Compare commits
No commits in common. "5e253a54ba79387bae9e817892305eeb32923421" and "dp" have entirely different histories.
5e253a54ba
...
dp
18
.dockerignore
Normal file
18
.dockerignore
Normal file
@ -0,0 +1,18 @@
|
||||
**/.git
|
||||
.DS_Store
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
.*.swo
|
||||
.*.un~
|
||||
*.tmp
|
||||
*.o
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
|
||||
venv/
|
||||
.venv/
|
||||
11
.editorconfig
Normal file
11
.editorconfig
Normal file
@ -0,0 +1,11 @@
|
||||
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
|
||||
47
.github/ISSUE_TEMPLATE/bug_report.yml
vendored
Normal file
47
.github/ISSUE_TEMPLATE/bug_report.yml
vendored
Normal file
@ -0,0 +1,47 @@
|
||||
name: Bug report
|
||||
description: For issues with running openpilot on your comma device
|
||||
labels: ["bug"]
|
||||
body:
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: >
|
||||
Before creating a **bug report**, please check the following:
|
||||
* If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
|
||||
* If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
|
||||
* Ensure you're running the latest openpilot release.
|
||||
* Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
|
||||
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
|
||||
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
|
||||
|
||||
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: Also include a description of how to reproduce the bug
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: route
|
||||
attributes:
|
||||
label: Provide a route where the issue occurs
|
||||
description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
|
||||
placeholder: 77611a1fac303767|2020-05-11--16-37-07
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: version
|
||||
attributes:
|
||||
label: openpilot version
|
||||
description: If you're not on release, provide the commit hash
|
||||
placeholder: 0.8.10
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional info
|
||||
|
||||
14
.github/ISSUE_TEMPLATE/config.yml
vendored
Normal file
14
.github/ISSUE_TEMPLATE/config.yml
vendored
Normal file
@ -0,0 +1,14 @@
|
||||
blank_issues_enabled: false
|
||||
contact_links:
|
||||
- name: Car bug report
|
||||
url: https://github.com/commaai/opendbc/issues/new
|
||||
about: For issues with a particular car make or model
|
||||
- name: Join the Discord
|
||||
url: https://discord.comma.ai
|
||||
about: The community Discord is for both openpilot development and experience discussion
|
||||
- name: Report driving behavior feedback
|
||||
url: https://discord.com/channels/469524606043160576/1254834193066623017
|
||||
about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
|
||||
- name: Community Wiki
|
||||
url: https://github.com/commaai/openpilot/wiki
|
||||
about: Check out our community wiki
|
||||
8
.github/ISSUE_TEMPLATE/enhancement.md
vendored
Normal file
8
.github/ISSUE_TEMPLATE/enhancement.md
vendored
Normal file
@ -0,0 +1,8 @@
|
||||
---
|
||||
name: Enhancement
|
||||
about: For openpilot enhancement suggestions
|
||||
title: ''
|
||||
labels: 'enhancement'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
42
.github/ISSUE_TEMPLATE/pc_bug_report.yml
vendored
Normal file
42
.github/ISSUE_TEMPLATE/pc_bug_report.yml
vendored
Normal file
@ -0,0 +1,42 @@
|
||||
name: PC bug report
|
||||
description: For issues with running openpilot on PC
|
||||
labels: ["PC"]
|
||||
body:
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: >
|
||||
Before creating a **bug report**, please check the following:
|
||||
* Ensure you're running the latest openpilot release.
|
||||
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
|
||||
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
|
||||
|
||||
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: Also include a description of how to reproduce the bug
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: os-version
|
||||
attributes:
|
||||
label: OS Version
|
||||
placeholder: Ubuntu 24.04
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: version
|
||||
attributes:
|
||||
label: openpilot version or commit
|
||||
placeholder: bd36f2ec8d3559909678eff2690c10a520938367
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional info
|
||||
|
||||
27
.github/labeler.yaml
vendored
Normal file
27
.github/labeler.yaml
vendored
Normal file
@ -0,0 +1,27 @@
|
||||
CI / testing:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
|
||||
|
||||
car:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
|
||||
|
||||
simulation:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'tools/sim/**'
|
||||
|
||||
ui:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
|
||||
|
||||
tools:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'tools/**'
|
||||
|
||||
multilanguage:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'selfdrive/ui/translations/**'
|
||||
|
||||
autonomy:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
|
||||
68
.github/pull_request_template.md
vendored
Normal file
68
.github/pull_request_template.md
vendored
Normal file
@ -0,0 +1,68 @@
|
||||
<!-- Please copy and paste the relevant template -->
|
||||
|
||||
<!--- ***** Template: Fingerprint *****
|
||||
|
||||
**Car**
|
||||
Which car (make, model, year) this fingerprint is for
|
||||
|
||||
**Route**
|
||||
A route with the fingerprint
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Car Bugfix *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the bug and the fix. Also link the issue if it exists.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested this bug fix.
|
||||
|
||||
**Route**
|
||||
|
||||
Route: [a route with the bug fix]
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Bugfix *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the bug and the fix. Also link the issue if it exists.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested this bug fix.
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Car Port *****
|
||||
|
||||
**Checklist**
|
||||
|
||||
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
|
||||
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
|
||||
- [ ] route with openpilot:
|
||||
- [ ] route with stock system:
|
||||
- [ ] car harness used (if comma doesn't sell it, put N/A):
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Refactor *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the refactor, including the goals it accomplishes.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested the refactor for regressions.
|
||||
|
||||
|
||||
-->
|
||||
|
||||
277
.github/workflows/compile_frogpilot.yaml
vendored
277
.github/workflows/compile_frogpilot.yaml
vendored
@ -1,277 +0,0 @@
|
||||
name: Compile FrogPilot
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
runner:
|
||||
description: "Select the runner"
|
||||
required: true
|
||||
default: "c3"
|
||||
type: choice
|
||||
options:
|
||||
- c3
|
||||
- c3x
|
||||
not_vetted:
|
||||
description: "This branch is not vetted"
|
||||
required: false
|
||||
default: "false"
|
||||
type: boolean
|
||||
publish_frogpilot:
|
||||
description: "Push to FrogPilot"
|
||||
required: false
|
||||
default: "false"
|
||||
type: boolean
|
||||
publish_staging:
|
||||
description: "Push to FrogPilot-Staging"
|
||||
required: false
|
||||
default: "false"
|
||||
type: boolean
|
||||
publish_testing:
|
||||
description: "Push to FrogPilot-Testing"
|
||||
required: false
|
||||
default: "false"
|
||||
type: boolean
|
||||
publish_custom_branch:
|
||||
description: "Push to custom branch:"
|
||||
required: false
|
||||
default: ""
|
||||
type: string
|
||||
update_translations:
|
||||
description: "Update missing/outdated translations"
|
||||
required: false
|
||||
default: "false"
|
||||
type: boolean
|
||||
vet_existing_translations:
|
||||
description: "Vet existing translations"
|
||||
required: false
|
||||
default: "false"
|
||||
type: boolean
|
||||
|
||||
env:
|
||||
BASEDIR: "${{ github.workspace }}"
|
||||
BUILD_DIR: /data/openpilot
|
||||
OPENAI_API_KEY: "${{ secrets.OPENAI_API_KEY }}"
|
||||
|
||||
jobs:
|
||||
get_branch:
|
||||
runs-on:
|
||||
- self-hosted
|
||||
- ${{ github.event.inputs.runner }}
|
||||
outputs:
|
||||
branch: ${{ steps.get_branch.outputs.branch }}
|
||||
python_version: ${{ steps.get_python_version.outputs.python_version }}
|
||||
steps:
|
||||
- name: Determine Current Branch on Runner
|
||||
id: get_branch
|
||||
run: |
|
||||
cd $BUILD_DIR
|
||||
|
||||
BRANCH=$(git rev-parse --abbrev-ref HEAD)
|
||||
echo "branch=$BRANCH" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Get Python Version from Runner
|
||||
id: get_python_version
|
||||
run: |
|
||||
PYTHON_VERSION=$(tr -d '[:space:]' < "$BUILD_DIR/.python-version")
|
||||
echo "python_version=$PYTHON_VERSION" >> $GITHUB_OUTPUT
|
||||
|
||||
translate:
|
||||
if: inputs.update_translations
|
||||
needs: get_branch
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Configure Git Identity
|
||||
run: |
|
||||
git config --global user.name "James"
|
||||
git config --global user.email "91348155+FrogAi@users.noreply.github.com"
|
||||
|
||||
- name: Checkout Required Files
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: ${{ needs.get_branch.outputs.branch }}
|
||||
sparse-checkout: |
|
||||
frogpilot/ui/
|
||||
selfdrive/controls/lib/alerts_offroad.json
|
||||
selfdrive/ui/
|
||||
selfdrive/ui/update_translations.py
|
||||
selfdrive/ui/translations/
|
||||
selfdrive/ui/translations/auto_translate.py
|
||||
|
||||
- name: Set Up Python
|
||||
uses: actions/setup-python@v4
|
||||
with:
|
||||
python-version: "${{ needs.get_branch.outputs.python_version }}"
|
||||
|
||||
- name: Install Dependencies
|
||||
run: pip install requests
|
||||
|
||||
- name: Install Qt5 Tools
|
||||
run: sudo apt update && sudo apt install -y qttools5-dev-tools
|
||||
|
||||
- name: Update Translations
|
||||
run: python selfdrive/ui/update_translations.py --vanish
|
||||
|
||||
- name: Update Missing Translations
|
||||
continue-on-error: true
|
||||
run: python selfdrive/ui/translations/auto_translate.py --all-files
|
||||
timeout-minutes: 300
|
||||
|
||||
- name: Vet Existing Translations
|
||||
if: github.event.inputs.vet_existing_translations == 'true'
|
||||
continue-on-error: true
|
||||
run: python selfdrive/ui/translations/auto_translate.py --all-files --vet-translations
|
||||
timeout-minutes: 300
|
||||
|
||||
- name: Commit and Push Translation Updates
|
||||
run: |
|
||||
if git diff --quiet selfdrive/ui/translations/*.ts; then
|
||||
echo "No translation updates detected."
|
||||
exit 0
|
||||
fi
|
||||
|
||||
git fetch --unshallow origin ${{ needs.get_branch.outputs.branch }}
|
||||
git checkout ${{ needs.get_branch.outputs.branch }}
|
||||
git add selfdrive/ui/translations/*.ts
|
||||
git commit --amend --no-edit
|
||||
git push --force origin ${{ needs.get_branch.outputs.branch }}
|
||||
|
||||
build_and_push:
|
||||
needs:
|
||||
- get_branch
|
||||
- translate
|
||||
if: always()
|
||||
runs-on:
|
||||
- self-hosted
|
||||
- ${{ github.event.inputs.runner }}
|
||||
permissions:
|
||||
contents: write
|
||||
defaults:
|
||||
run:
|
||||
working-directory: ${{ env.BUILD_DIR }}
|
||||
steps:
|
||||
- name: Configure Git Identity
|
||||
run: |
|
||||
git config --global http.postBuffer 104857600
|
||||
|
||||
git config --global user.name "James"
|
||||
git config --global user.email "91348155+FrogAi@users.noreply.github.com"
|
||||
|
||||
- name: Update Repository
|
||||
run: |
|
||||
git remote set-url origin https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/FrogAi/FrogPilot.git
|
||||
|
||||
if [ "${{ github.event.inputs.update_translations }}" = "true" ]; then
|
||||
git fetch origin ${{ needs.get_branch.outputs.branch }}
|
||||
git reset --hard FETCH_HEAD
|
||||
fi
|
||||
|
||||
- name: Take Ownership of Build
|
||||
run: |
|
||||
sudo chown -R $(whoami):$(whoami) .
|
||||
|
||||
- name: Finalize Build
|
||||
run: |
|
||||
rm -f .clang-tidy
|
||||
rm -f .dockerignore
|
||||
rm -f .editorconfig
|
||||
rm -f .gitattributes
|
||||
rm -f .gitmodules
|
||||
rm -f .lfsconfig
|
||||
rm -f .overlay_init
|
||||
rm -f .pre-commit-config.yaml
|
||||
rm -f .sconsign.dblite
|
||||
rm -f codecov.yml
|
||||
rm -f conftest.py
|
||||
rm -f poetry.lock
|
||||
rm -f pyproject.toml
|
||||
rm -f teleoprtc
|
||||
rm -f Dockerfile.openpilot
|
||||
rm -f Dockerfile.openpilot_base
|
||||
rm -f Jenkinsfile
|
||||
|
||||
rm -f panda/board/obj/.placeholder
|
||||
rm -f panda/board/obj/bootstub.panda.elf
|
||||
rm -f panda/board/obj/bootstub.panda_h7.elf
|
||||
rm -f panda/board/obj/panda.bin
|
||||
rm -f panda/board/obj/panda.elf
|
||||
rm -f panda/board/obj/panda_h7.bin
|
||||
rm -f panda/board/obj/panda_h7.elf
|
||||
rm -f panda/board/obj/version
|
||||
|
||||
find . -name '*.a' -delete
|
||||
find . -name '*.o' -delete
|
||||
find . -name '*.onnx' -delete
|
||||
find . -name '*.os' -delete
|
||||
find . -name '*.pyc' -delete
|
||||
find . -name 'moc_*' -delete
|
||||
|
||||
rm -rf .devcontainer/
|
||||
rm -rf .vscode/
|
||||
rm -rf body/
|
||||
rm -rf opendbc/generator/
|
||||
rm -rf release/
|
||||
rm -rf scripts/
|
||||
rm -rf site_scons/
|
||||
rm -rf teleoprtc_repo/
|
||||
|
||||
find .github -mindepth 1 -maxdepth 1 ! -name 'workflows' -exec rm -rf {} +
|
||||
|
||||
find .github/workflows -mindepth 1 ! \( \
|
||||
-type f \( \
|
||||
-name 'compile_frogpilot.yaml' -o \
|
||||
-name 'review_pull_request.yaml' -o \
|
||||
-name 'schedule_update.yaml' -o \
|
||||
-name 'update_pr_branch.yaml' -o \
|
||||
-name 'update_release_branch.yaml' -o \
|
||||
-name 'update_tinygrad.yaml' \
|
||||
\) \
|
||||
\) -exec rm -rf {} +
|
||||
|
||||
find panda/board/jungle -type f ! -name '__init__.py' -delete
|
||||
find panda/board/jungle -type d -empty -delete
|
||||
|
||||
find third_party/ -name '*x86*' -exec rm -rf {} +
|
||||
find third_party/ -name '*Darwin*' -exec rm -rf {} +
|
||||
|
||||
find tools/ -mindepth 1 -maxdepth 1 ! \( -name '__init__.py' -o -name 'bodyteleop' -o -name 'lib' -o -name 'scripts' \) -exec rm -rf {} +
|
||||
|
||||
find . -name 'SConstruct' -delete
|
||||
find . -name 'SConscript' -delete
|
||||
|
||||
find . -type d \( -iname "debug" -o -iname "test" -o -iname "tests" \) -exec rm -rf {} +
|
||||
find . -type d -empty ! -path "./.git*" -delete
|
||||
find . -type d -name '__pycache__' -exec rm -rf {} +
|
||||
find . -type f -regex '.*matlab.*\.md' -delete
|
||||
|
||||
touch prebuilt
|
||||
|
||||
if [ "${{ github.event.inputs.not_vetted }}" = "true" ]; then
|
||||
touch not_vetted
|
||||
fi
|
||||
|
||||
- name: Add the update_date file
|
||||
if: github.event.inputs.publish_staging == 'true'
|
||||
run: |
|
||||
curl -fLsS https://raw.githubusercontent.com/FrogAi/FrogPilot/FrogPilot-Staging/.github/update_date -o .github/update_date || echo "No update_date found, skipping."
|
||||
|
||||
- name: Commit Build
|
||||
run: |
|
||||
git add -f .
|
||||
git commit -m "Compile FrogPilot"
|
||||
git push --force origin HEAD
|
||||
|
||||
if [ "${{ github.event.inputs.publish_frogpilot }}" = "true" ]; then
|
||||
git push --force origin HEAD:"FrogPilot"
|
||||
fi
|
||||
|
||||
if [ "${{ github.event.inputs.publish_staging }}" = "true" ]; then
|
||||
git push --force origin HEAD:"FrogPilot-Staging"
|
||||
fi
|
||||
|
||||
if [ "${{ github.event.inputs.publish_testing }}" = "true" ]; then
|
||||
git push --force origin HEAD:"FrogPilot-Testing"
|
||||
fi
|
||||
|
||||
if [ -n "${{ github.event.inputs.publish_custom_branch }}" ]; then
|
||||
git push --force origin HEAD:"${{ github.event.inputs.publish_custom_branch }}"
|
||||
fi
|
||||
34
.github/workflows/review_pull_request.yaml
vendored
34
.github/workflows/review_pull_request.yaml
vendored
@ -1,34 +0,0 @@
|
||||
name: Review Pull Request
|
||||
|
||||
on:
|
||||
pull_request_target:
|
||||
types: [opened, reopened]
|
||||
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
|
||||
|
||||
jobs:
|
||||
pr_check:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Exit If PR Opened by FrogAi
|
||||
if: ${{ github.actor == 'FrogAi' }}
|
||||
run: |
|
||||
echo PR opened or reopened by FrogAi. No action needed.
|
||||
exit 0
|
||||
|
||||
- name: Close PR for Invalid Target Branch
|
||||
if: ${{ github.base_ref != 'MAKE-PRS-HERE' }}
|
||||
run: |
|
||||
gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
|
||||
-f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch."
|
||||
|
||||
gh api repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }} \
|
||||
-X PATCH \
|
||||
-f state="closed"
|
||||
|
||||
- name: Acknowledge PR for Valid Target Branch
|
||||
if: ${{ github.base_ref == 'MAKE-PRS-HERE' }}
|
||||
run: |
|
||||
gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
|
||||
-f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!"
|
||||
73
.github/workflows/schedule_update.yaml
vendored
73
.github/workflows/schedule_update.yaml
vendored
@ -1,73 +0,0 @@
|
||||
name: Schedule FrogPilot Update
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
scheduled_date:
|
||||
description: "Enter the date to update the \"FrogPilot\" branch (YYYY-MM-DD)"
|
||||
required: true
|
||||
|
||||
env:
|
||||
BRANCH: FrogPilot-Staging
|
||||
GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
|
||||
|
||||
jobs:
|
||||
schedule-update:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Configure Git Identity
|
||||
run: |
|
||||
git config --global user.name "James"
|
||||
git config --global user.email "91348155+FrogAi@users.noreply.github.com"
|
||||
|
||||
- name: Checkout ${{ env.BRANCH }}
|
||||
uses: actions/checkout@v3
|
||||
with:
|
||||
persist-credentials: false
|
||||
ref: ${{ env.BRANCH }}
|
||||
fetch-depth: 3
|
||||
|
||||
- name: Schedule Update for ${{ github.event.inputs.scheduled_date }}
|
||||
run: |
|
||||
echo "${{ github.event.inputs.scheduled_date }}" > .github/update_date
|
||||
git add .github/update_date
|
||||
|
||||
- name: Get Target Commit (Second Most Recent)
|
||||
id: get_target
|
||||
run: |
|
||||
TARGET_COMMIT=$(git rev-parse HEAD~1)
|
||||
|
||||
AUTHOR_DATE=$(git show -s --format=%aD "$TARGET_COMMIT")
|
||||
COMMITTER_DATE=$(git show -s --format=%cD "$TARGET_COMMIT")
|
||||
|
||||
echo "AUTHOR_DATE=$AUTHOR_DATE" >> $GITHUB_ENV
|
||||
echo "COMMITTER_DATE=$COMMITTER_DATE" >> $GITHUB_ENV
|
||||
echo "TARGET_COMMIT=$TARGET_COMMIT" >> $GITHUB_ENV
|
||||
|
||||
- name: Create Fixup Commit if Changes Exist
|
||||
id: fixup_commit
|
||||
run: |
|
||||
if git diff --cached --quiet; then
|
||||
echo "No changes to commit."
|
||||
echo "has_changes=false" >> "$GITHUB_OUTPUT"
|
||||
else
|
||||
echo "Changes found, creating fixup commit."
|
||||
git commit --fixup="${{ env.TARGET_COMMIT }}"
|
||||
echo "has_changes=true" >> "$GITHUB_OUTPUT"
|
||||
fi
|
||||
|
||||
- name: Autosquash Fixup into Target Commit
|
||||
if: steps.fixup_commit.outputs.has_changes == 'true'
|
||||
run: |
|
||||
GIT_SEQUENCE_EDITOR=: git rebase --autosquash -i HEAD~3
|
||||
|
||||
- name: Restore Timestamps on Final Two Commits
|
||||
if: steps.fixup_commit.outputs.has_changes == 'true'
|
||||
run: |
|
||||
git rebase --exec "GIT_COMMITTER_DATE='${{ env.COMMITTER_DATE }}' git commit --amend --no-edit --date='${{ env.AUTHOR_DATE }}'" HEAD~2
|
||||
|
||||
- name: Push Updated ${{ env.BRANCH }} Branch
|
||||
if: steps.fixup_commit.outputs.has_changes == 'true'
|
||||
run: |
|
||||
git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
|
||||
git push origin "${{ env.BRANCH }}" --force-with-lease
|
||||
88
.github/workflows/update_pr_branch.yaml
vendored
88
.github/workflows/update_pr_branch.yaml
vendored
@ -1,88 +0,0 @@
|
||||
name: Update MAKE-PRS-HERE
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- FrogPilot-Testing
|
||||
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
|
||||
|
||||
SOURCE_BRANCH: FrogPilot-Testing
|
||||
TARGET_BRANCH: MAKE-PRS-HERE
|
||||
|
||||
jobs:
|
||||
update_branch:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Configure Git Identity
|
||||
run: |
|
||||
git config --global user.name "James"
|
||||
git config --global user.email "91348155+FrogAi@users.noreply.github.com"
|
||||
|
||||
- name: Checkout ${{ env.SOURCE_BRANCH }}
|
||||
uses: actions/checkout@v3
|
||||
with:
|
||||
persist-credentials: false
|
||||
fetch-depth: 0
|
||||
ref: ${{ env.SOURCE_BRANCH }}
|
||||
|
||||
- name: Find "Compile FrogPilot" Commit in ${{ env.SOURCE_BRANCH }}
|
||||
id: find_parent
|
||||
run: |
|
||||
COMMIT=$(git rev-list HEAD -n 1 --grep="Compile FrogPilot")
|
||||
[ -z "$COMMIT" ] && echo "Compile commit not found." >&2 && exit 1
|
||||
|
||||
PARENT=$(git rev-list --parents -n 1 "$COMMIT" | awk '{print $2}')
|
||||
[ -z "$PARENT" ] && echo "Parent commit not found." >&2 && exit 1
|
||||
|
||||
echo "parent_commit=$PARENT" >> "$GITHUB_OUTPUT"
|
||||
echo "compile_commit=$COMMIT" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Fetch and Checkout ${{ env.TARGET_BRANCH }}
|
||||
run: |
|
||||
git fetch origin "${{ env.TARGET_BRANCH }}"
|
||||
git checkout "${{ env.TARGET_BRANCH }}"
|
||||
|
||||
- name: Clean ${{ env.TARGET_BRANCH }} and Apply Updates from ${{ env.SOURCE_BRANCH }}
|
||||
run: |
|
||||
git rm -r --ignore-unmatch .
|
||||
git clean -fdx
|
||||
git checkout "${{ steps.find_parent.outputs.parent_commit }}" -- .
|
||||
|
||||
COMPILE_COMMIT="${{ steps.find_parent.outputs.compile_commit }}"
|
||||
SOURCE_HEAD=$(git rev-parse "origin/${{ env.SOURCE_BRANCH }}")
|
||||
|
||||
[ "$COMPILE_COMMIT" != "$SOURCE_HEAD" ] && git cherry-pick --no-commit "${COMPILE_COMMIT}".."$SOURCE_HEAD"
|
||||
|
||||
rm -f .github/update_date
|
||||
|
||||
git add --all
|
||||
|
||||
- name: Commit and Push to ${{ env.TARGET_BRANCH }}
|
||||
run: |
|
||||
if git diff --staged --quiet; then
|
||||
echo "Working tree is clean. No changes to commit."
|
||||
exit 0
|
||||
fi
|
||||
|
||||
TZ_VALUE="America/Phoenix"
|
||||
day=$(TZ="$TZ_VALUE" date +"%-d")
|
||||
month=$(TZ="$TZ_VALUE" date +"%B")
|
||||
year=$(TZ="$TZ_VALUE" date +"%Y")
|
||||
|
||||
case $day in
|
||||
11|12|13) s=th ;;
|
||||
*) case $((day % 10)) in 1) s=st ;; 2) s=nd ;; 3) s=rd ;; *) s=th ;; esac ;;
|
||||
esac
|
||||
|
||||
commit_message="${month} ${day}${s}, ${year} Update"
|
||||
|
||||
if git log -1 --pretty=%s | grep -q "$commit_message"; then
|
||||
git commit --amend --no-edit
|
||||
else
|
||||
git commit -m "$commit_message"
|
||||
fi
|
||||
|
||||
git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
|
||||
git push origin "${{ env.TARGET_BRANCH }}" --force
|
||||
131
.github/workflows/update_release_branch.yaml
vendored
131
.github/workflows/update_release_branch.yaml
vendored
@ -1,131 +0,0 @@
|
||||
name: Update FrogPilot Branch
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: "0 18 * * 6"
|
||||
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
|
||||
|
||||
BRANCH_FROGPILOT: FrogPilot
|
||||
BRANCH_PREVIOUS: FrogPilot-Previous
|
||||
BRANCH_STAGING: FrogPilot-Staging
|
||||
|
||||
TZ: America/Phoenix
|
||||
|
||||
UPDATE_FILE: .github/update_date
|
||||
|
||||
jobs:
|
||||
check_update:
|
||||
runs-on: ubuntu-latest
|
||||
outputs:
|
||||
update_due: ${{ steps.check_update.outputs.update_due }}
|
||||
scheduled_date: ${{ steps.check_update.outputs.scheduled_date }}
|
||||
steps:
|
||||
- name: Download the "update_date" File
|
||||
id: download_update
|
||||
run: |
|
||||
curl -fLsS "https://raw.githubusercontent.com/FrogAi/FrogPilot/${{ env.BRANCH_STAGING }}/${{ env.UPDATE_FILE }}" -o update_date || touch update_date_missing
|
||||
|
||||
- name: Check If Update Is Due
|
||||
id: check_update
|
||||
run: |
|
||||
if [ -f update_date_missing ]; then
|
||||
echo "update_due=false" >> "$GITHUB_OUTPUT"
|
||||
exit 0
|
||||
fi
|
||||
|
||||
SCHEDULED_DATE=$(cat update_date)
|
||||
CURRENT_DATE=$(TZ="${{ env.TZ }}" date +%F)
|
||||
|
||||
if [ "$SCHEDULED_DATE" != "$CURRENT_DATE" ]; then
|
||||
echo "update_due=false" >> "$GITHUB_OUTPUT"
|
||||
exit 0
|
||||
fi
|
||||
|
||||
echo "update_due=true" >> "$GITHUB_OUTPUT"
|
||||
echo "scheduled_date=$SCHEDULED_DATE" >> "$GITHUB_OUTPUT"
|
||||
|
||||
update_branch:
|
||||
needs: check_update
|
||||
if: ${{ needs.check_update.outputs.update_due == 'true' }}
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Configure Git Identity
|
||||
run: |
|
||||
git config --global user.name "James"
|
||||
git config --global user.email "91348155+FrogAi@users.noreply.github.com"
|
||||
|
||||
- name: Checkout ${{ env.BRANCH_STAGING }}
|
||||
uses: actions/checkout@v3
|
||||
with:
|
||||
fetch-depth: 0
|
||||
ref: ${{ env.BRANCH_STAGING }}
|
||||
|
||||
- name: Authenticate with GITHUB_TOKEN
|
||||
run: |
|
||||
git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
|
||||
|
||||
- name: Update README Date and Remove update file
|
||||
run: |
|
||||
DAY=$(TZ="${{ env.TZ }}" date +'%d' | sed 's/^0//')
|
||||
|
||||
case "$DAY" in
|
||||
1|21|31) SUFFIX="st" ;;
|
||||
2|22) SUFFIX="nd" ;;
|
||||
3|23) SUFFIX="rd" ;;
|
||||
*) SUFFIX="th" ;;
|
||||
esac
|
||||
|
||||
MONTH=$(TZ="${{ env.TZ }}" date +'%B')
|
||||
YEAR=$(TZ="${{ env.TZ }}" date +'%Y')
|
||||
|
||||
DATE="${MONTH} ${DAY}${SUFFIX}, ${YEAR}"
|
||||
DATE_ESCAPED=$(printf '%s' "$DATE" | sed -E 's/ /%20/g; s/,/%2C/g')
|
||||
|
||||
sed -i -E "s|(Last%20Updated-)[^-)]*|\1${DATE_ESCAPED}|g" README.md
|
||||
|
||||
git add README.md
|
||||
git rm -f "${{ env.UPDATE_FILE }}"
|
||||
git commit -m "Updated README date to ${DATE}"
|
||||
|
||||
- name: Squash Commits
|
||||
run: |
|
||||
COMMIT_MSG=$(git log -1 --pretty=%B HEAD~1)
|
||||
|
||||
git reset --soft HEAD~2
|
||||
git commit -m "$COMMIT_MSG"
|
||||
|
||||
- name: Rewrite Commit Dates to Noon ${{ env.TZ }}
|
||||
run: |
|
||||
COMMIT_DATETIME="${{ needs.check_update.outputs.scheduled_date }} 12:00"
|
||||
COMMIT_PHX=$(TZ="${{ env.TZ }}" date -d "$COMMIT_DATETIME" +"%Y-%m-%dT%H:%M:%S %z")
|
||||
|
||||
git filter-branch --env-filter "export GIT_AUTHOR_DATE='$COMMIT_PHX'; export GIT_COMMITTER_DATE='$COMMIT_PHX'" "${{ env.BRANCH_STAGING }}"
|
||||
|
||||
- name: Fetch ${{ env.BRANCH_PREVIOUS }} and ${{ env.BRANCH_FROGPILOT }}
|
||||
run: |
|
||||
git fetch origin ${{ env.BRANCH_PREVIOUS }} ${{ env.BRANCH_FROGPILOT }}
|
||||
|
||||
- name: Wait Until Noon ${{ env.TZ }}
|
||||
run: |
|
||||
NOW=$(TZ="${{ env.TZ }}" date +%s)
|
||||
TARGET=$(TZ="${{ env.TZ }}" date -d "12:00" +%s)
|
||||
|
||||
[ "$NOW" -lt "$TARGET" ] && sleep $((TARGET - NOW))
|
||||
|
||||
- name: Push ${{ env.BRANCH_STAGING }}
|
||||
run: |
|
||||
git push origin "${{ env.BRANCH_STAGING }}" --force
|
||||
|
||||
- name: Reset ${{ env.BRANCH_PREVIOUS }} to Match ${{ env.BRANCH_FROGPILOT }}
|
||||
run: |
|
||||
git switch "${{ env.BRANCH_PREVIOUS }}"
|
||||
git reset --hard "origin/${{ env.BRANCH_FROGPILOT }}"
|
||||
git push origin "${{ env.BRANCH_PREVIOUS }}" --force
|
||||
|
||||
- name: Reset ${{ env.BRANCH_FROGPILOT }} to Match ${{ env.BRANCH_STAGING }}
|
||||
run: |
|
||||
git switch "${{ env.BRANCH_FROGPILOT }}"
|
||||
git reset --hard "origin/${{ env.BRANCH_STAGING }}"
|
||||
git push origin "${{ env.BRANCH_FROGPILOT }}" --force
|
||||
79
.github/workflows/update_tinygrad.yaml
vendored
79
.github/workflows/update_tinygrad.yaml
vendored
@ -1,79 +0,0 @@
|
||||
name: Update Tinygrad
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
runner:
|
||||
description: "Select the runner"
|
||||
required: true
|
||||
default: "c3"
|
||||
type: choice
|
||||
options:
|
||||
- c3
|
||||
- c3x
|
||||
|
||||
jobs:
|
||||
update_tinygrad:
|
||||
name: Update Tinygrad
|
||||
runs-on:
|
||||
- self-hosted
|
||||
- ${{ github.event.inputs.runner }}
|
||||
|
||||
steps:
|
||||
- name: Get version
|
||||
id: get_version
|
||||
run: |
|
||||
VERSION=$(grep -oP '^VERSION\s*=\s*"\K[^"]+' /data/openpilot/frogpilot/assets/model_manager.py)
|
||||
echo "VERSION=$VERSION"
|
||||
echo "version=$VERSION" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Clone GitLab repo
|
||||
env:
|
||||
GITLAB_TOKEN: ${{ secrets.GITLAB_TOKEN }}
|
||||
run: |
|
||||
rm -rf /data/tmp/frogpilot_tinygrad
|
||||
mkdir -p /data/tmp/frogpilot_tinygrad
|
||||
cd /data/tmp/frogpilot_tinygrad
|
||||
|
||||
git clone --depth 1 --branch Tinygrad "https://oauth2:${GITLAB_TOKEN}@gitlab.com/FrogAi/FrogPilot-Resources.git"
|
||||
|
||||
- name: Create Tinygrad Archive
|
||||
run: |
|
||||
set -euo pipefail
|
||||
cd /data/openpilot
|
||||
|
||||
ARCHIVE_DIR="/data/tmp/frogpilot_tinygrad/FrogPilot-Resources"
|
||||
ARCHIVE_NAME="Tinygrad_${{ steps.get_version.outputs.version }}.tar.gz"
|
||||
|
||||
TMPDIR="$(mktemp -d)"
|
||||
touch "$TMPDIR/SConscript"
|
||||
|
||||
tar -czf "$ARCHIVE_NAME" \
|
||||
--exclude="*.a" \
|
||||
--exclude="*.o" \
|
||||
--exclude="*.onnx" \
|
||||
--exclude="*__pycache__*" \
|
||||
--exclude="*tests*" \
|
||||
--exclude="frogpilot/tinygrad_modeld/SConscript" \
|
||||
frogpilot/tinygrad_modeld tinygrad_repo \
|
||||
-C "$TMPDIR" \
|
||||
--transform 's|^SConscript$|frogpilot/tinygrad_modeld/SConscript|' \
|
||||
SConscript
|
||||
|
||||
mv "$ARCHIVE_NAME" "$ARCHIVE_DIR/"
|
||||
rm -rf "$TMPDIR"
|
||||
|
||||
- name: Push updated Tinygrad
|
||||
run: |
|
||||
cd /data/tmp/frogpilot_tinygrad/FrogPilot-Resources
|
||||
|
||||
git config user.name "James"
|
||||
git config user.email "91348155+FrogAi@users.noreply.github.com"
|
||||
|
||||
git add Tinygrad_*.tar.gz
|
||||
git commit -m "Updated Tinygrad: ${{ steps.get_version.outputs.version }}" || echo "No changes to commit"
|
||||
git push origin Tinygrad
|
||||
|
||||
- name: Cleanup temporary files
|
||||
run: |
|
||||
rm -rf /data/tmp/frogpilot_tinygrad
|
||||
48
.gitignore
vendored
48
.gitignore
vendored
@ -10,10 +10,13 @@ venv/
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
.cache/
|
||||
|
||||
/docs_site/
|
||||
|
||||
*.mp4
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
@ -33,32 +36,21 @@ a.out
|
||||
*.class
|
||||
*.pyxbldc
|
||||
*.vcd
|
||||
*.qm
|
||||
*.mo
|
||||
*_pyx.cpp
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
compare_runtime*.html
|
||||
|
||||
persist
|
||||
selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
system/proclogd/proclogd
|
||||
selfdrive/ui/translations/alerts_generated.h
|
||||
cereal/messaging/bridge
|
||||
selfdrive/ui/translations/tmp
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/car/tests/cars_dump
|
||||
system/camerad/camerad
|
||||
system/camerad/test/ae_gray_test
|
||||
selfdrive/modeld/_modeld
|
||||
selfdrive/modeld/_dmonitoringmodeld
|
||||
/src/
|
||||
|
||||
notebooks
|
||||
hyperthneed
|
||||
provisioning
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
@ -71,11 +63,11 @@ flycheck_*
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
selfdrive/modeld/models/*.thneed
|
||||
selfdrive/modeld/models/*.pkl
|
||||
|
||||
# openpilot log files
|
||||
*.bz2
|
||||
*.zst
|
||||
|
||||
build/
|
||||
|
||||
@ -83,3 +75,25 @@ build/
|
||||
|
||||
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
|
||||
|
||||
# rick - keep panda_tici standalone
|
||||
panda_tici/
|
||||
|
||||
@ -1 +0,0 @@
|
||||
3.11.4
|
||||
11
.vscode/extensions.json
vendored
Normal file
11
.vscode/extensions.json
vendored
Normal file
@ -0,0 +1,11 @@
|
||||
{
|
||||
"recommendations": [
|
||||
"ms-python.python",
|
||||
"ms-vscode.cpptools",
|
||||
"elagil.pre-commit-helper",
|
||||
"charliermarsh.ruff",
|
||||
"JamiTech.simply-blame",
|
||||
"k--kato.intellij-idea-keybindings",
|
||||
"trinm1709.dracula-theme-from-intellij"
|
||||
]
|
||||
}
|
||||
85
.vscode/launch.json
vendored
Normal file
85
.vscode/launch.json
vendored
Normal file
@ -0,0 +1,85 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"inputs": [
|
||||
{
|
||||
"id": "python_process",
|
||||
"type": "pickString",
|
||||
"description": "Select the process to debug",
|
||||
"options": [
|
||||
"selfdrive/controls/controlsd.py",
|
||||
"system/timed/timed.py",
|
||||
"tools/sim/run_bridge.py"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "cpp_process",
|
||||
"type": "pickString",
|
||||
"description": "Select the process to debug",
|
||||
"options": [
|
||||
"selfdrive/ui/ui"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "args",
|
||||
"description": "Arguments to pass to the process",
|
||||
"type": "promptString"
|
||||
},
|
||||
{
|
||||
"id": "replayArg",
|
||||
"type": "promptString",
|
||||
"description": "Enter route or segment to replay."
|
||||
}
|
||||
],
|
||||
"configurations": [
|
||||
{
|
||||
"name": "Python: openpilot Process",
|
||||
"type": "debugpy",
|
||||
"request": "launch",
|
||||
"program": "${input:python_process}",
|
||||
"console": "integratedTerminal",
|
||||
"justMyCode": true,
|
||||
"args": "${input:args}"
|
||||
},
|
||||
{
|
||||
"name": "C++: openpilot Process",
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/${input:cpp_process}",
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
{
|
||||
"name": "Attach LLDB to Replay drive",
|
||||
"type": "lldb",
|
||||
"request": "attach",
|
||||
"pid": "${command:pickMyProcess}",
|
||||
"initCommands": [
|
||||
"script import time; time.sleep(3)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Replay drive",
|
||||
"type": "debugpy",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
|
||||
"args": [
|
||||
"${input:replayArg}"
|
||||
],
|
||||
"console": "integratedTerminal",
|
||||
"justMyCode": false,
|
||||
"env": {
|
||||
"PYTHONPATH": "${workspaceFolder}"
|
||||
},
|
||||
"subProcess": true,
|
||||
"stopOnEntry": false
|
||||
}
|
||||
],
|
||||
"compounds": [
|
||||
{
|
||||
"name": "Replay drive + Safety LLDB",
|
||||
"configurations": [
|
||||
"Replay drive",
|
||||
"Attach LLDB to Replay drive"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
36
.vscode/settings.json
vendored
Normal file
36
.vscode/settings.json
vendored
Normal file
@ -0,0 +1,36 @@
|
||||
{
|
||||
"editor.tabSize": 2,
|
||||
"editor.insertSpaces": true,
|
||||
"editor.renderWhitespace": "trailing",
|
||||
"files.trimTrailingWhitespace": true,
|
||||
"terminal.integrated.defaultProfile.linux": "dragonpilot",
|
||||
"search.exclude": {
|
||||
"**/.git": true,
|
||||
"**/.venv": true,
|
||||
"**/__pycache__": true,
|
||||
"msgq_repo/": true,
|
||||
"opendbc/": true,
|
||||
"rednose/": true,
|
||||
"rednose_repo/": true,
|
||||
"openpilot/": true,
|
||||
"teleoprtc_repo/": true,
|
||||
"tinygrad/": true,
|
||||
"tinygrad_repo/": true
|
||||
},
|
||||
"files.exclude": {
|
||||
"**/.git": true,
|
||||
"**/.venv": true,
|
||||
"**/__pycache__": true
|
||||
},
|
||||
"python.analysis.exclude": [
|
||||
"**/.git",
|
||||
"**/.venv",
|
||||
"**/__pycache__",
|
||||
// exclude directories that should be using the symlinked version
|
||||
"common/**",
|
||||
"selfdrive/**",
|
||||
"system/**",
|
||||
"third_party/**",
|
||||
"tools/**",
|
||||
]
|
||||
}
|
||||
83
1.sh
Normal file
83
1.sh
Normal file
@ -0,0 +1,83 @@
|
||||
#!/bin/env sh
|
||||
|
||||
persist_dir=/persist
|
||||
target_dir=${persist_dir}/comma
|
||||
# Change target dir from sunnylink to comma to make this no longer a test
|
||||
|
||||
|
||||
# Function to remount /persist as read-only
|
||||
cleanup() {
|
||||
echo "Remounting ${persist_dir} as read-only..."
|
||||
sudo mount -o remount,ro ${persist_dir}
|
||||
}
|
||||
|
||||
# Function to check and backup existing keys
|
||||
backup_keys() {
|
||||
if [ -f "id_rsa" ] || [ -f "id_rsa.pub" ]; then
|
||||
timestamp=$(date +%s)
|
||||
backup_base="id_rsa_backup_$timestamp"
|
||||
backup_private="$backup_base"
|
||||
backup_public="${backup_base}.pub"
|
||||
|
||||
# Ensure we're not overwriting an existing backup
|
||||
counter=0
|
||||
while [ -f "$backup_private" ] || [ -f "$backup_public" ]; do
|
||||
counter=$((counter + 1))
|
||||
backup_private="${backup_base}_$counter"
|
||||
backup_public="${backup_base}_$counter.pub"
|
||||
done
|
||||
|
||||
# Backup the keys
|
||||
cp id_rsa "$backup_private"
|
||||
cp id_rsa.pub "$backup_public"
|
||||
|
||||
# Verify the backup
|
||||
original_private_hash=$(sha256sum id_rsa | cut -d ' ' -f 1)
|
||||
backup_private_hash=$(sha256sum "$backup_private" | cut -d ' ' -f 1)
|
||||
original_public_hash=$(sha256sum id_rsa.pub | cut -d ' ' -f 1)
|
||||
backup_public_hash=$(sha256sum "$backup_public" | cut -d ' ' -f 1)
|
||||
|
||||
if [ "$original_private_hash" = "$backup_private_hash" ] && [ "$original_public_hash" = "$backup_public_hash" ]; then
|
||||
echo "Backup verified successfully."
|
||||
# Safe to delete original keys after successful backup verification
|
||||
else
|
||||
echo "Backup verification failed. Aborting operation."
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "Existing keys backed up as $backup_private and $backup_public"
|
||||
fi
|
||||
}
|
||||
|
||||
# Trap any signal that exits the script to run cleanup function
|
||||
trap cleanup EXIT
|
||||
|
||||
# Remount /persist as read-write
|
||||
sudo mount -o remount,rw ${persist_dir}
|
||||
|
||||
# Ensure the directory exists
|
||||
mkdir -p ${target_dir}
|
||||
cd ${target_dir}
|
||||
|
||||
# Check for and backup existing keys
|
||||
#backup_keys
|
||||
|
||||
# Generate new keys
|
||||
if ! ssh-keygen -t rsa -b 4096 -m PEM -f id_rsa -N ''; then
|
||||
echo "Failed to generate new RSA keys. Exiting..."
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# Convert the generated SSH public key to PEM format and store it temporarily
|
||||
if ! openssl rsa -pubout -in id_rsa -out id_rsa.pub -outform PEM; then
|
||||
echo "Failed to convert the public key to PEM format. Exiting..."
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# Display the public key
|
||||
echo "Displaying the public key:"
|
||||
cat id_rsa.pub
|
||||
|
||||
# Cleanup will be called automatically due to trap on EXIT
|
||||
#echo "Operation completed successfully. System will reboot now."
|
||||
#sudo reboot
|
||||
89
BRANCHES.md
Normal file
89
BRANCHES.md
Normal file
@ -0,0 +1,89 @@
|
||||
```mermaid
|
||||
flowchart TD
|
||||
B000["devel-staging"] ---> CORE["core"]
|
||||
CORE ---> CORE_001["core-feat/params"]
|
||||
CORE_001 ---> CORE_002["core-feat/panel"]
|
||||
CORE_002 ---> MIN["min"]
|
||||
MIN ---> MIN_001["min-feat/dev/c3"]
|
||||
MIN ---> MIN_002["min-feat/dev/o3"]
|
||||
MIN ---> MIN_003["min-feat/lat/alka"]
|
||||
MIN ---> MIN_004["min-feat/ui/display-mode"]
|
||||
MIN ---> MIN_005["min-feat/dev/model-selector"]
|
||||
MIN ---> MIN_006["min-feat/lat/lca"]
|
||||
MIN ---> MIN_007["min-feat/dev/on-off-road"]
|
||||
MIN ---> MIN_008["min-feat/ui/hide-hud"]
|
||||
MIN ---> MIN_009["min-feat/lon/ext-radar"]
|
||||
MIN ---> MIN_010["min-feat/lat/road-edge-detection"]
|
||||
MIN ---> MIN_011["min-feat/ui/rainbow-path"]
|
||||
MIN ---> MIN_012["min-feat/lon/acm"]
|
||||
MIN ---> MIN_013["min-feat/lon/aem"]
|
||||
MIN ---> MIN_014["min-feat/lon/dtsc"]
|
||||
MIN ---> MIN_015["min-feat/dev/alert-mode"]
|
||||
MIN ---> MIN_016["min-feat/dev/auto-shutdown"]
|
||||
MIN ---> MIN_017["min-feat/ui/lead-stats"]
|
||||
MIN ---> MIN_018["min-feat/ui/border-indicator"]
|
||||
MIN ---> MIN_019["min-feat/dev/dashy"]
|
||||
MIN ---> MIN_010["min-feat/dev/delay-loggerd"]
|
||||
MIN ---> MIN_021["min-feat/dev/disable-connect"]
|
||||
MIN ---> MIN_022["min-feat/dev/tether-on-boot"]
|
||||
MIN_001 ---> FULL["full"]
|
||||
MIN_002 ---> FULL
|
||||
MIN_003 ---> FULL
|
||||
MIN_004 ---> FULL
|
||||
MIN_005 ---> FULL
|
||||
MIN_006 ---> FULL
|
||||
MIN_007 ---> FULL
|
||||
MIN_008 ---> FULL
|
||||
MIN_009 ---> FULL
|
||||
MIN_010 ---> FULL
|
||||
MIN_011 ---> FULL
|
||||
MIN_012 ---> FULL
|
||||
MIN_013 ---> FULL
|
||||
MIN_014 ---> FULL
|
||||
MIN_015 ---> FULL
|
||||
MIN_016 ---> FULL
|
||||
MIN_017 ---> FULL
|
||||
MIN_018 ---> FULL
|
||||
MIN_019 ---> FULL
|
||||
MIN_020 ---> FULL
|
||||
MIN_021 ---> FULL
|
||||
MIN_022 ---> FULL
|
||||
FULL ---> TOYOTA_001[brand/toyota/safety-common]
|
||||
FULL ---> TOYOTA_002[brand/toyota/door-auto-lock-unlock]
|
||||
FULL ---> TOYOTA_003[brand/toyota/tss1-sng]
|
||||
FULL ---> TOYOTA_004[brand/toyota/radar-filter]
|
||||
FULL ---> TOYOTA_005[brand/toyota/sdsu]
|
||||
FULL ---> TOYOTA_006[brand/toyota/dsu-bypass]
|
||||
FULL ---> TOYOTA_007[brand/toyota/zss]
|
||||
FULL ---> TOYOTA_008[brand/toyota/stock-lon]
|
||||
FULL ---> VAG_001[brand/vag/a0-sng]
|
||||
FULL ---> VAG_002[brand/vag/pq-steering-patch]
|
||||
FULL ---> VAG_003[brand/vag/pq-no-dashcam]
|
||||
FULL ---> VAG_004[brand/vag/avoid-eps-lockout]
|
||||
FULL ---> HKG_001[brand/hkg/smdps]
|
||||
FULL ---> HONDA_001[brand/honda/eps-mod]
|
||||
FULL ---> SUBARU_001[brand/subaru/torque-3071]
|
||||
TOYOTA_001 ---> TOYOTA[pre-toyota]
|
||||
TOYOTA_002 ---> TOYOTA
|
||||
TOYOTA_003 ---> TOYOTA
|
||||
TOYOTA_004 ---> TOYOTA
|
||||
TOYOTA_005 ---> TOYOTA
|
||||
TOYOTA_006 ---> TOYOTA
|
||||
TOYOTA_007 ---> TOYOTA
|
||||
TOYOTA_008 ---> TOYOTA
|
||||
VAG_001 ---> VAG[pre-vag]
|
||||
VAG_002 ---> VAG
|
||||
VAG_003 ---> VAG
|
||||
VAG_004 ---> VAG
|
||||
HKG_001 ---> HKG[pre-hkg]
|
||||
HONDA_001 ---> HONDA[pre-honda]
|
||||
SUBARU_001 ---> SUBARU[pre-subaru]
|
||||
TOYOTA ---> PRE[pre]
|
||||
VAG ---> PRE
|
||||
HKG ---> PRE
|
||||
HONDA ---> PRE
|
||||
SUBARU ---> PRE
|
||||
PRE ---> PRE_PATCH[pre-patch]
|
||||
PRE_PATCH ---> PREBUILD[pre-build]
|
||||
PREBUILD ---> VERSION[x.x.x]
|
||||
```
|
||||
1631
CHANGELOGS.md
Normal file
1631
CHANGELOGS.md
Normal file
File diff suppressed because it is too large
Load Diff
14
Dockerfile.openpilot
Normal file
14
Dockerfile.openpilot
Normal file
@ -0,0 +1,14 @@
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV OPENPILOT_PATH=/home/batman/openpilot
|
||||
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
|
||||
ENV UV_BIN="/home/batman/.local/bin/"
|
||||
ENV PATH="$UV_BIN:$PATH"
|
||||
RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
|
||||
81
Dockerfile.openpilot_base
Normal file
81
Dockerfile.openpilot_base
Normal file
@ -0,0 +1,81 @@
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
|
||||
RUN /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
rm -rf /var/lib/apt/lists/* /tmp/* && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
|
||||
|
||||
# Add OpenCL
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
apt-utils \
|
||||
alien \
|
||||
unzip \
|
||||
tar \
|
||||
curl \
|
||||
xz-utils \
|
||||
dbus \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
libx11-6 \
|
||||
wget \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX=1
|
||||
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
COPY --chown=$USER pyproject.toml uv.lock /home/$USER
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /home/$USER && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
rm -rf tools/ pyproject.toml uv.lock .cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
269
Jenkinsfile
vendored
Normal file
269
Jenkinsfile
vendored
Normal file
@ -0,0 +1,269 @@
|
||||
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="-n0 -s"
|
||||
|
||||
|
||||
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
|
||||
}
|
||||
|
||||
if (isReplay()) {
|
||||
error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
|
||||
}
|
||||
|
||||
def extra = extra_env.collect { "export ${it}" }.join('\n');
|
||||
def branch = env.BRANCH_NAME ?: 'master';
|
||||
def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
|
||||
|
||||
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
|
||||
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
|
||||
timeout(time: 35, unit: 'MINUTES') {
|
||||
retry (3) {
|
||||
def date = sh(script: 'date', returnStdout: true).trim();
|
||||
device(device_ip, "set time", "date -s '" + date + "'")
|
||||
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
|
||||
}
|
||||
steps.each { item ->
|
||||
def name = item[0]
|
||||
def cmd = item[1]
|
||||
|
||||
def args = item[2]
|
||||
def diffPaths = args.diffPaths ?: []
|
||||
def cmdTimeout = args.timeout ?: 9999
|
||||
|
||||
if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
|
||||
println "Skipping ${name}: no changes in ${diffPaths}."
|
||||
return
|
||||
} else {
|
||||
timeout(time: cmdTimeout, unit: 'SECONDS') {
|
||||
device(device_ip, name, cmd)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def hasPathChanged(String gitDiff, List<String> paths) {
|
||||
for (path in paths) {
|
||||
if (gitDiff.contains(path)) {
|
||||
return true
|
||||
}
|
||||
}
|
||||
return false
|
||||
}
|
||||
|
||||
def isReplay() {
|
||||
def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
|
||||
return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
|
||||
}
|
||||
|
||||
def setupCredentials() {
|
||||
withCredentials([
|
||||
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
|
||||
]) {
|
||||
env.AZURE_TOKEN = "${AZURE_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
|
||||
]) {
|
||||
env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
|
||||
]) {
|
||||
env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
|
||||
}
|
||||
}
|
||||
|
||||
def step(String name, String cmd, Map args = [:]) {
|
||||
return [name, cmd, args]
|
||||
}
|
||||
|
||||
node {
|
||||
env.CI = "1"
|
||||
env.PYTHONWARNINGS = "error"
|
||||
env.TEST_DIR = "/data/openpilot"
|
||||
env.SOURCE_DIR = "/data/openpilot_source/"
|
||||
setupCredentials()
|
||||
|
||||
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
|
||||
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
|
||||
|
||||
def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
|
||||
'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
|
||||
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
|
||||
|
||||
if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
|
||||
properties([
|
||||
disableConcurrentBuilds(abortPrevious: true)
|
||||
])
|
||||
}
|
||||
|
||||
try {
|
||||
if (env.BRANCH_NAME == 'devel-staging') {
|
||||
deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
|
||||
step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
}
|
||||
|
||||
if (env.BRANCH_NAME == '__nightly') {
|
||||
parallel (
|
||||
'nightly': {
|
||||
deviceStage("build nightly", "tizi-needs-can", [], [
|
||||
step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
'nightly-dev': {
|
||||
deviceStage("build nightly-dev", "tizi-needs-can", [], [
|
||||
step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
if (!env.BRANCH_NAME.matches(excludeRegex)) {
|
||||
parallel (
|
||||
'onroad tests': {
|
||||
deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
|
||||
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]),
|
||||
])
|
||||
},
|
||||
'HW + Unit Tests': {
|
||||
deviceStage("tizi-hardware", "tizi-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", [diffPaths: ["system/loggerd/"]]),
|
||||
step("test manager", "pytest system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
'loopback': {
|
||||
deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
])
|
||||
},
|
||||
'camerad OX03C10': {
|
||||
deviceStage("OX03C10", "tizi-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"),
|
||||
])
|
||||
},
|
||||
'camerad OS04C10': {
|
||||
deviceStage("OS04C10", "tici-os04c10", ["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", "tizi-lsmc", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
},
|
||||
'replay': {
|
||||
deviceStage("model-replay", "tizi-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 amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
|
||||
// TODO: enable once new AGNOS is available
|
||||
// step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
|
||||
step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
|
||||
])
|
||||
},
|
||||
|
||||
)
|
||||
}
|
||||
} catch (Exception e) {
|
||||
currentBuild.result = 'FAILED'
|
||||
throw e
|
||||
}
|
||||
}
|
||||
30
LICENSE.md
Normal file
30
LICENSE.md
Normal file
@ -0,0 +1,30 @@
|
||||
Copyright (c) 2019, Rick Lan
|
||||
|
||||
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, and/or sublicense,
|
||||
for non-commercial purposes only, 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.
|
||||
- Commercial use (e.g. use in a product, service, or activity intended to
|
||||
generate revenue) is prohibited without explicit written permission from
|
||||
the copyright holder.
|
||||
|
||||
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.
|
||||
|
||||
---
|
||||
Copyright (c) 2018, Comma.ai, Inc.
|
||||
|
||||
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.
|
||||
256
README.md
256
README.md
@ -1,252 +1,74 @@
|
||||
<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 300+ 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://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
|
||||
[](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>
|
||||
|
||||
|
||||
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.
|
||||
[Read this in English](README_EN.md)
|
||||
|
||||
------
|
||||
# **🐲 dragonpilot - 賦予您的愛車「龍」之魂**
|
||||
|
||||
<div align="center" style="text-align: center;">
|
||||
**我們與您一同翱翔於更智慧、更貼心的駕駛旅程。**
|
||||
|
||||
<h1>FrogPilot 🐸</h1>
|
||||
## **👋 嘿, 朋友，歡迎您的到來！**
|
||||
|
||||
[](https://deepwiki.com/FrogAi/FrogPilot)
|
||||
[](https://discord.frogpilot.download)
|
||||
[](https://github.com/FrogAi/FrogPilot/releases/latest)
|
||||
[](https://frogpilot.wiki.gg/)
|
||||
`dragonpilot` 誕生於 2019 年，由三位早期的 openpilot 華人玩家共同創立。初衷很簡單：為廣大的華人用戶、玩家們提供一個友善的交流環境、更簡便的設定協助，並加入更多適合在地使用的貼心功能。
|
||||
|
||||
</div>
|
||||
我們深知在地化的重要性，特別是語言的親切感。因此，我們率先導入了完整的中文介面，讓 `dragonpilot` 迅速在華語地區累積了口碑，也讓華人的使用者數量在全球名列前茅。這份來自在地的支持，是我們持續前進的最大動力。
|
||||
|
||||
------
|
||||
我們以功能強大的 [openpilot](https://github.com/commaai/openpilot) 為基礎——這套據美國消費者報告評測優於市售車方案的開源輔助駕駛系統——融入了更多在地化的巧思與客製化的溫度，希望能打造出最符合您需求的駕駛夥伴。(您也可以參考我們 repo 中保留的 [openpilot 原始說明檔案](README_OPENPILOT.md))
|
||||
|
||||
**FrogPilot** is a custom frog-themed fork of openpilot that embraces a collaborative, community-driven approach to push the project forward. It delivers bleeding-edge features and experimental improvements far ahead of official releases. As an unofficial and highly experimental version of openpilot, **FrogPilot** should always be used with caution!
|
||||
取名 `dragonpilot`，是因為我們希望它能像神話中的「龍」一樣，既強大又充滿智慧，為您的行車安全保駕護航。龍，在我們華人文化中，更是吉祥與力量的象徵，也代表著我們的根源與驕傲。
|
||||
|
||||
openpilot vs **FrogPilot**
|
||||
------
|
||||
## **✨ dragonpilot 的里程碑**
|
||||
|
||||
#### Community
|
||||
| Feature | openpilot | **FrogPilot** |
|
||||
|---------|:---------:|:---------:|
|
||||
| A Welcoming Community | ❌ | ✅ |
|
||||
| Erich / Primary Moderators / 🦇 | ✅ | ❌ |
|
||||
我們不僅保留了 openpilot 的核心優勢，更達成了許多從社群回饋中誕生的里程碑，這些是我們引以為傲的足跡：
|
||||
|
||||
#### Core Features
|
||||
| Feature | openpilot | **FrogPilot** |
|
||||
|---------|:---------:|:---------:|
|
||||
| Always On Lateral (Steering) | ❌ | ✅ |
|
||||
| Blind Spot Integration | ✅ | ✅ |
|
||||
| Conditional Experimental Mode | ❌ | ✅ |
|
||||
| Custom Themes | ❌ | ✅ |
|
||||
| Driver Monitoring | ✅ | ✅ |
|
||||
| Driving Model Selector | ❌ | ✅ |
|
||||
| Holiday Themes | ❌ | ✅ |
|
||||
| Speed Limit Support | ❌ | ✅ |
|
||||
| Weather Detection | ❌ | ✅ |
|
||||
* **🚘 全時置中車道維持 (ALKA)**
|
||||
|
||||
#### Device & Hardware
|
||||
| Feature | openpilot | **FrogPilot** |
|
||||
|---------|:---------:|:---------:|
|
||||
| Advanced Volume Controller | ❌ | ✅ |
|
||||
| Automatic Version Backups | ❌ | ✅ |
|
||||
| C3 Support | ❌ | ✅ |
|
||||
| comma Pedal Support | ❌ | ✅ |
|
||||
| High Quality Recordings | ❌ | ✅ |
|
||||
| SDSU Support | ❌ | ✅ |
|
||||
| ZSS Support | ❌ | ✅ |
|
||||
這不只是一個功能，更是 `dragonpilot` 的哲學。我們最早於 [0.6.2 版本](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199) 時便實現了這個功能，其開發歷程始於 2017 Lexus IS300h，接著擴展至 Toyota 全車系，並逐步延伸到其他支援的品牌。它能溫柔地輔助您，讓車輛始終穩定地保持在車道中央，提供一份額外的安心與從容。
|
||||
|
||||
#### Gas/Brake
|
||||
| Feature | openpilot | **FrogPilot** |
|
||||
|---------|:---------:|:---------:|
|
||||
| Adaptive Cruise Control (ACC) | ✅ | ✅ |
|
||||
| Advanced Live Tuning | ❌ | ✅ |
|
||||
| Custom Following Distances | ❌ | ✅ |
|
||||
| Faster Human-Like Acceleration | ❌ | ✅ |
|
||||
| Human-Like Speed Control in Curves | ❌ | ✅ |
|
||||
| Smoother Human-Like Braking | ❌ | ✅ |
|
||||
* **🌐 率先導入多國語言介面**
|
||||
|
||||
#### Steering
|
||||
| Feature | openpilot | **FrogPilot** |
|
||||
|---------|:---------:|:---------:|
|
||||
| Advanced Live Tuning | ❌ | ✅ |
|
||||
| Automatic Lane Changes | ❌ | ✅ |
|
||||
| Increased Steering Torque* | ❌ | ✅ |
|
||||
| Lane Centering (LKAS) | ✅ | ✅ |
|
||||
| Lane Change Assist | ✅ | ✅ |
|
||||
在官方 openpilot 還未支援前，我們便已將多國語言介面實現。`dragonpilot` 完整支援繁體中文、簡體中文與英文，讓操作毫無隔閡。
|
||||
|
||||
*Select vehicles only
|
||||
* **💻 唯一同時支援多硬體平台**
|
||||
|
||||
And much much more!
|
||||
我們是唯一曾致力於讓專案同時兼容 EON、comma two、comma 3 與 Jetson 平台的社群分支，這份努力是為了服務最廣大的玩家社群。
|
||||
此外，在 comma.ai 團隊於 0.10.0 版本宣布停止支持 comma 3 後，我們仍是唯一一個完整同時支援 comma 3、comma 3X 以及 O3、O3L、O3XL（O3 系列為副廠硬體）的社群分支。
|
||||
|
||||
🌟 Highlight Features
|
||||
------
|
||||
* **📜 曾榮獲官方認證第一大分支**
|
||||
|
||||
### 🚗 Always On Lateral (AOL)
|
||||
基於活躍的社群與功能創新，`dragonpilot` 曾一度成長為 comma ai 官方認證的第一大 openpilot 分支，這份榮耀屬於每一位參與者。
|
||||
|
||||
With **"Always On Lateral"**, lane-centering stays active whenever cruise control is on, even when you press the accelerator or brake. This means steering assist won't cut out during manual speed adjustments giving you continuous support through curves, traffic, or mountain roads!
|
||||
## **🧑💻 設計理念 - 少即是多 (Less is More)**
|
||||
|
||||
---
|
||||
隨著 openpilot 的 AI 模型日益強大，許多過去需要手動微調的功能，現在都已能透過更先進的模型來實現。因此，我們現在的開發重心回歸到 **「最小化修改」(minimal changes)** 的核心原則上。
|
||||
|
||||
### 🧠 Conditional Experimental Mode (CEM)
|
||||
我們的目標是為您提供最純粹、最接近官方的 openpilot 駕駛感受，同時保留 `dragonpilot` 那些經過時間考驗、最受社群喜愛的經典功能。我們相信，在強大的 AI 基礎上，簡潔即是力量。
|
||||
|
||||
**["Experimental Mode"](https://blog.comma.ai/090release/#experimental-mode)** lets openpilot drive at the speed it thinks a human would to allow slowing for curves, stopping at stoplights/stop signs, and adapting to traffic. This makes it powerful in complex scenarios, but it's still, well, "experimental" and less predictable than **"Chill Mode"**. But **"Conditional Experimental Mode"** gives you the best of both worlds by automatically switching between **"Chill Mode"** for steady cruising and **"Experimental Mode"** for more advanced situations to help fully automate your driving experience!
|
||||
## **🛠️ 硬件的足跡 - 一路走來的夥伴們**
|
||||
|
||||
**"Conditional Experimental Mode"** switches into **"Experimental Mode"** when conditions like these are met:
|
||||
- Approaching curves and turns
|
||||
- Detecting slower or stopped lead vehicles
|
||||
- Driving below a set speed
|
||||
- Predicting an upcoming stop (e.g. stoplight or stop sign)
|
||||
從最早的 **EON**，到官方的 **comma two / three (C2/C3/C3X)**，再到社群中各式各樣充滿智慧的**副廠機 (如 C1.5, O2, O3, O3L, O3XL 等)**，甚至我們也曾探索過在 [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot) 上的可能性。
|
||||
|
||||
Once conditions clear it returns to **"Chill Mode"** for stability and predictability.
|
||||
目前最新版本主要支援： comma3 / 3X 以及 O3 / O3L / O3XL 等社群硬體。
|
||||
針對 EON / C1.5 / C2 等舊款硬體，最後支援的版本位於 [d2 分支](https://github.com/dragonpilot-community/dragonpilot/tree/d2)。
|
||||
無論您手上是哪一款設備，都代表著您對開源駕駛輔助的一份熱情。
|
||||
|
||||
**Note: Stay attentive as "Experimental Mode" is an alpha feature and mistakes are expected!**
|
||||
## **🫂 加入我們，成為「尋龍者」的一份子**
|
||||
|
||||
---
|
||||
`dragonpilot` 的成長，離不開每一位使用者的貢獻與回饋。我們是一個以**公開、透明**為原則的溫暖社群，希望在這裡能與所有對 openpilot / dragonpilot 有興趣的用戶分享、交流開發與使用上的經驗。
|
||||
|
||||
### 🎭 Driving Personalities
|
||||
[**歡迎加入我們的 Facebook 社團進行交流！**](https://www.facebook.com/groups/930190251238639)
|
||||
|
||||
With **"Driving Personalities"**, you choose how the vehicle behaves with four adjustable profiles:
|
||||
## **❤️ 特別感謝**
|
||||
|
||||
- **Traffic:** Catered towards stop-and-go traffic by minimizing gaps and delays
|
||||
- **Aggressive:** Aimed to provide tighter following distances and quicker reactions
|
||||
- **Standard:** Useful for a balanced, all-purpose driving
|
||||
- **Relaxed:** A smoother driving experience with larger following distance gaps
|
||||
`dragonpilot` 從創立至今，從未打算透過 Patreon 等平台進行任何形式的募資。我們的初衷是建立一個讓大家能一起學習、一起成長的社群。It's all about fun, not money.
|
||||
|
||||
Each profile can be fine-tuned to change the desired following distance, acceleration, and braking style letting you shape **FrogPilot**'s behavior to match your own driving preferences! Profiles can be switched instantly using the following distance button on the steering wheel, while **"Traffic Mode"** can be enabled by simply holding down the following distance button.
|
||||
然而，我們仍要對那些自發性支持本專案的朋友們，致上最誠摯的感謝。正是因為有您們的鼓勵，我們才有更大的動力持續前進。
|
||||
|
||||
---
|
||||
[**我們的贊助者名單**](SPONSORS.md)
|
||||
|
||||
### 📏 Speed Limit Controller (SLC)
|
||||
### **安全聲明**
|
||||
|
||||
With **"Speed Limit Controller"**, **FrogPilot** automatically adapts to the road's posted speed using information from downloaded **["OpenStreetMap"](https://www.openstreetmap.org)** maps, online **["Mapbox"](https://www.mapbox.com)** data, and the vehicle's dashboard (if supported).
|
||||
`dragonpilot` 是一種駕駛**輔助**系統，並非全自動駕駛。它旨在減輕您的駕駛疲勞，提升行車安全，但駕駛人仍需時刻保持專注，並隨時準備接管車輛。請務必遵守您所在地區的交通法規。
|
||||
|
||||
Offsets let you fine-tune how closely **FrogPilot** follows posted limits across different speed ranges allowing you to cruise slightly above or below for a more natural driving experience. If no speed limit is available, you can choose whether **FrogPilot** drives at the set speed, falls back to the last known speed limit, or uses **"Experimental Mode"** to estimate one with the driving model.
|
||||
**最後，再次感謝您的到來。**
|
||||
|
||||
Maps can be downloaded directly in settings and updated automatically on a schedule ensuring your device always has the latest speed limits!
|
||||
|
||||
**Note: Speed limits are only as accurate as the available speed limit data. Always stay attentive and adjust your speed when necessary!**
|
||||
|
||||
---
|
||||
|
||||
### 🎨 Themes
|
||||
|
||||
With **"Themes"**, you can personalize **FrogPilot**'s driving screen to make it uniquely yours! Choose from:
|
||||
|
||||
- **Color Schemes**
|
||||
- **Icon Packs**
|
||||
- **Sound Packs**
|
||||
- **Turn Signal Animations**
|
||||
- **Steering Wheel Icons**
|
||||
|
||||
Enjoy pre-existing **FrogPilot** and seasonal holiday themes, or you can create your own with the **"Theme Maker"** and even share them with the community! For extra fun, enable features like the Mario Kart–style **"Rainbow Path"** or **"Random Events"** that add playful visual effects while you drive!
|
||||
|
||||
---
|
||||
|
||||
And lots more! From safety enhancements to personalization options, **FrogPilot** continues to evolve with features that put you in control. Check it out today for yourself!
|
||||
|
||||
---
|
||||
|
||||
🔧 Branches
|
||||
------
|
||||
| Branch | Install URL | Description | Recommended For |
|
||||
|----------------------------|---------------------------|--------------------------------------------------------|--------------------------|
|
||||
| FrogPilot | frogpilot.download | The main release branch. | Everyone |
|
||||
| FrogPilot‑Staging | staging.frogpilot.download| Beta branch with upcoming features. Expect bugs! | Early Adopters |
|
||||
| FrogPilot‑Testing | testing.frogpilot.download| Alpha branch with bleeding-edge features. Breaks often!| Advanced Testers |
|
||||
| FrogPilot‑Development| No :) | Active development branch. Don't use! | **FrogPilot** Developers|
|
||||
| MAKE‑PRS‑HERE | No :) | Workspace for pull requests. Don't use! | Contributors |
|
||||
|
||||
🧰 How to Install
|
||||
------
|
||||
|
||||
The easiest way to install **FrogPilot** is by entering this URL on the installation screen:
|
||||
|
||||
```
|
||||
frogpilot.download
|
||||
```
|
||||
|
||||
**DO NOT** install the **FrogPilot-Development** branch. I'm constantly breaking things on there, so unless you don't want to use **FrogPilot**, **NEVER** install it!
|
||||
|
||||
|
||||
|
||||
🐞 Bug Reports / Feature Requests
|
||||
------
|
||||
|
||||
If you run into bugs, issues, or have ideas for new features, please post about it on the **[FrogPilot Discord](https://discord.gg/frogpilot)**! Feedback helps improve **FrogPilot** and create a better experience for everyone!
|
||||
|
||||
To report a bug, please post it in [**#bug-reports**](https://discord.com/channels/1137853399715549214/1162100167110053888).
|
||||
To request a feature, please post it in [**#feature-requests**](https://discord.com/channels/1137853399715549214/1160318669839147259).
|
||||
|
||||
Please include as much detail as possible! Photos, videos, log files, or anything that can help explain the issue or idea are very helpful!
|
||||
|
||||
I'll do my best to respond promptly, but not every request can be addressed right away. Your feedback is always appreciated and helps make **FrogPilot** the best it can be!
|
||||
|
||||
📋 Credits
|
||||
------
|
||||
|
||||
* [Aidenir](https://github.com/Aidenir)
|
||||
* [AlexandreSato](https://github.com/AlexandreSato)
|
||||
* [cfranyota](https://github.com/cfranyota)
|
||||
* [cydia2020](https://github.com/cydia2020)
|
||||
* [dragonpilot-community](https://github.com/dragonpilot-community)
|
||||
* [ErichMoraga](https://github.com/ErichMoraga)
|
||||
* [garrettpall](https://github.com/garrettpall)
|
||||
* [jakethesnake420](https://github.com/jakethesnake420)
|
||||
* [jyoung8607](https://github.com/jyoung8607)
|
||||
* [mike8643](https://github.com/mike8643)
|
||||
* [neokii](https://github.com/neokii)
|
||||
* [OPGM](https://github.com/opgm)
|
||||
* [OPKR](https://github.com/openpilotkr)
|
||||
* [pfeiferj](https://github.com/pfeiferj)
|
||||
* [realfast](https://github.com/realfast)
|
||||
* [syncword](https://github.com/syncword)
|
||||
* [twilsonco](https://github.com/twilsonco)
|
||||
|
||||
Star History
|
||||
------
|
||||
|
||||
[](https://www.star-history.com/#FrogAi/FrogPilot&Date)
|
||||
**期待與您一同在智慧駕駛的道路上，乘「龍」而行！**
|
||||
74
README_EN.md
Normal file
74
README_EN.md
Normal file
@ -0,0 +1,74 @@
|
||||
|
||||
|
||||
[Read this in Chinese](README.md)
|
||||
|
||||
# **🐲 dragonpilot - Bringing the Spirit of the Dragon to Your Car**
|
||||
|
||||
**Join us on a smarter, more thoughtful driving journey.**
|
||||
|
||||
## **👋 Welcome, friend!**
|
||||
|
||||
`dragonpilot` was launched in 2019 by three early openpilot enthusiasts from the Chinese community. Our mission was simple: create a friendly space for users to share experiences, provide easier setup help, and add features tailored for local needs.
|
||||
|
||||
Localization has always been at the heart of what we do—starting with a fully Chinese interface. This made `dragonpilot` quickly popular in Chinese-speaking regions and helped our user base grow into one of the largest worldwide. That community support is what keeps us moving forward.
|
||||
|
||||
Built on top of the powerful [openpilot](https://github.com/commaai/openpilot)—an open-source driver assistance system rated by Consumer Reports as outperforming commercial offerings—we add localized refinements and user-focused features to create a driving companion that truly fits your needs. (You can also see the [original openpilot README](README_OPENPILOT.md) preserved in our repo.)
|
||||
|
||||
The name `dragonpilot` reflects our vision: like the dragon of mythology, it is strong and wise, guarding your safety on the road. In Chinese culture, the dragon is also a symbol of luck and strength, representing our roots and pride.
|
||||
|
||||
## **✨ Milestones**
|
||||
|
||||
Beyond carrying forward openpilot's core strengths, we've reached several milestones inspired by community feedback:
|
||||
|
||||
* **🚘 Always Lane Keep Assist (ALKA)**
|
||||
|
||||
More than a feature—it's part of the `dragonpilot` philosophy. Introduced as early as [version 0.6.2](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199), first tested on a 2017 Lexus IS300h, then expanded to Toyota's lineup and beyond. ALKA helps keep your vehicle steadily centered, giving you extra confidence on the road.
|
||||
|
||||
* **🌐 First to add multilingual support**
|
||||
|
||||
Before openpilot officially supported it, we had already introduced multiple languages. `dragonpilot` fully supports Traditional Chinese, Simplified Chinese, and English.
|
||||
|
||||
* **💻 Only community fork to support multiple hardware platforms at once**
|
||||
|
||||
We uniquely worked to make the project run on EON, comma two, comma 3, and Jetson—serving the widest range of users possible.
|
||||
Additionally, after the comma.ai team deprecated the comma 3 in version 0.10.0, we remain the only community fork to offer full, simultaneous support for the comma 3, comma 3X, and the O3, O3L, and O3XL (the O3 series being third-party hardware).
|
||||
|
||||
* **📜 Once recognized as the #1 openpilot fork**
|
||||
|
||||
Thanks to an active community and continuous innovation, `dragonpilot` was once the largest openpilot fork officially recognized by comma ai. This honor belongs to everyone who contributed.
|
||||
|
||||
## **🧑💻 Design Philosophy - Less is More**
|
||||
|
||||
As openpilot's AI grows stronger, many features that once required manual tuning are now handled by advanced models. That's why our focus has returned to **“minimal changes.”**
|
||||
|
||||
We aim to give you the purest, most official-like openpilot driving experience—while preserving `dragonpilot`'s classic, community-loved features. With a solid AI foundation, simplicity is strength.
|
||||
|
||||
## **🛠️ Hardware Journey**
|
||||
|
||||
From the early **EON**, to official devices like **comma two / three (C2/C3/C3X)**, to creative community builds (**C1.5, O2, O3, O3L, O3XL, etc.**), and even experiments with [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot).
|
||||
|
||||
Currently, the latest versions support: **comma3 / 3X** and community hardware like **O3 / O3L / O3XL**.
|
||||
Older devices such as **EON / C1.5 / C2** are supported in the [d2 branch](https://github.com/dragonpilot-community/dragonpilot/tree/d2).
|
||||
Whatever device you're on, it represents your passion for open-source driver assistance.
|
||||
|
||||
## **🫂 Join Us – Become a “Dragon Seeker”**
|
||||
|
||||
`dragonpilot` thrives thanks to every user's contributions and feedback. We're an open, transparent, and welcoming community where enthusiasts can share experiences with openpilot and `dragonpilot`.
|
||||
|
||||
[**Join our Facebook group here!**](https://www.facebook.com/groups/930190251238639)
|
||||
|
||||
## **❤️ Special Thanks**
|
||||
|
||||
Since day one, `dragonpilot` has never asked for funding through Patreon or similar platforms. Our vision is a community where everyone learns and grows together. It's about fun, not money.
|
||||
|
||||
That said, we're deeply grateful to those who voluntarily supported the project. Your encouragement keeps us motivated to keep building.
|
||||
|
||||
[**See our sponsors**](SPONSORS.md)
|
||||
|
||||
### **Safety Notice**
|
||||
|
||||
`dragonpilot` is a driver **assistance** system, not full self-driving. It reduces fatigue and improves safety, but you must remain alert and ready to take control at all times. Always follow your local traffic laws.
|
||||
|
||||
**Thanks again for being here.**
|
||||
|
||||
**We look forward to riding the “dragon” with you on the road to smarter driving!**
|
||||
107
README_OPENPILOT.md
Normal file
107
README_OPENPILOT.md
Normal file
@ -0,0 +1,107 @@
|
||||
<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 300+ 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://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
|
||||
[](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>
|
||||
|
||||
|
||||
Using openpilot in a car
|
||||
------
|
||||
|
||||
To use openpilot in a car, you need four things:
|
||||
1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
|
||||
2. **Software:** The setup procedure for the comma 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 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.
|
||||
|
||||
### Branches
|
||||
| branch | URL | description |
|
||||
|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
|
||||
| `release3` | openpilot.comma.ai | This is openpilot's release branch. |
|
||||
| `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
|
||||
| `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
|
||||
| `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
|
||||
|
||||
To start developing openpilot
|
||||
------
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
|
||||
|
||||
* Join the [community Discord](https://discord.comma.ai)
|
||||
* Check out [the contributing docs](docs/CONTRIBUTING.md)
|
||||
* Check out the [openpilot tools](tools/)
|
||||
* Code documentation lives at https://docs.comma.ai
|
||||
* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
<details>
|
||||
<summary>MIT Licensed</summary>
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
</details>
|
||||
|
||||
<details>
|
||||
<summary>User Data and comma Account</summary>
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
</details>
|
||||
58
RELEASES.md
58
RELEASES.md
@ -1,3 +1,61 @@
|
||||
Version 0.10.1 (2025-09-08)
|
||||
========================
|
||||
* New driving model #36276
|
||||
* World Model: removed global localization inputs
|
||||
* World Model: 2x the number of parameters
|
||||
* World Model: trained on 4x the number of segments
|
||||
* VAE Compression Model: new architecture and training objective
|
||||
* Driving Vision Model: trained on 4x the number of segments
|
||||
* New Driver Monitoring model #36198
|
||||
* Acura TLX 2021 support thanks to MVL!
|
||||
* Honda City 2023 support thanks to vanillagorillaa and drFritz!
|
||||
* Honda N-Box 2018 support thanks to miettal!
|
||||
* Honda Odyssey 2021-25 support thanks to csouers and MVL!
|
||||
* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
|
||||
|
||||
Version 0.10.0 (2025-08-05)
|
||||
========================
|
||||
* New driving model
|
||||
* New training architecture
|
||||
* Described in our CVPR paper: "Learning to Drive from a World Model"
|
||||
* Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
|
||||
* Action from lateral MPC as training objective replaced by E2E planning from World Model
|
||||
* Low-speed lead car ground-truth fixes
|
||||
* Enable live-learned steering actuation delay
|
||||
* Opt-in audio recording for dashcam video
|
||||
* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
|
||||
* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
|
||||
Version 0.9.9 (2025-05-23)
|
||||
========================
|
||||
* New driving model
|
||||
* New training architecture using parts from MLSIM
|
||||
* Steering actuation delay is now learned online
|
||||
* Ford Escape 2023-24 support thanks to incognitojam!
|
||||
* Ford Kuga 2024 support thanks to incognitojam!
|
||||
* Hyundai Nexo 2021 support thanks to sunnyhaibin!
|
||||
* Tesla Model 3 and Y support thanks to lukasloetkolben!
|
||||
* Lexus RC 2023 support thanks to nelsonjchen!
|
||||
|
||||
Version 0.9.8 (2025-02-28)
|
||||
========================
|
||||
* New driving model
|
||||
* Model now gates applying positive acceleration in Chill mode
|
||||
* New driver monitoring model
|
||||
* Reduced false positives related to passengers
|
||||
* Image processing pipeline moved to the ISP
|
||||
* More GPU time for bigger driving models
|
||||
* Power draw reduced 0.5W, which means your device runs cooler
|
||||
* Added toggle to enable driver monitoring even when openpilot is not engaged
|
||||
* Localizer rewritten to remove GPS dependency at runtime
|
||||
* Firehose Mode for maximizing your training data uploads
|
||||
* Enable openpilot longitudinal control for Ford Q3 vehicles
|
||||
* New Toyota TSS2 longitudinal tune
|
||||
* Rivian R1S and R1T support thanks to lukasloetkolben!
|
||||
* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
|
||||
|
||||
Version 0.9.7 (2024-06-13)
|
||||
========================
|
||||
* New driving model
|
||||
|
||||
224
SConstruct
Normal file
224
SConstruct
Normal file
@ -0,0 +1,224 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import shlex
|
||||
import numpy as np
|
||||
|
||||
import SCons.Errors
|
||||
|
||||
SCons.Warnings.warningAsException(True)
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
|
||||
|
||||
AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers')
|
||||
AddOption('--asan', action='store_true', help='turn on ASAN')
|
||||
AddOption('--ubsan', action='store_true', help='turn on UBSan')
|
||||
AddOption('--mutation', action='store_true', help='generate mutation-ready code')
|
||||
AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
|
||||
AddOption('--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.')
|
||||
|
||||
# Detect platform
|
||||
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 os.path.isfile('/TICI'):
|
||||
arch = "larch64"
|
||||
assert arch in [
|
||||
"larch64", # linux tici arm64
|
||||
"aarch64", # linux pc arm64
|
||||
"x86_64", # linux pc x64
|
||||
"Darwin", # macOS arm64 (x86 not supported)
|
||||
]
|
||||
|
||||
env = Environment(
|
||||
ENV={
|
||||
"PATH": os.environ['PATH'],
|
||||
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
|
||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
|
||||
},
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
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=["-std=gnu11"],
|
||||
CXXFLAGS=["-std=c++1z"],
|
||||
CPPPATH=[
|
||||
"#",
|
||||
"#msgq",
|
||||
"#third_party",
|
||||
"#third_party/json11",
|
||||
"#third_party/linux/include",
|
||||
"#third_party/acados/include",
|
||||
"#third_party/acados/include/blasfeo/include",
|
||||
"#third_party/acados/include/hpipm/include",
|
||||
"#third_party/catch2/include",
|
||||
"#third_party/libyuv/include",
|
||||
],
|
||||
LIBPATH=[
|
||||
"#common",
|
||||
"#msgq_repo",
|
||||
"#third_party",
|
||||
"#selfdrive/pandad",
|
||||
"#rednose/helpers",
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
],
|
||||
RPATH=[],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
REDNOSE_ROOT="#",
|
||||
tools=["default", "cython", "compilation_db", "rednose_filter"],
|
||||
toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
|
||||
)
|
||||
|
||||
# Arch-specific flags and paths
|
||||
if arch == "larch64":
|
||||
env.Append(CPPPATH=["#third_party/opencl/include"])
|
||||
env.Append(LIBPATH=[
|
||||
"/usr/local/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/usr/lib/aarch64-linux-gnu",
|
||||
])
|
||||
arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
|
||||
env.Append(CCFLAGS=arch_flags)
|
||||
env.Append(CXXFLAGS=arch_flags)
|
||||
elif arch == "Darwin":
|
||||
env.Append(LIBPATH=[
|
||||
f"{brew_prefix}/lib",
|
||||
f"{brew_prefix}/opt/openssl@3.0/lib",
|
||||
f"{brew_prefix}/opt/llvm/lib/c++",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
])
|
||||
env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
|
||||
env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
|
||||
env.Append(CPPPATH=[
|
||||
f"{brew_prefix}/include",
|
||||
f"{brew_prefix}/opt/openssl@3.0/include",
|
||||
])
|
||||
else:
|
||||
env.Append(LIBPATH=[
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
])
|
||||
|
||||
# Sanitizers and extra CCFLAGS from CLI
|
||||
if GetOption('asan'):
|
||||
env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
|
||||
env.Append(LINKFLAGS=["-fsanitize=address"])
|
||||
elif GetOption('ubsan'):
|
||||
env.Append(CCFLAGS=["-fsanitize=undefined"])
|
||||
env.Append(LINKFLAGS=["-fsanitize=undefined"])
|
||||
|
||||
_extra_cc = shlex.split(GetOption('ccflags') or '')
|
||||
if _extra_cc:
|
||||
env.Append(CCFLAGS=_extra_cc)
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
|
||||
|
||||
# progress output
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
def progress_function(node):
|
||||
global node_count
|
||||
node_count += node_interval
|
||||
sys.stderr.write("progress: %d\n" % node_count)
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
# ********** Cython build environment **********
|
||||
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"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
np_version = SCons.Script.Value(np.__version__)
|
||||
Export('envCython', 'np_version')
|
||||
|
||||
Export('env', 'arch')
|
||||
|
||||
# Setup cache dir
|
||||
cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
|
||||
# ********** start building stuff **********
|
||||
|
||||
# Build common module
|
||||
SConscript(['common/SConscript'])
|
||||
Import('_common')
|
||||
common = [_common, 'json11', 'zmq']
|
||||
Export('common')
|
||||
|
||||
# Build messaging (cereal + msgq + socketmaster + their dependencies)
|
||||
# Enable swaglog include in submodules
|
||||
env_swaglog = env.Clone()
|
||||
env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
|
||||
SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
|
||||
SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
|
||||
Import('socketmaster', 'msgq')
|
||||
messaging = [socketmaster, msgq, 'capnp', 'kj',]
|
||||
Export('messaging')
|
||||
|
||||
|
||||
# Build other submodules
|
||||
SConscript(['panda/SConscript'])
|
||||
SConscript(['panda_tici/SConscript'])
|
||||
|
||||
# Build rednose library
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build system services
|
||||
SConscript([
|
||||
'system/ubloxd/SConscript',
|
||||
'system/loggerd/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'])
|
||||
|
||||
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
26
SPONSORS.md
Normal file
26
SPONSORS.md
Normal file
@ -0,0 +1,26 @@
|
||||
# Sponsors 贊助者
|
||||
|
||||
我們誠摯感謝以下贊助者提供的硬體資源，讓專案能夠在多種平台上進行測試與驗證。
|
||||
|
||||
We sincerely thank the following sponsors for providing hardware resources, which enable the project to be tested and validated across multiple platforms.
|
||||
|
||||
---
|
||||
|
||||
## 贊助者列表 Sponsors
|
||||
|
||||
| 贊助者 Sponsor | 設備 Deices | 備註 Notes |
|
||||
| -------------- | ----------- | ---------- |
|
||||
| BlueGood | <ul><li>Radar Filter x 2</li><li>sDSU x1</li></ul> | - |
|
||||
| Chia Chun Lee | <ul><li>C3 Quick Mount x1</li></ul> | - |
|
||||
| CloudJ | <ul><li>C3X x1</li></ul> | - |
|
||||
| FareWay | <ul><li>EON Quick Mount x1</li><li>C2/C3 Quick Mount x1</li></ul> | Special thanks for fixing my good old EON |
|
||||
| Fred Wang | <ul><li>Oneplus 3t x1</li></ul> | - |
|
||||
| Saber Huang | <ul><li>O3L x1</li></ul> | - |
|
||||
| [馬威 Mr. One](https://shop61532546.taobao.com/) | <ul><li>O3 x 1</li><li>O3 (Dev) x1</li><li>O3XL x1</li><li>Red Panda x1</li><li>Panda Jungle v1 x1</li></ul> | - |
|
||||
| 門文梁 | <ul><li>C1.5 x1</li></ul> | - |
|
||||
|
||||
---
|
||||
|
||||
🙏 沒有你們的支持，我們無法讓專案在這麼多硬體平台上持續成長與驗證。
|
||||
|
||||
Without your support, this project could not continue to grow and be validated across so many hardware platforms.
|
||||
@ -1,11 +1,6 @@
|
||||
# What is cereal? [](https://github.com/commaai/cereal/actions) [](https://codecov.io/gh/commaai/cereal)
|
||||
# What is cereal?
|
||||
|
||||
cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
|
||||
|
||||
Imagine this use case:
|
||||
* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
|
||||
* A calibration process subscribes to the `sensorEvents` packet to use the IMU
|
||||
* A localization process subscribes to the `sensorEvents` packet to use the IMU also
|
||||
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
|
||||
@ -32,11 +27,51 @@ Forks of [openpilot](https://github.com/commaai/openpilot) might want to add thi
|
||||
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 cereal/openpilot and your fork.**
|
||||
fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
|
||||
|
||||
## Pub Sub Backends
|
||||
An example of compatible changes:
|
||||
```diff
|
||||
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
|
||||
index 3348e859e..3365c7b98 100644
|
||||
--- a/cereal/custom.capnp
|
||||
+++ b/cereal/custom.capnp
|
||||
@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
|
||||
-struct CustomReserved0 @0x81c2f05a394cf4af {
|
||||
+struct SteeringInfo @0x81c2f05a394cf4af {
|
||||
+ active @0 :Bool;
|
||||
+ steeringAngleDeg @1 :Float32;
|
||||
+ steeringRateDeg @2 :Float32;
|
||||
+ steeringAccelDeg @3 :Float32;
|
||||
}
|
||||
|
||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
|
||||
diff --git a/cereal/log.capnp b/cereal/log.capnp
|
||||
index 1209f3fd9..b189f58b6 100644
|
||||
--- a/cereal/log.capnp
|
||||
+++ b/cereal/log.capnp
|
||||
@@ -2558,14 +2558,14 @@ struct Event {
|
||||
|
||||
# DO change the name of the field
|
||||
# DON'T change anything after the "@"
|
||||
- customReservedRawData0 @124 :Data;
|
||||
+ rawCanData @124 :Data;
|
||||
customReservedRawData1 @125 :Data;
|
||||
customReservedRawData2 @126 :Data;
|
||||
|
||||
# DO change the name of the field and struct
|
||||
# DON'T change the ID (e.g. @107)
|
||||
# DON'T change which struct it points to
|
||||
- customReserved0 @107 :Custom.CustomReserved0;
|
||||
+ steeringInfo @107 :Custom.SteeringInfo;
|
||||
customReserved1 @108 :Custom.CustomReserved1;
|
||||
customReserved2 @109 :Custom.CustomReserved2;
|
||||
customReserved3 @110 :Custom.CustomReserved3;
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
Example
|
||||
---
|
||||
|
||||
20
cereal/SConscript
Normal file
20
cereal/SConscript
Normal file
@ -0,0 +1,20 @@
|
||||
Import('env', 'common', 'msgq')
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
|
||||
# Build cereal
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
# Build messaging
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
|
||||
|
||||
socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
|
||||
|
||||
Export('cereal', 'socketmaster')
|
||||
@ -1,9 +1,11 @@
|
||||
import os
|
||||
import capnp
|
||||
from importlib.resources import as_file, files
|
||||
|
||||
CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
|
||||
capnp.remove_import_hook()
|
||||
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
|
||||
with as_file(files("cereal")) as fspath:
|
||||
CEREAL_PATH = fspath.as_posix()
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
|
||||
|
||||
711
cereal/car.capnp
711
cereal/car.capnp
@ -1,711 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x8e2af1e708af8b8d;
|
||||
|
||||
# ******* events causing controls state machine transition *******
|
||||
|
||||
struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
|
||||
enum EventName @0xbaa8c5d505f727de {
|
||||
canError @0;
|
||||
steerUnavailable @1;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
espDisabled @7;
|
||||
wrongCarMode @8;
|
||||
steerTempUnavailable @9;
|
||||
reverseGear @10;
|
||||
buttonCancel @11;
|
||||
buttonEnable @12;
|
||||
pedalPressed @13; # exits active state
|
||||
preEnableStandstill @73; # added during pre-enable state with brake
|
||||
gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
|
||||
steerOverride @114;
|
||||
cruiseDisabled @14;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
calibrationIncomplete @20;
|
||||
calibrationInvalid @21;
|
||||
calibrationRecalibrating @117;
|
||||
controlsMismatch @22;
|
||||
pcmEnable @23;
|
||||
pcmDisable @24;
|
||||
radarFault @26;
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
joystickDebug @34;
|
||||
steerTempUnavailableSilent @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
driverDistracted @39;
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
lowBattery @48;
|
||||
accFaulted @51;
|
||||
sensorDataInvalid @52;
|
||||
commIssue @53;
|
||||
commIssueAvgFreq @109;
|
||||
tooDistracted @54;
|
||||
posenetInvalid @55;
|
||||
soundsUnavailable @56;
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
lowMemory @63;
|
||||
stockAeb @64;
|
||||
ldw @65;
|
||||
carUnrecognized @66;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
laneChangeBlocked @71;
|
||||
relayMalfunction @72;
|
||||
stockFcw @74;
|
||||
startup @75;
|
||||
startupNoCar @76;
|
||||
startupNoControl @77;
|
||||
startupNoSecOcKey @121;
|
||||
startupMaster @78;
|
||||
startupNoFw @104;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
belowEngageSpeed @84;
|
||||
noGps @85;
|
||||
wrongCruiseMode @87;
|
||||
modeldLagging @89;
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
cameraMalfunction @92;
|
||||
cameraFrameRate @110;
|
||||
processNotRunning @95;
|
||||
dashcamMode @96;
|
||||
controlsInitializing @98;
|
||||
usbError @99;
|
||||
roadCameraError @100;
|
||||
driverCameraError @101;
|
||||
wideRoadCameraError @102;
|
||||
highCpuUsage @105;
|
||||
cruiseMismatch @106;
|
||||
lkasDisabled @107;
|
||||
canBusMissing @111;
|
||||
controlsdLagging @112;
|
||||
resumeBlocked @113;
|
||||
steerTimeLimit @115;
|
||||
vehicleSensorsInvalid @116;
|
||||
locationdTemporaryError @103;
|
||||
locationdPermanentError @118;
|
||||
paramsdTemporaryError @50;
|
||||
paramsdPermanentError @119;
|
||||
actuatorsApiUnavailable @120;
|
||||
|
||||
radarCanErrorDEPRECATED @15;
|
||||
communityFeatureDisallowedDEPRECATED @62;
|
||||
radarCommIssueDEPRECATED @67;
|
||||
driverMonitorLowAccDEPRECATED @68;
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
invalidGiraffeToyotaDEPRECATED @60;
|
||||
internetConnectivityNeededDEPRECATED @61;
|
||||
whitePandaUnsupportedDEPRECATED @81;
|
||||
commIssueWarningDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
startupOneplusDEPRECATED @82;
|
||||
startupFuzzyFingerprintDEPRECATED @97;
|
||||
noTargetDEPRECATED @25;
|
||||
brakeUnavailableDEPRECATED @2;
|
||||
plannerErrorDEPRECATED @32;
|
||||
gpsMalfunctionDEPRECATED @94;
|
||||
}
|
||||
}
|
||||
|
||||
# ******* main car state @ 100hz *******
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
events @13 :List(CarEvent);
|
||||
|
||||
# CAN health
|
||||
canValid @26 :Bool; # invalid counter/checksums
|
||||
canTimeout @40 :Bool; # CAN bus dropped out
|
||||
canErrorCounter @48 :UInt32;
|
||||
|
||||
# car speed
|
||||
vEgo @1 :Float32; # best estimate of speed
|
||||
aEgo @16 :Float32; # best estimate of acceleration
|
||||
vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors
|
||||
vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI
|
||||
|
||||
yawRate @22 :Float32; # best estimate of yaw rate
|
||||
standstill @18 :Bool;
|
||||
wheelSpeeds @2 :WheelSpeeds;
|
||||
|
||||
# gas pedal, 0.0-1.0
|
||||
gas @3 :Float32; # this is user pedal only
|
||||
gasPressed @4 :Bool; # this is user pedal only
|
||||
|
||||
engineRpm @46 :Float32;
|
||||
|
||||
# brake pedal, 0.0-1.0
|
||||
brake @5 :Float32; # this is user pedal only
|
||||
brakePressed @6 :Bool; # this is user pedal only
|
||||
regenBraking @45 :Bool; # this is user pedal only
|
||||
parkingBrake @39 :Bool;
|
||||
brakeHoldActive @38 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngleDeg @7 :Float32;
|
||||
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
|
||||
steeringRateDeg @15 :Float32;
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
steerFaultTemporary @35 :Bool; # temporary EPS fault
|
||||
steerFaultPermanent @36 :Bool; # permanent EPS fault
|
||||
stockAeb @30 :Bool;
|
||||
stockFcw @31 :Bool;
|
||||
espDisabled @32 :Bool;
|
||||
accFaulted @42 :Bool;
|
||||
carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
|
||||
# gear
|
||||
gearShifter @14 :GearShifter;
|
||||
|
||||
# button presses
|
||||
buttonEvents @11 :List(ButtonEvent);
|
||||
leftBlinker @20 :Bool;
|
||||
rightBlinker @21 :Bool;
|
||||
genericToggle @23 :Bool;
|
||||
|
||||
# lock info
|
||||
doorOpen @24 :Bool;
|
||||
seatbeltUnlatched @25 :Bool;
|
||||
|
||||
# clutch (manual transmission only)
|
||||
clutchPressed @28 :Bool;
|
||||
|
||||
# blindspot sensors
|
||||
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
|
||||
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
|
||||
|
||||
fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
|
||||
charging @43 :Bool;
|
||||
|
||||
# process meta
|
||||
cumLagMs @50 :Float32;
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
fl @0 :Float32;
|
||||
fr @1 :Float32;
|
||||
rl @2 :Float32;
|
||||
rr @3 :Float32;
|
||||
}
|
||||
|
||||
struct CruiseState {
|
||||
enabled @0 :Bool;
|
||||
speed @1 :Float32;
|
||||
speedCluster @6 :Float32; # Set speed as shown on instrument cluster
|
||||
available @2 :Bool;
|
||||
speedOffset @3 :Float32;
|
||||
standstill @4 :Bool;
|
||||
nonAdaptive @5 :Bool;
|
||||
}
|
||||
|
||||
enum GearShifter {
|
||||
unknown @0;
|
||||
park @1;
|
||||
drive @2;
|
||||
neutral @3;
|
||||
reverse @4;
|
||||
sport @5;
|
||||
low @6;
|
||||
brake @7;
|
||||
eco @8;
|
||||
manumatic @9;
|
||||
}
|
||||
|
||||
# send on change
|
||||
struct ButtonEvent {
|
||||
pressed @0 :Bool;
|
||||
type @1 :Type;
|
||||
|
||||
enum Type {
|
||||
unknown @0;
|
||||
leftBlinker @1;
|
||||
rightBlinker @2;
|
||||
accelCruise @3;
|
||||
decelCruise @4;
|
||||
cancel @5;
|
||||
altButton1 @6;
|
||||
altButton2 @7;
|
||||
altButton3 @8;
|
||||
setCruise @9;
|
||||
resumeCruise @10;
|
||||
gapAdjustCruise @11;
|
||||
}
|
||||
}
|
||||
|
||||
# deprecated
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
brakeLightsDEPRECATED @19 :Bool;
|
||||
steeringRateLimitedDEPRECATED @29 :Bool;
|
||||
canMonoTimesDEPRECATED @12: List(UInt64);
|
||||
canRcvTimeoutDEPRECATED @49 :Bool;
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
|
||||
struct RadarData @0x888ad6581cf0aacb {
|
||||
errors @0 :List(Error);
|
||||
points @1 :List(RadarPoint);
|
||||
|
||||
enum Error {
|
||||
canError @0;
|
||||
fault @1;
|
||||
wrongConfig @2;
|
||||
}
|
||||
|
||||
# similar to LiveTracks
|
||||
# is one timestamp valid for all? I think so
|
||||
struct RadarPoint {
|
||||
trackId @0 :UInt64; # no trackId reuse
|
||||
|
||||
# these 3 are the minimum required
|
||||
dRel @1 :Float32; # m from the front bumper of the car
|
||||
yRel @2 :Float32; # m
|
||||
vRel @3 :Float32; # m/s
|
||||
|
||||
# these are optional and valid if they are not NaN
|
||||
aRel @4 :Float32; # m/s^2
|
||||
yvRel @5 :Float32; # m/s
|
||||
|
||||
# some radars flag measurements VS estimates
|
||||
measured @6 :Bool;
|
||||
}
|
||||
|
||||
# deprecated
|
||||
canMonoTimesDEPRECATED @2 :List(UInt64);
|
||||
}
|
||||
|
||||
# ******* car controls @ 100hz *******
|
||||
|
||||
struct CarControl {
|
||||
# must be true for any actuator commands to work
|
||||
enabled @0 :Bool;
|
||||
latActive @11: Bool;
|
||||
longActive @12: Bool;
|
||||
|
||||
# Actuator commands as computed by controlsd
|
||||
actuators @6 :Actuators;
|
||||
|
||||
# moved to CarOutput
|
||||
actuatorsOutputDEPRECATED @10 :Actuators;
|
||||
|
||||
leftBlinker @15: Bool;
|
||||
rightBlinker @16: Bool;
|
||||
|
||||
orientationNED @13 :List(Float32);
|
||||
angularVelocity @14 :List(Float32);
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
hudControl @5 :HUDControl;
|
||||
|
||||
struct Actuators {
|
||||
# range from 0.0 - 1.0
|
||||
gas @0: Float32;
|
||||
brake @1: Float32;
|
||||
# range from -1.0 - 1.0
|
||||
steer @2: Float32;
|
||||
# value sent over can to the car
|
||||
steerOutputCan @8: Float32;
|
||||
steeringAngleDeg @3: Float32;
|
||||
|
||||
curvature @7: Float32;
|
||||
|
||||
speed @6: Float32; # m/s
|
||||
accel @4: Float32; # m/s^2
|
||||
longControlState @5: LongControlState;
|
||||
|
||||
enum LongControlState @0xe40f3a917d908282{
|
||||
off @0;
|
||||
pid @1;
|
||||
stopping @2;
|
||||
starting @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
cancel @0: Bool;
|
||||
resume @1: Bool;
|
||||
override @4: Bool;
|
||||
speedOverrideDEPRECATED @2: Float32;
|
||||
accelOverrideDEPRECATED @3: Float32;
|
||||
}
|
||||
|
||||
struct HUDControl {
|
||||
speedVisible @0: Bool;
|
||||
setSpeed @1: Float32;
|
||||
lanesVisible @2: Bool;
|
||||
leadVisible @3: Bool;
|
||||
visualAlert @4: VisualAlert;
|
||||
audibleAlert @5: AudibleAlert;
|
||||
rightLaneVisible @6: Bool;
|
||||
leftLaneVisible @7: Bool;
|
||||
rightLaneDepart @8: Bool;
|
||||
leftLaneDepart @9: Bool;
|
||||
leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
|
||||
|
||||
enum VisualAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
fcw @1;
|
||||
steerRequired @2;
|
||||
brakePressed @3;
|
||||
wrongGear @4;
|
||||
seatbeltUnbuckled @5;
|
||||
speedTooHigh @6;
|
||||
ldw @7;
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
none @0;
|
||||
|
||||
engage @1;
|
||||
disengage @2;
|
||||
refuse @3;
|
||||
|
||||
warningSoft @4;
|
||||
warningImmediate @5;
|
||||
|
||||
prompt @6;
|
||||
promptRepeat @7;
|
||||
promptDistracted @8;
|
||||
}
|
||||
}
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
activeDEPRECATED @7 :Bool;
|
||||
rollDEPRECATED @8 :Float32;
|
||||
pitchDEPRECATED @9 :Float32;
|
||||
}
|
||||
|
||||
struct CarOutput {
|
||||
# Any car specific rate limits or quirks applied by
|
||||
# the CarController are reflected in actuatorsOutput
|
||||
# and matches what is sent to the car
|
||||
actuatorsOutput @0 :CarControl.Actuators;
|
||||
}
|
||||
|
||||
# ****** car param ******
|
||||
|
||||
struct CarParams {
|
||||
carName @0 :Text;
|
||||
carFingerprint @1 :Text;
|
||||
fuzzyFingerprint @55 :Bool;
|
||||
|
||||
notCar @66 :Bool; # flag for non-car robotics platforms
|
||||
|
||||
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableBsm @56 :Bool; # blind spot monitoring
|
||||
flags @64 :UInt32; # flags for car specific quirks
|
||||
experimentalLongitudinalAvailable @71 :Bool;
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
safetyConfigs @62 :List(SafetyConfig);
|
||||
alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
|
||||
|
||||
# Car docs fields
|
||||
maxLateralAccel @68 :Float32;
|
||||
autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
|
||||
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
|
||||
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
|
||||
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
|
||||
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
|
||||
|
||||
# things we can derive
|
||||
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
|
||||
tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear]
|
||||
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
|
||||
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
|
||||
|
||||
longitudinalTuning @25 :LongitudinalPIDTuning;
|
||||
lateralParams @48 :LateralParams;
|
||||
lateralTuning :union {
|
||||
pid @26 :LateralPIDTuning;
|
||||
indiDEPRECATED @27 :LateralINDITuning;
|
||||
lqrDEPRECATED @40 :LateralLQRTuning;
|
||||
torque @67 :LateralTorqueTuning;
|
||||
}
|
||||
|
||||
steerLimitAlert @28 :Bool;
|
||||
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
|
||||
|
||||
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
|
||||
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
|
||||
stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
|
||||
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
|
||||
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
|
||||
startAccel @32 :Float32; # Required acceleration to get car moving
|
||||
startingState @70 :Bool; # Does this car make use of special starting state
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
dashcamOnly @41: Bool;
|
||||
passive @73: Bool; # is openpilot in control?
|
||||
transmissionType @43 :TransmissionType;
|
||||
carFw @44 :List(CarFw);
|
||||
|
||||
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
|
||||
fingerprintSource @49: FingerprintSource;
|
||||
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
|
||||
|
||||
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
|
||||
|
||||
secOcRequired @74 :Bool; # Car requires SecOC message authentication to operate
|
||||
secOcKeyAvailable @75 :Bool; # Stored SecOC key loaded from params
|
||||
|
||||
struct SafetyConfig {
|
||||
safetyModel @0 :SafetyModel;
|
||||
safetyParam @3 :UInt16;
|
||||
safetyParamDEPRECATED @1 :Int16;
|
||||
safetyParam2DEPRECATED @2 :UInt32;
|
||||
}
|
||||
|
||||
struct LateralParams {
|
||||
torqueBP @0 :List(Int32);
|
||||
torqueV @1 :List(Int32);
|
||||
}
|
||||
|
||||
struct LateralPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kf @4 :Float32;
|
||||
}
|
||||
|
||||
struct LateralTorqueTuning {
|
||||
useSteeringAngle @0 :Bool;
|
||||
friction @3 :Float32;
|
||||
steeringAngleDeadzoneDeg @5 :Float32;
|
||||
latAccelFactor @6 :Float32;
|
||||
latAccelOffset @7 :Float32;
|
||||
kpDEPRECATED @1 :Float32;
|
||||
kiDEPRECATED @2 :Float32;
|
||||
kfDEPRECATED @4 :Float32;
|
||||
kdDEPRECATED @8 : Float32;
|
||||
}
|
||||
|
||||
struct LongitudinalPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kfDEPRECATED @6 :Float32;
|
||||
deadzoneBP @4 :List(Float32);
|
||||
deadzoneV @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LateralINDITuning {
|
||||
outerLoopGainBP @4 :List(Float32);
|
||||
outerLoopGainV @5 :List(Float32);
|
||||
innerLoopGainBP @6 :List(Float32);
|
||||
innerLoopGainV @7 :List(Float32);
|
||||
timeConstantBP @8 :List(Float32);
|
||||
timeConstantV @9 :List(Float32);
|
||||
actuatorEffectivenessBP @10 :List(Float32);
|
||||
actuatorEffectivenessV @11 :List(Float32);
|
||||
|
||||
outerLoopGainDEPRECATED @0 :Float32;
|
||||
innerLoopGainDEPRECATED @1 :Float32;
|
||||
timeConstantDEPRECATED @2 :Float32;
|
||||
actuatorEffectivenessDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
scale @0 :Float32;
|
||||
ki @1 :Float32;
|
||||
dcGain @2 :Float32;
|
||||
|
||||
# State space system
|
||||
a @3 :List(Float32);
|
||||
b @4 :List(Float32);
|
||||
c @5 :List(Float32);
|
||||
|
||||
k @6 :List(Float32); # LQR gain
|
||||
l @7 :List(Float32); # Kalman gain
|
||||
}
|
||||
|
||||
enum SafetyModel {
|
||||
silent @0;
|
||||
hondaNidec @1;
|
||||
toyota @2;
|
||||
elm327 @3;
|
||||
gm @4;
|
||||
hondaBoschGiraffe @5;
|
||||
ford @6;
|
||||
cadillac @7;
|
||||
hyundai @8;
|
||||
chrysler @9;
|
||||
tesla @10;
|
||||
subaru @11;
|
||||
gmPassive @12;
|
||||
mazda @13;
|
||||
nissan @14;
|
||||
volkswagen @15;
|
||||
toyotaIpas @16;
|
||||
allOutput @17;
|
||||
gmAscm @18;
|
||||
noOutput @19; # like silent but without silent CAN TXs
|
||||
hondaBosch @20;
|
||||
volkswagenPq @21;
|
||||
subaruPreglobal @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
volkswagenMlb @25;
|
||||
hongqi @26;
|
||||
body @27;
|
||||
hyundaiCanfd @28;
|
||||
volkswagenMqbEvo @29;
|
||||
chryslerCusw @30;
|
||||
psa @31;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
torque @0;
|
||||
angle @1;
|
||||
|
||||
curvatureDEPRECATED @2;
|
||||
}
|
||||
|
||||
enum TransmissionType {
|
||||
unknown @0;
|
||||
automatic @1; # Traditional auto, including DSG
|
||||
manual @2; # True "stick shift" only
|
||||
direct @3; # Electric vehicle or other direct drive
|
||||
cvt @4;
|
||||
}
|
||||
|
||||
struct CarFw {
|
||||
ecu @0 :Ecu;
|
||||
fwVersion @1 :Data;
|
||||
address @2 :UInt32;
|
||||
subAddress @3 :UInt8;
|
||||
responseAddress @4 :UInt32;
|
||||
request @5 :List(Data);
|
||||
brand @6 :Text;
|
||||
bus @7 :UInt8;
|
||||
logging @8 :Bool;
|
||||
obdMultiplexing @9 :Bool;
|
||||
}
|
||||
|
||||
enum Ecu {
|
||||
eps @0;
|
||||
abs @1;
|
||||
fwdRadar @2;
|
||||
fwdCamera @3;
|
||||
engine @4;
|
||||
unknown @5;
|
||||
transmission @8; # Transmission Control Module
|
||||
hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
|
||||
srs @9; # airbag
|
||||
gateway @10; # can gateway
|
||||
hud @11; # heads up display
|
||||
combinationMeter @12; # instrument cluster
|
||||
electricBrakeBooster @15;
|
||||
shiftByWire @16;
|
||||
adas @19;
|
||||
cornerRadar @21;
|
||||
hvac @20;
|
||||
parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
|
||||
epb @22; # electronic parking brake
|
||||
telematics @23;
|
||||
body @24; # body control module
|
||||
|
||||
# Toyota only
|
||||
dsu @6;
|
||||
|
||||
# Honda only
|
||||
vsa @13; # Vehicle Stability Assist
|
||||
programmedFuelInjection @14;
|
||||
|
||||
debug @17;
|
||||
}
|
||||
|
||||
enum FingerprintSource {
|
||||
can @0;
|
||||
fw @1;
|
||||
fixed @2;
|
||||
}
|
||||
|
||||
enum NetworkLocation {
|
||||
fwdCamera @0; # Standard/default integration at LKAS camera
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
enableGasInterceptor @2 :Bool;
|
||||
enableCameraDEPRECATED @4 :Bool;
|
||||
enableApgsDEPRECATED @6 :Bool;
|
||||
steerRateCostDEPRECATED @33 :Float32;
|
||||
isPandaBlackDEPRECATED @39 :Bool;
|
||||
hasStockCameraDEPRECATED @57 :Bool;
|
||||
safetyParamDEPRECATED @10 :Int16;
|
||||
safetyModelDEPRECATED @9 :SafetyModel;
|
||||
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
|
||||
minSpeedCanDEPRECATED @51 :Float32;
|
||||
communityFeatureDEPRECATED @46: Bool;
|
||||
startingAccelRateDEPRECATED @53 :Float32;
|
||||
steerMaxBPDEPRECATED @11 :List(Float32);
|
||||
steerMaxVDEPRECATED @12 :List(Float32);
|
||||
gasMaxBPDEPRECATED @13 :List(Float32);
|
||||
gasMaxVDEPRECATED @14 :List(Float32);
|
||||
brakeMaxBPDEPRECATED @15 :List(Float32);
|
||||
brakeMaxVDEPRECATED @16 :List(Float32);
|
||||
directAccelControlDEPRECATED @30 :Bool;
|
||||
maxSteeringAngleDegDEPRECATED @54 :Float32;
|
||||
longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
|
||||
}
|
||||
1
cereal/car.capnp
Symbolic link
1
cereal/car.capnp
Symbolic link
@ -0,0 +1 @@
|
||||
../opendbc_repo/opendbc/car/car.capnp
|
||||
@ -1,246 +1,74 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Car = import "car.capnp";
|
||||
|
||||
@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 FrogPilotCarControl {
|
||||
hudControl @0 :HUDControl;
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
struct HUDControl {
|
||||
audibleAlert @0 :AudibleAlert;
|
||||
|
||||
enum AudibleAlert {
|
||||
none @0;
|
||||
|
||||
engage @1;
|
||||
disengage @2;
|
||||
refuse @3;
|
||||
|
||||
warningSoft @4;
|
||||
warningImmediate @5;
|
||||
|
||||
prompt @6;
|
||||
promptRepeat @7;
|
||||
promptDistracted @8;
|
||||
|
||||
# Random Events
|
||||
angry @9;
|
||||
continued @10;
|
||||
dejaVu @11;
|
||||
doc @12;
|
||||
fart @13;
|
||||
firefox @14;
|
||||
goat @15;
|
||||
hal9000 @16;
|
||||
mail @17;
|
||||
nessie @18;
|
||||
noice @19;
|
||||
startup @20;
|
||||
thisIsFine @21;
|
||||
uwu @22;
|
||||
}
|
||||
}
|
||||
struct DpControlsState @0x81c2f05a394cf4af {
|
||||
alkaActive @0 :Bool;
|
||||
}
|
||||
|
||||
struct FrogPilotCarEvent @0x81c2f05a394cf4af {
|
||||
name @0 :EventName;
|
||||
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool;
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool;
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
|
||||
enum EventName @0xaedffd8f31e7b55d {
|
||||
blockUser @0;
|
||||
customStartupAlert @1;
|
||||
forcingStop @2;
|
||||
goatSteerSaturated @3;
|
||||
greenLight @4;
|
||||
holidayActive @5;
|
||||
laneChangeBlockedLoud @6;
|
||||
leadDeparting @7;
|
||||
noLaneAvailable @8;
|
||||
openpilotCrashed @9;
|
||||
pedalInterceptorNoBrake @10;
|
||||
speedLimitChanged @11;
|
||||
torqueNNLoad @12;
|
||||
trafficModeActive @13;
|
||||
trafficModeInactive @14;
|
||||
turningLeft @15;
|
||||
turningRight @16;
|
||||
|
||||
# Random Events
|
||||
accel30 @17;
|
||||
accel35 @18;
|
||||
accel40 @19;
|
||||
dejaVuCurve @20;
|
||||
firefoxSteerSaturated @21;
|
||||
hal9000 @22;
|
||||
openpilotCrashedRandomEvent @23;
|
||||
thisIsFineSteerSaturated @24;
|
||||
toBeContinued @25;
|
||||
vCruise69 @26;
|
||||
yourFrogTriedToKillMe @27;
|
||||
youveGotMail @28;
|
||||
}
|
||||
struct ModelExt @0xaedffd8f31e7b55d {
|
||||
leftEdgeDetected @0 :Bool;
|
||||
rightEdgeDetected @1 :Bool;
|
||||
}
|
||||
|
||||
struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
|
||||
canUsePedal @0 :Bool;
|
||||
canUseSDSU @1 :Bool;
|
||||
fpFlags @2 :UInt32;
|
||||
isHDA2 @3 :Bool;
|
||||
openpilotLongitudinalControlDisabled @4 :Bool;
|
||||
safetyConfigs @5 :List(SafetyConfig);
|
||||
|
||||
struct SafetyConfig {
|
||||
safetyParam @0 :UInt16;
|
||||
}
|
||||
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
|
||||
}
|
||||
|
||||
struct FrogPilotCarState @0xda96579883444c35 {
|
||||
accelPressed @0 :Bool;
|
||||
alwaysOnLateralAllowed @1 :Bool;
|
||||
alwaysOnLateralEnabled @2 :Bool;
|
||||
brakeLights @3 :Bool;
|
||||
dashboardSpeedLimit @4 :Float32;
|
||||
decelPressed @5 :Bool;
|
||||
distancePressed @6 :Bool;
|
||||
distanceLongPressed @7 :Bool;
|
||||
distanceVeryLongPressed @8 :Bool;
|
||||
ecoGear @9 :Bool;
|
||||
forceCoast @10 :Bool;
|
||||
pauseLateral @11 :Bool;
|
||||
pauseLongitudinal @12 :Bool;
|
||||
sportGear @13 :Bool;
|
||||
trafficModeEnabled @14 :Bool;
|
||||
|
||||
struct ButtonEvent {
|
||||
enum Type {
|
||||
lkas @0;
|
||||
}
|
||||
}
|
||||
struct CustomReserved3 @0xda96579883444c35 {
|
||||
}
|
||||
|
||||
struct FrogPilotControlsState @0x80ae746ee2596b11 {
|
||||
alertStatus @0 :AlertStatus;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
alertSize @3 :AlertSize;
|
||||
alertBlinkingRate @4 :Float32;
|
||||
alertType @5 :Text;
|
||||
alertSound @6 :Car.CarControl.HUDControl.AudibleAlert;
|
||||
|
||||
enum AlertSize {
|
||||
none @0; # don't display the alert
|
||||
small @1; # small box
|
||||
mid @2; # mid screen
|
||||
full @3; # full screen
|
||||
}
|
||||
|
||||
enum AlertStatus {
|
||||
normal @0; # low priority alert for user's convenience
|
||||
userPrompt @1; # mid priority alert that might require user intervention
|
||||
critical @2; # high priority alert that needs immediate user intervention
|
||||
frogpilot @3; # FrogPilot startup alert
|
||||
}
|
||||
struct CustomReserved4 @0x80ae746ee2596b11 {
|
||||
}
|
||||
|
||||
struct FrogPilotDeviceState @0xa5cd762cd951a455 {
|
||||
freeSpace @0 :Int16;
|
||||
usedSpace @1 :Int16;
|
||||
struct CustomReserved5 @0xa5cd762cd951a455 {
|
||||
}
|
||||
|
||||
struct FrogPilotModelDataV2 @0xf98d843bfd7004a3 {
|
||||
turnDirection @0 :TurnDirection;
|
||||
|
||||
enum TurnDirection {
|
||||
none @0;
|
||||
turnLeft @1;
|
||||
turnRight @2;
|
||||
}
|
||||
struct CustomReserved6 @0xf98d843bfd7004a3 {
|
||||
}
|
||||
|
||||
struct FrogPilotNavigation @0xf416ec09499d9d19 {
|
||||
approachingIntersection @0 :Bool;
|
||||
approachingTurn @1 :Bool;
|
||||
navigationSpeedLimit @2 :Float32;
|
||||
struct CustomReserved7 @0xb86e6369214c01c8 {
|
||||
}
|
||||
|
||||
struct FrogPilotPlan @0xa1680744031fdb2d {
|
||||
accelerationJerk @0 :Float32;
|
||||
accelerationJerkStock @1 :Float32;
|
||||
cscControllingSpeed @2 :Bool;
|
||||
cscSpeed @3 :Float32;
|
||||
cscTraining @4 :Bool;
|
||||
dangerJerk @5 :Float32;
|
||||
desiredFollowDistance @6 :Int64;
|
||||
experimentalMode @7 :Bool;
|
||||
forcingStop @8 :Bool;
|
||||
forcingStopLength @9 :Float32;
|
||||
frogpilotEvents @10 :List(FrogPilotCarEvent);
|
||||
increasedStoppedDistance @11 :Float32;
|
||||
lateralCheck @12 :Bool;
|
||||
laneWidthLeft @13 :Float32;
|
||||
laneWidthRight @14 :Float32;
|
||||
maxAcceleration @15 :Float32;
|
||||
minAcceleration @16 :Float32;
|
||||
redLight @17 :Bool;
|
||||
roadCurvature @18 :Float32;
|
||||
slcMapSpeedLimit @19 :Float32;
|
||||
slcMapboxSpeedLimit @20 :Float32;
|
||||
slcNextSpeedLimit @21 :Float32;
|
||||
slcOverriddenSpeed @22 :Float32;
|
||||
slcSpeedLimit @23 :Float32;
|
||||
slcSpeedLimitOffset @24 :Float32;
|
||||
slcSpeedLimitSource @25 :Text;
|
||||
speedJerk @26 :Float32;
|
||||
speedJerkStock @27 :Float32;
|
||||
speedLimitChanged @28 :Bool;
|
||||
tFollow @29 :Float32;
|
||||
themeUpdated @30 :Bool;
|
||||
togglesUpdated @31 :Bool;
|
||||
trackingLead @32 :Bool;
|
||||
unconfirmedSlcSpeedLimit @33 :Float32;
|
||||
vCruise @34 :Float32;
|
||||
weatherDaytime @35 :Bool;
|
||||
weatherId @36 :Int16;
|
||||
struct CustomReserved8 @0xf416ec09499d9d19 {
|
||||
}
|
||||
|
||||
struct FrogPilotRadarState @0xcb9fd56c7057593a {
|
||||
leadLeft @0 :LeadData;
|
||||
leadRight @1 :LeadData;
|
||||
|
||||
struct LeadData {
|
||||
dRel @0 :Float32;
|
||||
yRel @1 :Float32;
|
||||
vRel @2 :Float32;
|
||||
aRel @3 :Float32;
|
||||
vLead @4 :Float32;
|
||||
dPath @6 :Float32;
|
||||
vLat @7 :Float32;
|
||||
vLeadK @8 :Float32;
|
||||
aLeadK @9 :Float32;
|
||||
fcw @10 :Bool;
|
||||
status @11 :Bool;
|
||||
aLeadTau @12 :Float32;
|
||||
modelProb @13 :Float32;
|
||||
radar @14 :Bool;
|
||||
radarTrackId @15 :Int32 = -1;
|
||||
|
||||
aLeadDEPRECATED @5 :Float32;
|
||||
}
|
||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
||||
}
|
||||
|
||||
struct CustomReserved10 @0xcb9fd56c7057593a {
|
||||
}
|
||||
|
||||
struct CustomReserved11 @0xc2243c65e0340384 {
|
||||
}
|
||||
|
||||
struct CustomReserved12 @0x9ccdc8676701b412 {
|
||||
}
|
||||
|
||||
struct CustomReserved13 @0xcd96dafb67a082d0 {
|
||||
}
|
||||
|
||||
struct CustomReserved14 @0xb057204d7deadf3f {
|
||||
}
|
||||
|
||||
struct CustomReserved15 @0xbd443b539493bc68 {
|
||||
}
|
||||
|
||||
struct CustomReserved16 @0xfc6241ed8877b611 {
|
||||
}
|
||||
|
||||
struct CustomReserved17 @0xa30662f84033036c {
|
||||
}
|
||||
|
||||
struct CustomReserved18 @0xc86a3d38d13eb3ef {
|
||||
}
|
||||
|
||||
struct CustomReserved19 @0xa4f1eb3323f5f582 {
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Binary file not shown.
435
cereal/log.capnp
435
cereal/log.capnp
@ -17,6 +17,124 @@ struct Map(Key, Value) {
|
||||
}
|
||||
}
|
||||
|
||||
struct OnroadEvent @0xc4fa6047f024e718 {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
|
||||
enum EventName @0x91f1992a1f77fb03 {
|
||||
canError @0;
|
||||
steerUnavailable @1;
|
||||
wrongGear @2;
|
||||
doorOpen @3;
|
||||
seatbeltNotLatched @4;
|
||||
espDisabled @5;
|
||||
wrongCarMode @6;
|
||||
steerTempUnavailable @7;
|
||||
reverseGear @8;
|
||||
buttonCancel @9;
|
||||
buttonEnable @10;
|
||||
pedalPressed @11; # exits active state
|
||||
preEnableStandstill @12; # added during pre-enable state with brake
|
||||
gasPressedOverride @13; # added when user is pressing gas with no disengage on gas
|
||||
steerOverride @14;
|
||||
steerDisengage @94; # exits active state
|
||||
cruiseDisabled @15;
|
||||
speedTooLow @16;
|
||||
outOfSpace @17;
|
||||
overheat @18;
|
||||
calibrationIncomplete @19;
|
||||
calibrationInvalid @20;
|
||||
calibrationRecalibrating @21;
|
||||
controlsMismatch @22;
|
||||
pcmEnable @23;
|
||||
pcmDisable @24;
|
||||
radarFault @25;
|
||||
radarTempUnavailable @93;
|
||||
brakeHold @26;
|
||||
parkBrake @27;
|
||||
manualRestart @28;
|
||||
joystickDebug @29;
|
||||
longitudinalManeuver @30;
|
||||
steerTempUnavailableSilent @31;
|
||||
resumeRequired @32;
|
||||
preDriverDistracted @33;
|
||||
promptDriverDistracted @34;
|
||||
driverDistracted @35;
|
||||
preDriverUnresponsive @36;
|
||||
promptDriverUnresponsive @37;
|
||||
driverUnresponsive @38;
|
||||
belowSteerSpeed @39;
|
||||
lowBattery @40;
|
||||
accFaulted @41;
|
||||
sensorDataInvalid @42;
|
||||
commIssue @43;
|
||||
commIssueAvgFreq @44;
|
||||
tooDistracted @45;
|
||||
posenetInvalid @46;
|
||||
preLaneChangeLeft @48;
|
||||
preLaneChangeRight @49;
|
||||
laneChange @50;
|
||||
lowMemory @51;
|
||||
stockAeb @52;
|
||||
ldw @53;
|
||||
carUnrecognized @54;
|
||||
invalidLkasSetting @55;
|
||||
speedTooHigh @56;
|
||||
laneChangeBlocked @57;
|
||||
relayMalfunction @58;
|
||||
stockFcw @59;
|
||||
startup @60;
|
||||
startupNoCar @61;
|
||||
startupNoControl @62;
|
||||
startupNoSecOcKey @63;
|
||||
startupMaster @64;
|
||||
fcw @65;
|
||||
steerSaturated @66;
|
||||
belowEngageSpeed @67;
|
||||
noGps @68;
|
||||
wrongCruiseMode @69;
|
||||
modeldLagging @70;
|
||||
deviceFalling @71;
|
||||
fanMalfunction @72;
|
||||
cameraMalfunction @73;
|
||||
cameraFrameRate @74;
|
||||
processNotRunning @75;
|
||||
dashcamMode @76;
|
||||
selfdriveInitializing @77;
|
||||
usbError @78;
|
||||
cruiseMismatch @79;
|
||||
canBusMissing @80;
|
||||
selfdrivedLagging @81;
|
||||
resumeBlocked @82;
|
||||
steerTimeLimit @83;
|
||||
vehicleSensorsInvalid @84;
|
||||
locationdTemporaryError @85;
|
||||
locationdPermanentError @86;
|
||||
paramsdTemporaryError @87;
|
||||
paramsdPermanentError @88;
|
||||
actuatorsApiUnavailable @89;
|
||||
espActive @90;
|
||||
personalityChanged @91;
|
||||
aeb @92;
|
||||
userBookmark @95;
|
||||
excessiveActuation @96;
|
||||
audioFeedback @97;
|
||||
|
||||
soundsUnavailableDEPRECATED @47;
|
||||
}
|
||||
}
|
||||
|
||||
enum LongitudinalPersonality {
|
||||
aggressive @0;
|
||||
standard @1;
|
||||
@ -38,6 +156,10 @@ struct InitData {
|
||||
gitBranch @11 :Text;
|
||||
gitRemote @13 :Text;
|
||||
|
||||
# this is source commit for prebuilt branches
|
||||
gitSrcCommit @23 :Text;
|
||||
gitSrcCommitDate @24 :Text;
|
||||
|
||||
androidProperties @16 :Map(Text, Text);
|
||||
|
||||
pandaInfo @8 :PandaInfo;
|
||||
@ -137,8 +259,6 @@ struct FrameData {
|
||||
requestId @28 :UInt32;
|
||||
encodeId @1 :UInt32;
|
||||
|
||||
frameType @7 :FrameType;
|
||||
|
||||
# Timestamps
|
||||
timestampEof @2 :UInt64;
|
||||
timestampSof @8 :UInt64;
|
||||
@ -158,7 +278,7 @@ struct FrameData {
|
||||
|
||||
temperaturesC @24 :List(Float32);
|
||||
|
||||
enum FrameType {
|
||||
enum FrameTypeDEPRECATED {
|
||||
unknown @0;
|
||||
neo @1;
|
||||
chffrAndroid @2;
|
||||
@ -175,6 +295,7 @@ struct FrameData {
|
||||
|
||||
frameLengthDEPRECATED @3 :Int32;
|
||||
globalGainDEPRECATED @5 :Int32;
|
||||
frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
|
||||
androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
|
||||
lensPosDEPRECATED @11 :Int32;
|
||||
lensSagDEPRECATED @12 :Float32;
|
||||
@ -297,6 +418,7 @@ struct GpsLocationData {
|
||||
speedAccuracy @12 :Float32;
|
||||
|
||||
hasFix @13 :Bool;
|
||||
satelliteCount @14 :Int8;
|
||||
|
||||
enum SensorSource {
|
||||
android @0;
|
||||
@ -337,9 +459,9 @@ enum LaneChangeDirection {
|
||||
|
||||
struct CanData {
|
||||
address @0 :UInt32;
|
||||
busTime @1 :UInt16;
|
||||
dat @2 :Data;
|
||||
src @3 :UInt8;
|
||||
busTimeDEPRECATED @1 :UInt16;
|
||||
}
|
||||
|
||||
struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
@ -370,10 +492,13 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
# device thermals
|
||||
cpuTempC @26 :List(Float32);
|
||||
gpuTempC @27 :List(Float32);
|
||||
dspTempC @49 :Float32;
|
||||
memoryTempC @28 :Float32;
|
||||
nvmeTempC @35 :List(Float32);
|
||||
modemTempC @36 :List(Float32);
|
||||
pmicTempC @39 :List(Float32);
|
||||
intakeTempC @46 :Float32;
|
||||
exhaustTempC @47 :Float32;
|
||||
caseTempC @48 :Float32;
|
||||
maxTempC @44 :Float32; # max of other temps, used to control fan
|
||||
thermalZones @38 :List(ThermalZone);
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
@ -444,6 +569,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
chargingDisabledDEPRECATED @18 :Bool;
|
||||
usbOnlineDEPRECATED @12 :Bool;
|
||||
ambientTempCDEPRECATED @30 :Float32;
|
||||
nvmeTempCDEPRECATED @35 :List(Float32);
|
||||
}
|
||||
|
||||
struct PandaState @0xa7649e2575e4591e {
|
||||
@ -459,9 +585,8 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
heartbeatLost @22 :Bool;
|
||||
interruptLoad @25 :Float32;
|
||||
fanPower @28 :UInt8;
|
||||
fanStallCount @34 :UInt8;
|
||||
|
||||
spiChecksumErrorCount @33 :UInt16;
|
||||
spiErrorCount @33 :UInt16;
|
||||
|
||||
harnessStatus @21 :HarnessStatus;
|
||||
sbu1Voltage @35 :Float32;
|
||||
@ -588,6 +713,7 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
|
||||
safetyParamDEPRECATED @20 :Int16;
|
||||
safetyParam2DEPRECATED @26 :UInt32;
|
||||
fanStallCountDEPRECATED @34 :UInt8;
|
||||
}
|
||||
|
||||
struct PeripheralState {
|
||||
@ -608,11 +734,10 @@ struct PeripheralState {
|
||||
struct RadarState @0x9a185389d6fdd05f {
|
||||
mdMonoTime @6 :UInt64;
|
||||
carStateMonoTime @11 :UInt64;
|
||||
radarErrors @12 :List(Car.RadarData.Error);
|
||||
radarErrors @13 :Car.RadarData.Error;
|
||||
|
||||
leadOne @3 :LeadData;
|
||||
leadTwo @4 :LeadData;
|
||||
cumLagMs @5 :Float32;
|
||||
|
||||
struct LeadData {
|
||||
dRel @0 :Float32;
|
||||
@ -642,6 +767,8 @@ struct RadarState @0x9a185389d6fdd05f {
|
||||
calCycleDEPRECATED @8 :Int32;
|
||||
calPercDEPRECATED @9 :Int8;
|
||||
canMonoTimesDEPRECATED @10 :List(UInt64);
|
||||
cumLagMsDEPRECATED @5 :Float32;
|
||||
radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED);
|
||||
}
|
||||
|
||||
struct LiveCalibrationData {
|
||||
@ -672,7 +799,7 @@ struct LiveCalibrationData {
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveTracks {
|
||||
struct LiveTracksDEPRECATED {
|
||||
trackId @0 :Int32;
|
||||
dRel @1 :Float32;
|
||||
yRel @2 :Float32;
|
||||
@ -685,53 +812,25 @@ struct LiveTracks {
|
||||
oncoming @9 :Bool;
|
||||
}
|
||||
|
||||
struct ControlsState @0x97ff69c53601abf1 {
|
||||
startMonoTime @48 :UInt64;
|
||||
longitudinalPlanMonoTime @28 :UInt64;
|
||||
lateralPlanMonoTime @50 :UInt64;
|
||||
|
||||
state @31 :OpenpilotState;
|
||||
enabled @19 :Bool;
|
||||
active @36 :Bool;
|
||||
|
||||
experimentalMode @64 :Bool;
|
||||
personality @66 :LongitudinalPersonality;
|
||||
|
||||
longControlState @30 :Car.CarControl.Actuators.LongControlState;
|
||||
vPid @2 :Float32;
|
||||
vTargetLead @3 :Float32;
|
||||
vCruise @22 :Float32; # actual set speed
|
||||
vCruiseCluster @63 :Float32; # set speed to display in the UI
|
||||
upAccelCmd @4 :Float32;
|
||||
uiAccelCmd @5 :Float32;
|
||||
ufAccelCmd @33 :Float32;
|
||||
aTarget @35 :Float32;
|
||||
curvature @37 :Float32; # path curvature from vehicle model
|
||||
desiredCurvature @61 :Float32; # lag adjusted curvatures used by lateral controllers
|
||||
forceDecel @51 :Bool;
|
||||
struct SelfdriveState {
|
||||
# high level system state
|
||||
state @0 :OpenpilotState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
engageable @9 :Bool; # can OP be engaged?
|
||||
|
||||
# UI alerts
|
||||
alertText1 @24 :Text;
|
||||
alertText2 @25 :Text;
|
||||
alertStatus @38 :AlertStatus;
|
||||
alertSize @39 :AlertSize;
|
||||
alertBlinkingRate @42 :Float32;
|
||||
alertType @44 :Text;
|
||||
alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
|
||||
engageable @41 :Bool; # can OP be engaged?
|
||||
alertText1 @3 :Text;
|
||||
alertText2 @4 :Text;
|
||||
alertStatus @5 :AlertStatus;
|
||||
alertSize @6 :AlertSize;
|
||||
alertType @7 :Text;
|
||||
alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
|
||||
alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
|
||||
|
||||
cumLagMs @15 :Float32;
|
||||
|
||||
lateralControlState :union {
|
||||
indiState @52 :LateralINDIState;
|
||||
pidState @53 :LateralPIDState;
|
||||
angleState @58 :LateralAngleState;
|
||||
debugState @59 :LateralDebugState;
|
||||
torqueState @60 :LateralTorqueState;
|
||||
|
||||
curvatureStateDEPRECATED @65 :LateralCurvatureState;
|
||||
lqrStateDEPRECATED @55 :LateralLQRState;
|
||||
}
|
||||
# configurable driving settings
|
||||
experimentalMode @10 :Bool;
|
||||
personality @11 :LongitudinalPersonality;
|
||||
|
||||
enum OpenpilotState @0xdbe58b96d2d1ac61 {
|
||||
disabled @0;
|
||||
@ -741,17 +840,41 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
overriding @4; # superset of overriding with steering or accelerator
|
||||
}
|
||||
|
||||
enum AlertStatus {
|
||||
normal @0; # low priority alert for user's convenience
|
||||
userPrompt @1; # mid priority alert that might require user intervention
|
||||
critical @2; # high priority alert that needs immediate user intervention
|
||||
enum AlertStatus @0xa0d0dcd113193c62 {
|
||||
normal @0;
|
||||
userPrompt @1;
|
||||
critical @2;
|
||||
}
|
||||
|
||||
enum AlertSize {
|
||||
none @0; # don't display the alert
|
||||
small @1; # small box
|
||||
mid @2; # mid screen
|
||||
full @3; # full screen
|
||||
enum AlertSize @0xe98bb99d6e985f64 {
|
||||
none @0;
|
||||
small @1;
|
||||
mid @2;
|
||||
full @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct ControlsState @0x97ff69c53601abf1 {
|
||||
longitudinalPlanMonoTime @28 :UInt64;
|
||||
lateralPlanMonoTime @50 :UInt64;
|
||||
|
||||
longControlState @30 :Car.CarControl.Actuators.LongControlState;
|
||||
upAccelCmd @4 :Float32;
|
||||
uiAccelCmd @5 :Float32;
|
||||
ufAccelCmd @33 :Float32;
|
||||
curvature @37 :Float32; # path curvature from vehicle model
|
||||
desiredCurvature @61 :Float32; # lag adjusted curvatures used by lateral controllers
|
||||
forceDecel @51 :Bool;
|
||||
|
||||
lateralControlState :union {
|
||||
pidState @53 :LateralPIDState;
|
||||
angleState @58 :LateralAngleState;
|
||||
debugState @59 :LateralDebugState;
|
||||
torqueState @60 :LateralTorqueState;
|
||||
|
||||
curvatureStateDEPRECATED @65 :LateralCurvatureState;
|
||||
lqrStateDEPRECATED @55 :LateralLQRState;
|
||||
indiStateDEPRECATED @52 :LateralINDIState;
|
||||
}
|
||||
|
||||
struct LateralINDIState {
|
||||
@ -795,8 +918,6 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
saturated @7 :Bool;
|
||||
actualLateralAccel @9 :Float32;
|
||||
desiredLateralAccel @10 :Float32;
|
||||
desiredLateralJerk @11 :Float32;
|
||||
version @12 :Int32;
|
||||
}
|
||||
|
||||
struct LateralLQRState {
|
||||
@ -868,6 +989,26 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
canMonoTimesDEPRECATED @21 :List(UInt64);
|
||||
desiredCurvatureRateDEPRECATED @62 :Float32;
|
||||
canErrorCounterDEPRECATED @57 :UInt32;
|
||||
vPidDEPRECATED @2 :Float32;
|
||||
alertBlinkingRateDEPRECATED @42 :Float32;
|
||||
alertText1DEPRECATED @24 :Text;
|
||||
alertText2DEPRECATED @25 :Text;
|
||||
alertStatusDEPRECATED @38 :SelfdriveState.AlertStatus;
|
||||
alertSizeDEPRECATED @39 :SelfdriveState.AlertSize;
|
||||
alertTypeDEPRECATED @44 :Text;
|
||||
alertSound2DEPRECATED @56 :Car.CarControl.HUDControl.AudibleAlert;
|
||||
engageableDEPRECATED @41 :Bool; # can OP be engaged?
|
||||
stateDEPRECATED @31 :SelfdriveState.OpenpilotState;
|
||||
enabledDEPRECATED @19 :Bool;
|
||||
activeDEPRECATED @36 :Bool;
|
||||
experimentalModeDEPRECATED @64 :Bool;
|
||||
personalityDEPRECATED @66 :LongitudinalPersonality;
|
||||
vCruiseDEPRECATED @22 :Float32; # actual set speed
|
||||
vCruiseClusterDEPRECATED @63 :Float32; # set speed to display in the UI
|
||||
startMonoTimeDEPRECATED @48 :UInt64;
|
||||
cumLagMsDEPRECATED @15 :Float32;
|
||||
aTargetDEPRECATED @35 :Float32;
|
||||
vTargetLeadDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
struct DrivingModelData {
|
||||
@ -920,7 +1061,6 @@ struct ModelDataV2 {
|
||||
frameDropPerc @2 :Float32;
|
||||
timestampEof @3 :UInt64;
|
||||
modelExecutionTime @15 :Float32;
|
||||
gpuExecutionTime @17 :Float32;
|
||||
rawPredictions @16 :Data;
|
||||
|
||||
# predicted future position, orientation, etc..
|
||||
@ -945,15 +1085,16 @@ struct ModelDataV2 {
|
||||
confidence @23: ConfidenceClass;
|
||||
|
||||
# Model perceived motion
|
||||
temporalPose @21 :Pose;
|
||||
|
||||
navEnabled @22 :Bool;
|
||||
locationMonoTime @24 :UInt64;
|
||||
temporalPoseDEPRECATED @21 :Pose;
|
||||
|
||||
# e2e lateral planner
|
||||
lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
|
||||
action @26: Action;
|
||||
|
||||
gpuExecutionTimeDEPRECATED @17 :Float32;
|
||||
navEnabledDEPRECATED @22 :Bool;
|
||||
locationMonoTimeDEPRECATED @24 :UInt64;
|
||||
lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
|
||||
|
||||
struct LeadDataV2 {
|
||||
prob @0 :Float32; # probability that car is your lead at time t
|
||||
t @1 :Float32;
|
||||
@ -1087,6 +1228,14 @@ struct AndroidLogEntry {
|
||||
message @6 :Text;
|
||||
}
|
||||
|
||||
struct DriverAssistance {
|
||||
# Lane Departure Warnings
|
||||
leftLaneDeparture @0 :Bool;
|
||||
rightLaneDeparture @1 :Bool;
|
||||
|
||||
# FCW, AEB, etc. will go here
|
||||
}
|
||||
|
||||
struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
modelMonoTime @9 :UInt64;
|
||||
hasLead @7 :Bool;
|
||||
@ -1138,7 +1287,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
radarValidDEPRECATED @28 :Bool;
|
||||
radarCanErrorDEPRECATED @30 :Bool;
|
||||
commIssueDEPRECATED @31 :Bool;
|
||||
eventsDEPRECATED @13 :List(Car.CarEvent);
|
||||
eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
|
||||
gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
|
||||
gpsPlannerActiveDEPRECATED @19 :Bool;
|
||||
personalityDEPRECATED @36 :LongitudinalPersonality;
|
||||
@ -1272,7 +1421,7 @@ struct LivePose {
|
||||
posenetOK @5 :Bool = false;
|
||||
sensorsOK @6 :Bool = false;
|
||||
|
||||
filterState @7 :FilterState;
|
||||
debugFilterState @7 :FilterState;
|
||||
|
||||
struct XYZMeasurement {
|
||||
x @0 :Float32;
|
||||
@ -1288,6 +1437,14 @@ struct LivePose {
|
||||
value @0 : List(Float64);
|
||||
std @1 : List(Float64);
|
||||
valid @2 : Bool;
|
||||
|
||||
observations @3 :List(Observation);
|
||||
|
||||
struct Observation {
|
||||
kind @0 :Int32;
|
||||
value @1 :List(Float32);
|
||||
error @2 :List(Float32);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1436,6 +1593,10 @@ struct UbloxGnss {
|
||||
svId @0 :UInt8;
|
||||
gnssId @1 :UInt8;
|
||||
flagsBitfield @2 :UInt32;
|
||||
cno @3 :UInt8;
|
||||
elevationDeg @4 :Int8;
|
||||
azimuthDeg @5 :Int16;
|
||||
pseudorangeResidual @6 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
@ -1985,12 +2146,10 @@ struct Joystick {
|
||||
struct DriverStateV2 {
|
||||
frameId @0 :UInt32;
|
||||
modelExecutionTime @1 :Float32;
|
||||
dspExecutionTime @2 :Float32;
|
||||
gpuExecutionTime @8 :Float32;
|
||||
rawPredictions @3 :Data;
|
||||
|
||||
poorVisionProb @4 :Float32;
|
||||
wheelOnRightProb @5 :Float32;
|
||||
|
||||
leftDriverData @6 :DriverData;
|
||||
rightDriverData @7 :DriverData;
|
||||
|
||||
@ -2005,10 +2164,13 @@ struct DriverStateV2 {
|
||||
leftBlinkProb @7 :Float32;
|
||||
rightBlinkProb @8 :Float32;
|
||||
sunglassesProb @9 :Float32;
|
||||
occludedProb @10 :Float32;
|
||||
readyProb @11 :List(Float32);
|
||||
notReadyProb @12 :List(Float32);
|
||||
occludedProbDEPRECATED @10 :Float32;
|
||||
readyProbDEPRECATED @11 :List(Float32);
|
||||
}
|
||||
|
||||
dspExecutionTimeDEPRECATED @2 :Float32;
|
||||
poorVisionProbDEPRECATED @4 :Float32;
|
||||
}
|
||||
|
||||
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
|
||||
@ -2044,7 +2206,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
|
||||
}
|
||||
|
||||
struct DriverMonitoringState @0xb83cda094a1da284 {
|
||||
events @0 :List(Car.CarEvent);
|
||||
events @18 :List(OnroadEvent);
|
||||
faceDetected @1 :Bool;
|
||||
isDistracted @2 :Bool;
|
||||
distractedType @17 :UInt32;
|
||||
@ -2063,6 +2225,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
|
||||
|
||||
isPreviewDEPRECATED @15 :Bool;
|
||||
rhdCheckedDEPRECATED @5 :Bool;
|
||||
eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
@ -2090,9 +2253,20 @@ struct LiveParametersData {
|
||||
stiffnessFactorStd @12 :Float32;
|
||||
steerRatioStd @13 :Float32;
|
||||
roll @14 :Float32;
|
||||
filterState @15 :LiveLocationKalman.Measurement;
|
||||
debugFilterState @16 :FilterState;
|
||||
|
||||
angleOffsetValid @17 :Bool = true;
|
||||
angleOffsetAverageValid @18 :Bool = true;
|
||||
steerRatioValid @19 :Bool = true;
|
||||
stiffnessFactorValid @20 :Bool = true;
|
||||
|
||||
yawRateDEPRECATED @7 :Float32;
|
||||
filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
|
||||
|
||||
struct FilterState {
|
||||
value @0 : List(Float64);
|
||||
std @1 : List(Float64);
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveTorqueParametersData {
|
||||
@ -2109,6 +2283,7 @@ struct LiveTorqueParametersData {
|
||||
points @10 :List(List(Float32));
|
||||
version @11 :Int32;
|
||||
useParams @12 :Bool;
|
||||
calPerc @13 :Int8;
|
||||
}
|
||||
|
||||
struct LiveDelayData {
|
||||
@ -2119,6 +2294,7 @@ struct LiveDelayData {
|
||||
lateralDelayEstimate @3 :Float32;
|
||||
lateralDelayEstimateStd @5 :Float32;
|
||||
points @4 :List(Float32);
|
||||
calPerc @6 :Int8;
|
||||
|
||||
enum Status {
|
||||
unestimated @0;
|
||||
@ -2288,16 +2464,40 @@ struct EncodeData {
|
||||
height @5 :UInt32;
|
||||
}
|
||||
|
||||
struct UserFlag {
|
||||
struct DebugAlert {
|
||||
alertText1 @0 :Text;
|
||||
alertText2 @1 :Text;
|
||||
}
|
||||
|
||||
struct Microphone {
|
||||
struct UserBookmark @0xfe346a9de48d9b50 {
|
||||
}
|
||||
|
||||
struct SoundPressure @0xdc24138990726023 {
|
||||
soundPressure @0 :Float32;
|
||||
|
||||
# uncalibrated, A-weighted
|
||||
soundPressureWeighted @3 :Float32;
|
||||
soundPressureWeightedDb @1 :Float32;
|
||||
filteredSoundPressureWeightedDb @2 :Float32;
|
||||
|
||||
filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
|
||||
}
|
||||
|
||||
struct AudioData {
|
||||
data @0 :Data;
|
||||
sampleRate @1 :UInt32;
|
||||
}
|
||||
|
||||
struct AudioFeedback {
|
||||
audio @0 :AudioData;
|
||||
blockNum @1 :UInt16;
|
||||
}
|
||||
|
||||
struct Touch {
|
||||
sec @0 :Int64;
|
||||
usec @1 :Int64;
|
||||
type @2 :UInt8;
|
||||
code @3 :Int32;
|
||||
value @4 :Int32;
|
||||
}
|
||||
|
||||
struct Event {
|
||||
@ -2316,6 +2516,7 @@ struct Event {
|
||||
gpsNMEA @3 :GPSNMEAData;
|
||||
can @5 :List(CanData);
|
||||
controlsState @7 :ControlsState;
|
||||
selfdriveState @130 :SelfdriveState;
|
||||
gyroscope @99 :SensorEventData;
|
||||
gyroscope2 @100 :SensorEventData;
|
||||
accelerometer @98 :SensorEventData;
|
||||
@ -2327,14 +2528,14 @@ struct Event {
|
||||
pandaStates @81 :List(PandaState);
|
||||
peripheralState @80 :PeripheralState;
|
||||
radarState @13 :RadarState;
|
||||
liveTracks @16 :List(LiveTracks);
|
||||
liveTracks @131 :Car.RadarData;
|
||||
sendcan @17 :List(CanData);
|
||||
liveCalibration @19 :LiveCalibrationData;
|
||||
carState @22 :Car.CarState;
|
||||
carControl @23 :Car.CarControl;
|
||||
carOutput @127 :Car.CarOutput;
|
||||
longitudinalPlan @24 :LongitudinalPlan;
|
||||
uiPlan @106 :UiPlan;
|
||||
driverAssistance @132 :DriverAssistance;
|
||||
ubloxGnss @34 :UbloxGnss;
|
||||
ubloxRaw @39 :Data;
|
||||
qcomGnss @31 :QcomGnss;
|
||||
@ -2343,13 +2544,12 @@ struct Event {
|
||||
gnssMeasurements @91 :GnssMeasurements;
|
||||
liveParameters @61 :LiveParametersData;
|
||||
liveTorqueParameters @94 :LiveTorqueParametersData;
|
||||
liveDelay @130 : LiveDelayData;
|
||||
liveDelay @146 : LiveDelayData;
|
||||
cameraOdometry @63 :CameraOdometry;
|
||||
thumbnail @66: Thumbnail;
|
||||
onroadEvents @68: List(Car.CarEvent);
|
||||
onroadEvents @134: List(OnroadEvent);
|
||||
carParams @69: Car.CarParams;
|
||||
driverMonitoringState @71: DriverMonitoringState;
|
||||
liveLocationKalman @72 :LiveLocationKalman;
|
||||
livePose @129 :LivePose;
|
||||
modelV2 @75 :ModelDataV2;
|
||||
drivingModelData @128 :DrivingModelData;
|
||||
@ -2369,7 +2569,8 @@ struct Event {
|
||||
livestreamDriverEncodeIdx @119 :EncodeIndex;
|
||||
|
||||
# microphone data
|
||||
microphone @103 :Microphone;
|
||||
soundPressure @103 :SoundPressure;
|
||||
rawAudioData @147 :AudioData;
|
||||
|
||||
# systems stuff
|
||||
androidLog @20 :AndroidLogEntry;
|
||||
@ -2381,6 +2582,9 @@ struct Event {
|
||||
logMessage @18 :Text;
|
||||
errorLogMessage @85 :Text;
|
||||
|
||||
# touch frame
|
||||
touch @135 :List(Touch);
|
||||
|
||||
# navigation
|
||||
navInstruction @82 :NavInstruction;
|
||||
navRoute @83 :NavRoute;
|
||||
@ -2388,41 +2592,62 @@ struct Event {
|
||||
mapRenderState @105: MapRenderState;
|
||||
|
||||
# UI services
|
||||
userFlag @93 :UserFlag;
|
||||
uiDebug @102 :UIDebug;
|
||||
|
||||
# driving feedback
|
||||
userBookmark @93 :UserBookmark;
|
||||
bookmarkButton @148 :UserBookmark;
|
||||
audioFeedback @149 :AudioFeedback;
|
||||
|
||||
# *********** debug ***********
|
||||
testJoystick @52 :Joystick;
|
||||
roadEncodeData @86 :EncodeData;
|
||||
driverEncodeData @87 :EncodeData;
|
||||
wideRoadEncodeData @88 :EncodeData;
|
||||
qRoadEncodeData @89 :EncodeData;
|
||||
alertDebug @133 :DebugAlert;
|
||||
|
||||
livestreamRoadEncodeData @120 :EncodeData;
|
||||
livestreamWideRoadEncodeData @121 :EncodeData;
|
||||
livestreamDriverEncodeData @122 :EncodeData;
|
||||
|
||||
# *********** Custom: reserved for forks ***********
|
||||
|
||||
# DO change the name of the field
|
||||
# DON'T change anything after the "@"
|
||||
customReservedRawData0 @124 :Data;
|
||||
customReservedRawData1 @125 :Data;
|
||||
customReservedRawData2 @126 :Data;
|
||||
|
||||
# *********** Custom: reserved for forks ***********
|
||||
frogpilotCarControl @107 :Custom.FrogPilotCarControl;
|
||||
frogpilotCarParams @108 :Custom.FrogPilotCarParams;
|
||||
frogpilotCarState @109 :Custom.FrogPilotCarState;
|
||||
frogpilotControlsState @110 :Custom.FrogPilotControlsState;
|
||||
frogpilotDeviceState @111 :Custom.FrogPilotDeviceState;
|
||||
frogpilotModelV2 @112 :Custom.FrogPilotModelDataV2;
|
||||
frogpilotNavigation @113 :Custom.FrogPilotNavigation;
|
||||
frogpilotOnroadEvents @114: List(Custom.FrogPilotCarEvent);
|
||||
frogpilotPlan @115 :Custom.FrogPilotPlan;
|
||||
frogpilotRadarState @116 :Custom.FrogPilotRadarState;
|
||||
# DO change the name of the field and struct
|
||||
# DON'T change the ID (e.g. @107)
|
||||
# DON'T change which struct it points to
|
||||
dpControlsState @107 :Custom.DpControlsState;
|
||||
modelExt @108 :Custom.ModelExt;
|
||||
customReserved2 @109 :Custom.CustomReserved2;
|
||||
customReserved3 @110 :Custom.CustomReserved3;
|
||||
customReserved4 @111 :Custom.CustomReserved4;
|
||||
customReserved5 @112 :Custom.CustomReserved5;
|
||||
customReserved6 @113 :Custom.CustomReserved6;
|
||||
customReserved7 @114 :Custom.CustomReserved7;
|
||||
customReserved8 @115 :Custom.CustomReserved8;
|
||||
customReserved9 @116 :Custom.CustomReserved9;
|
||||
customReserved10 @136 :Custom.CustomReserved10;
|
||||
customReserved11 @137 :Custom.CustomReserved11;
|
||||
customReserved12 @138 :Custom.CustomReserved12;
|
||||
customReserved13 @139 :Custom.CustomReserved13;
|
||||
customReserved14 @140 :Custom.CustomReserved14;
|
||||
customReserved15 @141 :Custom.CustomReserved15;
|
||||
customReserved16 @142 :Custom.CustomReserved16;
|
||||
customReserved17 @143 :Custom.CustomReserved17;
|
||||
customReserved18 @144 :Custom.CustomReserved18;
|
||||
customReserved19 @145 :Custom.CustomReserved19;
|
||||
|
||||
# *********** legacy + deprecated ***********
|
||||
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
||||
liveMpcDEPRECATED @36 :LiveMpcData;
|
||||
liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
|
||||
liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData;
|
||||
liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData;
|
||||
orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
|
||||
liveUIDEPRECATED @14 :Legacy.LiveUI;
|
||||
sensorEventDEPRECATED @4 :SensorEventData;
|
||||
@ -2457,6 +2682,10 @@ struct Event {
|
||||
driverStateDEPRECATED @59 :DriverStateDEPRECATED;
|
||||
sensorEventsDEPRECATED @11 :List(SensorEventData);
|
||||
lateralPlanDEPRECATED @64 :LateralPlan;
|
||||
navModel @104 :NavModelData;
|
||||
navModelDEPRECATED @104 :NavModelData;
|
||||
uiPlanDEPRECATED @106 :UiPlan;
|
||||
liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
|
||||
liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
|
||||
onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
|
||||
}
|
||||
}
|
||||
|
||||
@ -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);
|
||||
}
|
||||
10
cereal/messaging/.gitignore
vendored
10
cereal/messaging/.gitignore
vendored
@ -1,10 +0,0 @@
|
||||
demo
|
||||
bridge
|
||||
test_runner
|
||||
*.o
|
||||
*.os
|
||||
*.d
|
||||
*.a
|
||||
*.so
|
||||
messaging_pyx.cpp
|
||||
build/
|
||||
@ -2,23 +2,28 @@
|
||||
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, context
|
||||
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 typing import Optional, List, Union, Dict
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.util import MovingAverage
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
|
||||
with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
|
||||
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
|
||||
|
||||
|
||||
@ -87,26 +92,71 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return log_from_bytes(dat)
|
||||
|
||||
|
||||
class FrequencyTracker:
|
||||
def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
|
||||
freq = max(min(service_freq, update_freq), 1.)
|
||||
if is_poll:
|
||||
min_freq = max_freq = freq
|
||||
else:
|
||||
max_freq = min(freq, update_freq)
|
||||
if service_freq >= 2 * update_freq:
|
||||
min_freq = update_freq
|
||||
elif update_freq >= 2* service_freq:
|
||||
min_freq = freq
|
||||
else:
|
||||
min_freq = min(freq, freq / 2.)
|
||||
|
||||
self.min_freq = min_freq * 0.8
|
||||
self.max_freq = max_freq * 1.2
|
||||
self.avg_dt = MovingAverage(int(10 * freq))
|
||||
self.recent_avg_dt = MovingAverage(int(freq))
|
||||
self.prev_time = 0.0
|
||||
|
||||
def record_recv_time(self, cur_time: float) -> None:
|
||||
# TODO: Handle case where cur_time is less than prev_time
|
||||
if self.prev_time > 1e-5:
|
||||
dt = cur_time - self.prev_time
|
||||
|
||||
self.avg_dt.add_value(dt)
|
||||
self.recent_avg_dt.add_value(dt)
|
||||
|
||||
self.prev_time = cur_time
|
||||
|
||||
@property
|
||||
def valid(self) -> bool:
|
||||
if self.avg_dt.count == 0:
|
||||
return False
|
||||
|
||||
avg_freq = 1.0 / self.avg_dt.get_average()
|
||||
if self.min_freq <= avg_freq <= self.max_freq:
|
||||
return True
|
||||
|
||||
avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
|
||||
return self.min_freq <= avg_freq_recent <= self.max_freq
|
||||
|
||||
|
||||
class SubMaster:
|
||||
def __init__(self, services: List[str], poll: Optional[str] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
|
||||
self.frame = -1
|
||||
self.services = services
|
||||
self.seen = {s: False for s in services}
|
||||
self.updated = {s: False for s in services}
|
||||
self.recv_time = {s: 0. for s in services}
|
||||
self.recv_frame = {s: 0 for s in services}
|
||||
self.alive = {s: False for s in services}
|
||||
self.freq_ok = {s: False for s in services}
|
||||
self.recv_dts: Dict[str, Deque[float]] = {}
|
||||
self.sock = {}
|
||||
self.data = {}
|
||||
self.valid = {}
|
||||
self.logMonoTime = {}
|
||||
self.logMonoTime = {s: 0 for s in services}
|
||||
|
||||
self.max_freq = {}
|
||||
self.min_freq = {}
|
||||
# zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
|
||||
on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
|
||||
self.static_freq_services = set(s for s in services if not on_demand[s])
|
||||
self.alive = {s: on_demand[s] for s in services}
|
||||
self.freq_ok = {s: on_demand[s] for s in services}
|
||||
self.valid = {s: on_demand[s] for s in services}
|
||||
|
||||
self.freq_tracker: Dict[str, FrequencyTracker] = {}
|
||||
self.poller = Poller()
|
||||
polled_services = set([poll, ] if poll is not None else services)
|
||||
self.non_polled_services = set(services) - polled_services
|
||||
@ -131,24 +181,7 @@ class SubMaster:
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data.as_reader(), s)
|
||||
self.logMonoTime[s] = 0
|
||||
self.valid[s] = True # FIXME: this should default to False
|
||||
|
||||
freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.)
|
||||
if s == poll:
|
||||
max_freq = freq
|
||||
min_freq = freq
|
||||
else:
|
||||
max_freq = min(freq, self.update_freq)
|
||||
if SERVICE_LIST[s].frequency >= 2*self.update_freq:
|
||||
min_freq = self.update_freq
|
||||
elif self.update_freq >= 2*SERVICE_LIST[s].frequency:
|
||||
min_freq = freq
|
||||
else:
|
||||
min_freq = min(freq, freq / 2.)
|
||||
self.max_freq[s] = max_freq*1.2
|
||||
self.min_freq[s] = min_freq*0.8
|
||||
self.recv_dts[s] = deque(maxlen=int(10*freq))
|
||||
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]
|
||||
@ -168,7 +201,7 @@ class SubMaster:
|
||||
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.updated, False)
|
||||
self.updated = dict.fromkeys(self.services, False)
|
||||
for msg in msgs:
|
||||
if msg is None:
|
||||
continue
|
||||
@ -177,54 +210,26 @@ class SubMaster:
|
||||
self.seen[s] = True
|
||||
self.updated[s] = True
|
||||
|
||||
if self.recv_time[s] > 1e-5:
|
||||
self.recv_dts[s].append(cur_time - self.recv_time[s])
|
||||
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.data:
|
||||
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)
|
||||
|
||||
# check average frequency; slow to fall, quick to recover
|
||||
dts = self.recv_dts[s]
|
||||
assert dts.maxlen is not None
|
||||
recent_dts = list(dts)[-int(dts.maxlen / 10):]
|
||||
try:
|
||||
avg_freq = 1 / (sum(dts) / len(dts))
|
||||
avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts))
|
||||
except ZeroDivisionError:
|
||||
avg_freq = 0
|
||||
avg_freq_recent = 0
|
||||
|
||||
avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s]
|
||||
recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s]
|
||||
self.freq_ok[s] = avg_freq_ok or recent_freq_ok
|
||||
else:
|
||||
self.freq_ok[s] = True
|
||||
if self.simulation:
|
||||
self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
|
||||
else:
|
||||
self.alive[s] = True
|
||||
for s in self.static_freq_services:
|
||||
# alive if delay is within 10x the expected frequency; checks relaxed in simulator
|
||||
self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
|
||||
self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
|
||||
|
||||
def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
if service_list is None:
|
||||
service_list = list(self.sock.keys())
|
||||
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
|
||||
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:
|
||||
if service_list is None:
|
||||
service_list = list(self.sock.keys())
|
||||
return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s))
|
||||
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:
|
||||
if service_list is None:
|
||||
service_list = list(self.sock.keys())
|
||||
return all(self.valid[s] for s in service_list if s not in self.ignore_valid)
|
||||
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)
|
||||
|
||||
Binary file not shown.
@ -1,32 +1,17 @@
|
||||
#include <algorithm>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <iostream>
|
||||
#include <map>
|
||||
#include <string>
|
||||
|
||||
typedef void (*sighandler_t)(int sig);
|
||||
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
#include "cereal/services.h"
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
#include "common/util.h"
|
||||
|
||||
std::atomic<bool> do_exit = false;
|
||||
static void set_do_exit(int sig) {
|
||||
do_exit = true;
|
||||
}
|
||||
ExitHandler do_exit;
|
||||
|
||||
void sigpipe_handler(int sig) {
|
||||
assert(sig == SIGPIPE);
|
||||
std::cout << "SIGPIPE received" << std::endl;
|
||||
}
|
||||
|
||||
static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
|
||||
static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
|
||||
std::vector<std::string> service_list;
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.second.name;
|
||||
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
|
||||
if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
|
||||
if (zmq_to_msgq && !in_whitelist) {
|
||||
continue;
|
||||
}
|
||||
service_list.push_back(name);
|
||||
@ -34,41 +19,22 @@ static std::vector<std::string> get_services(std::string whitelist_str, bool zmq
|
||||
return service_list;
|
||||
}
|
||||
|
||||
int main(int argc, char** argv) {
|
||||
signal(SIGPIPE, (sighandler_t)sigpipe_handler);
|
||||
signal(SIGINT, (sighandler_t)set_do_exit);
|
||||
signal(SIGTERM, (sighandler_t)set_do_exit);
|
||||
void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
MsgqToZmq bridge;
|
||||
bridge.run(endpoints, ip);
|
||||
}
|
||||
|
||||
bool zmq_to_msgq = argc > 2;
|
||||
std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
|
||||
std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
|
||||
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;
|
||||
|
||||
Poller *poller;
|
||||
Context *pub_context;
|
||||
Context *sub_context;
|
||||
if (zmq_to_msgq) { // republishes zmq debugging messages as msgq
|
||||
poller = new ZMQPoller();
|
||||
pub_context = new MSGQContext();
|
||||
sub_context = new ZMQContext();
|
||||
} else {
|
||||
poller = new MSGQPoller();
|
||||
pub_context = new ZMQContext();
|
||||
sub_context = new MSGQContext();
|
||||
}
|
||||
|
||||
std::map<SubSocket*, PubSocket*> sub2pub;
|
||||
for (auto endpoint : get_services(whitelist_str, zmq_to_msgq)) {
|
||||
PubSocket * pub_sock;
|
||||
SubSocket * sub_sock;
|
||||
if (zmq_to_msgq) {
|
||||
pub_sock = new MSGQPubSocket();
|
||||
sub_sock = new ZMQSubSocket();
|
||||
} else {
|
||||
pub_sock = new ZMQPubSocket();
|
||||
sub_sock = new MSGQSubSocket();
|
||||
}
|
||||
pub_sock->connect(pub_context, endpoint);
|
||||
sub_sock->connect(sub_context, endpoint, ip, false);
|
||||
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;
|
||||
@ -76,17 +42,30 @@ int main(int argc, char** argv) {
|
||||
|
||||
while (!do_exit) {
|
||||
for (auto sub_sock : poller->poll(100)) {
|
||||
Message * msg = sub_sock->receive();
|
||||
if (msg == NULL) continue;
|
||||
int ret;
|
||||
do {
|
||||
ret = sub2pub[sub_sock]->sendMessage(msg);
|
||||
} while (ret == -1 && errno == EINTR && !do_exit);
|
||||
assert(ret >= 0 || do_exit);
|
||||
delete msg;
|
||||
|
||||
if (do_exit) break;
|
||||
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;
|
||||
}
|
||||
|
||||
@ -5,20 +5,13 @@
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <utility>
|
||||
#include <time.h>
|
||||
|
||||
#include <capnp/serialize.h>
|
||||
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#include "common/timing.h"
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
|
||||
@ -53,10 +46,7 @@ public:
|
||||
|
||||
cereal::Event::Builder initEvent(bool valid = true) {
|
||||
cereal::Event::Builder event = initRoot<cereal::Event>();
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
event.setLogMonoTime(current_time);
|
||||
event.setLogMonoTime(nanos_since_boot());
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
144
cereal/messaging/msgq_to_zmq.cc
Normal file
144
cereal/messaging/msgq_to_zmq.cc
Normal file
@ -0,0 +1,144 @@
|
||||
#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());
|
||||
}
|
||||
}
|
||||
}
|
||||
37
cereal/messaging/msgq_to_zmq.h
Normal file
37
cereal/messaging/msgq_to_zmq.h
Normal file
@ -0,0 +1,37 @@
|
||||
#pragma once
|
||||
|
||||
#include <condition_variable>
|
||||
#include <map>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define private public
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
|
||||
class MsgqToZmq {
|
||||
public:
|
||||
MsgqToZmq() {}
|
||||
void run(const std::vector<std::string> &endpoints, const std::string &ip);
|
||||
|
||||
protected:
|
||||
void registerSockets();
|
||||
void zmqMonitorThread();
|
||||
|
||||
struct SocketPair {
|
||||
std::string endpoint;
|
||||
std::unique_ptr<ZMQPubSocket> pub_sock;
|
||||
std::unique_ptr<MSGQSubSocket> sub_sock;
|
||||
int connected_clients = 0;
|
||||
};
|
||||
|
||||
std::unique_ptr<MSGQContext> msgq_context;
|
||||
std::unique_ptr<ZMQContext> zmq_context;
|
||||
std::mutex mutex;
|
||||
std::condition_variable cv;
|
||||
std::unique_ptr<MSGQPoller> msgq_poller;
|
||||
std::map<SubSocket *, ZMQPubSocket *> sub2pub;
|
||||
std::vector<SocketPair> socket_pairs;
|
||||
};
|
||||
@ -1,4 +1,3 @@
|
||||
#include <time.h>
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
@ -7,15 +6,8 @@
|
||||
#include "cereal/services.h"
|
||||
#include "cereal/messaging/messaging.h"
|
||||
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
static inline uint64_t nanos_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
}
|
||||
|
||||
static inline bool inList(const std::vector<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
@ -41,8 +33,8 @@ MessageContext message_context;
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
int freq = 0;
|
||||
bool updated = false, alive = false, valid = true, ignore_alive;
|
||||
float freq = 0.0f;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
bool is_polled = false;
|
||||
|
||||
185
cereal/messaging/tests/test_messaging.py
Normal file
185
cereal/messaging/tests/test_messaging.py
Normal file
@ -0,0 +1,185 @@
|
||||
import os
|
||||
import capnp
|
||||
import multiprocessing
|
||||
import numbers
|
||||
import random
|
||||
import threading
|
||||
import time
|
||||
from parameterized import parameterized
|
||||
import pytest
|
||||
|
||||
from cereal import log, car
|
||||
import cereal.messaging as messaging
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
|
||||
|
||||
def random_sock():
|
||||
return random.choice(events)
|
||||
|
||||
def random_socks(num_socks=10):
|
||||
return list({random_sock() for _ in range(num_socks)})
|
||||
|
||||
def random_bytes(length=1000):
|
||||
return bytes([random.randrange(0xFF) for _ in range(length)])
|
||||
|
||||
def zmq_sleep(t=1):
|
||||
if "ZMQ" in os.environ:
|
||||
time.sleep(t)
|
||||
|
||||
|
||||
# TODO: this should take any capnp struct and returrn a msg with random populated data
|
||||
def random_carstate():
|
||||
fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
|
||||
msg = messaging.new_message("carState")
|
||||
cs = msg.carState
|
||||
for f in fields:
|
||||
setattr(cs, f, random.random() * 10)
|
||||
return msg
|
||||
|
||||
# TODO: this should compare any capnp structs
|
||||
def assert_carstate(cs1, cs2):
|
||||
for f in car.CarState.schema.non_union_fields:
|
||||
# TODO: check all types
|
||||
val1, val2 = getattr(cs1, f), getattr(cs2, f)
|
||||
if isinstance(val1, numbers.Number):
|
||||
assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'"
|
||||
|
||||
def delayed_send(delay, sock, dat):
|
||||
def send_func():
|
||||
sock.send(dat)
|
||||
threading.Timer(delay, send_func).start()
|
||||
|
||||
|
||||
class TestMessaging:
|
||||
def setUp(self):
|
||||
# TODO: ZMQ tests are too slow; all sleeps will need to be
|
||||
# replaced with logic to block on the necessary condition
|
||||
if "ZMQ" in os.environ:
|
||||
pytest.skip()
|
||||
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep()
|
||||
|
||||
@parameterized.expand(events)
|
||||
def test_new_message(self, evt):
|
||||
try:
|
||||
msg = messaging.new_message(evt)
|
||||
except capnp.lib.capnp.KjException:
|
||||
msg = messaging.new_message(evt, random.randrange(200))
|
||||
assert (time.monotonic() - msg.logMonoTime) < 0.1
|
||||
assert not msg.valid
|
||||
assert evt == msg.which()
|
||||
|
||||
@parameterized.expand(events)
|
||||
def test_pub_sock(self, evt):
|
||||
messaging.pub_sock(evt)
|
||||
|
||||
@parameterized.expand(events)
|
||||
def test_sub_sock(self, evt):
|
||||
messaging.sub_sock(evt)
|
||||
|
||||
@parameterized.expand([
|
||||
(messaging.drain_sock, capnp._DynamicStructReader),
|
||||
(messaging.drain_sock_raw, bytes),
|
||||
])
|
||||
def test_drain_sock(self, func, expected_type):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=1000)
|
||||
zmq_sleep()
|
||||
|
||||
# no wait and no msgs in queue
|
||||
msgs = func(sub_sock)
|
||||
assert isinstance(msgs, list)
|
||||
assert len(msgs) == 0
|
||||
|
||||
# no wait but msgs are queued up
|
||||
num_msgs = random.randrange(3, 10)
|
||||
for _ in range(num_msgs):
|
||||
pub_sock.send(messaging.new_message(sock).to_bytes())
|
||||
time.sleep(0.1)
|
||||
msgs = func(sub_sock)
|
||||
assert isinstance(msgs, list)
|
||||
assert all(isinstance(msg, expected_type) for msg in msgs)
|
||||
assert len(msgs) == num_msgs
|
||||
|
||||
def test_recv_sock(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=100)
|
||||
zmq_sleep()
|
||||
|
||||
# no wait and no msg in queue, socket should timeout
|
||||
recvd = messaging.recv_sock(sub_sock)
|
||||
assert recvd is None
|
||||
|
||||
# no wait and one msg in queue
|
||||
msg = random_carstate()
|
||||
pub_sock.send(msg.to_bytes())
|
||||
time.sleep(0.01)
|
||||
recvd = messaging.recv_sock(sub_sock)
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
# https://github.com/python/mypy/issues/13038
|
||||
assert_carstate(msg.carState, recvd.carState)
|
||||
|
||||
def test_recv_one(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=1000)
|
||||
zmq_sleep()
|
||||
|
||||
# no msg in queue, socket should timeout
|
||||
recvd = messaging.recv_one(sub_sock)
|
||||
assert recvd is None
|
||||
|
||||
# one msg in queue
|
||||
msg = random_carstate()
|
||||
pub_sock.send(msg.to_bytes())
|
||||
recvd = messaging.recv_one(sub_sock)
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
assert_carstate(msg.carState, recvd.carState)
|
||||
|
||||
@pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
|
||||
def test_recv_one_or_none(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock)
|
||||
zmq_sleep()
|
||||
|
||||
# no msg in queue, socket shouldn't block
|
||||
recvd = messaging.recv_one_or_none(sub_sock)
|
||||
assert recvd is None
|
||||
|
||||
# one msg in queue
|
||||
msg = random_carstate()
|
||||
pub_sock.send(msg.to_bytes())
|
||||
recvd = messaging.recv_one_or_none(sub_sock)
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
assert_carstate(msg.carState, recvd.carState)
|
||||
|
||||
def test_recv_one_retry(self):
|
||||
sock = "carState"
|
||||
sock_timeout = 0.1
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
|
||||
zmq_sleep()
|
||||
|
||||
# this test doesn't work with ZMQ since multiprocessing interrupts it
|
||||
if "ZMQ" not in os.environ:
|
||||
# wait 5 socket timeouts and make sure it's still retrying
|
||||
p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
|
||||
p.start()
|
||||
time.sleep(sock_timeout*5)
|
||||
assert p.is_alive()
|
||||
p.terminate()
|
||||
|
||||
# wait 5 socket timeouts before sending
|
||||
msg = random_carstate()
|
||||
start_time = time.monotonic()
|
||||
delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
|
||||
recvd = messaging.recv_one_retry(sub_sock)
|
||||
assert (time.monotonic() - start_time) >= sock_timeout*5
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
assert_carstate(msg.carState, recvd.carState)
|
||||
160
cereal/messaging/tests/test_pub_sub_master.py
Normal file
160
cereal/messaging/tests/test_pub_sub_master.py
Normal file
@ -0,0 +1,160 @@
|
||||
import random
|
||||
import time
|
||||
from typing import Sized, cast
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
|
||||
random_bytes, random_carstate, assert_carstate, \
|
||||
zmq_sleep
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
|
||||
class TestSubMaster:
|
||||
|
||||
def setup_method(self):
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep(3)
|
||||
|
||||
def test_init(self):
|
||||
sm = messaging.SubMaster(events)
|
||||
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
|
||||
sm.sock, sm.data, sm.logMonoTime, sm.valid]:
|
||||
assert len(cast(Sized, p)) == len(events)
|
||||
|
||||
def test_init_state(self):
|
||||
socks = random_socks()
|
||||
sm = messaging.SubMaster(socks)
|
||||
assert sm.frame == -1
|
||||
assert not any(sm.updated.values())
|
||||
assert not any(sm.seen.values())
|
||||
on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
|
||||
assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
|
||||
assert all(t == 0. for t in sm.recv_time.values())
|
||||
assert all(f == 0 for f in sm.recv_frame.values())
|
||||
assert all(t == 0 for t in sm.logMonoTime.values())
|
||||
|
||||
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
|
||||
sm.sock, sm.data, sm.logMonoTime, sm.valid]:
|
||||
assert len(cast(Sized, p)) == len(socks)
|
||||
|
||||
def test_getitem(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
zmq_sleep()
|
||||
|
||||
msg = random_carstate()
|
||||
pub_sock.send(msg.to_bytes())
|
||||
sm.update(1000)
|
||||
assert_carstate(msg.carState, sm[sock])
|
||||
|
||||
# TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs
|
||||
def test_update(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
zmq_sleep()
|
||||
|
||||
for i in range(10):
|
||||
msg = messaging.new_message(sock)
|
||||
pub_sock.send(msg.to_bytes())
|
||||
sm.update(1000)
|
||||
assert sm.frame == i
|
||||
assert all(sm.updated.values())
|
||||
|
||||
def test_update_timeout(self):
|
||||
sock = random_sock()
|
||||
sm = messaging.SubMaster([sock,])
|
||||
timeout = random.randrange(1000, 3000)
|
||||
start_time = time.monotonic()
|
||||
sm.update(timeout)
|
||||
t = time.monotonic() - start_time
|
||||
assert t >= timeout/1000.
|
||||
assert t < 3
|
||||
assert not any(sm.updated.values())
|
||||
|
||||
def test_avg_frequency_checks(self):
|
||||
for poll in (True, False):
|
||||
sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
|
||||
poll=("modelV2" if poll else None),
|
||||
frequency=(20. if not poll else None))
|
||||
|
||||
checks = {
|
||||
"carState": (20, 20),
|
||||
"modelV2": (20, 20 if poll else 10),
|
||||
"cameraOdometry": (20, 10),
|
||||
"liveCalibration": (4, 4),
|
||||
"carParams": (None, None),
|
||||
"userBookmark": (None, None),
|
||||
}
|
||||
|
||||
for service, (max_freq, min_freq) in checks.items():
|
||||
if max_freq is not None:
|
||||
assert sm._check_avg_freq(service)
|
||||
assert sm.freq_tracker[service].max_freq == max_freq*1.2
|
||||
assert sm.freq_tracker[service].min_freq == min_freq*0.8
|
||||
else:
|
||||
assert not sm._check_avg_freq(service)
|
||||
|
||||
def test_alive(self):
|
||||
pass
|
||||
|
||||
def test_ignore_alive(self):
|
||||
pass
|
||||
|
||||
def test_valid(self):
|
||||
pass
|
||||
|
||||
# SubMaster should always conflate
|
||||
def test_conflate(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
|
||||
n = 10
|
||||
for i in range(n+1):
|
||||
msg = messaging.new_message(sock)
|
||||
msg.carState.vEgo = i
|
||||
pub_sock.send(msg.to_bytes())
|
||||
time.sleep(0.01)
|
||||
sm.update(1000)
|
||||
assert sm[sock].vEgo == n
|
||||
|
||||
|
||||
class TestPubMaster:
|
||||
|
||||
def setup_method(self):
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep(3)
|
||||
|
||||
def test_init(self):
|
||||
messaging.PubMaster(events)
|
||||
|
||||
def test_send(self):
|
||||
socks = random_socks()
|
||||
pm = messaging.PubMaster(socks)
|
||||
sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
|
||||
zmq_sleep()
|
||||
|
||||
# PubMaster accepts either a capnp msg builder or bytes
|
||||
for capnp in [True, False]:
|
||||
for i in range(100):
|
||||
sock = socks[i % len(socks)]
|
||||
|
||||
if capnp:
|
||||
try:
|
||||
msg = messaging.new_message(sock)
|
||||
except Exception:
|
||||
msg = messaging.new_message(sock, random.randrange(50))
|
||||
else:
|
||||
msg = random_bytes()
|
||||
|
||||
pm.send(sock, msg)
|
||||
recvd = sub_socks[sock].receive()
|
||||
|
||||
if capnp:
|
||||
msg.clear_write_flag()
|
||||
msg = msg.to_bytes()
|
||||
assert msg == recvd, i
|
||||
21
cereal/messaging/tests/test_services.py
Normal file
21
cereal/messaging/tests/test_services.py
Normal file
@ -0,0 +1,21 @@
|
||||
import os
|
||||
import tempfile
|
||||
from typing import Dict
|
||||
from parameterized import parameterized
|
||||
|
||||
import cereal.services as services
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
|
||||
class TestServices:
|
||||
|
||||
@parameterized.expand(SERVICE_LIST.keys())
|
||||
def test_services(self, s):
|
||||
service = SERVICE_LIST[s]
|
||||
assert service.frequency <= 104
|
||||
assert service.decimation != 0
|
||||
|
||||
def test_generated_header(self):
|
||||
with tempfile.NamedTemporaryFile(suffix=".h") as f:
|
||||
ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
|
||||
assert ret == 0, "generated services header is not valid C"
|
||||
@ -1,98 +0,0 @@
|
||||
/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
|
||||
#ifndef __SERVICES_H
|
||||
#define __SERVICES_H
|
||||
#include <map>
|
||||
#include <string>
|
||||
struct service { std::string name; bool should_log; int frequency; int decimation; };
|
||||
static std::map<std::string, service> services = {
|
||||
{ "gyroscope", {"gyroscope", true, 104, 104}},
|
||||
{ "gyroscope2", {"gyroscope2", true, 100, 100}},
|
||||
{ "accelerometer", {"accelerometer", true, 104, 104}},
|
||||
{ "accelerometer2", {"accelerometer2", true, 100, 100}},
|
||||
{ "magnetometer", {"magnetometer", true, 25, 25}},
|
||||
{ "lightSensor", {"lightSensor", true, 100, 100}},
|
||||
{ "temperatureSensor", {"temperatureSensor", true, 2, 200}},
|
||||
{ "temperatureSensor2", {"temperatureSensor2", true, 2, 200}},
|
||||
{ "gpsNMEA", {"gpsNMEA", true, 9, -1}},
|
||||
{ "deviceState", {"deviceState", true, 2, 1}},
|
||||
{ "can", {"can", true, 100, 1223}},
|
||||
{ "controlsState", {"controlsState", true, 100, 10}},
|
||||
{ "pandaStates", {"pandaStates", true, 10, 1}},
|
||||
{ "peripheralState", {"peripheralState", true, 2, 1}},
|
||||
{ "radarState", {"radarState", true, 20, 5}},
|
||||
{ "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}},
|
||||
{ "liveTracks", {"liveTracks", true, 20, -1}},
|
||||
{ "sendcan", {"sendcan", true, 100, 139}},
|
||||
{ "logMessage", {"logMessage", true, 0, -1}},
|
||||
{ "errorLogMessage", {"errorLogMessage", true, 0, 1}},
|
||||
{ "liveCalibration", {"liveCalibration", true, 4, 4}},
|
||||
{ "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}},
|
||||
{ "liveDelay", {"liveDelay", true, 4, 1}},
|
||||
{ "androidLog", {"androidLog", true, 0, -1}},
|
||||
{ "carState", {"carState", true, 100, 10}},
|
||||
{ "carControl", {"carControl", true, 100, 10}},
|
||||
{ "carOutput", {"carOutput", true, 100, 10}},
|
||||
{ "longitudinalPlan", {"longitudinalPlan", true, 20, 5}},
|
||||
{ "procLog", {"procLog", true, 0, 15}},
|
||||
{ "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}},
|
||||
{ "gpsLocation", {"gpsLocation", true, 1, 1}},
|
||||
{ "ubloxGnss", {"ubloxGnss", true, 10, -1}},
|
||||
{ "qcomGnss", {"qcomGnss", true, 2, -1}},
|
||||
{ "gnssMeasurements", {"gnssMeasurements", true, 10, 10}},
|
||||
{ "clocks", {"clocks", true, 0, 1}},
|
||||
{ "ubloxRaw", {"ubloxRaw", true, 20, -1}},
|
||||
{ "livePose", {"livePose", true, 20, 4}},
|
||||
{ "liveLocationKalman", {"liveLocationKalman", true, 20, -1}},
|
||||
{ "liveParameters", {"liveParameters", true, 20, 5}},
|
||||
{ "cameraOdometry", {"cameraOdometry", true, 20, 5}},
|
||||
{ "thumbnail", {"thumbnail", true, 0, 1}},
|
||||
{ "onroadEvents", {"onroadEvents", true, 1, 1}},
|
||||
{ "carParams", {"carParams", true, 0, 1}},
|
||||
{ "roadCameraState", {"roadCameraState", true, 20, 20}},
|
||||
{ "driverCameraState", {"driverCameraState", true, 20, 20}},
|
||||
{ "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}},
|
||||
{ "driverStateV2", {"driverStateV2", true, 20, 10}},
|
||||
{ "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
|
||||
{ "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
|
||||
{ "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
|
||||
{ "drivingModelData", {"drivingModelData", true, 20, 10}},
|
||||
{ "modelV2", {"modelV2", true, 20, 40}},
|
||||
{ "managerState", {"managerState", true, 2, 1}},
|
||||
{ "uploaderState", {"uploaderState", true, 0, 1}},
|
||||
{ "navInstruction", {"navInstruction", true, 1, 10}},
|
||||
{ "navRoute", {"navRoute", true, 0, -1}},
|
||||
{ "navThumbnail", {"navThumbnail", true, 0, -1}},
|
||||
{ "navModel", {"navModel", true, 2, 4}},
|
||||
{ "mapRenderState", {"mapRenderState", true, 2, 1}},
|
||||
{ "uiPlan", {"uiPlan", true, 20, 40}},
|
||||
{ "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
|
||||
{ "userFlag", {"userFlag", true, 0, 1}},
|
||||
{ "microphone", {"microphone", true, 10, 10}},
|
||||
{ "uiDebug", {"uiDebug", true, 0, 1}},
|
||||
{ "testJoystick", {"testJoystick", true, 0, -1}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20, -1}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20, -1}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}},
|
||||
{ "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}},
|
||||
{ "customReservedRawData0", {"customReservedRawData0", true, 0, -1}},
|
||||
{ "customReservedRawData1", {"customReservedRawData1", true, 0, -1}},
|
||||
{ "customReservedRawData2", {"customReservedRawData2", true, 0, -1}},
|
||||
{ "frogpilotCarControl", {"frogpilotCarControl", true, 100, 10}},
|
||||
{ "frogpilotCarParams", {"frogpilotCarParams", true, 0, 1}},
|
||||
{ "frogpilotCarState", {"frogpilotCarState", true, 100, 10}},
|
||||
{ "frogpilotControlsState", {"frogpilotControlsState", true, 100, 10}},
|
||||
{ "frogpilotDeviceState", {"frogpilotDeviceState", true, 2, 1}},
|
||||
{ "frogpilotModelV2", {"frogpilotModelV2", true, 20, 40}},
|
||||
{ "frogpilotNavigation", {"frogpilotNavigation", true, 1, 10}},
|
||||
{ "frogpilotOnroadEvents", {"frogpilotOnroadEvents", true, 1, 1}},
|
||||
{ "frogpilotPlan", {"frogpilotPlan", true, 20, 5}},
|
||||
{ "frogpilotRadarState", {"frogpilotRadarState", true, 20, 5}},
|
||||
};
|
||||
#endif
|
||||
|
||||
@ -16,14 +16,16 @@ _services: dict[str, tuple] = {
|
||||
"gyroscope2": (True, 100., 100),
|
||||
"accelerometer": (True, 104., 104),
|
||||
"accelerometer2": (True, 100., 100),
|
||||
"magnetometer": (True, 25., 25),
|
||||
"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., 1223), # decimation gives ~5 msgs in a full segment
|
||||
"touch": (True, 20., 1),
|
||||
"can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10),
|
||||
"selfdriveState": (True, 100., 10),
|
||||
"pandaStates": (True, 10., 1),
|
||||
"peripheralState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
@ -39,7 +41,8 @@ _services: dict[str, tuple] = {
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"carOutput": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 5),
|
||||
"longitudinalPlan": (True, 20., 10),
|
||||
"driverAssistance": (True, 20., 20),
|
||||
"procLog": (True, 0.5, 15),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
@ -49,10 +52,9 @@ _services: dict[str, tuple] = {
|
||||
"clocks": (True, 0.1, 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"livePose": (True, 20., 4),
|
||||
"liveLocationKalman": (True, 20.),
|
||||
"liveParameters": (True, 20., 5),
|
||||
"cameraOdometry": (True, 20., 5),
|
||||
"thumbnail": (True, 0.2, 1),
|
||||
"cameraOdometry": (True, 20., 10),
|
||||
"thumbnail": (True, 1 / 60., 1),
|
||||
"onroadEvents": (True, 1., 1),
|
||||
"carParams": (True, 0.02, 1),
|
||||
"roadCameraState": (True, 20., 20),
|
||||
@ -63,22 +65,23 @@ _services: dict[str, tuple] = {
|
||||
"wideRoadEncodeIdx": (False, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"drivingModelData": (True, 20., 10),
|
||||
"modelV2": (True, 20., 40),
|
||||
"modelV2": (True, 20.),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
"navModel": (True, 2., 4.),
|
||||
"mapRenderState": (True, 2., 1.),
|
||||
"uiPlan": (True, 20., 40.),
|
||||
"qRoadEncodeIdx": (False, 20.),
|
||||
"userFlag": (True, 0., 1),
|
||||
"microphone": (True, 10., 10),
|
||||
"userBookmark": (True, 0., 1),
|
||||
"soundPressure": (True, 10., 10),
|
||||
"rawAudioData": (False, 20.),
|
||||
"bookmarkButton": (True, 0., 1),
|
||||
"audioFeedback": (True, 0., 1),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
"testJoystick": (True, 0.),
|
||||
"alertDebug": (True, 20., 5),
|
||||
"roadEncodeData": (False, 20.),
|
||||
"driverEncodeData": (False, 20.),
|
||||
"wideRoadEncodeData": (False, 20.),
|
||||
@ -92,18 +95,8 @@ _services: dict[str, tuple] = {
|
||||
"customReservedRawData0": (True, 0.),
|
||||
"customReservedRawData1": (True, 0.),
|
||||
"customReservedRawData2": (True, 0.),
|
||||
|
||||
# FrogPilot
|
||||
"frogpilotCarControl": (True, 100., 10),
|
||||
"frogpilotCarParams": (True, 0.02, 1),
|
||||
"frogpilotCarState": (True, 100., 10),
|
||||
"frogpilotControlsState": (True, 100., 10),
|
||||
"frogpilotDeviceState": (True, 2., 1),
|
||||
"frogpilotModelV2": (True, 20., 40),
|
||||
"frogpilotNavigation": (True, 1., 10),
|
||||
"frogpilotOnroadEvents": (True, 1., 1),
|
||||
"frogpilotPlan": (True, 20., 5),
|
||||
"frogpilotRadarState": (True, 20., 5),
|
||||
"dpControlsState": (False, 100., 10),
|
||||
"modelExt": (True, 20.),
|
||||
}
|
||||
SERVICE_LIST = {name: Service(*vals) for
|
||||
idx, (name, vals) in enumerate(_services.items())}
|
||||
@ -118,12 +111,12 @@ def build_header():
|
||||
h += "#include <map>\n"
|
||||
h += "#include <string>\n"
|
||||
|
||||
h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\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' % \
|
||||
h += ' { "%s", {"%s", %s, %f, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
|
||||
|
||||
29
common/SConscript
Normal file
29
common/SConscript
Normal file
@ -0,0 +1,29 @@
|
||||
Import('env', 'envCython', 'arch')
|
||||
|
||||
common_libs = [
|
||||
'params.cc',
|
||||
'swaglog.cc',
|
||||
'util.cc',
|
||||
'ratekeeper.cc',
|
||||
'clutil.cc',
|
||||
]
|
||||
|
||||
_common = env.Library('common', common_libs, LIBS="json11")
|
||||
Export('_common')
|
||||
|
||||
if GetOption('extras'):
|
||||
env.Program('tests/test_common',
|
||||
['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
|
||||
LIBS=[_common, 'json11', 'zmq', 'pthread'])
|
||||
|
||||
# Cython bindings
|
||||
params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
|
||||
|
||||
SConscript([
|
||||
'transformations/SConscript',
|
||||
])
|
||||
|
||||
Import('transformations_python')
|
||||
common_python = [params_python, transformations_python]
|
||||
|
||||
Export('common_python')
|
||||
48
common/api.py
Normal file
48
common/api.py
Normal file
@ -0,0 +1,48 @@
|
||||
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, payload_extra=None, expiry_hours=1):
|
||||
now = datetime.now(UTC).replace(tzinfo=None)
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
'nbf': now,
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=expiry_hours)
|
||||
}
|
||||
if payload_extra is not None:
|
||||
payload.update(payload_extra)
|
||||
token = jwt.encode(payload, self.private_key, algorithm='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)
|
||||
@ -1,49 +0,0 @@
|
||||
import jwt
|
||||
import os
|
||||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.version import get_version
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_utilities import use_konik_server
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||
KONIK_API_HOST = os.getenv('API_HOST', 'https://api.konik.ai')
|
||||
|
||||
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.utcnow()
|
||||
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, (KONIK_API_HOST if use_konik_server() else API_HOST) + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
106
common/clutil.cc
106
common/clutil.cc
@ -96,109 +96,3 @@ cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const
|
||||
}
|
||||
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";
|
||||
}
|
||||
}
|
||||
|
||||
@ -25,6 +25,4 @@ cl_device_id cl_get_device_id(cl_device_type device_type);
|
||||
cl_context cl_create_context(cl_device_id device_id);
|
||||
void cl_release_context(cl_context context);
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
|
||||
cl_program cl_program_from_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);
|
||||
|
||||
23
common/constants.py
Normal file
23
common/constants.py
Normal file
@ -0,0 +1,23 @@
|
||||
import numpy as np
|
||||
|
||||
# conversions
|
||||
class CV:
|
||||
# Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
|
||||
|
||||
ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2
|
||||
@ -1,27 +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
|
||||
|
||||
# Distance
|
||||
METER_TO_FOOT = 3.28084
|
||||
FOOT_TO_METER = 1. / METER_TO_FOOT
|
||||
METER_TO_MILE = METER_TO_FOOT / 5280
|
||||
MILE_TO_METER = 1. / METER_TO_MILE
|
||||
CM_TO_INCH = 1. / 2.54
|
||||
INCH_TO_CM = 1. / CM_TO_INCH
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
@ -1,8 +0,0 @@
|
||||
import platform
|
||||
|
||||
|
||||
def suffix():
|
||||
if platform.system() == "Darwin":
|
||||
return ".dylib"
|
||||
else:
|
||||
return ".so"
|
||||
@ -1,6 +1,10 @@
|
||||
import io
|
||||
import os
|
||||
import tempfile
|
||||
import contextlib
|
||||
import zstandard as zstd
|
||||
|
||||
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
@ -35,3 +39,20 @@ def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encodin
|
||||
yield tmp_file
|
||||
tmp_file_name = tmp_file.name
|
||||
os.replace(tmp_file_name, path)
|
||||
|
||||
|
||||
def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
|
||||
if not should_compress:
|
||||
file_size = os.path.getsize(filepath)
|
||||
file_stream = open(filepath, "rb")
|
||||
return file_stream, file_size
|
||||
|
||||
# Compress the file on the fly
|
||||
compressed_stream = io.BytesIO()
|
||||
compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
|
||||
|
||||
with open(filepath, "rb") as f:
|
||||
compressor.copy_stream(f, compressed_stream)
|
||||
compressed_size = compressed_stream.tell()
|
||||
compressed_stream.seek(0)
|
||||
return compressed_stream, compressed_size
|
||||
|
||||
@ -1,5 +1,4 @@
|
||||
class FirstOrderFilter:
|
||||
# first order filter
|
||||
def __init__(self, x0, rc, dt, initialized=True):
|
||||
self.x = x0
|
||||
self.dt = dt
|
||||
|
||||
@ -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);
|
||||
@ -1,4 +1,6 @@
|
||||
import os
|
||||
import fcntl
|
||||
import ctypes
|
||||
from functools import cache
|
||||
|
||||
def gpio_init(pin: int, output: bool) -> None:
|
||||
@ -52,3 +54,36 @@ def get_irqs_for_action(action: str) -> list[str]:
|
||||
if irq.isdigit() and action in get_irq_action(irq):
|
||||
ret.append(irq)
|
||||
return ret
|
||||
|
||||
# *** gpiochip ***
|
||||
|
||||
class gpioevent_data(ctypes.Structure):
|
||||
_fields_ = [
|
||||
("timestamp", ctypes.c_uint64),
|
||||
("id", ctypes.c_uint32),
|
||||
]
|
||||
|
||||
class gpioevent_request(ctypes.Structure):
|
||||
_fields_ = [
|
||||
("lineoffset", ctypes.c_uint32),
|
||||
("handleflags", ctypes.c_uint32),
|
||||
("eventflags", ctypes.c_uint32),
|
||||
("label", ctypes.c_char * 32),
|
||||
("fd", ctypes.c_int)
|
||||
]
|
||||
|
||||
def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
|
||||
GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
|
||||
GPIOHANDLE_REQUEST_INPUT = 0x1
|
||||
GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
|
||||
|
||||
rq = gpioevent_request()
|
||||
rq.lineoffset = pin
|
||||
rq.handleflags = GPIOHANDLE_REQUEST_INPUT
|
||||
rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
|
||||
rq.label = label.encode('utf-8')[:31] + b'\0'
|
||||
|
||||
fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
|
||||
fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
|
||||
os.close(fd)
|
||||
return int(rq.fd)
|
||||
|
||||
8
common/gps.py
Normal file
8
common/gps.py
Normal file
@ -0,0 +1,8 @@
|
||||
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
|
||||
19
common/i2c.h
19
common/i2c.h
@ -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);
|
||||
};
|
||||
@ -8,6 +8,7 @@ import uuid
|
||||
import socket
|
||||
import logging
|
||||
import traceback
|
||||
import numpy as np
|
||||
from threading import local
|
||||
from collections import OrderedDict
|
||||
from contextlib import contextmanager
|
||||
@ -15,6 +16,8 @@ from contextlib import contextmanager
|
||||
LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
|
||||
|
||||
def json_handler(obj):
|
||||
if isinstance(obj, np.bool_):
|
||||
return bool(obj)
|
||||
# if isinstance(obj, (datetime.date, datetime.time)):
|
||||
# return obj.isoformat()
|
||||
return repr(obj)
|
||||
@ -196,7 +199,6 @@ class SwagLogger(logging.Logger):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
|
||||
# TODO: is this pylint exception correct?
|
||||
if filename == _srcfile:
|
||||
f = f.f_back
|
||||
continue
|
||||
|
||||
@ -8,12 +8,12 @@ import functools
|
||||
import threading
|
||||
from cereal.messaging import PubMaster
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.mock.generators import generate_liveLocationKalman
|
||||
from openpilot.common.mock.generators import generate_livePose
|
||||
from openpilot.common.realtime import Ratekeeper
|
||||
|
||||
|
||||
MOCK_GENERATOR = {
|
||||
"liveLocationKalman": generate_liveLocationKalman
|
||||
"livePose": generate_livePose
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -1,20 +1,14 @@
|
||||
from cereal import messaging
|
||||
|
||||
|
||||
LOCATION1 = (32.7174, -117.16277)
|
||||
LOCATION2 = (32.7558, -117.2037)
|
||||
|
||||
LLK_DECIMATION = 10
|
||||
RENDER_FRAMES = 15
|
||||
DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
|
||||
|
||||
|
||||
def generate_liveLocationKalman(location=LOCATION1):
|
||||
msg = messaging.new_message('liveLocationKalman')
|
||||
msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
|
||||
msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
|
||||
msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
|
||||
msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
|
||||
msg.liveLocationKalman.status = 'valid'
|
||||
msg.liveLocationKalman.gpsOK = True
|
||||
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)
|
||||
539
common/params.cc
539
common/params.cc
@ -8,6 +8,7 @@
|
||||
#include <csignal>
|
||||
#include <unordered_map>
|
||||
|
||||
#include "common/params_keys.h"
|
||||
#include "common/queue.h"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
@ -24,8 +25,8 @@ 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 = fsync(fd);
|
||||
close(fd);
|
||||
result = HANDLE_EINTR(fsync(fd));
|
||||
HANDLE_EINTR(close(fd));
|
||||
}
|
||||
return result;
|
||||
}
|
||||
@ -76,10 +77,6 @@ std::string ensure_params_path(const std::string &prefix, const std::string &pat
|
||||
class FileLock {
|
||||
public:
|
||||
FileLock(const std::string &fn) {
|
||||
if (fn.rfind("/cache", 0) == 0 || fn.rfind("/data/params_backup", 0) == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
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);
|
||||
@ -91,518 +88,6 @@ private:
|
||||
int fd_ = -1;
|
||||
};
|
||||
|
||||
std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
|
||||
{"AlwaysOnDM", PERSISTENT},
|
||||
{"ApiCache_Device", PERSISTENT},
|
||||
{"ApiCache_NavDestinations", 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},
|
||||
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"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_ONROAD_TRANSITION},
|
||||
{"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},
|
||||
{"LiveDelay", PERSISTENT},
|
||||
{"LiveParameters", PERSISTENT},
|
||||
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
||||
{"LongitudinalPersonality", PERSISTENT},
|
||||
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"NavPastDestinations", PERSISTENT},
|
||||
{"NavSettingLeftSide", PERSISTENT},
|
||||
{"NavSettingTime24h", 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
|
||||
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"RouteCount", PERSISTENT},
|
||||
{"SecOCKey", PERSISTENT | DONT_LOG},
|
||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"SshEnabled", PERSISTENT},
|
||||
{"TermsVersion", PERSISTENT},
|
||||
{"Timezone", 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},
|
||||
|
||||
// FrogPilot parameters
|
||||
{"AccelerationPath", PERSISTENT},
|
||||
{"AccelerationProfile", PERSISTENT},
|
||||
{"AdjacentLeadsUI", PERSISTENT},
|
||||
{"AdjacentPath", PERSISTENT},
|
||||
{"AdjacentPathMetrics", PERSISTENT},
|
||||
{"AdvancedCustomUI", PERSISTENT},
|
||||
{"AdvancedLateralTune", PERSISTENT},
|
||||
{"AdvancedLongitudinalTune", PERSISTENT},
|
||||
{"AggressiveFollow", PERSISTENT},
|
||||
{"AggressiveJerkAcceleration", PERSISTENT},
|
||||
{"AggressiveJerkDanger", PERSISTENT},
|
||||
{"AggressiveJerkDeceleration", PERSISTENT},
|
||||
{"AggressiveJerkSpeed", PERSISTENT},
|
||||
{"AggressiveJerkSpeedDecrease", PERSISTENT},
|
||||
{"AggressivePersonalityProfile", PERSISTENT},
|
||||
{"AlertVolumeControl", PERSISTENT},
|
||||
{"AlwaysOnLateral", PERSISTENT},
|
||||
{"AlwaysOnLateralLKAS", PERSISTENT},
|
||||
{"AlwaysOnLateralMain", PERSISTENT},
|
||||
{"AMapKey1", PERSISTENT | DONT_LOG},
|
||||
{"AMapKey2", PERSISTENT | DONT_LOG},
|
||||
{"ApiCache_DriveStats", PERSISTENT},
|
||||
{"AutomaticallyDownloadModels", PERSISTENT},
|
||||
{"AutomaticUpdates", PERSISTENT},
|
||||
{"AvailableModelNames", PERSISTENT},
|
||||
{"AvailableModels", PERSISTENT},
|
||||
{"BigMap", PERSISTENT},
|
||||
{"BlacklistedModels", PERSISTENT},
|
||||
{"BlindSpotMetrics", PERSISTENT},
|
||||
{"BlindSpotPath", PERSISTENT},
|
||||
{"BorderMetrics", PERSISTENT},
|
||||
{"CalibratedLateralAcceleration", PERSISTENT},
|
||||
{"CalibrationProgress", PERSISTENT},
|
||||
{"CameraView", PERSISTENT},
|
||||
{"CancelModelDownload", CLEAR_ON_MANAGER_START},
|
||||
{"CancelThemeDownload", CLEAR_ON_MANAGER_START},
|
||||
{"CarMake", PERSISTENT},
|
||||
{"CarModel", PERSISTENT},
|
||||
{"CarModelName", PERSISTENT},
|
||||
{"CECurves", PERSISTENT},
|
||||
{"CECurvesLead", PERSISTENT},
|
||||
{"CELead", PERSISTENT},
|
||||
{"CEModelStopTime", PERSISTENT},
|
||||
{"CENavigation", PERSISTENT},
|
||||
{"CENavigationIntersections", PERSISTENT},
|
||||
{"CENavigationLead", PERSISTENT},
|
||||
{"CENavigationTurns", PERSISTENT},
|
||||
{"CESignalSpeed", PERSISTENT},
|
||||
{"CESignalLaneDetection", PERSISTENT},
|
||||
{"CESlowerLead", PERSISTENT},
|
||||
{"CESpeed", PERSISTENT},
|
||||
{"CESpeedLead", PERSISTENT},
|
||||
{"CEStatus", CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"CEStopLights", PERSISTENT},
|
||||
{"CEStoppedLead", PERSISTENT},
|
||||
{"ClusterOffset", PERSISTENT},
|
||||
{"ColorToDownload", CLEAR_ON_MANAGER_START},
|
||||
{"Compass", PERSISTENT},
|
||||
{"ConditionalExperimental", PERSISTENT},
|
||||
{"CurvatureData", PERSISTENT | DONT_LOG},
|
||||
{"CurveSpeedController", PERSISTENT},
|
||||
{"CustomAlerts", PERSISTENT},
|
||||
{"CustomColors", PERSISTENT},
|
||||
{"CustomCruise", PERSISTENT},
|
||||
{"CustomCruiseLong", PERSISTENT},
|
||||
{"CustomDistanceIcons", PERSISTENT},
|
||||
{"CustomIcons", PERSISTENT},
|
||||
{"CustomPersonalities", PERSISTENT},
|
||||
{"CustomSignals", PERSISTENT},
|
||||
{"CustomSounds", PERSISTENT},
|
||||
{"CustomUI", PERSISTENT},
|
||||
{"DebugMode", CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"DecelerationProfile", PERSISTENT},
|
||||
{"DeveloperMetrics", PERSISTENT},
|
||||
{"DeveloperSidebar", PERSISTENT},
|
||||
{"DeveloperSidebarMetric1", PERSISTENT},
|
||||
{"DeveloperSidebarMetric2", PERSISTENT},
|
||||
{"DeveloperSidebarMetric3", PERSISTENT},
|
||||
{"DeveloperSidebarMetric4", PERSISTENT},
|
||||
{"DeveloperSidebarMetric5", PERSISTENT},
|
||||
{"DeveloperSidebarMetric6", PERSISTENT},
|
||||
{"DeveloperSidebarMetric7", PERSISTENT},
|
||||
{"DeveloperWidgets", PERSISTENT},
|
||||
{"DeveloperUI", PERSISTENT},
|
||||
{"DeviceManagement", PERSISTENT},
|
||||
{"DeviceShutdown", PERSISTENT},
|
||||
{"DisableOnroadUploads", PERSISTENT},
|
||||
{"DisableOpenpilotLongitudinal", PERSISTENT},
|
||||
{"DiscordUsername", PERSISTENT},
|
||||
{"DistanceButtonControl", PERSISTENT},
|
||||
{"DistanceIconToDownload", CLEAR_ON_MANAGER_START},
|
||||
{"DisengageVolume", PERSISTENT},
|
||||
{"DoToggleReset", PERSISTENT},
|
||||
{"DoToggleResetStock", PERSISTENT},
|
||||
{"DownloadableColors", PERSISTENT},
|
||||
{"DownloadableDistanceIcons", PERSISTENT},
|
||||
{"DownloadableIcons", PERSISTENT},
|
||||
{"DownloadableSignals", PERSISTENT},
|
||||
{"DownloadableSounds", PERSISTENT},
|
||||
{"DownloadableWheels", PERSISTENT},
|
||||
{"DownloadAllModels", CLEAR_ON_MANAGER_START},
|
||||
{"DriverCamera", PERSISTENT},
|
||||
{"DynamicPathWidth", PERSISTENT},
|
||||
{"DynamicPedalsOnUI", PERSISTENT},
|
||||
{"EngageVolume", PERSISTENT},
|
||||
{"ExperimentalGMTune", PERSISTENT},
|
||||
{"Fahrenheit", PERSISTENT},
|
||||
{"FavoriteDestinations", PERSISTENT | DONT_LOG},
|
||||
{"FlashPanda", CLEAR_ON_MANAGER_START},
|
||||
{"ForceAutoTune", PERSISTENT},
|
||||
{"ForceAutoTuneOff", PERSISTENT},
|
||||
{"ForceFingerprint", PERSISTENT},
|
||||
{"ForceMPHDashboard", PERSISTENT},
|
||||
{"ForceOffroad", CLEAR_ON_MANAGER_START},
|
||||
{"ForceOnroad", CLEAR_ON_MANAGER_START},
|
||||
{"ForceStops", PERSISTENT},
|
||||
{"ForceTorqueController", PERSISTENT},
|
||||
{"FPSCounter", PERSISTENT},
|
||||
{"FrogPilotCarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"FrogPilotCarParamsPersistent", PERSISTENT},
|
||||
{"FrogPilotDongleId", PERSISTENT | DONT_LOG},
|
||||
{"FrogPilotDrives", PERSISTENT},
|
||||
{"FrogPilotKilometers", PERSISTENT},
|
||||
{"FrogPilotMinutes", PERSISTENT},
|
||||
{"FrogPilotStats", PERSISTENT | DONT_LOG},
|
||||
{"FrogPilotToggles", CLEAR_ON_MANAGER_START},
|
||||
{"FrogPilotTogglesUpdated", CLEAR_ON_MANAGER_START},
|
||||
{"FrogPilotTuningLevels", CLEAR_ON_MANAGER_START},
|
||||
{"FrogsGoMoosTweak", PERSISTENT},
|
||||
{"FullMap", PERSISTENT},
|
||||
{"GasRegenCmd", PERSISTENT},
|
||||
{"GoatScream", PERSISTENT},
|
||||
{"GreenLightAlert", PERSISTENT},
|
||||
{"HideAlerts", PERSISTENT},
|
||||
{"HideLeadMarker", PERSISTENT},
|
||||
{"HideMap", PERSISTENT},
|
||||
{"HideMapIcon", PERSISTENT},
|
||||
{"HideMaxSpeed", PERSISTENT},
|
||||
{"HideSpeed", PERSISTENT},
|
||||
{"HideSpeedLimit", PERSISTENT},
|
||||
{"HigherBitrate", PERSISTENT},
|
||||
{"HolidayThemes", PERSISTENT},
|
||||
{"HondaAltTune", PERSISTENT},
|
||||
{"HondaLowSpeedPedal", PERSISTENT},
|
||||
{"HondaMaxBrake", PERSISTENT},
|
||||
{"HumanAcceleration", PERSISTENT},
|
||||
{"HumanFollowing", PERSISTENT},
|
||||
{"HumanLaneChanges", PERSISTENT},
|
||||
{"IconToDownload", CLEAR_ON_MANAGER_START},
|
||||
{"IncreasedStoppedDistance", PERSISTENT},
|
||||
{"IncreaseFollowingLowVisibility", PERSISTENT},
|
||||
{"IncreaseFollowingRain", PERSISTENT},
|
||||
{"IncreaseFollowingRainStorm", PERSISTENT},
|
||||
{"IncreaseFollowingSnow", PERSISTENT},
|
||||
{"IncreasedStoppedDistanceLowVisibility", PERSISTENT},
|
||||
{"IncreasedStoppedDistanceRain", PERSISTENT},
|
||||
{"IncreasedStoppedDistanceRainStorm", PERSISTENT},
|
||||
{"IncreasedStoppedDistanceSnow", PERSISTENT},
|
||||
{"IncreaseThermalLimits", PERSISTENT},
|
||||
{"IssueReported", CLEAR_ON_MANAGER_START},
|
||||
{"KonikDongleId", PERSISTENT},
|
||||
{"KonikMinutes", PERSISTENT},
|
||||
{"LaneChanges", PERSISTENT},
|
||||
{"LaneChangeTime", PERSISTENT},
|
||||
{"LaneDetectionWidth", PERSISTENT},
|
||||
{"LaneLinesWidth", PERSISTENT},
|
||||
{"LastMapsUpdate", PERSISTENT},
|
||||
{"LateralTune", PERSISTENT},
|
||||
{"LeadDepartingAlert", PERSISTENT},
|
||||
{"LeadDetectionThreshold", PERSISTENT},
|
||||
{"LeadInfo", PERSISTENT},
|
||||
{"LKASButtonControl", PERSISTENT},
|
||||
{"LockDoors", PERSISTENT},
|
||||
{"LockDoorsTimer", PERSISTENT},
|
||||
{"LongDistanceButtonControl", PERSISTENT},
|
||||
{"LongitudinalActuatorDelay", PERSISTENT},
|
||||
{"LongitudinalActuatorDelayStock", PERSISTENT},
|
||||
{"LongitudinalTune", PERSISTENT},
|
||||
{"LongPitch", PERSISTENT},
|
||||
{"LoudBlindspotAlert", PERSISTENT},
|
||||
{"LowVoltageShutdown", PERSISTENT},
|
||||
{"ManualUpdateInitiated", CLEAR_ON_MANAGER_START},
|
||||
{"MapAcceleration", PERSISTENT},
|
||||
{"MapboxPublicKey", PERSISTENT | DONT_LOG},
|
||||
{"MapBoxRequests", PERSISTENT},
|
||||
{"MapboxSecretKey", PERSISTENT | DONT_LOG},
|
||||
{"MapDeceleration", PERSISTENT},
|
||||
{"MapdLogLevel", CLEAR_ON_MANAGER_START},
|
||||
{"MapGears", PERSISTENT},
|
||||
{"MapsSelected", PERSISTENT},
|
||||
{"MapSpeedLimit", CLEAR_ON_MANAGER_START},
|
||||
{"MapStyle", PERSISTENT},
|
||||
{"MaxDesiredAcceleration", PERSISTENT},
|
||||
{"MinimumBackupSize", PERSISTENT},
|
||||
{"MinimumLaneChangeSpeed", PERSISTENT},
|
||||
{"Model", PERSISTENT},
|
||||
{"ModelDownloadProgress", CLEAR_ON_MANAGER_START},
|
||||
{"ModelDrivesAndScores", PERSISTENT},
|
||||
{"ModelRandomizer", PERSISTENT},
|
||||
{"ModelToDownload", CLEAR_ON_MANAGER_START},
|
||||
{"ModelUI", PERSISTENT},
|
||||
{"ModelVersions", PERSISTENT},
|
||||
{"NavigationUI", PERSISTENT},
|
||||
{"NextMapSpeedLimit", CLEAR_ON_MANAGER_START},
|
||||
{"NewLongAPI", PERSISTENT},
|
||||
{"NNFF", PERSISTENT},
|
||||
{"NNFFLite", PERSISTENT},
|
||||
{"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"NoLogging", PERSISTENT},
|
||||
{"NoUploads", PERSISTENT},
|
||||
{"NudgelessLaneChange", PERSISTENT},
|
||||
{"NumericalTemp", PERSISTENT},
|
||||
{"Offset1", PERSISTENT},
|
||||
{"Offset2", PERSISTENT},
|
||||
{"Offset3", PERSISTENT},
|
||||
{"Offset4", PERSISTENT},
|
||||
{"Offset5", PERSISTENT},
|
||||
{"Offset6", PERSISTENT},
|
||||
{"Offset7", PERSISTENT},
|
||||
{"OneLaneChange", PERSISTENT},
|
||||
{"OnroadDistanceButton", PERSISTENT},
|
||||
{"OnroadDistanceButtonPressed", CLEAR_ON_MANAGER_START},
|
||||
{"openpilotMinutes", PERSISTENT},
|
||||
{"OSMDownloadBounds", PERSISTENT},
|
||||
{"OSMDownloadLocations", PERSISTENT},
|
||||
{"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
|
||||
{"OverpassRequests", PERSISTENT},
|
||||
{"PathEdgeWidth", PERSISTENT},
|
||||
{"PathWidth", PERSISTENT},
|
||||
{"PauseAOLOnBrake", PERSISTENT},
|
||||
{"PauseLateralOnSignal", PERSISTENT},
|
||||
{"PauseLateralSpeed", PERSISTENT},
|
||||
{"PedalsOnUI", PERSISTENT},
|
||||
{"PersonalizeOpenpilot", PERSISTENT},
|
||||
{"PreferredSchedule", PERSISTENT},
|
||||
{"PreviousSpeedLimit", PERSISTENT},
|
||||
{"PromptDistractedVolume", PERSISTENT},
|
||||
{"PromptVolume", PERSISTENT},
|
||||
{"QOLLateral", PERSISTENT},
|
||||
{"QOLLongitudinal", PERSISTENT},
|
||||
{"QOLVisuals", PERSISTENT},
|
||||
{"RadarTracksUI", PERSISTENT},
|
||||
{"RainbowPath", PERSISTENT},
|
||||
{"RandomEvents", PERSISTENT},
|
||||
{"RandomThemes", PERSISTENT},
|
||||
{"ReduceAccelerationLowVisibility", PERSISTENT},
|
||||
{"ReduceAccelerationRain", PERSISTENT},
|
||||
{"ReduceAccelerationRainStorm", PERSISTENT},
|
||||
{"ReduceAccelerationSnow", PERSISTENT},
|
||||
{"ReduceLateralAccelerationLowVisibility", PERSISTENT},
|
||||
{"ReduceLateralAccelerationRain", PERSISTENT},
|
||||
{"ReduceLateralAccelerationRainStorm", PERSISTENT},
|
||||
{"ReduceLateralAccelerationSnow", PERSISTENT},
|
||||
{"RefuseVolume", PERSISTENT},
|
||||
{"RelaxedFollow", PERSISTENT},
|
||||
{"RelaxedJerkAcceleration", PERSISTENT},
|
||||
{"RelaxedJerkDanger", PERSISTENT},
|
||||
{"RelaxedJerkDeceleration", PERSISTENT},
|
||||
{"RelaxedJerkSpeed", PERSISTENT},
|
||||
{"RelaxedJerkSpeedDecrease", PERSISTENT},
|
||||
{"RelaxedPersonalityProfile", PERSISTENT},
|
||||
{"ReverseCruise", PERSISTENT},
|
||||
{"RoadEdgesWidth", PERSISTENT},
|
||||
{"RoadName", CLEAR_ON_MANAGER_START},
|
||||
{"RoadNameUI", PERSISTENT},
|
||||
{"RotatingWheel", PERSISTENT},
|
||||
{"ScreenBrightness", PERSISTENT},
|
||||
{"ScreenBrightnessOnroad", PERSISTENT},
|
||||
{"ScreenManagement", PERSISTENT},
|
||||
{"ScreenRecorder", PERSISTENT},
|
||||
{"ScreenTimeout", PERSISTENT},
|
||||
{"ScreenTimeoutOnroad", PERSISTENT},
|
||||
{"SearchInput", PERSISTENT},
|
||||
{"SecOCKeys", PERSISTENT | DONT_LOG},
|
||||
{"SetSpeedLimit", PERSISTENT},
|
||||
{"SetSpeedOffset", PERSISTENT},
|
||||
{"ShowCEMStatus", PERSISTENT},
|
||||
{"ShowCPU", PERSISTENT},
|
||||
{"ShowCSCStatus", PERSISTENT},
|
||||
{"ShowGPU", PERSISTENT},
|
||||
{"ShowIP", PERSISTENT},
|
||||
{"ShowMemoryUsage", PERSISTENT},
|
||||
{"ShownToggleDescriptions", PERSISTENT},
|
||||
{"ShowSLCOffset", PERSISTENT},
|
||||
{"ShowSpeedLimits", PERSISTENT},
|
||||
{"ShowSteering", PERSISTENT},
|
||||
{"ShowStoppingPoint", PERSISTENT},
|
||||
{"ShowStoppingPointMetrics", PERSISTENT},
|
||||
{"ShowStorageLeft", PERSISTENT},
|
||||
{"ShowStorageUsed", PERSISTENT},
|
||||
{"Sidebar", PERSISTENT},
|
||||
{"SignalMetrics", PERSISTENT},
|
||||
{"SignalToDownload", CLEAR_ON_MANAGER_START},
|
||||
{"SLCConfirmation", PERSISTENT},
|
||||
{"SLCConfirmationHigher", PERSISTENT},
|
||||
{"SLCConfirmationLower", PERSISTENT},
|
||||
{"SLCFallback", PERSISTENT},
|
||||
{"SLCLookaheadHigher", PERSISTENT},
|
||||
{"SLCLookaheadLower", PERSISTENT},
|
||||
{"SLCMapboxFiller", PERSISTENT},
|
||||
{"SLCOverride", PERSISTENT},
|
||||
{"SLCPriority1", PERSISTENT},
|
||||
{"SLCPriority2", PERSISTENT},
|
||||
{"SLCPriority3", PERSISTENT},
|
||||
{"SNGHack", PERSISTENT},
|
||||
{"SoundToDownload", CLEAR_ON_MANAGER_START},
|
||||
{"SpeedLimitAccepted", CLEAR_ON_MANAGER_START},
|
||||
{"SpeedLimitChangedAlert", PERSISTENT},
|
||||
{"SpeedLimitController", PERSISTENT},
|
||||
{"SpeedLimitFiller", PERSISTENT},
|
||||
{"SpeedLimits", PERSISTENT | DONT_LOG},
|
||||
{"SpeedLimitsFiltered", PERSISTENT | DONT_LOG},
|
||||
{"SpeedLimitSources", PERSISTENT},
|
||||
{"StandardFollow", PERSISTENT},
|
||||
{"StandardJerkAcceleration", PERSISTENT},
|
||||
{"StandardJerkDanger", PERSISTENT},
|
||||
{"StandardJerkDeceleration", PERSISTENT},
|
||||
{"StandardJerkSpeed", PERSISTENT},
|
||||
{"StandardJerkSpeedDecrease", PERSISTENT},
|
||||
{"StandardPersonalityProfile", PERSISTENT},
|
||||
{"StandbyMode", PERSISTENT},
|
||||
{"StartAccel", PERSISTENT},
|
||||
{"StartAccelStock", PERSISTENT},
|
||||
{"StartupMessageBottom", PERSISTENT},
|
||||
{"StartupMessageTop", PERSISTENT},
|
||||
{"StaticPedalsOnUI", PERSISTENT},
|
||||
{"SteerDelay", PERSISTENT},
|
||||
{"SteerDelayStock", PERSISTENT},
|
||||
{"SteerFriction", PERSISTENT},
|
||||
{"SteerFrictionStock", PERSISTENT},
|
||||
{"SteerLatAccel", PERSISTENT},
|
||||
{"SteerLatAccelStock", PERSISTENT},
|
||||
{"SteerKP", PERSISTENT},
|
||||
{"SteerKPStock", PERSISTENT},
|
||||
{"SteerRatio", PERSISTENT},
|
||||
{"SteerRatioStock", PERSISTENT},
|
||||
{"StockDongleId", PERSISTENT},
|
||||
{"StopAccel", PERSISTENT},
|
||||
{"StopAccelStock", PERSISTENT},
|
||||
{"StoppingDecelRate", PERSISTENT},
|
||||
{"StoppingDecelRateStock", PERSISTENT},
|
||||
{"StoppedTimer", PERSISTENT},
|
||||
{"SubaruSNG", PERSISTENT},
|
||||
{"TacoTune", PERSISTENT},
|
||||
{"TacoTuneHacks", PERSISTENT},
|
||||
{"TestAlert", CLEAR_ON_MANAGER_START},
|
||||
{"TetheringEnabled", PERSISTENT},
|
||||
{"ThemeDownloadProgress", CLEAR_ON_MANAGER_START},
|
||||
{"ThemesDownloaded", PERSISTENT},
|
||||
{"TinygradUpdateAvailable", PERSISTENT},
|
||||
{"ToyotaDoors", PERSISTENT},
|
||||
{"TrafficFollow", PERSISTENT},
|
||||
{"TrafficJerkAcceleration", PERSISTENT},
|
||||
{"TrafficJerkDanger", PERSISTENT},
|
||||
{"TrafficJerkDeceleration", PERSISTENT},
|
||||
{"TrafficJerkSpeed", PERSISTENT},
|
||||
{"TrafficJerkSpeedDecrease", PERSISTENT},
|
||||
{"TrafficPersonalityProfile", PERSISTENT},
|
||||
{"TuningLevel", PERSISTENT},
|
||||
{"TuningLevelConfirmed", PERSISTENT},
|
||||
{"TurnDesires", PERSISTENT},
|
||||
{"UnlimitedLength", PERSISTENT},
|
||||
{"UnlockDoors", PERSISTENT},
|
||||
{"Updated", PERSISTENT},
|
||||
{"UpdatedToggles", PERSISTENT},
|
||||
{"UpdateSpeedLimits", CLEAR_ON_MANAGER_START},
|
||||
{"UpdateSpeedLimitsStatus", CLEAR_ON_MANAGER_START},
|
||||
{"UpdateTinygrad", CLEAR_ON_MANAGER_START},
|
||||
{"UpdateWheelImage", CLEAR_ON_MANAGER_START},
|
||||
{"UseActiveTheme", CLEAR_ON_MANAGER_START},
|
||||
{"UseKonikServer", PERSISTENT},
|
||||
{"UseSI", PERSISTENT},
|
||||
{"UseVienna", PERSISTENT},
|
||||
{"VEgoStarting", PERSISTENT},
|
||||
{"VEgoStartingStock", PERSISTENT},
|
||||
{"VEgoStopping", PERSISTENT},
|
||||
{"VEgoStoppingStock", PERSISTENT},
|
||||
{"VeryLongDistanceButtonControl", PERSISTENT},
|
||||
{"VoltSNG", PERSISTENT},
|
||||
{"WarningImmediateVolume", PERSISTENT},
|
||||
{"WarningSoftVolume", PERSISTENT},
|
||||
{"WeatherPresets", PERSISTENT},
|
||||
{"WeatherToken", PERSISTENT | DONT_LOG},
|
||||
{"WheelIcon", PERSISTENT},
|
||||
{"WheelSpeed", PERSISTENT},
|
||||
{"WheelToDownload", CLEAR_ON_MANAGER_START},
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
@ -630,8 +115,16 @@ bool Params::checkKey(const std::string &key) {
|
||||
return keys.find(key) != keys.end();
|
||||
}
|
||||
|
||||
ParamKeyFlag Params::getKeyFlag(const std::string &key) {
|
||||
return static_cast<ParamKeyFlag>(keys[key].flags);
|
||||
}
|
||||
|
||||
ParamKeyType Params::getKeyType(const std::string &key) {
|
||||
return static_cast<ParamKeyType>(keys[key]);
|
||||
return keys[key].type;
|
||||
}
|
||||
|
||||
std::optional<std::string> Params::getKeyDefaultValue(const std::string &key) {
|
||||
return keys[key].default_value;
|
||||
}
|
||||
|
||||
int Params::put(const char* key, const char* value, size_t value_size) {
|
||||
@ -655,7 +148,7 @@ int Params::put(const char* key, const char* value, size_t value_size) {
|
||||
}
|
||||
|
||||
// fsync to force persist the changes.
|
||||
if ((result = fsync(tmp_fd)) < 0) break;
|
||||
if ((result = HANDLE_EINTR(fsync(tmp_fd))) < 0) break;
|
||||
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
@ -710,17 +203,17 @@ std::map<std::string, std::string> Params::readAll() {
|
||||
return util::read_files_in_dir(getParamPath());
|
||||
}
|
||||
|
||||
void Params::clearAll(ParamKeyType key_type) {
|
||||
void Params::clearAll(ParamKeyFlag key_flag) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
// 1) delete params of key_type
|
||||
// 1) delete params of key_flag
|
||||
// 2) delete files that are not defined in the keys.
|
||||
if (DIR *d = opendir(getParamPath().c_str())) {
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (de->d_type != DT_DIR) {
|
||||
auto it = keys.find(de->d_name);
|
||||
if (it == keys.end() || (it->second & key_type)) {
|
||||
if (it == keys.end() || (it->second.flags & key_flag)) {
|
||||
unlink(getParamPath(de->d_name).c_str());
|
||||
}
|
||||
}
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
|
||||
#include <future>
|
||||
#include <map>
|
||||
#include <optional>
|
||||
#include <string>
|
||||
#include <tuple>
|
||||
#include <utility>
|
||||
@ -9,16 +10,33 @@
|
||||
|
||||
#include "common/queue.h"
|
||||
|
||||
enum ParamKeyType {
|
||||
enum ParamKeyFlag {
|
||||
PERSISTENT = 0x02,
|
||||
CLEAR_ON_MANAGER_START = 0x04,
|
||||
CLEAR_ON_ONROAD_TRANSITION = 0x08,
|
||||
CLEAR_ON_OFFROAD_TRANSITION = 0x10,
|
||||
DONT_LOG = 0x20,
|
||||
DEVELOPMENT_ONLY = 0x40,
|
||||
CLEAR_ON_IGNITION_ON = 0x80,
|
||||
ALL = 0xFFFFFFFF
|
||||
};
|
||||
|
||||
enum ParamKeyType {
|
||||
STRING = 0, // must be utf-8 decodable
|
||||
BOOL = 1,
|
||||
INT = 2,
|
||||
FLOAT = 3,
|
||||
TIME = 4, // ISO 8601
|
||||
JSON = 5,
|
||||
BYTES = 6
|
||||
};
|
||||
|
||||
struct ParamKeyAttributes {
|
||||
uint32_t flags;
|
||||
ParamKeyType type;
|
||||
std::optional<std::string> default_value = std::nullopt;
|
||||
};
|
||||
|
||||
class Params {
|
||||
public:
|
||||
explicit Params(const std::string &path = {});
|
||||
@ -29,28 +47,22 @@ public:
|
||||
|
||||
std::vector<std::string> allKeys() const;
|
||||
bool checkKey(const std::string &key);
|
||||
ParamKeyFlag getKeyFlag(const std::string &key);
|
||||
ParamKeyType getKeyType(const std::string &key);
|
||||
std::optional<std::string> getKeyDefaultValue(const std::string &key);
|
||||
inline std::string getParamPath(const std::string &key = {}) {
|
||||
return params_path + params_prefix + (key.empty() ? "" : "/" + key);
|
||||
}
|
||||
|
||||
// Delete a value
|
||||
int remove(const std::string &key);
|
||||
void clearAll(ParamKeyType type);
|
||||
void clearAll(ParamKeyFlag flag);
|
||||
|
||||
// helpers for reading values
|
||||
std::string get(const std::string &key, bool block = false);
|
||||
inline bool getBool(const std::string &key, bool block = false) {
|
||||
return get(key, block) == "1";
|
||||
}
|
||||
inline int getInt(const std::string &key, bool block = false) {
|
||||
std::string value = get(key, block);
|
||||
return value.empty() ? 0 : std::stoi(value);
|
||||
}
|
||||
inline float getFloat(const std::string &key, bool block = false) {
|
||||
std::string value = get(key, block);
|
||||
return value.empty() ? 0.0 : std::stof(value);
|
||||
}
|
||||
std::map<std::string, std::string> readAll();
|
||||
|
||||
// helpers for writing values
|
||||
@ -61,22 +73,10 @@ public:
|
||||
inline int putBool(const std::string &key, bool val) {
|
||||
return put(key.c_str(), val ? "1" : "0", 1);
|
||||
}
|
||||
inline int putInt(const std::string &key, int val) {
|
||||
return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
|
||||
}
|
||||
inline int putFloat(const std::string &key, float val) {
|
||||
return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
|
||||
}
|
||||
void putNonBlocking(const std::string &key, const std::string &val);
|
||||
inline void putBoolNonBlocking(const std::string &key, bool val) {
|
||||
putNonBlocking(key, val ? "1" : "0");
|
||||
}
|
||||
inline void putIntNonBlocking(const std::string &key, int val) {
|
||||
putNonBlocking(key, std::to_string(val));
|
||||
}
|
||||
inline void putFloatNonBlocking(const std::string &key, float val) {
|
||||
putNonBlocking(key, std::to_string(val));
|
||||
}
|
||||
|
||||
private:
|
||||
void asyncWriteThread();
|
||||
|
||||
@ -1,5 +1,6 @@
|
||||
from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
|
||||
from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
|
||||
assert Params
|
||||
assert ParamKeyFlag
|
||||
assert ParamKeyType
|
||||
assert UnknownKeyName
|
||||
|
||||
|
||||
166
common/params_keys.h
Normal file
166
common/params_keys.h
Normal file
@ -0,0 +1,166 @@
|
||||
#pragma once
|
||||
|
||||
#include <string>
|
||||
#include <unordered_map>
|
||||
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
|
||||
inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
|
||||
{"AdbEnabled", {PERSISTENT, BOOL}},
|
||||
{"AlwaysOnDM", {PERSISTENT, BOOL}},
|
||||
{"ApiCache_Device", {PERSISTENT, STRING}},
|
||||
{"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
|
||||
{"AssistNowToken", {PERSISTENT, STRING}},
|
||||
{"AthenadPid", {PERSISTENT, INT}},
|
||||
{"AthenadUploadQueue", {PERSISTENT, JSON}},
|
||||
{"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
|
||||
{"BootCount", {PERSISTENT, INT}},
|
||||
{"CalibrationParams", {PERSISTENT, BYTES}},
|
||||
{"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"CarBatteryCapacity", {PERSISTENT, INT}},
|
||||
{"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
|
||||
{"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"CarParamsPersistent", {PERSISTENT, BYTES}},
|
||||
{"CarParamsPrevRoute", {PERSISTENT, BYTES}},
|
||||
{"CompletedTrainingVersion", {PERSISTENT, STRING, "0"}},
|
||||
{"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"CurrentBootlog", {PERSISTENT, STRING}},
|
||||
{"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"DisableLogging", {PERSISTENT, BOOL, "0"}},
|
||||
{"DisablePowerDown", {PERSISTENT, BOOL}},
|
||||
{"DisableUpdates", {PERSISTENT, BOOL}},
|
||||
{"DisengageOnAccelerator", {PERSISTENT, BOOL, "0"}},
|
||||
{"DongleId", {PERSISTENT, STRING}},
|
||||
{"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY, BOOL}},
|
||||
{"ExperimentalMode", {PERSISTENT, BOOL}},
|
||||
{"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
|
||||
{"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"ForcePowerDown", {PERSISTENT, BOOL}},
|
||||
{"GitBranch", {PERSISTENT, STRING}},
|
||||
{"GitCommit", {PERSISTENT, STRING}},
|
||||
{"GitCommitDate", {PERSISTENT, STRING}},
|
||||
{"GitDiff", {PERSISTENT, STRING}},
|
||||
{"GithubSshKeys", {PERSISTENT, STRING}},
|
||||
{"GithubUsername", {PERSISTENT, STRING}},
|
||||
{"GitRemote", {PERSISTENT, STRING}},
|
||||
{"GsmApn", {PERSISTENT, STRING}},
|
||||
{"GsmMetered", {PERSISTENT, BOOL, "1"}},
|
||||
{"GsmRoaming", {PERSISTENT, BOOL}},
|
||||
{"HardwareSerial", {PERSISTENT, STRING}},
|
||||
{"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
|
||||
{"InstallDate", {PERSISTENT, TIME}},
|
||||
{"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsEngaged", {PERSISTENT, BOOL}},
|
||||
{"IsLdwEnabled", {PERSISTENT, BOOL}},
|
||||
{"IsMetric", {PERSISTENT, BOOL}},
|
||||
{"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsOnroad", {PERSISTENT, BOOL}},
|
||||
{"IsRhdDetected", {PERSISTENT, BOOL}},
|
||||
{"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LanguageSetting", {PERSISTENT, STRING, "zh-CHS"}},
|
||||
{"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"LastGPSPosition", {PERSISTENT, STRING}},
|
||||
{"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
|
||||
{"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"LastUpdateTime", {PERSISTENT, TIME}},
|
||||
{"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"LiveDelay", {PERSISTENT, BYTES}},
|
||||
{"LiveParameters", {PERSISTENT, JSON}},
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
{"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
|
||||
{"LocationFilterInitialState", {PERSISTENT, BYTES}},
|
||||
{"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
|
||||
{"NetworkMetered", {PERSISTENT, BOOL}},
|
||||
{"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
|
||||
{"Offroad_IsTakingSnapshot", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
|
||||
{"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"PrimeType", {PERSISTENT, INT}},
|
||||
{"RecordAudio", {PERSISTENT, BOOL}},
|
||||
{"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
|
||||
{"RecordFront", {PERSISTENT, BOOL}},
|
||||
{"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet
|
||||
{"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
|
||||
{"RouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"SshEnabled", {PERSISTENT, BOOL}},
|
||||
{"TermsVersion", {PERSISTENT, STRING}},
|
||||
{"TrainingVersion", {PERSISTENT, STRING}},
|
||||
{"UbloxAvailable", {PERSISTENT, BOOL}},
|
||||
{"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"UpdaterAvailableBranches", {PERSISTENT, STRING}},
|
||||
{"UpdaterCurrentDescription", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterCurrentReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"UpdaterFetchAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"UpdaterNewDescription", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterNewReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"UpdaterState", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterTargetBranch", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterLastFetchTime", {PERSISTENT, TIME}},
|
||||
{"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"Version", {PERSISTENT, STRING}},
|
||||
{"dp_dev_last_log", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"dp_dev_reset_conf", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
|
||||
{"dp_dev_is_rhd", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_dev_monitoring_disabled", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_dev_beep", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lat_alka", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_ui_display_mode", {PERSISTENT, INT, "0"}},
|
||||
{"dp_dev_model_selected", {PERSISTENT, STRING}},
|
||||
{"dp_dev_model_list", {PERSISTENT, STRING}},
|
||||
{"dp_lat_lca_speed", {PERSISTENT, INT, "20"}},
|
||||
{"dp_lat_lca_auto_sec", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"dp_dev_go_off_road", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"dp_ui_hide_hud_speed_kph", {PERSISTENT, INT, "0"}},
|
||||
{"dp_lon_ext_radar", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lat_road_edge_detection", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_ui_rainbow", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lon_acm", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lon_aem", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lon_dtsc", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_dev_audible_alert_mode", {PERSISTENT, INT, "0"}},
|
||||
{"dp_dev_auto_shutdown_in", {PERSISTENT, INT, "-5"}},
|
||||
{"dp_ui_lead", {PERSISTENT, INT, "0"}},
|
||||
{"dp_dev_dashy", {PERSISTENT, INT, "0"}},
|
||||
{"dp_dev_delay_loggerd", {PERSISTENT, INT, "0"}},
|
||||
{"dp_dev_disable_connect", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_dev_tethering", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_toyota_door_auto_lock_unlock", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_toyota_tss1_sng", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_toyota_stock_lon", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_vag_a0_sng", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_vag_pq_steering_patch", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_vag_avoid_eps_lockout", {PERSISTENT, BOOL, "0"}},
|
||||
|
||||
// 驾驶员监控灵敏度
|
||||
{"DistractionDetectionLevel", {PERSISTENT, INT, "1"}},
|
||||
};
|
||||
19684
common/params_pyx.cpp
19684
common/params_pyx.cpp
File diff suppressed because it is too large
Load Diff
@ -1,38 +1,69 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
import builtins
|
||||
import datetime
|
||||
import json
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp.optional cimport optional
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
cdef extern from "common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
cpdef enum ParamKeyFlag:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_ONROAD_TRANSITION
|
||||
CLEAR_ON_OFFROAD_TRANSITION
|
||||
DEVELOPMENT_ONLY
|
||||
CLEAR_ON_IGNITION_ON
|
||||
ALL
|
||||
|
||||
cpdef enum ParamKeyType:
|
||||
STRING
|
||||
BOOL
|
||||
INT
|
||||
FLOAT
|
||||
TIME
|
||||
JSON
|
||||
BYTES
|
||||
|
||||
cdef cppclass c_Params "Params":
|
||||
c_Params(string) except + nogil
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string, bool) nogil
|
||||
int getInt(string, bool) nogil
|
||||
float getFloat(string, bool) nogil
|
||||
int remove(string) nogil
|
||||
int put(string, string) nogil
|
||||
void putNonBlocking(string, string) nogil
|
||||
void putBoolNonBlocking(string, bool) nogil
|
||||
void putIntNonBlocking(string, int) nogil
|
||||
void putFloatNonBlocking(string, float) nogil
|
||||
int putBool(string, bool) nogil
|
||||
int putInt(string, int) nogil
|
||||
int putFloat(string, float) nogil
|
||||
bool checkKey(string) nogil
|
||||
ParamKeyType getKeyType(string) nogil
|
||||
optional[string] getKeyDefaultValue(string) nogil
|
||||
string getParamPath(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
void clearAll(ParamKeyFlag)
|
||||
vector[string] allKeys()
|
||||
|
||||
PYTHON_2_CPP = {
|
||||
(str, STRING): lambda v: v,
|
||||
(builtins.bool, BOOL): lambda v: "1" if v else "0",
|
||||
(int, INT): str,
|
||||
(float, FLOAT): str,
|
||||
(datetime.datetime, TIME): lambda v: v.isoformat(),
|
||||
(dict, JSON): json.dumps,
|
||||
(list, JSON): json.dumps,
|
||||
(bytes, BYTES): lambda v: v,
|
||||
}
|
||||
CPP_2_PYTHON = {
|
||||
STRING: lambda v: v.decode("utf-8"),
|
||||
BOOL: lambda v: v == b"1",
|
||||
INT: int,
|
||||
FLOAT: float,
|
||||
TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
|
||||
JSON: json.loads,
|
||||
BYTES: lambda v: v,
|
||||
}
|
||||
|
||||
def ensure_bytes(v):
|
||||
return v.encode() if isinstance(v, str) else v
|
||||
@ -42,17 +73,22 @@ class UnknownKeyName(Exception):
|
||||
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
cdef str d
|
||||
|
||||
def __cinit__(self, d=""):
|
||||
cdef string path = <string>d.encode()
|
||||
with nogil:
|
||||
self.p = new c_Params(path)
|
||||
self.d = d
|
||||
|
||||
def __reduce__(self):
|
||||
return (type(self), (self.d,))
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=ParamKeyType.ALL):
|
||||
self.p.clearAll(tx_type)
|
||||
def clear_all(self, tx_flag=ParamKeyFlag.ALL):
|
||||
self.p.clearAll(tx_flag)
|
||||
|
||||
def check_key(self, key):
|
||||
key = ensure_bytes(key)
|
||||
@ -60,21 +96,38 @@ cdef class Params:
|
||||
raise UnknownKeyName(key)
|
||||
return key
|
||||
|
||||
def get(self, key, bool block=False, encoding=None):
|
||||
def python2cpp(self, proposed_type, expected_type, value, key):
|
||||
cast = PYTHON_2_CPP.get((proposed_type, expected_type))
|
||||
if cast:
|
||||
return cast(value)
|
||||
raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
|
||||
|
||||
def _cpp2python(self, t, value, default, key):
|
||||
if value is None:
|
||||
return None
|
||||
try:
|
||||
return CPP_2_PYTHON[t](value)
|
||||
except (KeyError, TypeError, ValueError):
|
||||
cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
|
||||
return self._cpp2python(t, default, None, key)
|
||||
|
||||
def get(self, key, bool block=False, bool return_default=False):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
cdef optional[string] default = self.p.getKeyDefaultValue(k)
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, block)
|
||||
|
||||
default_val = (default.value() if default.has_value() else None) if return_default else None
|
||||
if val == b"":
|
||||
if block:
|
||||
# If we got no value while running in blocked mode
|
||||
# it means we got an interrupt while waiting
|
||||
raise KeyboardInterrupt
|
||||
else:
|
||||
return None
|
||||
|
||||
return val if encoding is None else val.decode(encoding)
|
||||
return self._cpp2python(t, default_val, None, key)
|
||||
return self._cpp2python(t, val, default_val, key)
|
||||
|
||||
def get_bool(self, key, bool block=False):
|
||||
cdef string k = self.check_key(key)
|
||||
@ -83,19 +136,10 @@ cdef class Params:
|
||||
r = self.p.getBool(k, block)
|
||||
return r
|
||||
|
||||
def get_int(self, key, bool block=False):
|
||||
def _put_cast(self, key, dat):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef int r
|
||||
with nogil:
|
||||
r = self.p.getInt(k, block)
|
||||
return r
|
||||
|
||||
def get_float(self, key, bool block=False):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef float r
|
||||
with nogil:
|
||||
r = self.p.getFloat(k, block)
|
||||
return r
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
@ -105,7 +149,7 @@ cdef class Params:
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = ensure_bytes(dat)
|
||||
cdef string dat_bytes = self._put_cast(key, dat)
|
||||
with nogil:
|
||||
self.p.put(k, dat_bytes)
|
||||
|
||||
@ -114,19 +158,9 @@ cdef class Params:
|
||||
with nogil:
|
||||
self.p.putBool(k, val)
|
||||
|
||||
def put_int(self, key, int val):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putInt(k, val)
|
||||
|
||||
def put_float(self, key, float val):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putFloat(k, val)
|
||||
|
||||
def put_nonblocking(self, key, dat):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = ensure_bytes(dat)
|
||||
cdef string dat_bytes = self._put_cast(key, dat)
|
||||
with nogil:
|
||||
self.p.putNonBlocking(k, dat_bytes)
|
||||
|
||||
@ -135,16 +169,6 @@ cdef class Params:
|
||||
with nogil:
|
||||
self.p.putBoolNonBlocking(k, val)
|
||||
|
||||
def put_int_nonblocking(self, key, int val):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putIntNonBlocking(k, val)
|
||||
|
||||
def put_float_nonblocking(self, key, float val):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putFloatNonBlocking(k, val)
|
||||
|
||||
def remove(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
@ -154,5 +178,19 @@ cdef class Params:
|
||||
cdef string key_bytes = ensure_bytes(key)
|
||||
return self.p.getParamPath(key_bytes).decode("utf-8")
|
||||
|
||||
def get_type(self, key):
|
||||
return self.p.getKeyType(self.check_key(key))
|
||||
|
||||
def all_keys(self):
|
||||
return self.p.allKeys()
|
||||
|
||||
def get_default_value(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
cdef optional[string] default = self.p.getKeyDefaultValue(k)
|
||||
return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
|
||||
|
||||
def cpp2python(self, key, value):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
return self._cpp2python(t, value, None, key)
|
||||
|
||||
Binary file not shown.
64
common/pid.py
Normal file
64
common/pid.py
Normal file
@ -0,0 +1,64 @@
|
||||
import numpy as np
|
||||
from numbers import Number
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p = k_p
|
||||
self._k_i = k_i
|
||||
self._k_d = k_d
|
||||
self.k_f = k_f # feedforward gain
|
||||
if isinstance(self._k_p, Number):
|
||||
self._k_p = [[0], [self._k_p]]
|
||||
if isinstance(self._k_i, Number):
|
||||
self._k_i = [[0], [self._k_i]]
|
||||
if isinstance(self._k_d, Number):
|
||||
self._k_d = [[0], [self._k_d]]
|
||||
|
||||
self.set_limits(pos_limit, neg_limit)
|
||||
|
||||
self.i_dt = 1.0 / rate
|
||||
self.speed = 0.0
|
||||
|
||||
self.reset()
|
||||
|
||||
@property
|
||||
def k_p(self):
|
||||
return np.interp(self.speed, self._k_p[0], self._k_p[1])
|
||||
|
||||
@property
|
||||
def k_i(self):
|
||||
return np.interp(self.speed, self._k_i[0], self._k_i[1])
|
||||
|
||||
@property
|
||||
def k_d(self):
|
||||
return np.interp(self.speed, self._k_d[0], self._k_d[1])
|
||||
|
||||
def reset(self):
|
||||
self.p = 0.0
|
||||
self.i = 0.0
|
||||
self.d = 0.0
|
||||
self.f = 0.0
|
||||
self.control = 0
|
||||
|
||||
def set_limits(self, pos_limit, neg_limit):
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
|
||||
def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
|
||||
self.speed = speed
|
||||
self.p = self.k_p * float(error)
|
||||
self.d = self.k_d * error_rate
|
||||
self.f = self.k_f * feedforward
|
||||
|
||||
if not freeze_integrator:
|
||||
i = self.i + self.k_i * self.i_dt * error
|
||||
|
||||
# Don't allow windup if already clipping
|
||||
test_control = self.p + i + self.d + self.f
|
||||
i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
|
||||
i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
|
||||
self.i = np.clip(i, i_lowerbound, i_upperbound)
|
||||
|
||||
control = self.p + self.i + self.d + self.f
|
||||
self.control = np.clip(control, self.neg_limit, self.pos_limit)
|
||||
return self.control
|
||||
@ -13,7 +13,7 @@ public:
|
||||
if (prefix.empty()) {
|
||||
prefix = util::random_string(15);
|
||||
}
|
||||
msgq_path = "/dev/shm/" + prefix;
|
||||
msgq_path = Path::shm_path() + "/" + prefix;
|
||||
bool ret = util::create_directories(msgq_path, 0777);
|
||||
assert(ret);
|
||||
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
|
||||
|
||||
@ -9,20 +9,19 @@ from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
|
||||
class OpenpilotPrefix:
|
||||
def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
|
||||
self.msgq_path = os.path.join('/dev/shm', self.prefix)
|
||||
self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
|
||||
self.create_dirs_on_enter = create_dirs_on_enter
|
||||
self.clean_dirs_on_exit = clean_dirs_on_exit
|
||||
self.shared_download_cache = shared_download_cache
|
||||
|
||||
def __enter__(self):
|
||||
self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
|
||||
os.environ['OPENPILOT_PREFIX'] = self.prefix
|
||||
try:
|
||||
os.mkdir(self.msgq_path)
|
||||
except FileExistsError:
|
||||
pass
|
||||
os.makedirs(Paths.log_root(), exist_ok=True)
|
||||
|
||||
if self.create_dirs_on_enter:
|
||||
self.create_dirs()
|
||||
|
||||
if self.shared_download_cache:
|
||||
os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
@ -40,6 +39,13 @@ class OpenpilotPrefix:
|
||||
pass
|
||||
return False
|
||||
|
||||
def create_dirs(self):
|
||||
try:
|
||||
os.mkdir(self.msgq_path)
|
||||
except FileExistsError:
|
||||
pass
|
||||
os.makedirs(Paths.log_root(), exist_ok=True)
|
||||
|
||||
def clean_dirs(self):
|
||||
symlink_path = Params().get_param_path()
|
||||
if os.path.exists(symlink_path):
|
||||
|
||||
@ -1,11 +1,12 @@
|
||||
"""Utilities for reading real time clocks and keeping soft real time constraints."""
|
||||
import gc
|
||||
import os
|
||||
import sys
|
||||
import time
|
||||
from collections import deque
|
||||
|
||||
from setproctitle import getproctitle
|
||||
|
||||
from openpilot.common.util import MovingAverage
|
||||
from openpilot.system.hardware import PC
|
||||
|
||||
|
||||
@ -27,19 +28,15 @@ class Priority:
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def set_realtime_priority(level: int) -> None:
|
||||
if not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
|
||||
|
||||
|
||||
def set_core_affinity(cores: list[int]) -> None:
|
||||
if not PC:
|
||||
if sys.platform == 'linux' and not PC:
|
||||
os.sched_setaffinity(0, cores)
|
||||
|
||||
|
||||
def config_realtime_process(cores: int | list[int], priority: int) -> None:
|
||||
gc.disable()
|
||||
set_realtime_priority(priority)
|
||||
if sys.platform == 'linux' and not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
|
||||
c = cores if isinstance(cores, list) else [cores, ]
|
||||
set_core_affinity(c)
|
||||
|
||||
@ -48,13 +45,15 @@ class Ratekeeper:
|
||||
def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
|
||||
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
|
||||
self._interval = 1. / rate
|
||||
self._next_frame_time = time.monotonic() + self._interval
|
||||
self._print_delay_threshold = print_delay_threshold
|
||||
self._frame = 0
|
||||
self._remaining = 0.0
|
||||
self._process_name = getproctitle()
|
||||
self._dts = deque([self._interval], maxlen=100)
|
||||
self._last_monitor_time = time.monotonic()
|
||||
self._last_monitor_time = -1.
|
||||
self._next_frame_time = -1.
|
||||
|
||||
self.avg_dt = MovingAverage(100)
|
||||
self.avg_dt.add_value(self._interval)
|
||||
|
||||
@property
|
||||
def frame(self) -> int:
|
||||
@ -66,9 +65,8 @@ class Ratekeeper:
|
||||
|
||||
@property
|
||||
def lagging(self) -> bool:
|
||||
avg_dt = sum(self._dts) / len(self._dts)
|
||||
expected_dt = self._interval * (1 / 0.9)
|
||||
return avg_dt > expected_dt
|
||||
return self.avg_dt.get_average() > expected_dt
|
||||
|
||||
# Maintain loop rate by calling this at the end of each loop
|
||||
def keep_time(self) -> bool:
|
||||
@ -79,9 +77,13 @@ class Ratekeeper:
|
||||
|
||||
# Monitors the cumulative lag, but does not enforce a rate
|
||||
def monitor_time(self) -> bool:
|
||||
if self._last_monitor_time < 0:
|
||||
self._next_frame_time = time.monotonic() + self._interval
|
||||
self._last_monitor_time = time.monotonic()
|
||||
|
||||
prev = self._last_monitor_time
|
||||
self._last_monitor_time = time.monotonic()
|
||||
self._dts.append(self._last_monitor_time - prev)
|
||||
self.avg_dt.add_value(self._last_monitor_time - prev)
|
||||
|
||||
lagged = False
|
||||
remaining = self._next_frame_time - time.monotonic()
|
||||
|
||||
@ -1,4 +1,6 @@
|
||||
import subprocess
|
||||
from contextlib import contextmanager
|
||||
from subprocess import Popen, PIPE, TimeoutExpired
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
@ -11,3 +13,16 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
|
||||
@contextmanager
|
||||
def managed_proc(cmd: list[str], env: dict[str, str]):
|
||||
proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
|
||||
try:
|
||||
yield proc
|
||||
finally:
|
||||
if proc.poll() is None:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except TimeoutExpired:
|
||||
proc.kill()
|
||||
|
||||
4
common/spinner.py
Normal file → Executable file
4
common/spinner.py
Normal file → Executable file
@ -6,9 +6,9 @@ from openpilot.common.basedir import BASEDIR
|
||||
class Spinner:
|
||||
def __init__(self):
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
self.spinner_proc = subprocess.Popen(["./spinner.py"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
cwd=os.path.join(BASEDIR, "system", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
|
||||
@ -26,6 +26,9 @@ public:
|
||||
zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
|
||||
zmq_connect(sock, Path::swaglog_ipc().c_str());
|
||||
|
||||
// workaround for https://github.com/dropbox/json11/issues/38
|
||||
setlocale(LC_NUMERIC, "C");
|
||||
|
||||
print_level = CLOUDLOG_WARNING;
|
||||
if (const char* print_lvl = getenv("LOGPRINT")) {
|
||||
if (strcmp(print_lvl, "debug") == 0) {
|
||||
|
||||
@ -104,6 +104,15 @@ class UnixDomainSocketHandler(logging.Handler):
|
||||
pass
|
||||
|
||||
|
||||
class ForwardingHandler(logging.Handler):
|
||||
def __init__(self, target_logger):
|
||||
super().__init__()
|
||||
self.target_logger = target_logger
|
||||
|
||||
def emit(self, record):
|
||||
self.target_logger.handle(record)
|
||||
|
||||
|
||||
def add_file_handler(log):
|
||||
"""
|
||||
Function to add the file log handler to swaglog.
|
||||
|
||||
1
common/tests/.gitignore
vendored
Normal file
1
common/tests/.gitignore
vendored
Normal file
@ -0,0 +1 @@
|
||||
test_common
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user