
||||
rpath += [
|
||||
Dir(f"#third_party/snpe/{arch}").abspath,
|
||||
]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
else:
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
|
||||
|
||||
ccflags_option = GetOption('ccflags')
|
||||
if ccflags_option:
|
||||
ccflags += ccflags_option.split(' ')
|
||||
|
||||
env = Environment(
|
||||
ENV=lenv,
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
"-Wno-vla-cxx-extension",
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#third_party/acados/include",
|
||||
"#third_party/acados/include/blasfeo/include",
|
||||
"#third_party/acados/include/hpipm/include",
|
||||
"#third_party/catch2/include",
|
||||
"#third_party/libyuv/include",
|
||||
"#third_party/json11",
|
||||
"#third_party/linux/include",
|
||||
"#third_party/snpe/include",
|
||||
"#third_party",
|
||||
"#msgq",
|
||||
],
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#msgq_repo",
|
||||
"#third_party",
|
||||
"#selfdrive/pandad",
|
||||
"#common",
|
||||
"#rednose/helpers",
|
||||
],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
REDNOSE_ROOT="#",
|
||||
tools=["default", "cython", "compilation_db", "rednose_filter"],
|
||||
toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
|
||||
)
|
||||
|
||||
if arch == "Darwin":
|
||||
# RPATH is not supported on macOS, instead use the linker flags
|
||||
darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
|
||||
env["LINKFLAGS"] += darwin_rpath_link_flags
|
||||
|
||||
if GetOption('compile_db'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
# Setup cache dir
|
||||
cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
def progress_function(node):
|
||||
global node_count
|
||||
node_count += node_interval
|
||||
sys.stderr.write("progress: %d\n" % node_count)
|
||||
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
# Cython build environment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"].remove("-Werror")
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
np_version = SCons.Script.Value(np.__version__)
|
||||
Export('envCython', 'np_version')
|
||||
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
|
||||
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
|
||||
qt_dirs = [
|
||||
os.path.join(qt_env['QTDIR'], "include"),
|
||||
]
|
||||
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
|
||||
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
|
||||
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
|
||||
qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
|
||||
else:
|
||||
qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
|
||||
qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
|
||||
|
||||
qt_env['QTDIR'] = qt_install_prefix
|
||||
qt_dirs = [
|
||||
f"{qt_install_headers}",
|
||||
]
|
||||
|
||||
qt_gui_path = os.path.join(qt_install_headers, "QtGui")
|
||||
qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
|
||||
qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
|
||||
qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
qt_env['QT3DIR'] = qt_env['QTDIR']
|
||||
|
||||
# compatibility for older SCons versions
|
||||
try:
|
||||
qt_env.Tool('qt3')
|
||||
except SCons.Errors.UserError:
|
||||
qt_env.Tool('qt')
|
||||
|
||||
qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_CORE_LIB",
|
||||
"-DQT_MESSAGELOGCONTEXT",
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui', ]
|
||||
qt_env['LIBS'] = qt_libs
|
||||
|
||||
if GetOption("clazy"):
|
||||
checks = [
|
||||
"level0",
|
||||
"level1",
|
||||
"no-range-loop",
|
||||
"no-non-pod-global-static",
|
||||
]
|
||||
qt_env['CXX'] = 'clazy'
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
Export('env', 'qt_env', 'arch', 'real_arch')
|
||||
|
||||
# Build common module
|
||||
SConscript(['common/SConscript'])
|
||||
Import('_common', '_gpucommon')
|
||||
|
||||
common = [_common, 'json11', 'zmq']
|
||||
gpucommon = [_gpucommon]
|
||||
|
||||
Export('common', 'gpucommon')
|
||||
|
||||
# Build messaging (cereal + msgq + socketmaster + their dependencies)
|
||||
# Enable swaglog include in submodules
|
||||
env_swaglog = env.Clone()
|
||||
env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
|
||||
SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
|
||||
SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
|
||||
Import('socketmaster', 'msgq')
|
||||
messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
|
||||
Export('messaging')
|
||||
|
||||
|
||||
# Build other submodules
|
||||
SConscript(['panda/SConscript'])
|
||||
|
||||
# Build rednose library
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build system services
|
||||
SConscript([
|
||||
'system/proclogd/SConscript',
|
||||
'system/ubloxd/SConscript',
|
||||
'system/loggerd/SConscript',
|
||||
])
|
||||
if arch != "Darwin":
|
||||
SConscript([
|
||||
'system/sensord/SConscript',
|
||||
'system/logcatd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "larch64":
|
||||
SConscript(['system/camerad/SConscript'])
|
||||
|
||||
# Build openpilot
|
||||
SConscript(['third_party/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/SConscript'])
|
||||
|
||||
if Dir('#tools/cabana/').exists() and GetOption('extras'):
|
||||
SConscript(['tools/replay/SConscript'])
|
||||
if arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
@@ -1,5 +0,0 @@
|
||||
# Security Policy
|
||||
|
||||
## Reporting a Vulnerability
|
||||
|
||||
Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 1.8 KiB |
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|
||||
/*!
|
||||
* Lunr languages, `Danish` language
|
||||
* https://github.com/MihaiValentin/lunr-languages
|
||||
*
|
||||
* Copyright 2014, Mihai Valentin
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
/*!
|
||||
* based on
|
||||
* Snowball JavaScript Library v0.3
|
||||
* http://code.google.com/p/urim/
|
||||
* http://snowball.tartarus.org/
|
||||
*
|
||||
* Copyright 2010, Oleg Mazko
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.da=function(){this.pipeline.reset(),this.pipeline.add(e.da.trimmer,e.da.stopWordFilter,e.da.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.da.stemmer))},e.da.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.da.trimmer=e.trimmerSupport.generateTrimmer(e.da.wordCharacters),e.Pipeline.registerFunction(e.da.trimmer,"trimmer-da"),e.da.stemmer=function(){var r=e.stemmerSupport.Among,i=e.stemmerSupport.SnowballProgram,n=new function(){function e(){var e,r=f.cursor+3;if(d=f.limit,0<=r&&r<=f.limit){for(a=r;;){if(e=f.cursor,f.in_grouping(w,97,248)){f.cursor=e;break}if(f.cursor=e,e>=f.limit)return;f.cursor++}for(;!f.out_grouping(w,97,248);){if(f.cursor>=f.limit)return;f.cursor++}d=f.cursor,d<a&&(d=a)}}function n(){var e,r;if(f.cursor>=d&&(r=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,e=f.find_among_b(c,32),f.limit_backward=r,e))switch(f.bra=f.cursor,e){case 1:f.slice_del();break;case 2:f.in_grouping_b(p,97,229)&&f.slice_del()}}function t(){var e,r=f.limit-f.cursor;f.cursor>=d&&(e=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,f.find_among_b(l,4)?(f.bra=f.cursor,f.limit_backward=e,f.cursor=f.limit-r,f.cursor>f.limit_backward&&(f.cursor--,f.bra=f.cursor,f.slice_del())):f.limit_backward=e)}function s(){var e,r,i,n=f.limit-f.cursor;if(f.ket=f.cursor,f.eq_s_b(2,"st")&&(f.bra=f.cursor,f.eq_s_b(2,"ig")&&f.slice_del()),f.cursor=f.limit-n,f.cursor>=d&&(r=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,e=f.find_among_b(m,5),f.limit_backward=r,e))switch(f.bra=f.cursor,e){case 1:f.slice_del(),i=f.limit-f.cursor,t(),f.cursor=f.limit-i;break;case 2:f.slice_from("løs")}}function o(){var e;f.cursor>=d&&(e=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,f.out_grouping_b(w,97,248)?(f.bra=f.cursor,u=f.slice_to(u),f.limit_backward=e,f.eq_v_b(u)&&f.slice_del()):f.limit_backward=e)}var a,d,u,c=[new r("hed",-1,1),new r("ethed",0,1),new r("ered",-1,1),new r("e",-1,1),new r("erede",3,1),new r("ende",3,1),new r("erende",5,1),new r("ene",3,1),new r("erne",3,1),new r("ere",3,1),new r("en",-1,1),new r("heden",10,1),new r("eren",10,1),new r("er",-1,1),new r("heder",13,1),new r("erer",13,1),new r("s",-1,2),new r("heds",16,1),new r("es",16,1),new r("endes",18,1),new r("erendes",19,1),new r("enes",18,1),new r("ernes",18,1),new r("eres",18,1),new r("ens",16,1),new r("hedens",24,1),new r("erens",24,1),new r("ers",16,1),new r("ets",16,1),new r("erets",28,1),new r("et",-1,1),new r("eret",30,1)],l=[new r("gd",-1,-1),new r("dt",-1,-1),new r("gt",-1,-1),new r("kt",-1,-1)],m=[new r("ig",-1,1),new r("lig",0,1),new r("elig",1,1),new r("els",-1,1),new r("løst",-1,2)],w=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,48,0,128],p=[239,254,42,3,0,0,0,0,0,0,0,0,0,0,0,0,16],f=new i;this.setCurrent=function(e){f.setCurrent(e)},this.getCurrent=function(){return f.getCurrent()},this.stem=function(){var r=f.cursor;return e(),f.limit_backward=r,f.cursor=f.limit,n(),f.cursor=f.limit,t(),f.cursor=f.limit,s(),f.cursor=f.limit,o(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return n.setCurrent(e),n.stem(),n.getCurrent()}):(n.setCurrent(e),n.stem(),n.getCurrent())}}(),e.Pipeline.registerFunction(e.da.stemmer,"stemmer-da"),e.da.stopWordFilter=e.generateStopWordFilter("ad af alle alt anden at blev blive bliver da de dem den denne der deres det dette dig din disse dog du efter eller en end er et for fra ham han hans har havde have hende hendes her hos hun hvad hvis hvor i ikke ind jeg jer jo kunne man mange med meget men mig min mine mit mod ned noget nogle nu når og også om op os over på selv sig sin sine sit skal skulle som sådan thi til ud under var vi vil ville vor være været".split(" ")),e.Pipeline.registerFunction(e.da.stopWordFilter,"stopWordFilter-da")}});
|
||||
+18
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+18
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+1
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+18
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+18
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+18
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+1
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+1
@@ -0,0 +1 @@
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.hi=function(){this.pipeline.reset(),this.pipeline.add(e.hi.trimmer,e.hi.stopWordFilter,e.hi.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.hi.stemmer))},e.hi.wordCharacters="ऀ-ःऄ-एऐ-टठ-यर-िी-ॏॐ-य़ॠ-९॰-ॿa-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.hi.trimmer=e.trimmerSupport.generateTrimmer(e.hi.wordCharacters),e.Pipeline.registerFunction(e.hi.trimmer,"trimmer-hi"),e.hi.stopWordFilter=e.generateStopWordFilter("अत अपना अपनी अपने अभी अंदर आदि आप इत्यादि इन इनका इन्हीं इन्हें इन्हों इस इसका इसकी इसके इसमें इसी इसे उन उनका उनकी उनके उनको उन्हीं उन्हें उन्हों उस उसके उसी उसे एक एवं एस ऐसे और कई कर करता करते करना करने करें कहते कहा का काफ़ी कि कितना किन्हें किन्हों किया किर किस किसी किसे की कुछ कुल के को कोई कौन कौनसा गया घर जब जहाँ जा जितना जिन जिन्हें जिन्हों जिस जिसे जीधर जैसा जैसे जो तक तब तरह तिन तिन्हें तिन्हों तिस तिसे तो था थी थे दबारा दिया दुसरा दूसरे दो द्वारा न नके नहीं ना निहायत नीचे ने पर पहले पूरा पे फिर बनी बही बहुत बाद बाला बिलकुल भी भीतर मगर मानो मे में यदि यह यहाँ यही या यिह ये रखें रहा रहे ऱ्वासा लिए लिये लेकिन व वग़ैरह वर्ग वह वहाँ वहीं वाले वुह वे वो सकता सकते सबसे सभी साथ साबुत साभ सारा से सो संग ही हुआ हुई हुए है हैं हो होता होती होते होना होने".split(" ")),e.hi.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.hi.tokenizer=function(i){if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var t=i.toString().toLowerCase().replace(/^\s+/,"");return r.cut(t).split("|")},e.Pipeline.registerFunction(e.hi.stemmer,"stemmer-hi"),e.Pipeline.registerFunction(e.hi.stopWordFilter,"stopWordFilter-hi")}});
|
||||
+18
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+1
@@ -0,0 +1 @@
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.hy=function(){this.pipeline.reset(),this.pipeline.add(e.hy.trimmer,e.hy.stopWordFilter)},e.hy.wordCharacters="[A-Za-z-֏ff-ﭏ]",e.hy.trimmer=e.trimmerSupport.generateTrimmer(e.hy.wordCharacters),e.Pipeline.registerFunction(e.hy.trimmer,"trimmer-hy"),e.hy.stopWordFilter=e.generateStopWordFilter("դու և եք էիր էիք հետո նաև նրանք որը վրա է որ պիտի են այս մեջ ն իր ու ի այդ որոնք այն կամ էր մի ես համար այլ իսկ էին ենք հետ ին թ էինք մենք նրա նա դուք եմ էի ըստ որպես ում".split(" ")),e.Pipeline.registerFunction(e.hy.stopWordFilter,"stopWordFilter-hy"),e.hy.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}(),e.Pipeline.registerFunction(e.hy.stemmer,"stemmer-hy")}});
|
||||
+18
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+1
@@ -0,0 +1 @@
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var r="2"==e.version[0];e.ja=function(){this.pipeline.reset(),this.pipeline.add(e.ja.trimmer,e.ja.stopWordFilter,e.ja.stemmer),r?this.tokenizer=e.ja.tokenizer:(e.tokenizer&&(e.tokenizer=e.ja.tokenizer),this.tokenizerFn&&(this.tokenizerFn=e.ja.tokenizer))};var t=new e.TinySegmenter;e.ja.tokenizer=function(i){var n,o,s,p,a,u,m,l,c,f;if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(t){return r?new e.Token(t.toLowerCase()):t.toLowerCase()});for(o=i.toString().toLowerCase().replace(/^\s+/,""),n=o.length-1;n>=0;n--)if(/\S/.test(o.charAt(n))){o=o.substring(0,n+1);break}for(a=[],s=o.length,c=0,l=0;c<=s;c++)if(u=o.charAt(c),m=c-l,u.match(/\s/)||c==s){if(m>0)for(p=t.segment(o.slice(l,c)).filter(function(e){return!!e}),f=l,n=0;n<p.length;n++)r?a.push(new e.Token(p[n],{position:[f,p[n].length],index:a.length})):a.push(p[n]),f+=p[n].length;l=c+1}return a},e.ja.stemmer=function(){return function(e){return e}}(),e.Pipeline.registerFunction(e.ja.stemmer,"stemmer-ja"),e.ja.wordCharacters="一二三四五六七八九十百千万億兆一-龠々〆ヵヶぁ-んァ-ヴーｱ-ﾝﾞa-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.ja.trimmer=e.trimmerSupport.generateTrimmer(e.ja.wordCharacters),e.Pipeline.registerFunction(e.ja.trimmer,"trimmer-ja"),e.ja.stopWordFilter=e.generateStopWordFilter("これ それ あれ この その あの ここ そこ あそこ こちら どこ だれ なに なん 何 私 貴方 貴方方 我々 私達 あの人 あのかた 彼女 彼 です あります おります います は が の に を で え から まで より も どの と し それで しかし".split(" ")),e.Pipeline.registerFunction(e.ja.stopWordFilter,"stopWordFilter-ja"),e.jp=e.ja,e.Pipeline.registerFunction(e.jp.stemmer,"stemmer-jp"),e.Pipeline.registerFunction(e.jp.trimmer,"trimmer-jp"),e.Pipeline.registerFunction(e.jp.stopWordFilter,"stopWordFilter-jp")}});
|
||||
+1
@@ -0,0 +1 @@
|
||||
module.exports=require("./lunr.ja");
|
||||
+1
@@ -0,0 +1 @@
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.kn=function(){this.pipeline.reset(),this.pipeline.add(e.kn.trimmer,e.kn.stopWordFilter,e.kn.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.kn.stemmer))},e.kn.wordCharacters="ಀ-಄ಅ-ಔಕ-ಹಾ-ೌ಼-ಽೕ-ೖೝ-ೞೠ-ೡೢ-ೣ೦-೯ೱ-ೳ",e.kn.trimmer=e.trimmerSupport.generateTrimmer(e.kn.wordCharacters),e.Pipeline.registerFunction(e.kn.trimmer,"trimmer-kn"),e.kn.stopWordFilter=e.generateStopWordFilter("ಮತ್ತು ಈ ಒಂದು ರಲ್ಲಿ ಹಾಗೂ ಎಂದು ಅಥವಾ ಇದು ರ ಅವರು ಎಂಬ ಮೇಲೆ ಅವರ ತನ್ನ ಆದರೆ ತಮ್ಮ ನಂತರ ಮೂಲಕ ಹೆಚ್ಚು ನ ಆ ಕೆಲವು ಅನೇಕ ಎರಡು ಹಾಗು ಪ್ರಮುಖ ಇದನ್ನು ಇದರ ಸುಮಾರು ಅದರ ಅದು ಮೊದಲ ಬಗ್ಗೆ ನಲ್ಲಿ ರಂದು ಇತರ ಅತ್ಯಂತ ಹೆಚ್ಚಿನ ಸಹ ಸಾಮಾನ್ಯವಾಗಿ ನೇ ಹಲವಾರು ಹೊಸ ದಿ ಕಡಿಮೆ ಯಾವುದೇ ಹೊಂದಿದೆ ದೊಡ್ಡ ಅನ್ನು ಇವರು ಪ್ರಕಾರ ಇದೆ ಮಾತ್ರ ಕೂಡ ಇಲ್ಲಿ ಎಲ್ಲಾ ವಿವಿಧ ಅದನ್ನು ಹಲವು ರಿಂದ ಕೇವಲ ದ ದಕ್ಷಿಣ ಗೆ ಅವನ ಅತಿ ನೆಯ ಬಹಳ ಕೆಲಸ ಎಲ್ಲ ಪ್ರತಿ ಇತ್ಯಾದಿ ಇವು ಬೇರೆ ಹೀಗೆ ನಡುವೆ ಇದಕ್ಕೆ ಎಸ್ ಇವರ ಮೊದಲು ಶ್ರೀ ಮಾಡುವ ಇದರಲ್ಲಿ ರೀತಿಯ ಮಾಡಿದ ಕಾಲ ಅಲ್ಲಿ ಮಾಡಲು ಅದೇ ಈಗ ಅವು ಗಳು ಎ ಎಂಬುದು ಅವನು ಅಂದರೆ ಅವರಿಗೆ ಇರುವ ವಿಶೇಷ ಮುಂದೆ ಅವುಗಳ ಮುಂತಾದ ಮೂಲ ಬಿ ಮೀ ಒಂದೇ ಇನ್ನೂ ಹೆಚ್ಚಾಗಿ ಮಾಡಿ ಅವರನ್ನು ಇದೇ ಯ ರೀತಿಯಲ್ಲಿ ಜೊತೆ ಅದರಲ್ಲಿ ಮಾಡಿದರು ನಡೆದ ಆಗ ಮತ್ತೆ ಪೂರ್ವ ಆತ ಬಂದ ಯಾವ ಒಟ್ಟು ಇತರೆ ಹಿಂದೆ ಪ್ರಮಾಣದ ಗಳನ್ನು ಕುರಿತು ಯು ಆದ್ದರಿಂದ ಅಲ್ಲದೆ ನಗರದ ಮೇಲಿನ ಏಕೆಂದರೆ ರಷ್ಟು ಎಂಬುದನ್ನು ಬಾರಿ ಎಂದರೆ ಹಿಂದಿನ ಆದರೂ ಆದ ಸಂಬಂಧಿಸಿದ ಮತ್ತೊಂದು ಸಿ ಆತನ ".split(" ")),e.kn.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.kn.tokenizer=function(t){if(!arguments.length||null==t||void 0==t)return[];if(Array.isArray(t))return t.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var n=t.toString().toLowerCase().replace(/^\s+/,"");return r.cut(n).split("|")},e.Pipeline.registerFunction(e.kn.stemmer,"stemmer-kn"),e.Pipeline.registerFunction(e.kn.stopWordFilter,"stopWordFilter-kn")}});
|
||||
+1
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!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){e.multiLanguage=function(){for(var t=Array.prototype.slice.call(arguments),i=t.join("-"),r="",n=[],s=[],p=0;p<t.length;++p)"en"==t[p]?(r+="\\w",n.unshift(e.stopWordFilter),n.push(e.stemmer),s.push(e.stemmer)):(r+=e[t[p]].wordCharacters,e[t[p]].stopWordFilter&&n.unshift(e[t[p]].stopWordFilter),e[t[p]].stemmer&&(n.push(e[t[p]].stemmer),s.push(e[t[p]].stemmer)));var o=e.trimmerSupport.generateTrimmer(r);return e.Pipeline.registerFunction(o,"lunr-multi-trimmer-"+i),n.unshift(o),function(){this.pipeline.reset(),this.pipeline.add.apply(this.pipeline,n),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add.apply(this.searchPipeline,s))}}}});
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||||
/*!
|
||||
* Lunr languages, `Norwegian` language
|
||||
* https://github.com/MihaiValentin/lunr-languages
|
||||
*
|
||||
* Copyright 2014, Mihai Valentin
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
/*!
|
||||
* based on
|
||||
* Snowball JavaScript Library v0.3
|
||||
* http://code.google.com/p/urim/
|
||||
* http://snowball.tartarus.org/
|
||||
*
|
||||
* Copyright 2010, Oleg Mazko
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.no=function(){this.pipeline.reset(),this.pipeline.add(e.no.trimmer,e.no.stopWordFilter,e.no.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.no.stemmer))},e.no.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.no.trimmer=e.trimmerSupport.generateTrimmer(e.no.wordCharacters),e.Pipeline.registerFunction(e.no.trimmer,"trimmer-no"),e.no.stemmer=function(){var r=e.stemmerSupport.Among,n=e.stemmerSupport.SnowballProgram,i=new function(){function e(){var e,r=w.cursor+3;if(a=w.limit,0<=r||r<=w.limit){for(s=r;;){if(e=w.cursor,w.in_grouping(d,97,248)){w.cursor=e;break}if(e>=w.limit)return;w.cursor=e+1}for(;!w.out_grouping(d,97,248);){if(w.cursor>=w.limit)return;w.cursor++}a=w.cursor,a<s&&(a=s)}}function i(){var e,r,n;if(w.cursor>=a&&(r=w.limit_backward,w.limit_backward=a,w.ket=w.cursor,e=w.find_among_b(m,29),w.limit_backward=r,e))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:n=w.limit-w.cursor,w.in_grouping_b(c,98,122)?w.slice_del():(w.cursor=w.limit-n,w.eq_s_b(1,"k")&&w.out_grouping_b(d,97,248)&&w.slice_del());break;case 3:w.slice_from("er")}}function t(){var e,r=w.limit-w.cursor;w.cursor>=a&&(e=w.limit_backward,w.limit_backward=a,w.ket=w.cursor,w.find_among_b(u,2)?(w.bra=w.cursor,w.limit_backward=e,w.cursor=w.limit-r,w.cursor>w.limit_backward&&(w.cursor--,w.bra=w.cursor,w.slice_del())):w.limit_backward=e)}function o(){var e,r;w.cursor>=a&&(r=w.limit_backward,w.limit_backward=a,w.ket=w.cursor,e=w.find_among_b(l,11),e?(w.bra=w.cursor,w.limit_backward=r,1==e&&w.slice_del()):w.limit_backward=r)}var s,a,m=[new r("a",-1,1),new r("e",-1,1),new r("ede",1,1),new r("ande",1,1),new r("ende",1,1),new r("ane",1,1),new r("ene",1,1),new r("hetene",6,1),new r("erte",1,3),new r("en",-1,1),new r("heten",9,1),new r("ar",-1,1),new r("er",-1,1),new r("heter",12,1),new r("s",-1,2),new r("as",14,1),new r("es",14,1),new r("edes",16,1),new r("endes",16,1),new r("enes",16,1),new r("hetenes",19,1),new r("ens",14,1),new r("hetens",21,1),new r("ers",14,1),new r("ets",14,1),new r("et",-1,1),new r("het",25,1),new r("ert",-1,3),new r("ast",-1,1)],u=[new r("dt",-1,-1),new r("vt",-1,-1)],l=[new r("leg",-1,1),new r("eleg",0,1),new r("ig",-1,1),new r("eig",2,1),new r("lig",2,1),new r("elig",4,1),new r("els",-1,1),new r("lov",-1,1),new r("elov",7,1),new r("slov",7,1),new r("hetslov",9,1)],d=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,48,0,128],c=[119,125,149,1],w=new n;this.setCurrent=function(e){w.setCurrent(e)},this.getCurrent=function(){return w.getCurrent()},this.stem=function(){var r=w.cursor;return e(),w.limit_backward=r,w.cursor=w.limit,i(),w.cursor=w.limit,t(),w.cursor=w.limit,o(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return i.setCurrent(e),i.stem(),i.getCurrent()}):(i.setCurrent(e),i.stem(),i.getCurrent())}}(),e.Pipeline.registerFunction(e.no.stemmer,"stemmer-no"),e.no.stopWordFilter=e.generateStopWordFilter("alle at av bare begge ble blei bli blir blitt både båe da de deg dei deim deira deires dem den denne der dere deres det dette di din disse ditt du dykk dykkar då eg ein eit eitt eller elles en enn er et ett etter for fordi fra før ha hadde han hans har hennar henne hennes her hjå ho hoe honom hoss hossen hun hva hvem hver hvilke hvilken hvis hvor hvordan hvorfor i ikke ikkje ikkje ingen ingi inkje inn inni ja jeg kan kom korleis korso kun kunne kva kvar kvarhelst kven kvi kvifor man mange me med medan meg meget mellom men mi min mine mitt mot mykje ned no noe noen noka noko nokon nokor nokre nå når og også om opp oss over på samme seg selv si si sia sidan siden sin sine sitt sjøl skal skulle slik so som som somme somt så sånn til um upp ut uten var vart varte ved vere verte vi vil ville vore vors vort vår være være vært å".split(" ")),e.Pipeline.registerFunction(e.no.stopWordFilter,"stopWordFilter-no")}});
|
||||
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||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.sa=function(){this.pipeline.reset(),this.pipeline.add(e.sa.trimmer,e.sa.stopWordFilter,e.sa.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.sa.stemmer))},e.sa.wordCharacters="ऀ-ःऄ-एऐ-टठ-यर-िी-ॏॐ-य़ॠ-९॰-ॿ꣠-꣱ꣲ-ꣷ꣸-ꣻ꣼-ꣽꣾ-ꣿᆰ0-ᆰ9",e.sa.trimmer=e.trimmerSupport.generateTrimmer(e.sa.wordCharacters),e.Pipeline.registerFunction(e.sa.trimmer,"trimmer-sa"),e.sa.stopWordFilter=e.generateStopWordFilter('तथा अयम् एकम् इत्यस्मिन् तथा तत् वा अयम् इत्यस्य ते आहूत उपरि तेषाम् किन्तु तेषाम् तदा इत्यनेन अधिकः इत्यस्य तत् केचन बहवः द्वि तथा महत्वपूर्णः अयम् अस्य विषये अयं अस्ति तत् प्रथमः विषये इत्युपरि इत्युपरि इतर अधिकतमः अधिकः अपि सामान्यतया ठ इतरेतर नूतनम् द न्यूनम् कश्चित् वा विशालः द सः अस्ति तदनुसारम् तत्र अस्ति केवलम् अपि अत्र सर्वे विविधाः तत् बहवः यतः इदानीम् द दक्षिण इत्यस्मै तस्य उपरि नथ अतीव कार्यम् सर्वे एकैकम् इत्यादि। एते सन्ति उत इत्थम् मध्ये एतदर्थं . स कस्य प्रथमः श्री. करोति अस्मिन् प्रकारः निर्मिता कालः तत्र कर्तुं समान अधुना ते सन्ति स एकः अस्ति सः अर्थात् तेषां कृते . स्थितम् विशेषः अग्रिम तेषाम् समान स्रोतः ख म समान इदानीमपि अधिकतया करोतु ते समान इत्यस्य वीथी सह यस्मिन् कृतवान् धृतः तदा पुनः पूर्वं सः आगतः किम् कुल इतर पुरा मात्रा स विषये उ अतएव अपि नगरस्य उपरि यतः प्रतिशतं कतरः कालः साधनानि भूत तथापि जात सम्बन्धि अन्यत् ग अतः अस्माकं स्वकीयाः अस्माकं इदानीं अन्तः इत्यादयः भवन्तः इत्यादयः एते एताः तस्य अस्य इदम् एते तेषां तेषां तेषां तान् तेषां तेषां तेषां समानः सः एकः च तादृशाः बहवः अन्ये च वदन्ति यत् कियत् कस्मै कस्मै यस्मै यस्मै यस्मै यस्मै न अतिनीचः किन्तु प्रथमं सम्पूर्णतया ततः चिरकालानन्तरं पुस्तकं सम्पूर्णतया अन्तः किन्तु अत्र वा इह इव श्रद्धाय अवशिष्यते परन्तु अन्ये वर्गाः सन्ति ते सन्ति शक्नुवन्ति सर्वे मिलित्वा सर्वे एकत्र"'.split(" ")),e.sa.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.sa.tokenizer=function(t){if(!arguments.length||null==t||void 0==t)return[];if(Array.isArray(t))return t.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var i=t.toString().toLowerCase().replace(/^\s+/,"");return r.cut(i).split("|")},e.Pipeline.registerFunction(e.sa.stemmer,"stemmer-sa"),e.Pipeline.registerFunction(e.sa.stopWordFilter,"stopWordFilter-sa")}});
|
||||
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|
||||
!function(r,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(r.lunr)}(this,function(){return function(r){r.stemmerSupport={Among:function(r,t,i,s){if(this.toCharArray=function(r){for(var t=r.length,i=new Array(t),s=0;s<t;s++)i[s]=r.charCodeAt(s);return i},!r&&""!=r||!t&&0!=t||!i)throw"Bad Among initialisation: s:"+r+", substring_i: "+t+", result: "+i;this.s_size=r.length,this.s=this.toCharArray(r),this.substring_i=t,this.result=i,this.method=s},SnowballProgram:function(){var r;return{bra:0,ket:0,limit:0,cursor:0,limit_backward:0,setCurrent:function(t){r=t,this.cursor=0,this.limit=t.length,this.limit_backward=0,this.bra=this.cursor,this.ket=this.limit},getCurrent:function(){var t=r;return r=null,t},in_grouping:function(t,i,s){if(this.cursor<this.limit){var e=r.charCodeAt(this.cursor);if(e<=s&&e>=i&&(e-=i,t[e>>3]&1<<(7&e)))return this.cursor++,!0}return!1},in_grouping_b:function(t,i,s){if(this.cursor>this.limit_backward){var e=r.charCodeAt(this.cursor-1);if(e<=s&&e>=i&&(e-=i,t[e>>3]&1<<(7&e)))return this.cursor--,!0}return!1},out_grouping:function(t,i,s){if(this.cursor<this.limit){var e=r.charCodeAt(this.cursor);if(e>s||e<i)return this.cursor++,!0;if(e-=i,!(t[e>>3]&1<<(7&e)))return this.cursor++,!0}return!1},out_grouping_b:function(t,i,s){if(this.cursor>this.limit_backward){var e=r.charCodeAt(this.cursor-1);if(e>s||e<i)return this.cursor--,!0;if(e-=i,!(t[e>>3]&1<<(7&e)))return this.cursor--,!0}return!1},eq_s:function(t,i){if(this.limit-this.cursor<t)return!1;for(var s=0;s<t;s++)if(r.charCodeAt(this.cursor+s)!=i.charCodeAt(s))return!1;return this.cursor+=t,!0},eq_s_b:function(t,i){if(this.cursor-this.limit_backward<t)return!1;for(var s=0;s<t;s++)if(r.charCodeAt(this.cursor-t+s)!=i.charCodeAt(s))return!1;return this.cursor-=t,!0},find_among:function(t,i){for(var s=0,e=i,n=this.cursor,u=this.limit,o=0,h=0,c=!1;;){for(var a=s+(e-s>>1),f=0,l=o<h?o:h,_=t[a],m=l;m<_.s_size;m++){if(n+l==u){f=-1;break}if(f=r.charCodeAt(n+l)-_.s[m])break;l++}if(f<0?(e=a,h=l):(s=a,o=l),e-s<=1){if(s>0||e==s||c)break;c=!0}}for(;;){var _=t[s];if(o>=_.s_size){if(this.cursor=n+_.s_size,!_.method)return _.result;var b=_.method();if(this.cursor=n+_.s_size,b)return _.result}if((s=_.substring_i)<0)return 0}},find_among_b:function(t,i){for(var s=0,e=i,n=this.cursor,u=this.limit_backward,o=0,h=0,c=!1;;){for(var a=s+(e-s>>1),f=0,l=o<h?o:h,_=t[a],m=_.s_size-1-l;m>=0;m--){if(n-l==u){f=-1;break}if(f=r.charCodeAt(n-1-l)-_.s[m])break;l++}if(f<0?(e=a,h=l):(s=a,o=l),e-s<=1){if(s>0||e==s||c)break;c=!0}}for(;;){var _=t[s];if(o>=_.s_size){if(this.cursor=n-_.s_size,!_.method)return _.result;var b=_.method();if(this.cursor=n-_.s_size,b)return _.result}if((s=_.substring_i)<0)return 0}},replace_s:function(t,i,s){var e=s.length-(i-t),n=r.substring(0,t),u=r.substring(i);return r=n+s+u,this.limit+=e,this.cursor>=i?this.cursor+=e:this.cursor>t&&(this.cursor=t),e},slice_check:function(){if(this.bra<0||this.bra>this.ket||this.ket>this.limit||this.limit>r.length)throw"faulty slice operation"},slice_from:function(r){this.slice_check(),this.replace_s(this.bra,this.ket,r)},slice_del:function(){this.slice_from("")},insert:function(r,t,i){var s=this.replace_s(r,t,i);r<=this.bra&&(this.bra+=s),r<=this.ket&&(this.ket+=s)},slice_to:function(){return this.slice_check(),r.substring(this.bra,this.ket)},eq_v_b:function(r){return this.eq_s_b(r.length,r)}}}},r.trimmerSupport={generateTrimmer:function(r){var t=new RegExp("^[^"+r+"]+"),i=new RegExp("[^"+r+"]+$");return function(r){return"function"==typeof r.update?r.update(function(r){return r.replace(t,"").replace(i,"")}):r.replace(t,"").replace(i,"")}}}}});
|
||||
+18
@@ -0,0 +1,18 @@
|
||||
/*!
|
||||
* Lunr languages, `Swedish` language
|
||||
* https://github.com/MihaiValentin/lunr-languages
|
||||
*
|
||||
* Copyright 2014, Mihai Valentin
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
/*!
|
||||
* based on
|
||||
* Snowball JavaScript Library v0.3
|
||||
* http://code.google.com/p/urim/
|
||||
* http://snowball.tartarus.org/
|
||||
*
|
||||
* Copyright 2010, Oleg Mazko
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.sv=function(){this.pipeline.reset(),this.pipeline.add(e.sv.trimmer,e.sv.stopWordFilter,e.sv.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.sv.stemmer))},e.sv.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.sv.trimmer=e.trimmerSupport.generateTrimmer(e.sv.wordCharacters),e.Pipeline.registerFunction(e.sv.trimmer,"trimmer-sv"),e.sv.stemmer=function(){var r=e.stemmerSupport.Among,n=e.stemmerSupport.SnowballProgram,t=new function(){function e(){var e,r=w.cursor+3;if(o=w.limit,0<=r||r<=w.limit){for(a=r;;){if(e=w.cursor,w.in_grouping(l,97,246)){w.cursor=e;break}if(w.cursor=e,w.cursor>=w.limit)return;w.cursor++}for(;!w.out_grouping(l,97,246);){if(w.cursor>=w.limit)return;w.cursor++}o=w.cursor,o<a&&(o=a)}}function t(){var e,r=w.limit_backward;if(w.cursor>=o&&(w.limit_backward=o,w.cursor=w.limit,w.ket=w.cursor,e=w.find_among_b(u,37),w.limit_backward=r,e))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:w.in_grouping_b(d,98,121)&&w.slice_del()}}function i(){var e=w.limit_backward;w.cursor>=o&&(w.limit_backward=o,w.cursor=w.limit,w.find_among_b(c,7)&&(w.cursor=w.limit,w.ket=w.cursor,w.cursor>w.limit_backward&&(w.bra=--w.cursor,w.slice_del())),w.limit_backward=e)}function s(){var e,r;if(w.cursor>=o){if(r=w.limit_backward,w.limit_backward=o,w.cursor=w.limit,w.ket=w.cursor,e=w.find_among_b(m,5))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:w.slice_from("lös");break;case 3:w.slice_from("full")}w.limit_backward=r}}var a,o,u=[new r("a",-1,1),new r("arna",0,1),new r("erna",0,1),new r("heterna",2,1),new r("orna",0,1),new r("ad",-1,1),new r("e",-1,1),new r("ade",6,1),new r("ande",6,1),new r("arne",6,1),new r("are",6,1),new r("aste",6,1),new r("en",-1,1),new r("anden",12,1),new r("aren",12,1),new r("heten",12,1),new r("ern",-1,1),new r("ar",-1,1),new r("er",-1,1),new r("heter",18,1),new r("or",-1,1),new r("s",-1,2),new r("as",21,1),new r("arnas",22,1),new r("ernas",22,1),new r("ornas",22,1),new r("es",21,1),new r("ades",26,1),new r("andes",26,1),new r("ens",21,1),new r("arens",29,1),new r("hetens",29,1),new r("erns",21,1),new r("at",-1,1),new r("andet",-1,1),new r("het",-1,1),new r("ast",-1,1)],c=[new r("dd",-1,-1),new r("gd",-1,-1),new r("nn",-1,-1),new r("dt",-1,-1),new r("gt",-1,-1),new r("kt",-1,-1),new r("tt",-1,-1)],m=[new r("ig",-1,1),new r("lig",0,1),new r("els",-1,1),new r("fullt",-1,3),new r("löst",-1,2)],l=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,24,0,32],d=[119,127,149],w=new n;this.setCurrent=function(e){w.setCurrent(e)},this.getCurrent=function(){return w.getCurrent()},this.stem=function(){var r=w.cursor;return e(),w.limit_backward=r,w.cursor=w.limit,t(),w.cursor=w.limit,i(),w.cursor=w.limit,s(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return t.setCurrent(e),t.stem(),t.getCurrent()}):(t.setCurrent(e),t.stem(),t.getCurrent())}}(),e.Pipeline.registerFunction(e.sv.stemmer,"stemmer-sv"),e.sv.stopWordFilter=e.generateStopWordFilter("alla allt att av blev bli blir blivit de dem den denna deras dess dessa det detta dig din dina ditt du där då efter ej eller en er era ert ett från för ha hade han hans har henne hennes hon honom hur här i icke ingen inom inte jag ju kan kunde man med mellan men mig min mina mitt mot mycket ni nu när någon något några och om oss på samma sedan sig sin sina sitta själv skulle som så sådan sådana sådant till under upp ut utan vad var vara varför varit varje vars vart vem vi vid vilka vilkas vilken vilket vår våra vårt än är åt över".split(" ")),e.Pipeline.registerFunction(e.sv.stopWordFilter,"stopWordFilter-sv")}});
|
||||
+1
@@ -0,0 +1 @@
|
||||
!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.ta=function(){this.pipeline.reset(),this.pipeline.add(e.ta.trimmer,e.ta.stopWordFilter,e.ta.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.ta.stemmer))},e.ta.wordCharacters="-உஊ-ஏஐ-ஙச-ட-னப-யர-ஹ-ிீ-ொ-ௐ---௩௪-௯௰-௹௺-a-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.ta.trimmer=e.trimmerSupport.generateTrimmer(e.ta.wordCharacters),e.Pipeline.registerFunction(e.ta.trimmer,"trimmer-ta"),e.ta.stopWordFilter=e.generateStopWordFilter("அங்கு அங்கே அது அதை அந்த அவர் அவர்கள் அவள் அவன் அவை ஆக ஆகவே ஆகையால் ஆதலால் ஆதலினால் ஆனாலும் ஆனால் இங்கு இங்கே இது இதை இந்த இப்படி இவர் இவர்கள் இவள் இவன் இவை இவ்வளவு உனக்கு உனது உன் உன்னால் எங்கு எங்கே எது எதை எந்த எப்படி எவர் எவர்கள் எவள் எவன் எவை எவ்வளவு எனக்கு எனது எனவே என் என்ன என்னால் ஏது ஏன் தனது தன்னால் தானே தான் நாங்கள் நாம் நான் நீ நீங்கள்".split(" ")),e.ta.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var t=e.wordcut;t.init(),e.ta.tokenizer=function(r){if(!arguments.length||null==r||void 0==r)return[];if(Array.isArray(r))return r.map(function(t){return isLunr2?new e.Token(t.toLowerCase()):t.toLowerCase()});var i=r.toString().toLowerCase().replace(/^\s+/,"");return t.cut(i).split("|")},e.Pipeline.registerFunction(e.ta.stemmer,"stemmer-ta"),e.Pipeline.registerFunction(e.ta.stopWordFilter,"stopWordFilter-ta")}});
|
||||
+1
@@ -0,0 +1 @@
|
||||
!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.te=function(){this.pipeline.reset(),this.pipeline.add(e.te.trimmer,e.te.stopWordFilter,e.te.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.te.stemmer))},e.te.wordCharacters="ఀ-ఄఅ-ఔక-హా-ౌౕ-ౖౘ-ౚౠ-ౡౢ-ౣ౦-౯౸-౿఼ఽ్ౝ౷",e.te.trimmer=e.trimmerSupport.generateTrimmer(e.te.wordCharacters),e.Pipeline.registerFunction(e.te.trimmer,"trimmer-te"),e.te.stopWordFilter=e.generateStopWordFilter("అందరూ అందుబాటులో అడగండి అడగడం అడ్డంగా అనుగుణంగా అనుమతించు అనుమతిస్తుంది అయితే ఇప్పటికే ఉన్నారు ఎక్కడైనా ఎప్పుడు ఎవరైనా ఎవరో ఏ ఏదైనా ఏమైనప్పటికి ఒక ఒకరు కనిపిస్తాయి కాదు కూడా గా గురించి చుట్టూ చేయగలిగింది తగిన తర్వాత దాదాపు దూరంగా నిజంగా పై ప్రకారం ప్రక్కన మధ్య మరియు మరొక మళ్ళీ మాత్రమే మెచ్చుకో వద్ద వెంట వేరుగా వ్యతిరేకంగా సంబంధం".split(" ")),e.te.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var t=e.wordcut;t.init(),e.te.tokenizer=function(r){if(!arguments.length||null==r||void 0==r)return[];if(Array.isArray(r))return r.map(function(t){return isLunr2?new e.Token(t.toLowerCase()):t.toLowerCase()});var i=r.toString().toLowerCase().replace(/^\s+/,"");return t.cut(i).split("|")},e.Pipeline.registerFunction(e.te.stemmer,"stemmer-te"),e.Pipeline.registerFunction(e.te.stopWordFilter,"stopWordFilter-te")}});
|
||||
+1
@@ -0,0 +1 @@
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var r="2"==e.version[0];e.th=function(){this.pipeline.reset(),this.pipeline.add(e.th.trimmer),r?this.tokenizer=e.th.tokenizer:(e.tokenizer&&(e.tokenizer=e.th.tokenizer),this.tokenizerFn&&(this.tokenizerFn=e.th.tokenizer))},e.th.wordCharacters="[-]",e.th.trimmer=e.trimmerSupport.generateTrimmer(e.th.wordCharacters),e.Pipeline.registerFunction(e.th.trimmer,"trimmer-th");var t=e.wordcut;t.init(),e.th.tokenizer=function(i){if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(t){return r?new e.Token(t):t});var n=i.toString().replace(/^\s+/,"");return t.cut(n).split("|")}}});
|
||||
+18
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+1
@@ -0,0 +1 @@
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.vi=function(){this.pipeline.reset(),this.pipeline.add(e.vi.stopWordFilter,e.vi.trimmer)},e.vi.wordCharacters="[A-Za-ẓ̀͐́͑̉̃̓ÂâÊêÔôĂ-ăĐ-đƠ-ơƯ-ư]",e.vi.trimmer=e.trimmerSupport.generateTrimmer(e.vi.wordCharacters),e.Pipeline.registerFunction(e.vi.trimmer,"trimmer-vi"),e.vi.stopWordFilter=e.generateStopWordFilter("là cái nhưng mà".split(" "))}});
|
||||
+1
@@ -0,0 +1 @@
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r(require("@node-rs/jieba")):r()(e.lunr)}(this,function(e){return function(r,t){if(void 0===r)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===r.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var i="2"==r.version[0];r.zh=function(){this.pipeline.reset(),this.pipeline.add(r.zh.trimmer,r.zh.stopWordFilter,r.zh.stemmer),i?this.tokenizer=r.zh.tokenizer:(r.tokenizer&&(r.tokenizer=r.zh.tokenizer),this.tokenizerFn&&(this.tokenizerFn=r.zh.tokenizer))},r.zh.tokenizer=function(n){if(!arguments.length||null==n||void 0==n)return[];if(Array.isArray(n))return n.map(function(e){return i?new r.Token(e.toLowerCase()):e.toLowerCase()});t&&e.load(t);var o=n.toString().trim().toLowerCase(),s=[];e.cut(o,!0).forEach(function(e){s=s.concat(e.split(" "))}),s=s.filter(function(e){return!!e});var u=0;return s.map(function(e,t){if(i){var n=o.indexOf(e,u),s={};return s.position=[n,e.length],s.index=t,u=n,new r.Token(e,s)}return e})},r.zh.wordCharacters="\\w一-龥",r.zh.trimmer=r.trimmerSupport.generateTrimmer(r.zh.wordCharacters),r.Pipeline.registerFunction(r.zh.trimmer,"trimmer-zh"),r.zh.stemmer=function(){return function(e){return e}}(),r.Pipeline.registerFunction(r.zh.stemmer,"stemmer-zh"),r.zh.stopWordFilter=r.generateStopWordFilter("的 一 不 在 人 有 是 为 為 以 于 於 上 他 而 后 後 之 来 來 及 了 因 下 可 到 由 这 這 与 與 也 此 但 并 並 个 個 其 已 无 無 小 我 们 們 起 最 再 今 去 好 只 又 或 很 亦 某 把 那 你 乃 它 吧 被 比 别 趁 当 當 从 從 得 打 凡 儿 兒 尔 爾 该 該 各 给 給 跟 和 何 还 還 即 几 幾 既 看 据 據 距 靠 啦 另 么 麽 每 嘛 拿 哪 您 凭 憑 且 却 卻 让 讓 仍 啥 如 若 使 谁 誰 虽 雖 随 隨 同 所 她 哇 嗡 往 些 向 沿 哟 喲 用 咱 则 則 怎 曾 至 致 着 著 诸 諸 自".split(" ")),r.Pipeline.registerFunction(r.zh.stopWordFilter,"stopWordFilter-zh")}});
|
||||
@@ -0,0 +1,206 @@
|
||||
/**
|
||||
* export the module via AMD, CommonJS or as a browser global
|
||||
* Export code from https://github.com/umdjs/umd/blob/master/returnExports.js
|
||||
*/
|
||||
;(function (root, factory) {
|
||||
if (typeof define === 'function' && define.amd) {
|
||||
// AMD. Register as an anonymous module.
|
||||
define(factory)
|
||||
} else if (typeof exports === 'object') {
|
||||
/**
|
||||
* Node. Does not work with strict CommonJS, but
|
||||
* only CommonJS-like environments that support module.exports,
|
||||
* like Node.
|
||||
*/
|
||||
module.exports = factory()
|
||||
} else {
|
||||
// Browser globals (root is window)
|
||||
factory()(root.lunr);
|
||||
}
|
||||
}(this, function () {
|
||||
/**
|
||||
* Just return a value to define the module export.
|
||||
* This example returns an object, but the module
|
||||
* can return a function as the exported value.
|
||||
*/
|
||||
|
||||
return function(lunr) {
|
||||
// TinySegmenter 0.1 -- Super compact Japanese tokenizer in Javascript
|
||||
// (c) 2008 Taku Kudo <taku@chasen.org>
|
||||
// TinySegmenter is freely distributable under the terms of a new BSD licence.
|
||||
// For details, see http://chasen.org/~taku/software/TinySegmenter/LICENCE.txt
|
||||
|
||||
function TinySegmenter() {
|
||||
var patterns = {
|
||||
"[一二三四五六七八九十百千万億兆]":"M",
|
||||
"[一-龠々〆ヵヶ]":"H",
|
||||
"[ぁ-ん]":"I",
|
||||
"[ァ-ヴーｱ-ﾝﾞｰ]":"K",
|
||||
"[a-zA-Zａ-ｚＡ-Ｚ]":"A",
|
||||
"[0-9０-９]":"N"
|
||||
}
|
||||
this.chartype_ = [];
|
||||
for (var i in patterns) {
|
||||
var regexp = new RegExp(i);
|
||||
this.chartype_.push([regexp, patterns[i]]);
|
||||
}
|
||||
|
||||
this.BIAS__ = -332
|
||||
this.BC1__ = {"HH":6,"II":2461,"KH":406,"OH":-1378};
|
||||
this.BC2__ = {"AA":-3267,"AI":2744,"AN":-878,"HH":-4070,"HM":-1711,"HN":4012,"HO":3761,"IA":1327,"IH":-1184,"II":-1332,"IK":1721,"IO":5492,"KI":3831,"KK":-8741,"MH":-3132,"MK":3334,"OO":-2920};
|
||||
this.BC3__ = {"HH":996,"HI":626,"HK":-721,"HN":-1307,"HO":-836,"IH":-301,"KK":2762,"MK":1079,"MM":4034,"OA":-1652,"OH":266};
|
||||
this.BP1__ = {"BB":295,"OB":304,"OO":-125,"UB":352};
|
||||
this.BP2__ = {"BO":60,"OO":-1762};
|
||||
this.BQ1__ = {"BHH":1150,"BHM":1521,"BII":-1158,"BIM":886,"BMH":1208,"BNH":449,"BOH":-91,"BOO":-2597,"OHI":451,"OIH":-296,"OKA":1851,"OKH":-1020,"OKK":904,"OOO":2965};
|
||||
this.BQ2__ = {"BHH":118,"BHI":-1159,"BHM":466,"BIH":-919,"BKK":-1720,"BKO":864,"OHH":-1139,"OHM":-181,"OIH":153,"UHI":-1146};
|
||||
this.BQ3__ = {"BHH":-792,"BHI":2664,"BII":-299,"BKI":419,"BMH":937,"BMM":8335,"BNN":998,"BOH":775,"OHH":2174,"OHM":439,"OII":280,"OKH":1798,"OKI":-793,"OKO":-2242,"OMH":-2402,"OOO":11699};
|
||||
this.BQ4__ = {"BHH":-3895,"BIH":3761,"BII":-4654,"BIK":1348,"BKK":-1806,"BMI":-3385,"BOO":-12396,"OAH":926,"OHH":266,"OHK":-2036,"ONN":-973};
|
||||
this.BW1__ = {",と":660,",同":727,"B1あ":1404,"B1同":542,"、と":660,"、同":727,"」と":1682,"あっ":1505,"いう":1743,"いっ":-2055,"いる":672,"うし":-4817,"うん":665,"から":3472,"がら":600,"こう":-790,"こと":2083,"こん":-1262,"さら":-4143,"さん":4573,"した":2641,"して":1104,"すで":-3399,"そこ":1977,"それ":-871,"たち":1122,"ため":601,"った":3463,"つい":-802,"てい":805,"てき":1249,"でき":1127,"です":3445,"では":844,"とい":-4915,"とみ":1922,"どこ":3887,"ない":5713,"なっ":3015,"など":7379,"なん":-1113,"にし":2468,"には":1498,"にも":1671,"に対":-912,"の一":-501,"の中":741,"ませ":2448,"まで":1711,"まま":2600,"まる":-2155,"やむ":-1947,"よっ":-2565,"れた":2369,"れで":-913,"をし":1860,"を見":731,"亡く":-1886,"京都":2558,"取り":-2784,"大き":-2604,"大阪":1497,"平方":-2314,"引き":-1336,"日本":-195,"本当":-2423,"毎日":-2113,"目指":-724,"Ｂ１あ":1404,"Ｂ１同":542,"｣と":1682};
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||||
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this.UW6__ = {",":227,".":808,"1":-270,"E1":306,"、":227,"。":808,"あ":-307,"う":189,"か":241,"が":-73,"く":-121,"こ":-200,"じ":1782,"す":383,"た":-428,"っ":573,"て":-1014,"で":101,"と":-105,"な":-253,"に":-149,"の":-417,"は":-236,"も":-206,"り":187,"る":-135,"を":195,"ル":-673,"ン":-496,"一":-277,"中":201,"件":-800,"会":624,"前":302,"区":1792,"員":-1212,"委":798,"学":-960,"市":887,"広":-695,"後":535,"業":-697,"相":753,"社":-507,"福":974,"空":-822,"者":1811,"連":463,"郎":1082,"１":-270,"Ｅ１":306,"ﾙ":-673,"ﾝ":-496};
|
||||
|
||||
return this;
|
||||
}
|
||||
TinySegmenter.prototype.ctype_ = function(str) {
|
||||
for (var i in this.chartype_) {
|
||||
if (str.match(this.chartype_[i][0])) {
|
||||
return this.chartype_[i][1];
|
||||
}
|
||||
}
|
||||
return "O";
|
||||
}
|
||||
|
||||
TinySegmenter.prototype.ts_ = function(v) {
|
||||
if (v) { return v; }
|
||||
return 0;
|
||||
}
|
||||
|
||||
TinySegmenter.prototype.segment = function(input) {
|
||||
if (input == null || input == undefined || input == "") {
|
||||
return [];
|
||||
}
|
||||
var result = [];
|
||||
var seg = ["B3","B2","B1"];
|
||||
var ctype = ["O","O","O"];
|
||||
var o = input.split("");
|
||||
for (i = 0; i < o.length; ++i) {
|
||||
seg.push(o[i]);
|
||||
ctype.push(this.ctype_(o[i]))
|
||||
}
|
||||
seg.push("E1");
|
||||
seg.push("E2");
|
||||
seg.push("E3");
|
||||
ctype.push("O");
|
||||
ctype.push("O");
|
||||
ctype.push("O");
|
||||
var word = seg[3];
|
||||
var p1 = "U";
|
||||
var p2 = "U";
|
||||
var p3 = "U";
|
||||
for (var i = 4; i < seg.length - 3; ++i) {
|
||||
var score = this.BIAS__;
|
||||
var w1 = seg[i-3];
|
||||
var w2 = seg[i-2];
|
||||
var w3 = seg[i-1];
|
||||
var w4 = seg[i];
|
||||
var w5 = seg[i+1];
|
||||
var w6 = seg[i+2];
|
||||
var c1 = ctype[i-3];
|
||||
var c2 = ctype[i-2];
|
||||
var c3 = ctype[i-1];
|
||||
var c4 = ctype[i];
|
||||
var c5 = ctype[i+1];
|
||||
var c6 = ctype[i+2];
|
||||
score += this.ts_(this.UP1__[p1]);
|
||||
score += this.ts_(this.UP2__[p2]);
|
||||
score += this.ts_(this.UP3__[p3]);
|
||||
score += this.ts_(this.BP1__[p1 + p2]);
|
||||
score += this.ts_(this.BP2__[p2 + p3]);
|
||||
score += this.ts_(this.UW1__[w1]);
|
||||
score += this.ts_(this.UW2__[w2]);
|
||||
score += this.ts_(this.UW3__[w3]);
|
||||
score += this.ts_(this.UW4__[w4]);
|
||||
score += this.ts_(this.UW5__[w5]);
|
||||
score += this.ts_(this.UW6__[w6]);
|
||||
score += this.ts_(this.BW1__[w2 + w3]);
|
||||
score += this.ts_(this.BW2__[w3 + w4]);
|
||||
score += this.ts_(this.BW3__[w4 + w5]);
|
||||
score += this.ts_(this.TW1__[w1 + w2 + w3]);
|
||||
score += this.ts_(this.TW2__[w2 + w3 + w4]);
|
||||
score += this.ts_(this.TW3__[w3 + w4 + w5]);
|
||||
score += this.ts_(this.TW4__[w4 + w5 + w6]);
|
||||
score += this.ts_(this.UC1__[c1]);
|
||||
score += this.ts_(this.UC2__[c2]);
|
||||
score += this.ts_(this.UC3__[c3]);
|
||||
score += this.ts_(this.UC4__[c4]);
|
||||
score += this.ts_(this.UC5__[c5]);
|
||||
score += this.ts_(this.UC6__[c6]);
|
||||
score += this.ts_(this.BC1__[c2 + c3]);
|
||||
score += this.ts_(this.BC2__[c3 + c4]);
|
||||
score += this.ts_(this.BC3__[c4 + c5]);
|
||||
score += this.ts_(this.TC1__[c1 + c2 + c3]);
|
||||
score += this.ts_(this.TC2__[c2 + c3 + c4]);
|
||||
score += this.ts_(this.TC3__[c3 + c4 + c5]);
|
||||
score += this.ts_(this.TC4__[c4 + c5 + c6]);
|
||||
// score += this.ts_(this.TC5__[c4 + c5 + c6]);
|
||||
score += this.ts_(this.UQ1__[p1 + c1]);
|
||||
score += this.ts_(this.UQ2__[p2 + c2]);
|
||||
score += this.ts_(this.UQ3__[p3 + c3]);
|
||||
score += this.ts_(this.BQ1__[p2 + c2 + c3]);
|
||||
score += this.ts_(this.BQ2__[p2 + c3 + c4]);
|
||||
score += this.ts_(this.BQ3__[p3 + c2 + c3]);
|
||||
score += this.ts_(this.BQ4__[p3 + c3 + c4]);
|
||||
score += this.ts_(this.TQ1__[p2 + c1 + c2 + c3]);
|
||||
score += this.ts_(this.TQ2__[p2 + c2 + c3 + c4]);
|
||||
score += this.ts_(this.TQ3__[p3 + c1 + c2 + c3]);
|
||||
score += this.ts_(this.TQ4__[p3 + c2 + c3 + c4]);
|
||||
var p = "O";
|
||||
if (score > 0) {
|
||||
result.push(word);
|
||||
word = "";
|
||||
p = "B";
|
||||
}
|
||||
p1 = p2;
|
||||
p2 = p3;
|
||||
p3 = p;
|
||||
word += seg[i];
|
||||
}
|
||||
result.push(word);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
lunr.TinySegmenter = TinySegmenter;
|
||||
};
|
||||
|
||||
}));
|
||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<svg version="1.0" xmlns="http://www.w3.org/2000/svg" width="300.000000pt" height="300.000000pt" viewBox="0 0 300.000000 300.000000" preserveAspectRatio="xMidYMid meet">
|
||||
<g transform="translate(0.000000,300.000000) scale(0.100000,-0.100000)" style="">
|
||||
<path fill="#FFFFFF" stroke="none" d="M 1403 2171 C 1252 2125 1210 2089 900 1740 C 790 1616 633 1444 569 1375 C 440 1237 420 1205 420 1131 C 420 1065 463 1008 542 968 C 626 926 719 920 779 952 C 814 971 827 985 837 1017 C 849 1052 849 1063 837 1093 C 825 1121 809 1134 756 1159 C 669 1200 669 1217 760 1317 C 785 1345 1027 1614 1027 1614 L 1035 1565 C 1065.847 1358.183 1157.303 1283.405 1333.336 1210.559 C 1367.635 1196.366 1435.951 1178.547 1555.879 1193.188 C 1604.916 1199.175 1706.368 1234.773 1744.371 1286.284 C 2060.641 1714.967 2295.222 1572.639 2385.014 1418.173 C 2432.797 1335.973 2415.14 1194.421 2380.228 1144.772 C 2365.13 1123.3 2348.381 1135.234 2314.381 1146.234 C 2252.381 1168.234 2154.744 1188.323 2122.081 1144.848 C 2053.776 1053.934 2095 1007 2130 981 C 2183 942 2241.924 918.386 2317.924 924.386 C 2394.924 930.386 2457 966 2503 1021 C 2549 1074 2570 1136 2577 1235 C 2590 1429 2495 1598 2325 1681 C 2258 1714 2150.152 1725.152 2150.152 1725.152 C 2041.183 1727.763 2022 1713 1959 1683 C 1890 1649 1815 1582 1708 1459 C 1628 1367 1565 1336 1450 1336 C 1351 1336 1317 1349 1254 1415 C 1201 1470 1180 1535 1180 1640 C 1180 1706 1185 1731 1206 1775 C 1239 1846 1298 1895 1378 1920 C 1489 1955 1568 1945 1716 1880 C 1783 1850 1885.984 1856.061 1907.848 1943.391 C 1928.205 2024.702 1892 2077 1835 2113 C 1725 2182 1528 2209 1403 2171 Z" style="paint-order: fill;"/>
|
||||
</g>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 1.7 KiB |
+1
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
+1
File diff suppressed because one or more lines are too long
@@ -0,0 +1 @@
|
||||
{"version":3,"sources":["src/templates/assets/stylesheets/palette/_scheme.scss","../../../../src/templates/assets/stylesheets/palette.scss","src/templates/assets/stylesheets/palette/_accent.scss","src/templates/assets/stylesheets/palette/_primary.scss","src/templates/assets/stylesheets/utilities/_break.scss"],"names":[],"mappings":"AA2BA,cAGE,6BAME,sDAAA,CACA,6DAAA,CACA,+DAAA,CACA,gEAAA,CACA,mDAAA,CACA,6DAAA,CACA,+DAAA,CACA,gEAAA,CAGA,mDAAA,CACA,gDAAA,CAGA,0BAAA,CACA,mCAAA,CAGA,iCAAA,CACA,kCAAA,CACA,mCAAA,CACA,mCAAA,CACA,kCAAA,CACA,iCAAA,CACA,+CAAA,CACA,6DAAA,CACA,gEAAA,CACA,4DAAA,CACA,4DAAA,CACA,6DAAA,CAGA,6CAAA,CAGA,+CAAA,CAGA,uDAAA,CACA,6DAAA,CACA,2DAAA,CAGA,iCAAA,CAGA,yDAAA,CACA,iEAAA,CAGA,mDAAA,CACA,mDAAA,CAGA,qDAAA,CACA,uDAAA,CAGA,8DAAA,CAKA,8DAAA,CAKA,0DAAA,CAvEA,iBCeF,CD6DE,kHAEE,YC3DJ,CDkFE,yDACE,4BChFJ,CD+EE,2DACE,4BC7EJ,CD4EE,gEACE,4BC1EJ,CDyEE,2DACE,4BCvEJ,CDsEE,yDACE,4BCpEJ,CDmEE,0DACE,4BCjEJ,CDgEE,gEACE,4BC9DJ,CD6DE,0DACE,4BC3DJ,CD0DE,2OACE,4BC/CJ,CDsDA,+FAGE,iCCpDF,CACF,CC/CE,2BACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCD2CN,CCrDE,4BACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCDkDN,CC5DE,8BACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCDyDN,CCnEE,mCACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCDgEN,CC1EE,8BACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCDuEN,CCjFE,4BACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCD8EN,CCxFE,kCACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCDqFN,CC/FE,4BACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCD4FN,CCtGE,4BACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCDmGN,CC7GE,6BACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCD0GN,CCpHE,mCACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCDiHN,CC3HE,4BACE,4BAAA,CACA,2CAAA,CAIE,8BAAA,CACA,qCD2HN,CClIE,8BACE,4BAAA,CACA,2CAAA,CAIE,8BAAA,CACA,qCDkIN,CCzIE,6BACE,yBAAA,CACA,2CAAA,CAIE,8BAAA,CACA,qCDyIN,CChJE,8BACE,4BAAA,CACA,2CAAA,CAIE,8BAAA,CACA,qCDgJN,CCvJE,mCACE,4BAAA,CACA,2CAAA,CAOE,yBAAA,CACA,qCDoJN,CEzJE,4BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCFsJN,CEjKE,6BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCF8JN,CEzKE,+BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCFsKN,CEjLE,oCACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCF8KN,CEzLE,+BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCFsLN,CEjME,6BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCF8LN,CEzME,mCACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCFsMN,CEjNE,6BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCF8MN,CEzNE,6BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCFsNN,CEjOE,8BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCF8NN,CEzOE,oCACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCFsON,CEjPE,6BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAIE,+BAAA,CACA,sCFiPN,CEzPE,+BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAIE,+BAAA,CACA,sCFyPN,CEjQE,8BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAIE,+BAAA,CACA,sCFiQN,CEzQE,+BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAIE,+BAAA,CACA,sCFyQN,CEjRE,oCACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCF8QN,CEzRE,8BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCFsRN,CEjSE,6BACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCAAA,CAKA,4BF0RN,CE1SE,kCACE,6BAAA,CACA,oCAAA,CACA,mCAAA,CAOE,0BAAA,CACA,sCAAA,CAKA,4BFmSN,CEpRE,sEACE,4BFuRJ,CExRE,+DACE,4BF2RJ,CE5RE,iEACE,4BF+RJ,CEhSE,gEACE,4BFmSJ,CEpSE,iEACE,4BFuSJ,CE9RA,8BACE,mDAAA,CACA,4DAAA,CACA,0DAAA,CACA,oDAAA,CACA,2DAAA,CAGA,4BF+RF,CE5RE,yCACE,+BF8RJ,CE3RI,kDAEE,0CAAA,CACA,sCAAA,CAFA,mCF+RN,CG3MI,mCD1EA,+CACE,8CFwRJ,CErRI,qDACE,8CFuRN,CElRE,iEACE,mCFoRJ,CACF,CGtNI,sCDvDA,uCACE,oCFgRJ,CACF,CEvQA,8BACE,kDAAA,CACA,4DAAA,CACA,wDAAA,CACA,oDAAA,CACA,6DAAA,CAGA,4BFwQF,CErQE,yCACE,+BFuQJ,CEpQI,kDAEE,0CAAA,CACA,sCAAA,CAFA,mCFwQN,CEjQE,yCACE,6CFmQJ,CG5NI,0CDhCA,8CACE,gDF+PJ,CACF,CGjOI,0CDvBA,iFACE,6CF2PJ,CACF,CGzPI,sCDKA,uCACE,6CFuPJ,CACF","file":"palette.css"}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,51 +0,0 @@
|
||||
# What is cereal?
|
||||
|
||||
cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
|
||||
|
||||
|
||||
## Messaging Spec
|
||||
|
||||
You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
|
||||
|
||||
All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
|
||||
|
||||
### Best Practices
|
||||
|
||||
- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
|
||||
- In the context of the message they are in, field names should be completely unambiguous.
|
||||
- All values should be easy to plot and be human-readable with minimal parsing.
|
||||
|
||||
### Maintaining backwards-compatibility
|
||||
|
||||
When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
|
||||
be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
|
||||
things are not. Read more details [here](https://capnproto.org/language.html).
|
||||
|
||||
### Custom forks
|
||||
|
||||
Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
|
||||
spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
|
||||
then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
|
||||
[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
|
||||
fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
|
||||
|
||||
Example
|
||||
---
|
||||
```python
|
||||
import cereal.messaging as messaging
|
||||
|
||||
# in subscriber
|
||||
sm = messaging.SubMaster(['sensorEvents'])
|
||||
while 1:
|
||||
sm.update()
|
||||
print(sm['sensorEvents'])
|
||||
|
||||
```
|
||||
|
||||
```python
|
||||
# in publisher
|
||||
pm = messaging.PubMaster(['sensorEvents'])
|
||||
dat = messaging.new_message('sensorEvents', size=1)
|
||||
dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
|
||||
pm.send('sensorEvents', dat)
|
||||
```
|
||||
@@ -1,20 +0,0 @@
|
||||
Import('env', 'common', 'msgq')
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
|
||||
# Build cereal
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
# Build messaging
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
|
||||
|
||||
socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
|
||||
|
||||
Export('cereal', 'socketmaster')
|
||||
@@ -1,9 +0,0 @@
|
||||
import os
|
||||
import capnp
|
||||
|
||||
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"))
|
||||
@@ -1 +0,0 @@
|
||||
../opendbc_repo/opendbc/car/car.capnp
|
||||
@@ -1,55 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0xb526ba661d550a59;
|
||||
|
||||
# custom.capnp: a home for empty structs reserved for custom forks
|
||||
# These structs are guaranteed to remain reserved and empty in mainline
|
||||
# cereal, so use these if you want custom events in your fork.
|
||||
|
||||
# you can rename the struct, but don't change the identifier
|
||||
struct SelfdriveStateSP @0x81c2f05a394cf4af {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
|
||||
struct ModularAssistiveDrivingSystem {
|
||||
state @0 :ModularAssistiveDrivingSystemState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
available @3 :Bool;
|
||||
|
||||
enum ModularAssistiveDrivingSystemState {
|
||||
disabled @0;
|
||||
paused @1;
|
||||
enabled @2;
|
||||
softDisabling @3;
|
||||
overriding @4;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
|
||||
}
|
||||
|
||||
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
|
||||
}
|
||||
|
||||
struct CustomReserved3 @0xda96579883444c35 {
|
||||
}
|
||||
|
||||
struct CustomReserved4 @0x80ae746ee2596b11 {
|
||||
}
|
||||
|
||||
struct CustomReserved5 @0xa5cd762cd951a455 {
|
||||
}
|
||||
|
||||
struct CustomReserved6 @0xf98d843bfd7004a3 {
|
||||
}
|
||||
|
||||
struct CustomReserved7 @0xb86e6369214c01c8 {
|
||||
}
|
||||
|
||||
struct CustomReserved8 @0xf416ec09499d9d19 {
|
||||
}
|
||||
|
||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
|
||||
# Licensed under the MIT License:
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
# copies of the Software, and to permit persons to whom the Software is
|
||||
# furnished to do so, subject to the following conditions:
|
||||
#
|
||||
# The above copyright notice and this permission notice shall be included in
|
||||
# all copies or substantial portions of the Software.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
|
||||
@0xbdf87d7bb8304e81;
|
||||
$namespace("capnp::annotations");
|
||||
|
||||
annotation namespace(file): Text;
|
||||
annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text;
|
||||
@@ -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;
|
||||
}
|
||||
|
||||
|
||||
-2676
File diff suppressed because it is too large
Load Diff
@@ -1,49 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0xa086df597ef5d7a0;
|
||||
|
||||
# Geometry
|
||||
struct Point {
|
||||
x @0: Float64;
|
||||
y @1: Float64;
|
||||
z @2: Float64;
|
||||
}
|
||||
|
||||
struct PolyLine {
|
||||
points @0: List(Point);
|
||||
}
|
||||
|
||||
# Map features
|
||||
struct Lane {
|
||||
id @0 :Text;
|
||||
|
||||
leftBoundary @1 :LaneBoundary;
|
||||
rightBoundary @2 :LaneBoundary;
|
||||
|
||||
leftAdjacentId @3 :Text;
|
||||
rightAdjacentId @4 :Text;
|
||||
|
||||
inboundIds @5 :List(Text);
|
||||
outboundIds @6 :List(Text);
|
||||
|
||||
struct LaneBoundary {
|
||||
polyLine @0 :PolyLine;
|
||||
startHeading @1 :Float32; # WRT north
|
||||
}
|
||||
}
|
||||
|
||||
# Map tiles
|
||||
struct TileSummary {
|
||||
version @0 :Text;
|
||||
updatedAt @1 :UInt64; # Millis since epoch
|
||||
|
||||
level @2 :UInt8;
|
||||
x @3 :UInt16;
|
||||
y @4 :UInt16;
|
||||
}
|
||||
|
||||
struct MapTile {
|
||||
summary @0 :TileSummary;
|
||||
lanes @1 :List(Lane);
|
||||
}
|
||||
@@ -1,268 +0,0 @@
|
||||
# must be built with scons
|
||||
from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
from msgq.ipc_pyx import MultiplePublishersError, IpcError
|
||||
from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
|
||||
import msgq
|
||||
|
||||
import os
|
||||
import capnp
|
||||
import time
|
||||
|
||||
from typing import Optional, List, Union, Dict, Deque
|
||||
from collections import deque
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
def reset_context():
|
||||
msgq.context = Context()
|
||||
|
||||
|
||||
def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
|
||||
with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
|
||||
return msg
|
||||
|
||||
|
||||
def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
args = {
|
||||
'valid': False,
|
||||
'logMonoTime': int(time.monotonic() * 1e9),
|
||||
**kwargs
|
||||
}
|
||||
dat = log.Event.new_message(**args)
|
||||
if service is not None:
|
||||
if size is None:
|
||||
dat.init(service)
|
||||
else:
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
|
||||
return [log_from_bytes(m) for m in msgs]
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
while 1:
|
||||
if wait and dat is None:
|
||||
recv = sock.receive()
|
||||
else:
|
||||
recv = sock.receive(non_blocking=True)
|
||||
|
||||
if recv is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = recv
|
||||
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log_from_bytes(dat)
|
||||
|
||||
|
||||
class FrequencyTracker:
|
||||
def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
|
||||
freq = max(min(service_freq, update_freq), 1.)
|
||||
if is_poll:
|
||||
min_freq = max_freq = freq
|
||||
else:
|
||||
max_freq = min(freq, update_freq)
|
||||
if service_freq >= 2 * update_freq:
|
||||
min_freq = update_freq
|
||||
elif update_freq >= 2* service_freq:
|
||||
min_freq = freq
|
||||
else:
|
||||
min_freq = min(freq, freq / 2.)
|
||||
|
||||
self.min_freq = min_freq * 0.8
|
||||
self.max_freq = max_freq * 1.2
|
||||
self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
|
||||
self.recv_dts_sum = 0.0
|
||||
self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq))
|
||||
self.recent_recv_dts_sum = 0.0
|
||||
self.prev_time = 0.0
|
||||
|
||||
def record_recv_time(self, cur_time: float) -> None:
|
||||
# TODO: Handle case where cur_time is less than prev_time
|
||||
if self.prev_time > 1e-5:
|
||||
dt = cur_time - self.prev_time
|
||||
|
||||
if len(self.recv_dts) == self.recv_dts.maxlen:
|
||||
self.recv_dts_sum -= self.recv_dts[0]
|
||||
self.recv_dts.append(dt)
|
||||
self.recv_dts_sum += dt
|
||||
|
||||
if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen:
|
||||
self.recent_recv_dts_sum -= self.recent_recv_dts[0]
|
||||
self.recent_recv_dts.append(dt)
|
||||
self.recent_recv_dts_sum += dt
|
||||
|
||||
self.prev_time = cur_time
|
||||
|
||||
@property
|
||||
def valid(self) -> bool:
|
||||
if not self.recv_dts:
|
||||
return False
|
||||
|
||||
avg_freq = len(self.recv_dts) / self.recv_dts_sum
|
||||
if self.min_freq <= avg_freq <= self.max_freq:
|
||||
return True
|
||||
|
||||
avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum
|
||||
return self.min_freq <= avg_freq_recent <= self.max_freq
|
||||
|
||||
|
||||
class SubMaster:
|
||||
def __init__(self, services: List[str], poll: Optional[str] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
|
||||
self.frame = -1
|
||||
self.services = services
|
||||
self.seen = {s: False for s in services}
|
||||
self.updated = {s: False for s in services}
|
||||
self.recv_time = {s: 0. for s in services}
|
||||
self.recv_frame = {s: 0 for s in services}
|
||||
self.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.freq_tracker: Dict[str, FrequencyTracker] = {}
|
||||
self.poller = Poller()
|
||||
polled_services = set([poll, ] if poll is not None else services)
|
||||
self.non_polled_services = set(services) - polled_services
|
||||
|
||||
self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
|
||||
self.ignore_alive = [] if ignore_alive is None else ignore_alive
|
||||
self.ignore_valid = [] if ignore_valid is None else ignore_valid
|
||||
|
||||
self.simulation = bool(int(os.getenv("SIMULATION", "0")))
|
||||
|
||||
# if freq and poll aren't specified, assume the max to be conservative
|
||||
assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
|
||||
self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
|
||||
|
||||
for s in services:
|
||||
p = self.poller if s not in self.non_polled_services else None
|
||||
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
|
||||
|
||||
try:
|
||||
data = new_message(s)
|
||||
except capnp.lib.capnp.KjException:
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data.as_reader(), s)
|
||||
self.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:
|
||||
return self.data[s]
|
||||
|
||||
def _check_avg_freq(self, s: str) -> bool:
|
||||
return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
|
||||
|
||||
def update(self, timeout: int = 100) -> None:
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
msgs.append(recv_one_or_none(sock))
|
||||
|
||||
# non-blocking receive for non-polled sockets
|
||||
for s in self.non_polled_services:
|
||||
msgs.append(recv_one_or_none(self.sock[s]))
|
||||
self.update_msgs(time.monotonic(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.services, False)
|
||||
for msg in msgs:
|
||||
if msg is None:
|
||||
continue
|
||||
|
||||
s = msg.which()
|
||||
self.seen[s] = True
|
||||
self.updated[s] = True
|
||||
|
||||
self.freq_tracker[s].record_recv_time(cur_time)
|
||||
self.recv_time[s] = cur_time
|
||||
self.recv_frame[s] = self.frame
|
||||
self.data[s] = getattr(msg, s)
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
for s in self.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
|
||||
|
||||
def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
|
||||
|
||||
def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
|
||||
|
||||
def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
|
||||
|
||||
def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
|
||||
|
||||
|
||||
class PubMaster:
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
|
||||
if not isinstance(dat, bytes):
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
|
||||
def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
|
||||
for _ in range(int(timeout*(1./dt))):
|
||||
if self.sock[s].all_readers_updated():
|
||||
return True
|
||||
time.sleep(dt)
|
||||
return False
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated() # type: ignore
|
||||
@@ -1,71 +0,0 @@
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
ExitHandler do_exit;
|
||||
|
||||
static std::vector<std::string> get_services(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 (name == "plusFrame" || name == "uiLayoutState" || (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<ZMQPoller>();
|
||||
auto pub_context = std::make_unique<MSGQContext>();
|
||||
auto sub_context = std::make_unique<ZMQContext>();
|
||||
std::map<SubSocket *, PubSocket *> sub2pub;
|
||||
|
||||
for (auto endpoint : endpoints) {
|
||||
auto pub_sock = new MSGQPubSocket();
|
||||
auto sub_sock = new ZMQSubSocket();
|
||||
pub_sock->connect(pub_context.get(), endpoint);
|
||||
sub_sock->connect(sub_context.get(), endpoint, ip, false);
|
||||
|
||||
poller->registerSocket(sub_sock);
|
||||
sub2pub[sub_sock] = pub_sock;
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
for (auto sub_sock : poller->poll(100)) {
|
||||
std::unique_ptr<Message> msg(sub_sock->receive(true));
|
||||
if (msg) {
|
||||
sub2pub[sub_sock]->sendMessage(msg.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up allocated sockets
|
||||
for (auto &[sub_sock, pub_sock] : sub2pub) {
|
||||
delete sub_sock;
|
||||
delete pub_sock;
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
bool is_zmq_to_msgq = argc > 2;
|
||||
std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
|
||||
std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
|
||||
std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
|
||||
|
||||
if (is_zmq_to_msgq) {
|
||||
zmq_to_msgq(endpoints, ip);
|
||||
} else {
|
||||
msgq_to_zmq(endpoints, ip);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -1,102 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <utility>
|
||||
|
||||
#include <capnp/serialize.h>
|
||||
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#include "common/timing.h"
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
|
||||
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
|
||||
void update(int timeout = 1000);
|
||||
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
|
||||
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
void drain();
|
||||
~SubMaster();
|
||||
|
||||
uint64_t frame = 0;
|
||||
bool updated(const char *name) const;
|
||||
bool alive(const char *name) const;
|
||||
bool valid(const char *name) const;
|
||||
uint64_t rcv_frame(const char *name) const;
|
||||
uint64_t rcv_time(const char *name) const;
|
||||
cereal::Event::Reader &operator[](const char *name) const;
|
||||
|
||||
private:
|
||||
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
|
||||
Poller *poller_ = nullptr;
|
||||
struct SubMessage;
|
||||
std::map<SubSocket *, SubMessage *> messages_;
|
||||
std::map<std::string, SubMessage *> services_;
|
||||
};
|
||||
|
||||
class MessageBuilder : public capnp::MallocMessageBuilder {
|
||||
public:
|
||||
MessageBuilder() = default;
|
||||
|
||||
cereal::Event::Builder initEvent(bool valid = true) {
|
||||
cereal::Event::Builder event = initRoot<cereal::Event>();
|
||||
event.setLogMonoTime(nanos_since_boot());
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
kj::ArrayPtr<capnp::byte> toBytes() {
|
||||
heapArray_ = capnp::messageToFlatArray(*this);
|
||||
return heapArray_.asBytes();
|
||||
}
|
||||
|
||||
size_t getSerializedSize() {
|
||||
return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
|
||||
}
|
||||
|
||||
int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
|
||||
size_t serialized_size = getSerializedSize();
|
||||
if (serialized_size > buffer_size) { return -1; }
|
||||
kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
|
||||
capnp::writeMessage(out, *this);
|
||||
return serialized_size;
|
||||
}
|
||||
|
||||
private:
|
||||
kj::Array<capnp::word> heapArray_;
|
||||
};
|
||||
|
||||
class PubMaster {
|
||||
public:
|
||||
PubMaster(const std::vector<const char *> &service_list);
|
||||
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
|
||||
int send(const char *name, MessageBuilder &msg);
|
||||
~PubMaster();
|
||||
|
||||
private:
|
||||
std::map<std::string, PubSocket *> sockets_;
|
||||
};
|
||||
|
||||
class AlignedBuffer {
|
||||
public:
|
||||
kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
|
||||
words_size = size / sizeof(capnp::word) + 1;
|
||||
if (aligned_buf.size() < words_size) {
|
||||
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
|
||||
}
|
||||
memcpy(aligned_buf.begin(), data, size);
|
||||
return aligned_buf.slice(0, words_size);
|
||||
}
|
||||
inline kj::ArrayPtr<const capnp::word> align(Message *m) {
|
||||
return align(m->getData(), m->getSize());
|
||||
}
|
||||
private:
|
||||
kj::Array<capnp::word> aligned_buf;
|
||||
size_t words_size;
|
||||
};
|
||||
@@ -1,144 +0,0 @@
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
|
||||
#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<ZMQContext>();
|
||||
msgq_context = std::make_unique<MSGQContext>();
|
||||
|
||||
// Create ZMQPubSockets for each endpoint
|
||||
for (const auto &endpoint : endpoints) {
|
||||
auto &socket_pair = socket_pairs.emplace_back();
|
||||
socket_pair.endpoint = endpoint;
|
||||
socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
|
||||
int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
|
||||
if (ret != 0) {
|
||||
printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
|
||||
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
|
||||
ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
|
||||
auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
|
||||
if (!msg) break;
|
||||
|
||||
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->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
|
||||
void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
|
||||
zmq_connect(monitor_socket, addr.c_str());
|
||||
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>();
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
|
||||
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->sock, 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());
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,37 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <condition_variable>
|
||||
#include <map>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define private public
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
|
||||
class MsgqToZmq {
|
||||
public:
|
||||
MsgqToZmq() {}
|
||||
void run(const std::vector<std::string> &endpoints, const std::string &ip);
|
||||
|
||||
protected:
|
||||
void registerSockets();
|
||||
void zmqMonitorThread();
|
||||
|
||||
struct SocketPair {
|
||||
std::string endpoint;
|
||||
std::unique_ptr<ZMQPubSocket> pub_sock;
|
||||
std::unique_ptr<MSGQSubSocket> sub_sock;
|
||||
int connected_clients = 0;
|
||||
};
|
||||
|
||||
std::unique_ptr<MSGQContext> msgq_context;
|
||||
std::unique_ptr<ZMQContext> zmq_context;
|
||||
std::mutex mutex;
|
||||
std::condition_variable cv;
|
||||
std::unique_ptr<MSGQPoller> msgq_poller;
|
||||
std::map<SubSocket *, ZMQPubSocket *> sub2pub;
|
||||
std::vector<SocketPair> socket_pairs;
|
||||
};
|
||||
@@ -1,203 +0,0 @@
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
#include <mutex>
|
||||
|
||||
#include "cereal/services.h"
|
||||
#include "cereal/messaging/messaging.h"
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
static inline bool inList(const std::vector<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
class MessageContext {
|
||||
public:
|
||||
MessageContext() : ctx_(nullptr) {}
|
||||
~MessageContext() { delete ctx_; }
|
||||
inline Context *context() {
|
||||
std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
|
||||
return ctx_;
|
||||
}
|
||||
private:
|
||||
Context *ctx_;
|
||||
std::once_flag init_flag;
|
||||
};
|
||||
|
||||
MessageContext message_context;
|
||||
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
int freq = 0;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
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);
|
||||
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);
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name);
|
||||
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;
|
||||
}
|
||||
@@ -1,124 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
from typing import Optional
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
|
||||
|
||||
_services: dict[str, tuple] = {
|
||||
# service: (should_log, frequency, qlog decimation (optional))
|
||||
# note: the "EncodeIdx" packets will still be in the log
|
||||
"gyroscope": (True, 104., 104),
|
||||
"gyroscope2": (True, 100., 100),
|
||||
"accelerometer": (True, 104., 104),
|
||||
"accelerometer2": (True, 100., 100),
|
||||
"magnetometer": (True, 25.),
|
||||
"lightSensor": (True, 100., 100),
|
||||
"temperatureSensor": (True, 2., 200),
|
||||
"temperatureSensor2": (True, 2., 200),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10),
|
||||
"selfdriveState": (True, 100., 10),
|
||||
"pandaStates": (True, 10., 1),
|
||||
"peripheralState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (False, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100., 139),
|
||||
"logMessage": (True, 0.),
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"liveTorqueParameters": (True, 4., 1),
|
||||
"androidLog": (True, 0.),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"carOutput": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 10),
|
||||
"driverAssistance": (True, 20., 20),
|
||||
"procLog": (True, 0.5, 15),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"qcomGnss": (True, 2.),
|
||||
"gnssMeasurements": (True, 10., 10),
|
||||
"clocks": (True, 0.1, 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"livePose": (True, 20., 4),
|
||||
"liveParameters": (True, 20., 5),
|
||||
"cameraOdometry": (True, 20., 10),
|
||||
"thumbnail": (True, 0.2, 1),
|
||||
"onroadEvents": (True, 1., 1),
|
||||
"carParams": (True, 0.02, 1),
|
||||
"roadCameraState": (True, 20., 20),
|
||||
"driverCameraState": (True, 20., 20),
|
||||
"driverEncodeIdx": (False, 20., 1),
|
||||
"driverStateV2": (True, 20., 10),
|
||||
"driverMonitoringState": (True, 20., 10),
|
||||
"wideRoadEncodeIdx": (False, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"drivingModelData": (True, 20., 10),
|
||||
"modelV2": (True, 20.),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
"qRoadEncodeIdx": (False, 20.),
|
||||
"userFlag": (True, 0., 1),
|
||||
"microphone": (True, 10., 10),
|
||||
|
||||
# sunnypilot
|
||||
"selfdriveStateSP": (True, 100., 10),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
"testJoystick": (True, 0.),
|
||||
"alertDebug": (True, 20., 5),
|
||||
"roadEncodeData": (False, 20.),
|
||||
"driverEncodeData": (False, 20.),
|
||||
"wideRoadEncodeData": (False, 20.),
|
||||
"qRoadEncodeData": (False, 20.),
|
||||
"livestreamWideRoadEncodeIdx": (False, 20.),
|
||||
"livestreamRoadEncodeIdx": (False, 20.),
|
||||
"livestreamDriverEncodeIdx": (False, 20.),
|
||||
"livestreamWideRoadEncodeData": (False, 20.),
|
||||
"livestreamRoadEncodeData": (False, 20.),
|
||||
"livestreamDriverEncodeData": (False, 20.),
|
||||
"customReservedRawData0": (True, 0.),
|
||||
"customReservedRawData1": (True, 0.),
|
||||
"customReservedRawData2": (True, 0.),
|
||||
}
|
||||
SERVICE_LIST = {name: Service(*vals) for
|
||||
idx, (name, vals) in enumerate(_services.items())}
|
||||
|
||||
|
||||
def build_header():
|
||||
h = ""
|
||||
h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
|
||||
h += "#ifndef __SERVICES_H\n"
|
||||
h += "#define __SERVICES_H\n"
|
||||
|
||||
h += "#include <map>\n"
|
||||
h += "#include <string>\n"
|
||||
|
||||
h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "static std::map<std::string, service> services = {\n"
|
||||
for k, v in SERVICE_LIST.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { "%s", {"%s", %s, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
|
||||
h += "#endif\n"
|
||||
return h
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
print(build_header())
|
||||
-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
|
||||
@@ -1,39 +0,0 @@
|
||||
Import('env', 'envCython', 'arch')
|
||||
|
||||
common_libs = [
|
||||
'params.cc',
|
||||
'swaglog.cc',
|
||||
'util.cc',
|
||||
'i2c.cc',
|
||||
'watchdog.cc',
|
||||
'ratekeeper.cc'
|
||||
]
|
||||
|
||||
if arch != "Darwin":
|
||||
common_libs.append('gpio.cc')
|
||||
|
||||
_common = env.Library('common', common_libs, LIBS="json11")
|
||||
|
||||
files = [
|
||||
'clutil.cc',
|
||||
]
|
||||
|
||||
_gpucommon = env.Library('gpucommon', files)
|
||||
Export('_common', '_gpucommon')
|
||||
|
||||
if GetOption('extras'):
|
||||
env.Program('tests/test_common',
|
||||
['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
|
||||
LIBS=[_common, 'json11', 'zmq', 'pthread'])
|
||||
|
||||
# Cython bindings
|
||||
params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
|
||||
|
||||
SConscript([
|
||||
'transformations/SConscript',
|
||||
])
|
||||
|
||||
Import('transformations_python')
|
||||
common_python = [params_python, transformations_python]
|
||||
|
||||
Export('common_python')
|
||||
@@ -1,46 +0,0 @@
|
||||
import jwt
|
||||
import os
|
||||
import requests
|
||||
from datetime import datetime, timedelta, UTC
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.version import get_version
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||
|
||||
class Api:
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
with open(Paths.persist_root()+'/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
|
||||
def post(self, *args, **kwargs):
|
||||
return self.request('POST', *args, **kwargs)
|
||||
|
||||
def request(self, method, endpoint, timeout=None, access_token=None, **params):
|
||||
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def get_token(self, expiry_hours=1):
|
||||
now = datetime.now(UTC).replace(tzinfo=None)
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
'nbf': now,
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=expiry_hours)
|
||||
}
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + get_version()
|
||||
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
@@ -1,4 +0,0 @@
|
||||
import os
|
||||
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
@@ -1,200 +0,0 @@
|
||||
#include "common/clutil.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
|
||||
#include "common/util.h"
|
||||
#include "common/swaglog.h"
|
||||
|
||||
namespace { // helper functions
|
||||
|
||||
template <typename Func, typename Id, typename Name>
|
||||
std::string get_info(Func get_info_func, Id id, Name param_name) {
|
||||
size_t size = 0;
|
||||
CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
|
||||
std::string info(size, '\0');
|
||||
CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
|
||||
return info;
|
||||
}
|
||||
inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
|
||||
inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
|
||||
|
||||
void cl_print_info(cl_platform_id platform, cl_device_id device) {
|
||||
size_t work_group_size = 0;
|
||||
cl_device_type device_type = 0;
|
||||
clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
|
||||
clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
|
||||
const char *type_str = "Other...";
|
||||
switch (device_type) {
|
||||
case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
|
||||
case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
|
||||
case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
|
||||
}
|
||||
|
||||
LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
|
||||
LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
|
||||
LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
|
||||
LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
|
||||
LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
|
||||
LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
|
||||
LOGD("max work group size: %zu", work_group_size);
|
||||
LOGD("type = %d, %s", (int)device_type, type_str);
|
||||
}
|
||||
|
||||
void cl_print_build_errors(cl_program program, cl_device_id device) {
|
||||
cl_build_status status;
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
|
||||
size_t log_size;
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
|
||||
std::string log(log_size, '\0');
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
|
||||
|
||||
LOGE("build failed; status=%d, log: %s", status, log.c_str());
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type) {
|
||||
cl_uint num_platforms = 0;
|
||||
CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
|
||||
std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
|
||||
CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
|
||||
|
||||
for (size_t i = 0; i < num_platforms; ++i) {
|
||||
LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
|
||||
|
||||
// Get first device
|
||||
if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
|
||||
cl_print_info(platform_ids[i], device_id);
|
||||
return device_id;
|
||||
}
|
||||
}
|
||||
LOGE("No valid openCL platform found");
|
||||
assert(0);
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
cl_context cl_create_context(cl_device_id device_id) {
|
||||
return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
|
||||
}
|
||||
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
|
||||
return cl_program_from_source(ctx, device_id, util::read_file(path), args);
|
||||
}
|
||||
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
|
||||
const char *csrc = src.c_str();
|
||||
cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
|
||||
if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
|
||||
cl_print_build_errors(prg, device_id);
|
||||
assert(0);
|
||||
}
|
||||
return prg;
|
||||
}
|
||||
|
||||
cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
|
||||
cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
|
||||
if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
|
||||
cl_print_build_errors(prg, device_id);
|
||||
assert(0);
|
||||
}
|
||||
return prg;
|
||||
}
|
||||
|
||||
// Given a cl code and return a string representation
|
||||
#define CL_ERR_TO_STR(err) case err: return #err
|
||||
const char* cl_get_error_string(int err) {
|
||||
switch (err) {
|
||||
CL_ERR_TO_STR(CL_SUCCESS);
|
||||
CL_ERR_TO_STR(CL_DEVICE_NOT_FOUND);
|
||||
CL_ERR_TO_STR(CL_DEVICE_NOT_AVAILABLE);
|
||||
CL_ERR_TO_STR(CL_COMPILER_NOT_AVAILABLE);
|
||||
CL_ERR_TO_STR(CL_MEM_OBJECT_ALLOCATION_FAILURE);
|
||||
CL_ERR_TO_STR(CL_OUT_OF_RESOURCES);
|
||||
CL_ERR_TO_STR(CL_OUT_OF_HOST_MEMORY);
|
||||
CL_ERR_TO_STR(CL_PROFILING_INFO_NOT_AVAILABLE);
|
||||
CL_ERR_TO_STR(CL_MEM_COPY_OVERLAP);
|
||||
CL_ERR_TO_STR(CL_IMAGE_FORMAT_MISMATCH);
|
||||
CL_ERR_TO_STR(CL_IMAGE_FORMAT_NOT_SUPPORTED);
|
||||
CL_ERR_TO_STR(CL_MAP_FAILURE);
|
||||
CL_ERR_TO_STR(CL_MISALIGNED_SUB_BUFFER_OFFSET);
|
||||
CL_ERR_TO_STR(CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST);
|
||||
CL_ERR_TO_STR(CL_COMPILE_PROGRAM_FAILURE);
|
||||
CL_ERR_TO_STR(CL_LINKER_NOT_AVAILABLE);
|
||||
CL_ERR_TO_STR(CL_LINK_PROGRAM_FAILURE);
|
||||
CL_ERR_TO_STR(CL_DEVICE_PARTITION_FAILED);
|
||||
CL_ERR_TO_STR(CL_KERNEL_ARG_INFO_NOT_AVAILABLE);
|
||||
CL_ERR_TO_STR(CL_INVALID_VALUE);
|
||||
CL_ERR_TO_STR(CL_INVALID_DEVICE_TYPE);
|
||||
CL_ERR_TO_STR(CL_INVALID_PLATFORM);
|
||||
CL_ERR_TO_STR(CL_INVALID_DEVICE);
|
||||
CL_ERR_TO_STR(CL_INVALID_CONTEXT);
|
||||
CL_ERR_TO_STR(CL_INVALID_QUEUE_PROPERTIES);
|
||||
CL_ERR_TO_STR(CL_INVALID_COMMAND_QUEUE);
|
||||
CL_ERR_TO_STR(CL_INVALID_HOST_PTR);
|
||||
CL_ERR_TO_STR(CL_INVALID_MEM_OBJECT);
|
||||
CL_ERR_TO_STR(CL_INVALID_IMAGE_FORMAT_DESCRIPTOR);
|
||||
CL_ERR_TO_STR(CL_INVALID_IMAGE_SIZE);
|
||||
CL_ERR_TO_STR(CL_INVALID_SAMPLER);
|
||||
CL_ERR_TO_STR(CL_INVALID_BINARY);
|
||||
CL_ERR_TO_STR(CL_INVALID_BUILD_OPTIONS);
|
||||
CL_ERR_TO_STR(CL_INVALID_PROGRAM);
|
||||
CL_ERR_TO_STR(CL_INVALID_PROGRAM_EXECUTABLE);
|
||||
CL_ERR_TO_STR(CL_INVALID_KERNEL_NAME);
|
||||
CL_ERR_TO_STR(CL_INVALID_KERNEL_DEFINITION);
|
||||
CL_ERR_TO_STR(CL_INVALID_KERNEL);
|
||||
CL_ERR_TO_STR(CL_INVALID_ARG_INDEX);
|
||||
CL_ERR_TO_STR(CL_INVALID_ARG_VALUE);
|
||||
CL_ERR_TO_STR(CL_INVALID_ARG_SIZE);
|
||||
CL_ERR_TO_STR(CL_INVALID_KERNEL_ARGS);
|
||||
CL_ERR_TO_STR(CL_INVALID_WORK_DIMENSION);
|
||||
CL_ERR_TO_STR(CL_INVALID_WORK_GROUP_SIZE);
|
||||
CL_ERR_TO_STR(CL_INVALID_WORK_ITEM_SIZE);
|
||||
CL_ERR_TO_STR(CL_INVALID_GLOBAL_OFFSET);
|
||||
CL_ERR_TO_STR(CL_INVALID_EVENT_WAIT_LIST);
|
||||
CL_ERR_TO_STR(CL_INVALID_EVENT);
|
||||
CL_ERR_TO_STR(CL_INVALID_OPERATION);
|
||||
CL_ERR_TO_STR(CL_INVALID_GL_OBJECT);
|
||||
CL_ERR_TO_STR(CL_INVALID_BUFFER_SIZE);
|
||||
CL_ERR_TO_STR(CL_INVALID_MIP_LEVEL);
|
||||
CL_ERR_TO_STR(CL_INVALID_GLOBAL_WORK_SIZE);
|
||||
CL_ERR_TO_STR(CL_INVALID_PROPERTY);
|
||||
CL_ERR_TO_STR(CL_INVALID_IMAGE_DESCRIPTOR);
|
||||
CL_ERR_TO_STR(CL_INVALID_COMPILER_OPTIONS);
|
||||
CL_ERR_TO_STR(CL_INVALID_LINKER_OPTIONS);
|
||||
CL_ERR_TO_STR(CL_INVALID_DEVICE_PARTITION_COUNT);
|
||||
case -69: return "CL_INVALID_PIPE_SIZE";
|
||||
case -70: return "CL_INVALID_DEVICE_QUEUE";
|
||||
case -71: return "CL_INVALID_SPEC_ID";
|
||||
case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
|
||||
case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
|
||||
case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
|
||||
case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
|
||||
case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
|
||||
case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
|
||||
case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
|
||||
case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
|
||||
case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
|
||||
case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
|
||||
case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
|
||||
case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
|
||||
case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
|
||||
case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
|
||||
case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
|
||||
case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
|
||||
case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
|
||||
case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
|
||||
case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
|
||||
case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
|
||||
case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
|
||||
case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
|
||||
case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
|
||||
case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
|
||||
case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
|
||||
case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
|
||||
case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
|
||||
case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
|
||||
default: return "CL_UNKNOWN_ERROR";
|
||||
}
|
||||
}
|
||||
@@ -1,29 +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);
|
||||
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_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
|
||||
const char* cl_get_error_string(int err);
|
||||
@@ -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"
|
||||
@@ -1,37 +0,0 @@
|
||||
import os
|
||||
import tempfile
|
||||
import contextlib
|
||||
|
||||
|
||||
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)
|
||||
@@ -1,18 +0,0 @@
|
||||
class FirstOrderFilter:
|
||||
# first order filter
|
||||
def __init__(self, x0, rc, dt, initialized=True):
|
||||
self.x = x0
|
||||
self.dt = dt
|
||||
self.update_alpha(rc)
|
||||
self.initialized = initialized
|
||||
|
||||
def update_alpha(self, rc):
|
||||
self.alpha = self.dt / (rc + self.dt)
|
||||
|
||||
def update(self, x):
|
||||
if self.initialized:
|
||||
self.x = (1. - self.alpha) * self.x + self.alpha * x
|
||||
else:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
@@ -1,42 +0,0 @@
|
||||
from functools import cache
|
||||
import subprocess
|
||||
from openpilot.common.run import run_cmd, run_cmd_default
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_short_branch(cwd: str = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_branch(cwd: str = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_origin(cwd: str = None) -> str:
|
||||
try:
|
||||
local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
|
||||
tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
|
||||
return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
|
||||
except subprocess.CalledProcessError: # Not on a branch, fallback
|
||||
return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_normalized_origin(cwd: str = None) -> str:
|
||||
return get_origin(cwd) \
|
||||
.replace("git@", "", 1) \
|
||||
.replace(".git", "", 1) \
|
||||
.replace("https://", "", 1) \
|
||||
.replace(":", "/", 1)
|
||||
@@ -1,84 +0,0 @@
|
||||
#include "common/gpio.h"
|
||||
|
||||
#include <string>
|
||||
|
||||
#ifdef __APPLE__
|
||||
int gpio_init(int pin_nr, bool output) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
int gpio_set(int pin_nr, bool high) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cstring>
|
||||
#include <linux/gpio.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#include "common/util.h"
|
||||
#include "common/swaglog.h"
|
||||
|
||||
int gpio_init(int pin_nr, bool output) {
|
||||
char pin_dir_path[50];
|
||||
int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
|
||||
"/sys/class/gpio/gpio%d/direction", pin_nr);
|
||||
if (pin_dir_path_len <= 0) {
|
||||
return -1;
|
||||
}
|
||||
const char *value = output ? "out" : "in";
|
||||
return util::write_file(pin_dir_path, (void*)value, strlen(value));
|
||||
}
|
||||
|
||||
int gpio_set(int pin_nr, bool high) {
|
||||
char pin_val_path[50];
|
||||
int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
|
||||
"/sys/class/gpio/gpio%d/value", pin_nr);
|
||||
if (pin_val_path_len <= 0) {
|
||||
return -1;
|
||||
}
|
||||
return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
|
||||
}
|
||||
|
||||
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
|
||||
|
||||
// Assumed that all interrupt pins are unexported and rights are given to
|
||||
// read from gpiochip0.
|
||||
std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
|
||||
int fd = open(gpiochip_path.c_str(), O_RDONLY);
|
||||
if (fd < 0) {
|
||||
LOGE("Error opening gpiochip0 fd");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Setup event
|
||||
struct gpioevent_request rq;
|
||||
rq.lineoffset = pin_nr;
|
||||
rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
|
||||
|
||||
/* Requesting both edges as the data ready pulse from the lsm6ds sensor is
|
||||
very short(75us) and is mostly detected as falling edge instead of rising.
|
||||
So if it is detected as rising the following falling edge is skipped. */
|
||||
rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
|
||||
|
||||
strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
|
||||
int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
|
||||
if (ret == -1) {
|
||||
LOGE("Unable to get line event from ioctl : %s", strerror(errno));
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
close(fd);
|
||||
return rq.fd;
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -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);
|
||||
@@ -1,54 +0,0 @@
|
||||
import os
|
||||
from functools import cache
|
||||
|
||||
def gpio_init(pin: int, output: bool) -> None:
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
f.write(b"out" if output else b"in")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} direction: {e}")
|
||||
|
||||
def gpio_set(pin: int, high: bool) -> None:
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
|
||||
f.write(b"1" if high else b"0")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
|
||||
def gpio_read(pin: int) -> bool | None:
|
||||
val = None
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
|
||||
val = bool(int(f.read().strip()))
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
|
||||
return val
|
||||
|
||||
def gpio_export(pin: int) -> None:
|
||||
if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
|
||||
return
|
||||
|
||||
try:
|
||||
with open("/sys/class/gpio/export", 'w') as f:
|
||||
f.write(str(pin))
|
||||
except Exception:
|
||||
print(f"Failed to export gpio {pin}")
|
||||
|
||||
@cache
|
||||
def get_irq_action(irq: int) -> list[str]:
|
||||
try:
|
||||
with open(f"/sys/kernel/irq/{irq}/actions") as f:
|
||||
actions = f.read().strip().split(',')
|
||||
return actions
|
||||
except FileNotFoundError:
|
||||
return []
|
||||
|
||||
def get_irqs_for_action(action: str) -> list[str]:
|
||||
ret = []
|
||||
with open("/proc/interrupts") as f:
|
||||
for l in f.readlines():
|
||||
irq = l.split(':')[0].strip()
|
||||
if irq.isdigit() and action in get_irq_action(irq):
|
||||
ret.append(irq)
|
||||
return ret
|
||||
@@ -1,8 +0,0 @@
|
||||
from openpilot.common.params import Params
|
||||
|
||||
|
||||
def get_gps_location_service(params: Params) -> str:
|
||||
if params.get_bool("UbloxAvailable"):
|
||||
return "gpsLocationExternal"
|
||||
else:
|
||||
return "gpsLocation"
|
||||
@@ -1,92 +0,0 @@
|
||||
#include "common/i2c.h"
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdio>
|
||||
#include <stdexcept>
|
||||
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
|
||||
#define UNUSED(x) (void)(x)
|
||||
|
||||
#ifdef QCOM2
|
||||
// TODO: decide if we want to install libi2c-dev everywhere
|
||||
extern "C" {
|
||||
#include <linux/i2c-dev.h>
|
||||
#include <i2c/smbus.h>
|
||||
}
|
||||
|
||||
I2CBus::I2CBus(uint8_t bus_id) {
|
||||
char bus_name[20];
|
||||
snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
|
||||
|
||||
i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
|
||||
if (i2c_fd < 0) {
|
||||
throw std::runtime_error("Failed to open I2C bus");
|
||||
}
|
||||
}
|
||||
|
||||
I2CBus::~I2CBus() {
|
||||
if (i2c_fd >= 0) {
|
||||
close(i2c_fd);
|
||||
}
|
||||
}
|
||||
|
||||
int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
|
||||
std::lock_guard lk(m);
|
||||
|
||||
int ret = 0;
|
||||
|
||||
ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
|
||||
if (ret < 0) { goto fail; }
|
||||
|
||||
ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
|
||||
if ((ret < 0) || (ret != len)) { goto fail; }
|
||||
|
||||
fail:
|
||||
return ret;
|
||||
}
|
||||
|
||||
int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
|
||||
std::lock_guard lk(m);
|
||||
|
||||
int ret = 0;
|
||||
|
||||
ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
|
||||
if (ret < 0) { goto fail; }
|
||||
|
||||
ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
|
||||
if (ret < 0) { goto fail; }
|
||||
|
||||
fail:
|
||||
return ret;
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
I2CBus::I2CBus(uint8_t bus_id) {
|
||||
UNUSED(bus_id);
|
||||
i2c_fd = -1;
|
||||
}
|
||||
|
||||
I2CBus::~I2CBus() {}
|
||||
|
||||
int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
|
||||
UNUSED(device_address);
|
||||
UNUSED(register_address);
|
||||
UNUSED(buffer);
|
||||
UNUSED(len);
|
||||
return -1;
|
||||
}
|
||||
|
||||
int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
|
||||
UNUSED(device_address);
|
||||
UNUSED(register_address);
|
||||
UNUSED(data);
|
||||
return -1;
|
||||
}
|
||||
#endif
|
||||
@@ -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);
|
||||
};
|
||||
@@ -1,247 +0,0 @@
|
||||
import io
|
||||
import os
|
||||
import sys
|
||||
import copy
|
||||
import json
|
||||
import time
|
||||
import uuid
|
||||
import socket
|
||||
import logging
|
||||
import traceback
|
||||
from threading import local
|
||||
from collections import OrderedDict
|
||||
from contextlib import contextmanager
|
||||
|
||||
LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
|
||||
|
||||
def json_handler(obj):
|
||||
# if isinstance(obj, (datetime.date, datetime.time)):
|
||||
# return obj.isoformat()
|
||||
return repr(obj)
|
||||
|
||||
def json_robust_dumps(obj):
|
||||
return json.dumps(obj, default=json_handler)
|
||||
|
||||
class NiceOrderedDict(OrderedDict):
|
||||
def __str__(self):
|
||||
return json_robust_dumps(self)
|
||||
|
||||
class SwagFormatter(logging.Formatter):
|
||||
def __init__(self, swaglogger):
|
||||
logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
|
||||
|
||||
self.swaglogger = swaglogger
|
||||
self.host = socket.gethostname()
|
||||
|
||||
def format_dict(self, record):
|
||||
record_dict = NiceOrderedDict()
|
||||
|
||||
if isinstance(record.msg, dict):
|
||||
record_dict['msg'] = record.msg
|
||||
else:
|
||||
try:
|
||||
record_dict['msg'] = record.getMessage()
|
||||
except (ValueError, TypeError):
|
||||
record_dict['msg'] = [record.msg]+record.args
|
||||
|
||||
record_dict['ctx'] = self.swaglogger.get_ctx()
|
||||
|
||||
if record.exc_info:
|
||||
record_dict['exc_info'] = self.formatException(record.exc_info)
|
||||
|
||||
record_dict['level'] = record.levelname
|
||||
record_dict['levelnum'] = record.levelno
|
||||
record_dict['name'] = record.name
|
||||
record_dict['filename'] = record.filename
|
||||
record_dict['lineno'] = record.lineno
|
||||
record_dict['pathname'] = record.pathname
|
||||
record_dict['module'] = record.module
|
||||
record_dict['funcName'] = record.funcName
|
||||
record_dict['host'] = self.host
|
||||
record_dict['process'] = record.process
|
||||
record_dict['thread'] = record.thread
|
||||
record_dict['threadName'] = record.threadName
|
||||
record_dict['created'] = record.created
|
||||
|
||||
return record_dict
|
||||
|
||||
def format(self, record):
|
||||
if self.swaglogger is None:
|
||||
raise Exception("must set swaglogger before calling format()")
|
||||
return json_robust_dumps(self.format_dict(record))
|
||||
|
||||
class SwagLogFileFormatter(SwagFormatter):
|
||||
def fix_kv(self, k, v):
|
||||
# append type to names to preserve legacy naming in logs
|
||||
# avoids overlapping key namespaces with different types
|
||||
# e.g. log.info() creates 'msg' -> 'msg$s'
|
||||
# log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
|
||||
# because overlapping namespace 'msg' caused problems
|
||||
if isinstance(v, (str, bytes)):
|
||||
k += "$s"
|
||||
elif isinstance(v, float):
|
||||
k += "$f"
|
||||
elif isinstance(v, bool):
|
||||
k += "$b"
|
||||
elif isinstance(v, int):
|
||||
k += "$i"
|
||||
elif isinstance(v, dict):
|
||||
nv = {}
|
||||
for ik, iv in v.items():
|
||||
ik, iv = self.fix_kv(ik, iv)
|
||||
nv[ik] = iv
|
||||
v = nv
|
||||
elif isinstance(v, list):
|
||||
k += "$a"
|
||||
return k, v
|
||||
|
||||
def format(self, record):
|
||||
if isinstance(record, str):
|
||||
v = json.loads(record)
|
||||
else:
|
||||
v = self.format_dict(record)
|
||||
|
||||
mk, mv = self.fix_kv('msg', v['msg'])
|
||||
del v['msg']
|
||||
v[mk] = mv
|
||||
v['id'] = uuid.uuid4().hex
|
||||
|
||||
return json_robust_dumps(v)
|
||||
|
||||
class SwagErrorFilter(logging.Filter):
|
||||
def filter(self, record):
|
||||
return record.levelno < logging.ERROR
|
||||
|
||||
def _tmpfunc():
|
||||
return 0
|
||||
|
||||
def _srcfile():
|
||||
return os.path.normcase(_tmpfunc.__code__.co_filename)
|
||||
|
||||
class SwagLogger(logging.Logger):
|
||||
def __init__(self):
|
||||
logging.Logger.__init__(self, "swaglog")
|
||||
|
||||
self.global_ctx = {}
|
||||
|
||||
self.log_local = local()
|
||||
self.log_local.ctx = {}
|
||||
|
||||
def local_ctx(self):
|
||||
try:
|
||||
return self.log_local.ctx
|
||||
except AttributeError:
|
||||
self.log_local.ctx = {}
|
||||
return self.log_local.ctx
|
||||
|
||||
def get_ctx(self):
|
||||
return dict(self.local_ctx(), **self.global_ctx)
|
||||
|
||||
@contextmanager
|
||||
def ctx(self, **kwargs):
|
||||
old_ctx = self.local_ctx()
|
||||
self.log_local.ctx = copy.copy(old_ctx) or {}
|
||||
self.log_local.ctx.update(kwargs)
|
||||
try:
|
||||
yield
|
||||
finally:
|
||||
self.log_local.ctx = old_ctx
|
||||
|
||||
def bind(self, **kwargs):
|
||||
self.local_ctx().update(kwargs)
|
||||
|
||||
def bind_global(self, **kwargs):
|
||||
self.global_ctx.update(kwargs)
|
||||
|
||||
def event(self, event, *args, **kwargs):
|
||||
evt = NiceOrderedDict()
|
||||
evt['event'] = event
|
||||
if args:
|
||||
evt['args'] = args
|
||||
evt.update(kwargs)
|
||||
if 'error' in kwargs:
|
||||
self.error(evt)
|
||||
elif 'debug' in kwargs:
|
||||
self.debug(evt)
|
||||
else:
|
||||
self.info(evt)
|
||||
|
||||
def timestamp(self, event_name):
|
||||
if LOG_TIMESTAMPS:
|
||||
t = time.monotonic()
|
||||
tstp = NiceOrderedDict()
|
||||
tstp['timestamp'] = NiceOrderedDict()
|
||||
tstp['timestamp']["event"] = event_name
|
||||
tstp['timestamp']["time"] = t*1e9
|
||||
self.debug(tstp)
|
||||
|
||||
def findCaller(self, stack_info=False, stacklevel=1):
|
||||
"""
|
||||
Find the stack frame of the caller so that we can note the source
|
||||
file name, line number and function name.
|
||||
"""
|
||||
f = sys._getframe(3)
|
||||
#On some versions of IronPython, currentframe() returns None if
|
||||
#IronPython isn't run with -X:Frames.
|
||||
if f is not None:
|
||||
f = f.f_back
|
||||
orig_f = f
|
||||
while f and stacklevel > 1:
|
||||
f = f.f_back
|
||||
stacklevel -= 1
|
||||
if not f:
|
||||
f = orig_f
|
||||
rv = "(unknown file)", 0, "(unknown function)", None
|
||||
while hasattr(f, "f_code"):
|
||||
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
|
||||
sinfo = None
|
||||
if stack_info:
|
||||
sio = io.StringIO()
|
||||
sio.write('Stack (most recent call last):\n')
|
||||
traceback.print_stack(f, file=sio)
|
||||
sinfo = sio.getvalue()
|
||||
if sinfo[-1] == '\n':
|
||||
sinfo = sinfo[:-1]
|
||||
sio.close()
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
|
||||
break
|
||||
return rv
|
||||
|
||||
if __name__ == "__main__":
|
||||
log = SwagLogger()
|
||||
|
||||
stdout_handler = logging.StreamHandler(sys.stdout)
|
||||
stdout_handler.setLevel(logging.INFO)
|
||||
stdout_handler.addFilter(SwagErrorFilter())
|
||||
log.addHandler(stdout_handler)
|
||||
|
||||
stderr_handler = logging.StreamHandler(sys.stderr)
|
||||
stderr_handler.setLevel(logging.ERROR)
|
||||
log.addHandler(stderr_handler)
|
||||
|
||||
log.info("asdasd %s", "a")
|
||||
log.info({'wut': 1})
|
||||
log.warning("warning")
|
||||
log.error("error")
|
||||
log.critical("critical")
|
||||
log.event("test", x="y")
|
||||
|
||||
with log.ctx():
|
||||
stdout_handler.setFormatter(SwagFormatter(log))
|
||||
stderr_handler.setFormatter(SwagFormatter(log))
|
||||
log.bind(user="some user")
|
||||
log.info("in req")
|
||||
print("")
|
||||
log.warning("warning")
|
||||
print("")
|
||||
log.error("error")
|
||||
print("")
|
||||
log.critical("critical")
|
||||
print("")
|
||||
log.event("do_req", a=1, b="c")
|
||||
@@ -1,45 +0,0 @@
|
||||
HTML_REPLACEMENTS = [
|
||||
(r'&', r'&'),
|
||||
(r'"', r'"'),
|
||||
]
|
||||
|
||||
def parse_markdown(text: str, tab_length: int = 2) -> str:
|
||||
lines = text.split("\n")
|
||||
output: list[str] = []
|
||||
list_level = 0
|
||||
|
||||
def end_outstanding_lists(level: int, end_level: int) -> int:
|
||||
while level > end_level:
|
||||
level -= 1
|
||||
output.append("</ul>")
|
||||
if level > 0:
|
||||
output.append("</li>")
|
||||
return end_level
|
||||
|
||||
for i, line in enumerate(lines):
|
||||
if i + 1 < len(lines) and lines[i + 1].startswith("==="): # heading
|
||||
output.append(f"<h1>{line}</h1>")
|
||||
elif line.startswith("==="):
|
||||
pass
|
||||
elif line.lstrip().startswith("* "): # list
|
||||
line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
|
||||
if list_level >= line_level:
|
||||
list_level = end_outstanding_lists(list_level, line_level)
|
||||
else:
|
||||
list_level += 1
|
||||
if list_level > 1:
|
||||
output[-1] = output[-1].replace("</li>", "")
|
||||
output.append("<ul>")
|
||||
output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
|
||||
else:
|
||||
list_level = end_outstanding_lists(list_level, 0)
|
||||
if len(line) > 0:
|
||||
output.append(line)
|
||||
|
||||
end_outstanding_lists(list_level, 0)
|
||||
output_str = "\n".join(output) + "\n"
|
||||
|
||||
for (fr, to) in HTML_REPLACEMENTS:
|
||||
output_str = output_str.replace(fr, to)
|
||||
|
||||
return output_str
|
||||
@@ -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));
|
||||
}
|
||||
@@ -1,50 +0,0 @@
|
||||
"""
|
||||
Utilities for generating mock messages for testing.
|
||||
example in common/tests/test_mock.py
|
||||
"""
|
||||
|
||||
|
||||
import functools
|
||||
import threading
|
||||
from cereal.messaging import PubMaster
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.mock.generators import generate_livePose
|
||||
from openpilot.common.realtime import Ratekeeper
|
||||
|
||||
|
||||
MOCK_GENERATOR = {
|
||||
"livePose": generate_livePose
|
||||
}
|
||||
|
||||
|
||||
def generate_messages_loop(services: list[str], done: threading.Event):
|
||||
pm = PubMaster(services)
|
||||
rk = Ratekeeper(100)
|
||||
i = 0
|
||||
while not done.is_set():
|
||||
for s in services:
|
||||
should_send = i % (100/SERVICE_LIST[s].frequency) == 0
|
||||
if should_send:
|
||||
message = MOCK_GENERATOR[s]()
|
||||
pm.send(s, message)
|
||||
i += 1
|
||||
rk.keep_time()
|
||||
|
||||
|
||||
def mock_messages(services: list[str] | str):
|
||||
if isinstance(services, str):
|
||||
services = [services]
|
||||
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
done = threading.Event()
|
||||
t = threading.Thread(target=generate_messages_loop, args=(services, done))
|
||||
t.start()
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
finally:
|
||||
done.set()
|
||||
t.join()
|
||||
return wrapper
|
||||
return decorator
|
||||
@@ -1,14 +0,0 @@
|
||||
from cereal import messaging
|
||||
|
||||
|
||||
def generate_livePose():
|
||||
msg = messaging.new_message('livePose')
|
||||
meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
|
||||
msg.livePose.orientationNED = meas
|
||||
msg.livePose.velocityDevice = meas
|
||||
msg.livePose.angularVelocityDevice = meas
|
||||
msg.livePose.accelerationDevice = meas
|
||||
msg.livePose.inputsOK = True
|
||||
msg.livePose.posenetOK = True
|
||||
msg.livePose.sensorsOK = True
|
||||
return msg
|
||||
@@ -1,19 +0,0 @@
|
||||
def clip(x, lo, hi):
|
||||
return max(lo, min(hi, x))
|
||||
|
||||
def interp(x, xp, fp):
|
||||
N = len(xp)
|
||||
|
||||
def get_interp(xv):
|
||||
hi = 0
|
||||
while hi < N and xv > xp[hi]:
|
||||
hi += 1
|
||||
low = hi - 1
|
||||
return fp[-1] if hi == N and xv > xp[low] else (
|
||||
fp[0] if hi == 0 else
|
||||
(xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
|
||||
|
||||
return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
|
||||
|
||||
def mean(x):
|
||||
return sum(x) / len(x)
|
||||
@@ -1,359 +0,0 @@
|
||||
#include "common/params.h"
|
||||
|
||||
#include <dirent.h>
|
||||
#include <sys/file.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <unordered_map>
|
||||
|
||||
#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;
|
||||
};
|
||||
|
||||
std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
|
||||
{"AlwaysOnDM", PERSISTENT},
|
||||
{"ApiCache_Device", 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},
|
||||
{"DisableUpdates", PERSISTENT},
|
||||
{"DisengageOnAccelerator", PERSISTENT},
|
||||
{"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"DongleId", PERSISTENT},
|
||||
{"DoReboot", CLEAR_ON_MANAGER_START},
|
||||
{"DoShutdown", CLEAR_ON_MANAGER_START},
|
||||
{"DoUninstall", CLEAR_ON_MANAGER_START},
|
||||
{"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
|
||||
{"ExperimentalMode", PERSISTENT},
|
||||
{"ExperimentalModeConfirmed", PERSISTENT},
|
||||
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ForcePowerDown", PERSISTENT},
|
||||
{"GitBranch", PERSISTENT},
|
||||
{"GitCommit", PERSISTENT},
|
||||
{"GitCommitDate", PERSISTENT},
|
||||
{"GitDiff", PERSISTENT},
|
||||
{"GithubSshKeys", PERSISTENT},
|
||||
{"GithubUsername", PERSISTENT},
|
||||
{"GitRemote", PERSISTENT},
|
||||
{"GsmApn", PERSISTENT},
|
||||
{"GsmMetered", PERSISTENT},
|
||||
{"GsmRoaming", PERSISTENT},
|
||||
{"HardwareSerial", PERSISTENT},
|
||||
{"HasAcceptedTerms", PERSISTENT},
|
||||
{"IMEI", PERSISTENT},
|
||||
{"InstallDate", PERSISTENT},
|
||||
{"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
|
||||
{"IsEngaged", PERSISTENT},
|
||||
{"IsLdwEnabled", PERSISTENT},
|
||||
{"IsMetric", PERSISTENT},
|
||||
{"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},
|
||||
{"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},
|
||||
{"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},
|
||||
{"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},
|
||||
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
|
||||
{"SecOCKey", PERSISTENT | DONT_LOG},
|
||||
{"RouteCount", PERSISTENT},
|
||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"SshEnabled", PERSISTENT},
|
||||
{"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},
|
||||
|
||||
// sunnypilot params
|
||||
{"Mads", PERSISTENT},
|
||||
{"MadsCruiseMain", PERSISTENT},
|
||||
{"MadsDisengageLateralOnBrake", PERSISTENT},
|
||||
{"MadsUnifiedEngagementMode", PERSISTENT},
|
||||
|
||||
{"ToyotaAutoHold", PERSISTENT},
|
||||
{"ToyotaEnhancedBsm", PERSISTENT},
|
||||
{"ToyotaTSS2Long", PERSISTENT},
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
Params::Params(const std::string &path) {
|
||||
params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
|
||||
params_path = ensure_params_path(params_prefix, path);
|
||||
}
|
||||
|
||||
Params::~Params() {
|
||||
if (future.valid()) {
|
||||
future.wait();
|
||||
}
|
||||
assert(queue.empty());
|
||||
}
|
||||
|
||||
std::vector<std::string> Params::allKeys() const {
|
||||
std::vector<std::string> ret;
|
||||
for (auto &p : keys) {
|
||||
ret.push_back(p.first);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool Params::checkKey(const std::string &key) {
|
||||
return keys.find(key) != keys.end();
|
||||
}
|
||||
|
||||
ParamKeyType Params::getKeyType(const std::string &key) {
|
||||
return static_cast<ParamKeyType>(keys[key]);
|
||||
}
|
||||
|
||||
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 = 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(ParamKeyType key_type) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
// 1) delete params of key_type
|
||||
// 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 & key_type)) {
|
||||
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);
|
||||
}
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user