Merge cereal subtree
Vehicle Researcher
commit
d692982601
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@ -5,10 +5,6 @@ messaging_dir = Dir('messaging')
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# TODO: remove src-prefix and cereal from command string. can we set working directory?
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env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
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env.Command(
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['gen/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'],
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['car.capnp', 'log.capnp'],
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'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/')
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env.Command(
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['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
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['car.capnp', 'log.capnp'],
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@ -22,14 +18,12 @@ if shutil.which('capnpc-java'):
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# TODO: remove non shared cereal and messaging
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cereal_objects = env.SharedObject([
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'gen/c/car.capnp.c',
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'gen/c/log.capnp.c',
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'gen/cpp/car.capnp.c++',
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'gen/cpp/log.capnp.c++',
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])
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env.Library('cereal', cereal_objects)
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env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])
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env.SharedLibrary('cereal_shared', cereal_objects)
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cereal_dir = Dir('.')
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services_h = env.Command(
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@ -91,6 +91,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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carUnrecognized @66;
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radarCommIssue @67;
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driverMonitorLowAcc @68;
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invalidLkasSetting @69;
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speedTooHigh @70;
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laneChangeBlocked @71;
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relayMalfunction @72;
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gasPressed @73;
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stockFcw @74;
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}
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}
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@ -119,12 +125,14 @@ struct CarState {
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brakeLights @19 :Bool;
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# steering wheel
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steeringAngle @7 :Float32; # deg
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steeringRate @15 :Float32; # deg/s
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steeringTorque @8 :Float32; # TODO: standardize units
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steeringAngle @7 :Float32; # deg
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steeringRate @15 :Float32; # deg/s
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steeringTorque @8 :Float32; # TODO: standardize units
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steeringTorqueEps @27 :Float32; # TODO: standardize units
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steeringPressed @9 :Bool; # if the user is using the steering wheel
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steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
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steeringPressed @9 :Bool; # if the user is using the steering wheel
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steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
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steerWarning @35 :Bool; # temporary steer unavailble
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steerError @36 :Bool; # permanent steer error
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stockAeb @30 :Bool;
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stockFcw @31 :Bool;
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espDisabled @32 :Bool;
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@ -151,7 +159,7 @@ struct CarState {
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# which packets this state came from
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canMonoTimes @12: List(UInt64);
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# blindspot sensors
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leftBlindspot @33 :Bool; # Is there something blocking the left lane change
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rightBlindspot @34 :Bool; # Is there something blocking the right lane change
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@ -309,6 +317,7 @@ struct CarControl {
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chimeWarning2 @5;
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chimeWarningRepeat @6;
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chimePrompt @7;
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chimeWarning2Repeat @8;
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}
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}
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}
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@ -379,6 +388,7 @@ struct CarParams {
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radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
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communityFeature @46: Bool; # true if a community maintained feature is detected
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fingerprintSource @49: FingerprintSource;
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networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
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struct LateralParams {
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torqueBP @0 :List(Int32);
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@ -456,8 +466,9 @@ struct CarParams {
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enum TransmissionType {
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unknown @0;
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automatic @1;
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manual @2;
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automatic @1; # Traditional auto, including DSG
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manual @2; # True "stick shift" only
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direct @3; # Electric vehicle or other direct drive
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}
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struct CarFw {
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@ -496,4 +507,9 @@ struct CarParams {
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fw @1;
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fixed @2;
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}
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enum NetworkLocation {
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fwdCamera @0; # Standard/default integration at LKAS camera
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gateway @1; # Integration at vehicle's CAN gateway
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}
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}
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@ -129,6 +129,7 @@ struct FrameData {
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gainFrac @15 :Float32;
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focusVal @16 :List(Int16);
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focusConf @17 :List(UInt8);
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sharpnessScore @18 :List(UInt16);
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frameType @7 :FrameType;
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timestampSof @8 :UInt64;
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@ -352,6 +353,25 @@ struct HealthData {
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enum FaultType {
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relayMalfunction @0;
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unusedInterruptHandled @1;
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interruptRateCan1 @2;
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interruptRateCan2 @3;
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interruptRateCan3 @4;
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interruptRateTach @5;
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interruptRateGmlan @6;
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interruptRateInterrupts @7;
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interruptRateSpiDma @8;
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interruptRateSpiCs @9;
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interruptRateUart1 @10;
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interruptRateUart2 @11;
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interruptRateUart3 @12;
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interruptRateUart5 @13;
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interruptRateUartDma @14;
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interruptRateUsb @15;
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interruptRateTim1 @16;
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interruptRateTim3 @17;
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registerDivergent @18;
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# Update max fault type in boardd when adding faults
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}
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enum HwType {
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@ -805,7 +825,7 @@ struct PathPlan {
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struct LiveLocationKalman {
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# More info on reference frames:
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# More info on reference frames:
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# https://github.com/commaai/openpilot/tree/master/common/transformations
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positionECEF @0 : Measurement;
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@ -821,10 +841,10 @@ struct LiveLocationKalman {
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orientationECEF @6 : Measurement;
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orientationNED @7 : Measurement;
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angularVelocityDevice @8 : Measurement;
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# orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
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orientationNEDCalibrated @9 : Measurement;
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# Calibrated frame is simply device frame
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# aligned with the vehicle
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velocityCalibrated @10 : Measurement;
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@ -835,7 +855,7 @@ struct LiveLocationKalman {
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gpsTimeOfWeek @14 :Float64;
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status @15 :Status;
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unixTimestampMillis @16 :Int64;
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enum Status {
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uninitialized @0;
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uncalibrated @1;
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@ -1775,12 +1795,14 @@ struct UiLayoutState {
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activeApp @0 :App;
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sidebarCollapsed @1 :Bool;
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mapEnabled @2 :Bool;
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mockEngaged @3 :Bool;
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enum App {
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home @0;
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music @1;
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nav @2;
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settings @3;
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none @4;
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}
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}
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@ -1879,6 +1901,7 @@ struct DMonitoringState {
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awarenessPassive @12 :Float32;
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isLowStd @13 :Bool;
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hiStdCount @14 :UInt32;
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isPreview @15 :Bool;
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}
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struct Boot {
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@ -1971,7 +1994,7 @@ struct Event {
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sendcan @17 :List(CanData);
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logMessage @18 :Text;
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liveCalibration @19 :LiveCalibrationData;
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androidLogEntry @20 :AndroidLogEntry;
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androidLog @20 :AndroidLogEntry;
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gpsLocation @21 :GpsLocationData;
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carState @22 :Car.CarState;
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carControl @23 :Car.CarControl;
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@ -34,7 +34,8 @@ extra_compile_args = ["-std=c++11"]
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libraries = ['zmq']
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ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
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if ARCH == "aarch64":
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if ARCH == "aarch64" and os.path.isdir("/system"):
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# android
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extra_compile_args += ["-Wno-deprecated-register"]
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libraries += ['gnustl_shared']
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@ -76,6 +76,7 @@ carEvents: [8070, true, 1., 1]
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carParams: [8071, true, 0.02, 1]
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frontFrame: [8072, true, 10.]
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dMonitoringState: [8073, true, 5., 1]
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offroadLayout: [8074, false, 0.]
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testModel: [8040, false, 0.]
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testLiveLocation: [8045, false, 0.]
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@ -103,19 +104,31 @@ testJoystick: [8056, false, 0.]
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# gpsd -- publishes EON's gps
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# publishes: gpsNMEA
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# visiond -- talks to the cameras, runs the model, saves the videos
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# publishes: frame, model, driverMonitoring, cameraOdometry, thumbnail
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# camerad -- publishes camera frames
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# publishes: frame, frontFrame, thumbnail
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# subscribes: driverState
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# dmonitoringmodeld -- runs face detection on camera frames
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# publishes: driverState
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# **** stateful data transformers ****
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# modeld -- runs & publishes the model
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# publishes: model, cameraOdometry
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# subscribes: liveCalibration, pathPlan
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# plannerd -- decides where to drive the car
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# subscribes: carState, model, radarState, controlsState, liveParameters
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# publishes: plan, pathPlan, liveMpc, liveLongitudinalMpc
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# controlsd -- drives the car by sending CAN messages to panda
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# subscribes: can, thermal, health, plan, pathPlan, driverMonitoring, liveCalibration
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# subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
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# publishes: carState, carControl, sendcan, controlsState, carEvents, carParams
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# dmonitoringd -- processes driver monitoring data and publishes driver awareness
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# subscribes: driverState, liveCalibration, carState, model, gpsLocation
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# publishes: dMonitoringState
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# radard -- processes the radar and vision data
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# subscribes: can, controlsState, model, liveParameters
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# publishes: radarState, liveTracks
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