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openpilot v0.5 release

v0.5
Vehicle Researcher 2018-07-12 18:52:06 -07:00
parent e9ad7793f0
commit de33bc4645
99 changed files with 6055 additions and 2193 deletions
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.tags
.ipynb_checkpoints
.idea
.sconsign.dblite
model2.png
a.out
@ -19,6 +20,8 @@ a.out
*.class
*.pyxbldc
*.vcd
lane.cpp
loc*.cpp
config.json
clcache

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README.md
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[![](https://i.imgur.com/RTQYufz.jpg)](#)
Welcome to openpilot
======
[openpilot](http://github.com/commaai/openpilot) is an open source driving agent.
Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras and Toyotas. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras, Toyotas, and a Chevy. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
Community
------
openpilot is supported by [comma.ai](https://comma.ai/)
openpilot is supported by [comma.ai](https://comma.ai/).
We have a [Twitter you should follow](https://twitter.com/comma_ai).
Also, we have a 3500+ person [community on slack](https://slack.comma.ai).
<table>
<tr>
<td><a href="https://www.youtube.com/watch?v=9TDi0BHgXyo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
</tr>
<tr>
<td><a href="https://www.youtube.com/watch?v=Z5VY5FzgNt4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3I9XOK2.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=blnhZC7OmMg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/f9IgX6s.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=iRkz7FuJsA8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Vo5Zvmn.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=IHjEqAKDqjM" title="YouTube" rel="noopener"><img src="https://i.imgur.com/V9Zd81n.png"></a></td>
</tr>
</table>
Hardware
------
@ -28,68 +41,57 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
Supported Cars
------
### Honda + Acura ###
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph* | 12mph |
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph* | 12mph |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph* | 12mph |
| GM | Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 0mph |
| GM | Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 0mph |
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
| Honda | Civic 2016 *(Sedan)* | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 *(Sedan)* | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Civic 2018 *(Sedan)* | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | CR-V 2015 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | CR-V 2016 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Lexus | RX Hybrid 2017 | All | Yes | Yes | 0mph | 0mph |
| Lexus | RX Hybrid 2018 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes | 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Prius 2018 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Prius Prime 2017 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Prius Prime 2018 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes | 20mph | 0mph |
| Toyota | Rav4 2017 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Rav4 2018 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes | 0mph | 0mph |
- Honda Accord 2018 with Honda Sensing (alpha!)
- Uses stock Honda Sensing for longitudinal control
- Honda Civic 2016+ with Honda Sensing
- Due to limitations in steering firmware, steering is disabled below 12 mph
- Note that the hatchback model is not supported
*[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
- Honda Civic Hatchback 2017+ with Honda Sensing (alpha!)
- Due to limitations in steering firmware, steering is disabled below 12 mph
- Uses stock Honda Sensing for longitudinal control
Community Maintained Cars
------
- Honda CR-V 2017-2018 with Honda Sensing (alpha!)
- Due to limitations in steering firmware, steering is disabled below 12 mph
- Uses stock Honda Sensing for longitudinal control
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | -----------------------| -------------------- | ------- | ------------ | ----------- | ------------ |
| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph |
| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph |
- Honda CR-V Touring 2015-2016
- Can only be enabled above 25 mph
[[Tesla Pull Request]](https://github.com/commaai/openpilot/pull/246)
- Honda Odyssey 2018 with Honda Sensing (alpha!)
- Can only be enabled above 25 mph
- Honda Pilot 2017 with Honda Sensing (alpha!)
- Can only be enabled above 27 mph
- Honda Ridgeline 2017 with Honda Sensing (alpha!)
- Can only be enabled above 27 mph
- Acura ILX 2016 with AcuraWatch Plus
- Due to use of the cruise control for gas, it can only be enabled above 25 mph
- Acura RDX 2018 with AcuraWatch Plus (alpha!)
- Can only be enabled above 25 mph
### Toyota + Lexus ###
- Toyota RAV-4 2016+ non-hybrid with TSS-P
- By default it uses stock Toyota ACC for longitudinal control
- openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
- Toyota Prius 2017+
- By default it uses stock Toyota ACC for longitudinal control
- openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Prius_.28for_openpilot.29)
- Lateral control needs improvements
- Toyota RAV-4 2017+ hybrid
- By default it uses stock Toyota ACC for longitudinal control
- openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can do stop and go
- Toyota Corolla 2017+
- By default it uses stock Toyota ACC for longitudinal control
- openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Corolla_.28for_openpilot.29) and can be enabled above 20 mph
- Lexus RX 2017+ hybrid (alpha!)
- By default it uses stock Lexus ACC for longitudinal control
- openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Lexus_RX_hybrid)
### GM (Chevrolet + Cadillac) ###
- Chevrolet Volt Premier 2017+ with Driver Confidence II package
- Read the [installation guide](https://www.zoneos.com/volt.htm)
*Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
In Progress Cars
------
@ -97,14 +99,9 @@ In Progress Cars
- 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
- Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
- 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, GS, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
- 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
- Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
Community Maintained Cars
------
- [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/246)
How can I add support for my car?
------
@ -112,34 +109,53 @@ If your car has adaptive cruise control and lane keep assist, you are in luck. U
We've written a [porting guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for Toyota that might help you after you have the basics figured out.
Sadly, BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon. We also put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
- The 2016-2017 Honda Accord use a custom signaling protocol for steering that's unlikely to ever be upstreamed.
Directory structure
------
- cereal -- The messaging spec used for all logs on the phone
- common -- Library like functionality we've developed here
- opendbc -- Files showing how to interpret data from cars
- panda -- Code used to communicate on CAN and LIN
- phonelibs -- Libraries used on the phone
- selfdrive -- Code needed to drive the car
- assets -- Fonts for ui
- boardd -- Daemon to talk to the board
- car -- Code that talks to the car and implements CarInterface
- common -- Shared C/C++ code for the daemons
- controls -- Python controls (PID loops etc) for the car
- debug -- Tools to help you debug and do car ports
- logcatd -- Android logcat as a service
- loggerd -- Logger and uploader of car data
- orbd -- Service generating ORB features from road camera
- proclogd -- Logs information from proc
- sensord -- IMU / GPS interface code
- test/plant -- Car simulator running code through virtual maneuvers
- ui -- The UI
- visiond -- embedded vision pipeline
.
├── apk # The apk files used for the UI
├── cereal # The messaging spec used for all logs on EON
├── common # Library like functionality we've developed here
├── installer/updater # Manages auto-updates of openpilot
├── opendbc # Files showing how to interpret data from cars
├── panda # Code used to communicate on CAN and LIN
├── phonelibs # Libraries used on EON
├── pyextra # Libraries used on EON
└── selfdrive # Code needed to drive the car
├── assets # Fonts and images for UI
├── boardd # Daemon to talk to the board
├── can # Helpers for parsing CAN messages
├── car # Car specific code to read states and control actuators
├── common # Shared C/C++ code for the daemons
├── controls # Perception, planning and controls
├── debug # Tools to help you debug and do car ports
├── locationd # Soon to be home of precise location
├── logcatd # Android logcat as a service
├── loggerd # Logger and uploader of car data
├── proclogd # Logs information from proc
├── sensord # IMU / GPS interface code
├── test # Car simulator running code through virtual maneuvers
├── ui # The UI
└── visiond # Embedded vision pipeline
To understand how the services interact, see `selfdrive/service_list.yaml`
User Data / chffr Account / Crash Reporting
------
By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
It's open source software, so you are free to disable it if you wish.
It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
The user facing camera is only logged if you explicitly opt-in in settings.
It does not log the microphone.
By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). 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.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
Testing on PC
------
@ -150,28 +166,15 @@ There is rudimentary infrastructure to run a basic simulation and generate a rep
./run_docker_tests.sh
```
The results are written to `selfdrive/test/tests/plant/out/longitudinal/index.html`
The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudinal/index.html`
More extensive testing infrastructure and simulation environments are coming soon.
User Data / chffr Account / Crash Reporting
------
By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
It's open source software, so you are free to disable it if you wish.
It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
It does not log the user facing camera or the microphone.
By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). 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.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
Contributing
------
We welcome both pull requests and issues on
[github](http://github.com/commaai/openpilot). See the TODO file for a list of
good places to start.
[github](http://github.com/commaai/openpilot). Bug fixes and new car support encouraged.
Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)

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RELEASES.md
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Version 0.5 (2018-07-11)
========================
* Driver Monitoring (beta) option in settings!
* Make visiond, loggerd and UI use less resources
* 60 FPS UI
* Better car parameters for most cars
* New sidebar with stats
* Remove Waze and Spotify to free up system resources
* Remove rear view mirror option
* Calibration 3x faster
Version 0.4.7.2 (2018-06-25)
==========================
* Fix loggerd lag issue

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src/*
out/*

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#!/usr/bin/env python2.7
import os
import sys
import glob
import shutil
import urllib2
import hashlib
import subprocess
EXTERNAL_PATH = os.path.dirname(os.path.abspath(__file__))
if os.path.exists("/init.qcom.rc"):
# android
APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch_android')
SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk_android')
else:
APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch')
SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk')
APKS = {
'com.waze': {
'src': 'https://apkcache.s3.amazonaws.com/com.waze_1021278.apk',
'src_sha256': 'f00957e93e2389f9e30502ac54994b98ac769314b0963c263d4e8baa625ab0c2',
'patch': 'com.waze.apkpatch',
'out_sha256': 'fee880a91a44c738442cd05fd1b6d9b5817cbf755aa61c86325ada2bc443d5cf'
},
'com.spotify.music': {
'src': 'https://apkcache.s3.amazonaws.com/com.spotify.music_24382006.apk',
'src_sha256': '0610fea68ee7ba5f8e4e0732ad429d729dd6cbb8bc21222c4c99db6cb09fbff4',
'patch': 'com.spotify.music.apkpatch',
'out_sha256': '5a3d6f478c7e40403a98ccc8906d7e0ae12b06543b41f5df52149dd09c647c11'
},
}
def sha256_path(path):
with open(path, 'rb') as f:
return hashlib.sha256(f.read()).hexdigest()
def remove(path):
try:
os.remove(path)
except OSError:
pass
def process(download, patch):
# clean up any junk apks
for out_apk in glob.glob(os.path.join(EXTERNAL_PATH, 'out/*.apk')):
app = os.path.basename(out_apk)[:-4]
if app not in APKS:
print "remove junk", out_apk
remove(out_apk)
complete = True
for k,v in APKS.iteritems():
apk_path = os.path.join(EXTERNAL_PATH, 'out', k+'.apk')
print "checking", apk_path
if os.path.exists(apk_path) and sha256_path(apk_path) == v['out_sha256']:
# nothing to do
continue
complete = False
remove(apk_path)
src_path = os.path.join(EXTERNAL_PATH, 'src', v['src_sha256'])
if not os.path.exists(src_path) or sha256_path(src_path) != v['src_sha256']:
if not download:
continue
print "downloading", v['src'], "to", src_path
# download it
resp = urllib2.urlopen(v['src'])
data = resp.read()
with open(src_path, 'wb') as src_f:
src_f.write(data)
if sha256_path(src_path) != v['src_sha256']:
print "download was corrupted..."
continue
if not patch:
continue
# ignoring lots of TOCTTOU here...
apk_temp = "/tmp/"+k+".patched"
remove(apk_temp)
apk_temp2 = "/tmp/"+k+".signed"
remove(apk_temp2)
try:
print "patching", v['patch']
subprocess.check_call([APKPATCH, 'apply', src_path, apk_temp, os.path.join(EXTERNAL_PATH, v['patch'])])
print "signing", apk_temp
subprocess.check_call([SIGNAPK,
os.path.join(EXTERNAL_PATH, 'tools/certificate.pem'), os.path.join(EXTERNAL_PATH, 'tools/key.pk8'),
apk_temp, apk_temp2])
out_sha256 = sha256_path(apk_temp2) if os.path.exists(apk_temp2) else None
if out_sha256 == v['out_sha256']:
print "done", apk_path
shutil.move(apk_temp2, apk_path)
else:
print "patch was corrupted", apk_temp2, out_sha256
finally:
remove(apk_temp)
remove(apk_temp2)
return complete
if __name__ == "__main__":
ret = True
if len(sys.argv) == 2 and sys.argv[1] == "download":
ret = process(True, False)
elif len(sys.argv) == 2 and sys.argv[1] == "patch":
ret = process(False, True)
else:
ret = process(True, True)
sys.exit(0 if ret else 1)

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#!/system/bin/sh
DIR="$(cd "$(dirname "$0")" && pwd)"
export LD_LIBRARY_PATH=/system/lib64
export CLASSPATH="$DIR"/ApkPatch.android.jar
exec app_process "$DIR" ApkPatch "$@"

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@ -1,17 +0,0 @@
-----BEGIN CERTIFICATE-----
MIICtTCCAh4CCQDm79UqF+Dc5zANBgkqhkiG9w0BAQUFADCBnjELMAkGA1UEBhMC
SUQxEzARBgNVBAgTCkphd2EgQmFyYXQxEDAOBgNVBAcTB0JhbmR1bmcxEjAQBgNV
BAoTCUxvbmRhdGlnYTETMBEGA1UECxMKQW5kcm9pZERldjEaMBgGA1UEAxMRTG9y
ZW5zaXVzIFcuIEwuIFQxIzAhBgkqhkiG9w0BCQEWFGxvcmVuekBsb25kYXRpZ2Eu
bmV0MB4XDTEwMDUwNTA5MjEzOFoXDTEzMDEyODA5MjEzOFowgZ4xCzAJBgNVBAYT
AklEMRMwEQYDVQQIEwpKYXdhIEJhcmF0MRAwDgYDVQQHEwdCYW5kdW5nMRIwEAYD
VQQKEwlMb25kYXRpZ2ExEzARBgNVBAsTCkFuZHJvaWREZXYxGjAYBgNVBAMTEUxv
cmVuc2l1cyBXLiBMLiBUMSMwIQYJKoZIhvcNAQkBFhRsb3JlbnpAbG9uZGF0aWdh
Lm5ldDCBnzANBgkqhkiG9w0BAQEFAAOBjQAwgYkCgYEAy2oWtbdVXMHGiS6cA3qi
3VfZt5Vz9jTlux+TEcGx5h18ZKwclyo+z2B0L/p5bYdnrTdFEiD7IxvX+h3lu0JV
B9rdXZdyrzXNOw5YFrsn2k7hKvB8KEBaga1gZEwodlc6N14H3FbZdZkIA9V716Pu
e5CWBZ2VqU03lUJmKnpH8c8CAwEAATANBgkqhkiG9w0BAQUFAAOBgQBpNgXh8dw9
uMjZxzLUXovV5ptHd61jAcZlQlffqPsz6/2QNfIShVdGH9jkm0IudfKkbvvOKive
a77t9c4sDh2Sat2L/rx6BfTuS1+y9wFr1Ee8Rrr7wGHhRkx2qqGrXGVWqXn8aE3E
P6e7BTPF0ibS+tG8cdDPEisqGFxw36nTNQ==
-----END CERTIFICATE-----

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#!/system/bin/sh
DIR="$(cd "$(dirname "$0")" && pwd)"
export LD_LIBRARY_PATH=/system/lib64
export CLASSPATH="$DIR"/signapk.android.jar
exec app_process "$DIR" com.android.signapk.SignApk "$@"

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cereal/car.capnp
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@ -59,6 +59,10 @@ struct CarEvent @0x9b1657f34caf3ad3 {
debugAlert @34;
steerTempUnavailableMute @35;
resumeRequired @36;
preDriverDistracted @37;
promptDriverDistracted @38;
driverDistracted @39;
geofence @40;
}
}
@ -333,7 +337,7 @@ struct CarParams {
directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
startAccel @35 :Float32; # Required acceleraton to overcome creep braking
steerRateCostDEPRECATED @40 :Float32; # Lateral MPC cost on steering rate
steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
steerControlType @46 :SteerControlType;
radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN

21
cereal/log.capnp
View File

@ -264,6 +264,15 @@ struct ThermalData {
fanSpeed @10 :UInt16;
started @11 :Bool;
startedTs @13 :UInt64;
thermalStatus @14 :ThermalStatus;
enum ThermalStatus {
green @0; # all processes run
yellow @1; # critical processes run (kill uploader), engage still allowed
red @2; # no engage, will disengage
danger @3; # immediate process shutdown
}
}
struct HealthData {
@ -274,6 +283,7 @@ struct HealthData {
controlsAllowed @3 :Bool;
gasInterceptorDetected @4 :Bool;
startedSignalDetected @5 :Bool;
isGreyPanda @6 :Bool;
}
struct LiveUI {
@ -384,11 +394,11 @@ struct Live100Data {
alertText2 @25 :Text;
alertStatus @38 :AlertStatus;
alertSize @39 :AlertSize;
alertBlinkingRate @42 :Float32;
awarenessStatus @26 :Float32;
angleOffset @27 :Float32;
gpsPlannerActive @40 :Bool;
engageable @41 :Bool; # can OP be engaged?
enum ControlState {
disabled @0;
@ -591,6 +601,7 @@ struct LiveLocationData {
poseQuatECEF @19 :List(Float32);
pitchCalibration @20 :Float32;
yawCalibration @21 :Float32;
imuFrame @22 :List(Float32);
struct Accuracy {
pNEDError @0 :List(Float32);
@ -1519,6 +1530,11 @@ struct OrbKeyFrame {
descriptors @3 :Data;
}
struct DriverMonitoring {
frameId @0 :UInt32;
descriptor @1 :List(Float32);
}
struct Event {
# in nanoseconds?
logMonoTime @0 :UInt64;
@ -1582,5 +1598,6 @@ struct Event {
orbKeyFrame @56 :OrbKeyFrame;
uiLayoutState @57 :UiLayoutState;
orbFeaturesSummary @58 :OrbFeaturesSummary;
driverMonitoring @59 :DriverMonitoring;
}
}

2
common/fingerprints.py
View File

@ -15,7 +15,7 @@ def get_fingerprint_list():
car_fingerprints = values.FINGERPRINTS
else:
continue
for f, v in car_fingerprints.iteritems():
for f, v in car_fingerprints.items():
fingerprints[f] = v
except (ImportError, IOError):
pass

21
common/kalman/ekf.py
View File

@ -1,4 +1,5 @@
# pylint: skip-file
from __future__ import print_function
import abc
import numpy as np
# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
@ -92,8 +93,8 @@ class EKF:
innovation = reading.data - reading.obs_model * self.state
if self.DEBUG:
print "reading:\n",reading.data
print "innovation:\n",innovation
print("reading:\n",reading.data)
print("innovation:\n",innovation)
# S = H*P*H' + R
innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
@ -103,12 +104,12 @@ class EKF:
innovation_covar)
if self.DEBUG:
print "gain:\n", kalman_gain
print "innovation_covar:\n", innovation_covar
print "innovation: ", innovation
print "test: ", self.covar * reading.obs_model.T * (
print("gain:\n", kalman_gain)
print("innovation_covar:\n", innovation_covar)
print("innovation: ", innovation)
print("test: ", self.covar * reading.obs_model.T * (
reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
0).I
0).I)
# x = x + K*y
self.state += kalman_gain*innovation
@ -124,9 +125,9 @@ class EKF:
self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
if self.DEBUG:
print "After update"
print "state\n", self.state
print "covar:\n",self.covar
print("After update")
print("state\n", self.state)
print("covar:\n",self.covar)
def update_scalar(self, reading):
# like update but knowing that measurement is a scalar

5
common/logging_extra.py
View File

@ -78,7 +78,7 @@ class SwagLogger(logging.Logger):
self.log_local = local()
self.log_local.ctx = {}
def findCaller(self):
def findCaller(self, stack_info=None):
"""
Find the stack frame of the caller so that we can note the source
file name, line number and function name.
@ -132,6 +132,9 @@ class SwagLogger(logging.Logger):
if args:
evt['args'] = args
evt.update(kwargs)
ctx = self.get_ctx()
if ctx:
evt['ctx'] = self.get_ctx()
if 'error' in kwargs:
self.error(evt)
else:

10
common/params.py
View File

@ -57,11 +57,12 @@ keys = {
# written: baseui
# read: ui, controls
"IsMetric": TxType.PERSISTENT,
"IsRearViewMirror": TxType.PERSISTENT,
"IsFcwEnabled": TxType.PERSISTENT,
"HasAcceptedTerms": TxType.PERSISTENT,
"CompletedTrainingVersion": TxType.PERSISTENT,
"IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
"IsDriverMonitoringEnabled": TxType.PERSISTENT,
"IsGeofenceEnabled": TxType.PERSISTENT,
# written: visiond
# read: visiond, controlsd
"CalibrationParams": TxType.PERSISTENT,
@ -315,7 +316,6 @@ class Params(object):
with self.env.begin(write=True) as txn:
txn.put(key, dat)
print "set", key
if __name__ == "__main__":
params = Params()
@ -325,11 +325,11 @@ if __name__ == "__main__":
for k in keys:
pp = params.get(k)
if pp is None:
print k, "is None"
print("%s is None" % k)
elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
print k, pp
print("%s = %s" % (k, pp))
else:
print k, pp.encode("hex")
print("%s = %s" % (k, pp.encode("hex")))
# Test multiprocess:
# seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05

8
common/profiler.py
View File

@ -36,11 +36,11 @@ class Profiler(object):
if not self.enabled:
return
self.iter += 1
print "******* Profiling *******"
print("******* Profiling *******")
for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
if n in self.cp_ignored:
print "%30s: %7.2f percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100), " IGNORED"
print("%30s: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms/self.tot*100))
else:
print "%30s: %7.2f percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100)
print "Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot)
print("%30s: %7.2f percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
print("Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot))

2
common/realtime.py
View File

@ -106,5 +106,3 @@ class Ratekeeper(object):
self._remaining = remaining
return lagged
if __name__ == "__main__":
print sec_since_boot()

296
phonelibs/libgralloc/include/gralloc_priv.h 100644
View File

@ -0,0 +1,296 @@
/*
* Copyright (C) 2008 The Android Open Source Project
* Copyright (c) 2011-2015, The Linux Foundation. All rights reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef GRALLOC_PRIV_H_
#define GRALLOC_PRIV_H_
#include <stdint.h>
#include <limits.h>
#include <sys/cdefs.h>
#include <hardware/gralloc.h>
#include <pthread.h>
#include <errno.h>
#include <unistd.h>
#include <cutils/native_handle.h>
#include <cutils/log.h>
#define ROUND_UP_PAGESIZE(x) ( (((unsigned long)(x)) + PAGE_SIZE-1) & \
(~(PAGE_SIZE-1)) )
/* Gralloc usage bits indicating the type of allocation that should be used */
/* SYSTEM heap comes from kernel vmalloc (ION_SYSTEM_HEAP_ID)
* is cached by default and
* is not secured */
/* GRALLOC_USAGE_PRIVATE_0 is unused */
/* Non linear, Universal Bandwidth Compression */
#define GRALLOC_USAGE_PRIVATE_ALLOC_UBWC GRALLOC_USAGE_PRIVATE_1
/* IOMMU heap comes from manually allocated pages, can be cached/uncached,
* is not secured */
#define GRALLOC_USAGE_PRIVATE_IOMMU_HEAP GRALLOC_USAGE_PRIVATE_2
/* MM heap is a carveout heap for video, can be secured */
#define GRALLOC_USAGE_PRIVATE_MM_HEAP GRALLOC_USAGE_PRIVATE_3
/* ADSP heap is a carveout heap, is not secured */
#define GRALLOC_USAGE_PRIVATE_ADSP_HEAP 0x01000000
/* Set this for allocating uncached memory (using O_DSYNC),
* cannot be used with noncontiguous heaps */
#define GRALLOC_USAGE_PRIVATE_UNCACHED 0x02000000
/* Buffer content should be displayed on an primary display only */
#define GRALLOC_USAGE_PRIVATE_INTERNAL_ONLY 0x04000000
/* Buffer content should be displayed on an external display only */
#define GRALLOC_USAGE_PRIVATE_EXTERNAL_ONLY 0x08000000
/* This flag is set for WFD usecase */
#define GRALLOC_USAGE_PRIVATE_WFD 0x00200000
/* CAMERA heap is a carveout heap for camera, is not secured */
#define GRALLOC_USAGE_PRIVATE_CAMERA_HEAP 0x00400000
/* This flag is used for SECURE display usecase */
#define GRALLOC_USAGE_PRIVATE_SECURE_DISPLAY 0x00800000
/* define Gralloc perform */
#define GRALLOC_MODULE_PERFORM_CREATE_HANDLE_FROM_BUFFER 1
// This will be used by the graphics drivers to know if certain features
// are defined in this display HAL.
// Ex: Newer GFX libraries + Older Display HAL
#define GRALLOC_MODULE_PERFORM_GET_STRIDE 2
#define GRALLOC_MODULE_PERFORM_GET_CUSTOM_STRIDE_FROM_HANDLE 3
#define GRALLOC_MODULE_PERFORM_GET_CUSTOM_STRIDE_AND_HEIGHT_FROM_HANDLE 4
#define GRALLOC_MODULE_PERFORM_GET_ATTRIBUTES 5
#define GRALLOC_MODULE_PERFORM_GET_COLOR_SPACE_FROM_HANDLE 6
#define GRALLOC_MODULE_PERFORM_GET_YUV_PLANE_INFO 7
#define GRALLOC_MODULE_PERFORM_GET_MAP_SECURE_BUFFER_INFO 8
#define GRALLOC_MODULE_PERFORM_GET_UBWC_FLAG 9
#define GRALLOC_MODULE_PERFORM_GET_RGB_DATA_ADDRESS 10
#define GRALLOC_MODULE_PERFORM_GET_IGC 11
#define GRALLOC_MODULE_PERFORM_SET_IGC 12
#define GRALLOC_MODULE_PERFORM_SET_SINGLE_BUFFER_MODE 13
/* OEM specific HAL formats */
#define HAL_PIXEL_FORMAT_RGBA_5551 6
#define HAL_PIXEL_FORMAT_RGBA_4444 7
#define HAL_PIXEL_FORMAT_NV12_ENCODEABLE 0x102
#define HAL_PIXEL_FORMAT_YCbCr_420_SP_VENUS 0x7FA30C04
#define HAL_PIXEL_FORMAT_YCbCr_420_SP_TILED 0x7FA30C03
#define HAL_PIXEL_FORMAT_YCbCr_420_SP 0x109
#define HAL_PIXEL_FORMAT_YCrCb_420_SP_ADRENO 0x7FA30C01
#define HAL_PIXEL_FORMAT_YCrCb_422_SP 0x10B
#define HAL_PIXEL_FORMAT_R_8 0x10D
#define HAL_PIXEL_FORMAT_RG_88 0x10E
#define HAL_PIXEL_FORMAT_YCbCr_444_SP 0x10F
#define HAL_PIXEL_FORMAT_YCrCb_444_SP 0x110
#define HAL_PIXEL_FORMAT_YCrCb_422_I 0x111
#define HAL_PIXEL_FORMAT_BGRX_8888 0x112
#define HAL_PIXEL_FORMAT_NV21_ZSL 0x113
#define HAL_PIXEL_FORMAT_YCrCb_420_SP_VENUS 0x114
#define HAL_PIXEL_FORMAT_BGR_565 0x115
#define HAL_PIXEL_FORMAT_INTERLACE 0x180
//v4l2_fourcc('Y', 'U', 'Y', 'L'). 24 bpp YUYV 4:2:2 10 bit per component
#define HAL_PIXEL_FORMAT_YCbCr_422_I_10BIT 0x4C595559
//v4l2_fourcc('Y', 'B', 'W', 'C'). 10 bit per component. This compressed
//format reduces the memory access bandwidth
#define HAL_PIXEL_FORMAT_YCbCr_422_I_10BIT_COMPRESSED 0x43574259
// UBWC aligned Venus format
#define HAL_PIXEL_FORMAT_YCbCr_420_SP_VENUS_UBWC 0x7FA30C06
//Khronos ASTC formats
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_4x4_KHR 0x93B0
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_5x4_KHR 0x93B1
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_5x5_KHR 0x93B2
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_6x5_KHR 0x93B3
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_6x6_KHR 0x93B4
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_8x5_KHR 0x93B5
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_8x6_KHR 0x93B6
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_8x8_KHR 0x93B7
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x5_KHR 0x93B8
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x6_KHR 0x93B9
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x8_KHR 0x93BA
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x10_KHR 0x93BB
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_12x10_KHR 0x93BC
#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_12x12_KHR 0x93BD
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR 0x93D0
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR 0x93D1
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR 0x93D2
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR 0x93D3
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR 0x93D4
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR 0x93D5
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR 0x93D6
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR 0x93D7
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR 0x93D8
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR 0x93D9
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR 0x93DA
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR 0x93DB
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR 0x93DC
#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR 0x93DD
/* possible values for inverse gamma correction */
#define HAL_IGC_NOT_SPECIFIED 0
#define HAL_IGC_s_RGB 1
/* possible formats for 3D content*/
enum {
HAL_NO_3D = 0x0,
HAL_3D_SIDE_BY_SIDE_L_R = 0x1,
HAL_3D_SIDE_BY_SIDE_R_L = 0x2,
HAL_3D_TOP_BOTTOM = 0x4,
HAL_3D_IN_SIDE_BY_SIDE_L_R = 0x10000, //unused legacy format
};
enum {
BUFFER_TYPE_UI = 0,
BUFFER_TYPE_VIDEO
};
#ifdef __cplusplus
struct private_handle_t : public native_handle {
#else
struct private_handle_t {
native_handle_t nativeHandle;
#endif
enum {
PRIV_FLAGS_FRAMEBUFFER = 0x00000001,
PRIV_FLAGS_USES_ION = 0x00000008,
PRIV_FLAGS_USES_ASHMEM = 0x00000010,
PRIV_FLAGS_NEEDS_FLUSH = 0x00000020,
PRIV_FLAGS_INTERNAL_ONLY = 0x00000040,
PRIV_FLAGS_NON_CPU_WRITER = 0x00000080,
PRIV_FLAGS_NONCONTIGUOUS_MEM = 0x00000100,
PRIV_FLAGS_CACHED = 0x00000200,
PRIV_FLAGS_SECURE_BUFFER = 0x00000400,
// Display on external only
PRIV_FLAGS_EXTERNAL_ONLY = 0x00002000,
// Set by HWC for protected non secure buffers
PRIV_FLAGS_PROTECTED_BUFFER = 0x00004000,
PRIV_FLAGS_VIDEO_ENCODER = 0x00010000,
PRIV_FLAGS_CAMERA_WRITE = 0x00020000,
PRIV_FLAGS_CAMERA_READ = 0x00040000,
PRIV_FLAGS_HW_COMPOSER = 0x00080000,
PRIV_FLAGS_HW_TEXTURE = 0x00100000,
PRIV_FLAGS_ITU_R_601 = 0x00200000, //Unused from display
PRIV_FLAGS_ITU_R_601_FR = 0x00400000, //Unused from display
PRIV_FLAGS_ITU_R_709 = 0x00800000, //Unused from display
PRIV_FLAGS_SECURE_DISPLAY = 0x01000000,
// Buffer is rendered in Tile Format
PRIV_FLAGS_TILE_RENDERED = 0x02000000,
// Buffer rendered using CPU/SW renderer
PRIV_FLAGS_CPU_RENDERED = 0x04000000,
// Buffer is allocated with UBWC alignment
PRIV_FLAGS_UBWC_ALIGNED = 0x08000000,
// Buffer allocated will be consumed by SF/HWC
PRIV_FLAGS_DISP_CONSUMER = 0x10000000
};
// file-descriptors
int fd;
int fd_metadata; // fd for the meta-data
// ints
int magic;
int flags;
unsigned int size;
unsigned int offset;
int bufferType;
uint64_t base __attribute__((aligned(8)));
unsigned int offset_metadata;
// The gpu address mapped into the mmu.
uint64_t gpuaddr __attribute__((aligned(8)));
int format;
int width; // specifies aligned width
int height; // specifies aligned height
int real_width;
int real_height;
uint64_t base_metadata __attribute__((aligned(8)));
#ifdef __cplusplus
static const int sNumFds = 2;
static inline int sNumInts() {
return ((sizeof(private_handle_t) - sizeof(native_handle_t)) /
sizeof(int)) - sNumFds;
}
static const int sMagic = 'gmsm';
private_handle_t(int fd, unsigned int size, int flags, int bufferType,
int format, int aligned_width, int aligned_height,
int width, int height, int eFd = -1,
unsigned int eOffset = 0, uint64_t eBase = 0) :
fd(fd), fd_metadata(eFd), magic(sMagic),
flags(flags), size(size), offset(0), bufferType(bufferType),
base(0), offset_metadata(eOffset), gpuaddr(0),
format(format), width(aligned_width), height(aligned_height),
real_width(width), real_height(height), base_metadata(eBase)
{
version = (int) sizeof(native_handle);
numInts = sNumInts();
numFds = sNumFds;
}
~private_handle_t() {
magic = 0;
}
static int validate(const native_handle* h) {
const private_handle_t* hnd = (const private_handle_t*)h;
if (!h || h->version != sizeof(native_handle) ||
h->numInts != sNumInts() || h->numFds != sNumFds ||
hnd->magic != sMagic)
{
ALOGD("Invalid gralloc handle (at %p): "
"ver(%d/%zu) ints(%d/%d) fds(%d/%d)"
"magic(%c%c%c%c/%c%c%c%c)",
h,
h ? h->version : -1, sizeof(native_handle),
h ? h->numInts : -1, sNumInts(),
h ? h->numFds : -1, sNumFds,
hnd ? (((hnd->magic >> 24) & 0xFF)?
((hnd->magic >> 24) & 0xFF) : '-') : '?',
hnd ? (((hnd->magic >> 16) & 0xFF)?
((hnd->magic >> 16) & 0xFF) : '-') : '?',
hnd ? (((hnd->magic >> 8) & 0xFF)?
((hnd->magic >> 8) & 0xFF) : '-') : '?',
hnd ? (((hnd->magic >> 0) & 0xFF)?
((hnd->magic >> 0) & 0xFF) : '-') : '?',
(sMagic >> 24) & 0xFF,
(sMagic >> 16) & 0xFF,
(sMagic >> 8) & 0xFF,
(sMagic >> 0) & 0xFF);
return -EINVAL;
}
return 0;
}
static private_handle_t* dynamicCast(const native_handle* in) {
if (validate(in) == 0) {
return (private_handle_t*) in;
}
return NULL;
}
#endif
};
#endif /* GRALLOC_PRIV_H_ */

211
phonelibs/linux/include/msm_ion.h 100644
View File

@ -0,0 +1,211 @@
#ifndef _UAPI_MSM_ION_H
#define _UAPI_MSM_ION_H
#include <linux/ion.h>
enum msm_ion_heap_types {
ION_HEAP_TYPE_MSM_START = ION_HEAP_TYPE_CUSTOM + 1,
ION_HEAP_TYPE_SECURE_DMA = ION_HEAP_TYPE_MSM_START,
ION_HEAP_TYPE_SYSTEM_SECURE,
ION_HEAP_TYPE_HYP_CMA,
/*
* if you add a heap type here you should also add it to
* heap_types_info[] in msm_ion.c
*/
};
/**
* These are the only ids that should be used for Ion heap ids.
* The ids listed are the order in which allocation will be attempted
* if specified. Don't swap the order of heap ids unless you know what
* you are doing!
* Id's are spaced by purpose to allow new Id's to be inserted in-between (for
* possible fallbacks)
*/
enum ion_heap_ids {
INVALID_HEAP_ID = -1,
ION_CP_MM_HEAP_ID = 8,
ION_SECURE_HEAP_ID = 9,
ION_SECURE_DISPLAY_HEAP_ID = 10,
ION_CP_MFC_HEAP_ID = 12,
ION_CP_WB_HEAP_ID = 16, /* 8660 only */
ION_CAMERA_HEAP_ID = 20, /* 8660 only */
ION_SYSTEM_CONTIG_HEAP_ID = 21,
ION_ADSP_HEAP_ID = 22,
ION_PIL1_HEAP_ID = 23, /* Currently used for other PIL images */
ION_SF_HEAP_ID = 24,
ION_SYSTEM_HEAP_ID = 25,
ION_PIL2_HEAP_ID = 26, /* Currently used for modem firmware images */
ION_QSECOM_HEAP_ID = 27,
ION_AUDIO_HEAP_ID = 28,
ION_MM_FIRMWARE_HEAP_ID = 29,
ION_HEAP_ID_RESERVED = 31 /** Bit reserved for ION_FLAG_SECURE flag */
};
/*
* The IOMMU heap is deprecated! Here are some aliases for backwards
* compatibility:
*/
#define ION_IOMMU_HEAP_ID ION_SYSTEM_HEAP_ID
#define ION_HEAP_TYPE_IOMMU ION_HEAP_TYPE_SYSTEM
enum ion_fixed_position {
NOT_FIXED,
FIXED_LOW,
FIXED_MIDDLE,
FIXED_HIGH,
};
enum cp_mem_usage {
VIDEO_BITSTREAM = 0x1,
VIDEO_PIXEL = 0x2,
VIDEO_NONPIXEL = 0x3,
DISPLAY_SECURE_CP_USAGE = 0x4,
CAMERA_SECURE_CP_USAGE = 0x5,
MAX_USAGE = 0x6,
UNKNOWN = 0x7FFFFFFF,
};
/**
* Flags to be used when allocating from the secure heap for
* content protection
*/
#define ION_FLAG_CP_TOUCH (1 << 17)
#define ION_FLAG_CP_BITSTREAM (1 << 18)
#define ION_FLAG_CP_PIXEL (1 << 19)
#define ION_FLAG_CP_NON_PIXEL (1 << 20)
#define ION_FLAG_CP_CAMERA (1 << 21)
#define ION_FLAG_CP_HLOS (1 << 22)
#define ION_FLAG_CP_HLOS_FREE (1 << 23)
#define ION_FLAG_CP_SEC_DISPLAY (1 << 25)
#define ION_FLAG_CP_APP (1 << 26)
/**
* Flag to allow non continguous allocation of memory from secure
* heap
*/
#define ION_FLAG_ALLOW_NON_CONTIG (1 << 24)
/**
* Flag to use when allocating to indicate that a heap is secure.
*/
#define ION_FLAG_SECURE (1 << ION_HEAP_ID_RESERVED)
/**
* Flag for clients to force contiguous memort allocation
*
* Use of this flag is carefully monitored!
*/
#define ION_FLAG_FORCE_CONTIGUOUS (1 << 30)
/*
* Used in conjunction with heap which pool memory to force an allocation
* to come from the page allocator directly instead of from the pool allocation
*/
#define ION_FLAG_POOL_FORCE_ALLOC (1 << 16)
#define ION_FLAG_POOL_PREFETCH (1 << 27)
/**
* Deprecated! Please use the corresponding ION_FLAG_*
*/
#define ION_SECURE ION_FLAG_SECURE
#define ION_FORCE_CONTIGUOUS ION_FLAG_FORCE_CONTIGUOUS
/**
* Macro should be used with ion_heap_ids defined above.
*/
#define ION_HEAP(bit) (1 << (bit))
#define ION_ADSP_HEAP_NAME "adsp"
#define ION_SYSTEM_HEAP_NAME "system"
#define ION_VMALLOC_HEAP_NAME ION_SYSTEM_HEAP_NAME
#define ION_KMALLOC_HEAP_NAME "kmalloc"
#define ION_AUDIO_HEAP_NAME "audio"
#define ION_SF_HEAP_NAME "sf"
#define ION_MM_HEAP_NAME "mm"
#define ION_CAMERA_HEAP_NAME "camera_preview"
#define ION_IOMMU_HEAP_NAME "iommu"
#define ION_MFC_HEAP_NAME "mfc"
#define ION_WB_HEAP_NAME "wb"
#define ION_MM_FIRMWARE_HEAP_NAME "mm_fw"
#define ION_PIL1_HEAP_NAME "pil_1"
#define ION_PIL2_HEAP_NAME "pil_2"
#define ION_QSECOM_HEAP_NAME "qsecom"
#define ION_SECURE_HEAP_NAME "secure_heap"
#define ION_SECURE_DISPLAY_HEAP_NAME "secure_display"
#define ION_SET_CACHED(__cache) (__cache | ION_FLAG_CACHED)
#define ION_SET_UNCACHED(__cache) (__cache & ~ION_FLAG_CACHED)
#define ION_IS_CACHED(__flags) ((__flags) & ION_FLAG_CACHED)
/* struct ion_flush_data - data passed to ion for flushing caches
*
* @handle: handle with data to flush
* @fd: fd to flush
* @vaddr: userspace virtual address mapped with mmap
* @offset: offset into the handle to flush
* @length: length of handle to flush
*
* Performs cache operations on the handle. If p is the start address
* of the handle, p + offset through p + offset + length will have
* the cache operations performed
*/
struct ion_flush_data {
ion_user_handle_t handle;
int fd;
void *vaddr;
unsigned int offset;
unsigned int length;
};
struct ion_prefetch_regions {
unsigned int vmid;
size_t __user *sizes;
unsigned int nr_sizes;
};
struct ion_prefetch_data {
int heap_id;
unsigned long len;
/* Is unsigned long bad? 32bit compiler vs 64 bit compiler*/
struct ion_prefetch_regions __user *regions;
unsigned int nr_regions;
};
#define ION_IOC_MSM_MAGIC 'M'
/**
* DOC: ION_IOC_CLEAN_CACHES - clean the caches
*
* Clean the caches of the handle specified.
*/
#define ION_IOC_CLEAN_CACHES _IOWR(ION_IOC_MSM_MAGIC, 0, \
struct ion_flush_data)
/**
* DOC: ION_IOC_INV_CACHES - invalidate the caches
*
* Invalidate the caches of the handle specified.
*/
#define ION_IOC_INV_CACHES _IOWR(ION_IOC_MSM_MAGIC, 1, \
struct ion_flush_data)
/**
* DOC: ION_IOC_CLEAN_INV_CACHES - clean and invalidate the caches
*
* Clean and invalidate the caches of the handle specified.
*/
#define ION_IOC_CLEAN_INV_CACHES _IOWR(ION_IOC_MSM_MAGIC, 2, \
struct ion_flush_data)
#define ION_IOC_PREFETCH _IOWR(ION_IOC_MSM_MAGIC, 3, \
struct ion_prefetch_data)
#define ION_IOC_DRAIN _IOWR(ION_IOC_MSM_MAGIC, 4, \
struct ion_prefetch_data)
#endif

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131
phonelibs/opencl/include/CL/cl_d3d10.h 100644
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/**********************************************************************************
* Copyright (c) 2008-2015 The Khronos Group Inc.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and/or associated documentation files (the
* "Materials"), to deal in the Materials without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Materials, and to
* permit persons to whom the Materials are 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 Materials.
*
* MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
* KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
* SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
* https://www.khronos.org/registry/
*
* THE MATERIALS ARE 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
* MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
**********************************************************************************/
/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
#ifndef __OPENCL_CL_D3D10_H
#define __OPENCL_CL_D3D10_H
#include <d3d10.h>
#include <CL/cl.h>
#include <CL/cl_platform.h>
#ifdef __cplusplus
extern "C" {
#endif
/******************************************************************************
* cl_khr_d3d10_sharing */
#define cl_khr_d3d10_sharing 1
typedef cl_uint cl_d3d10_device_source_khr;
typedef cl_uint cl_d3d10_device_set_khr;
/******************************************************************************/
/* Error Codes */
#define CL_INVALID_D3D10_DEVICE_KHR -1002
#define CL_INVALID_D3D10_RESOURCE_KHR -1003
#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR -1004
#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR -1005
/* cl_d3d10_device_source_nv */
#define CL_D3D10_DEVICE_KHR 0x4010
#define CL_D3D10_DXGI_ADAPTER_KHR 0x4011
/* cl_d3d10_device_set_nv */
#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR 0x4012
#define CL_ALL_DEVICES_FOR_D3D10_KHR 0x4013
/* cl_context_info */
#define CL_CONTEXT_D3D10_DEVICE_KHR 0x4014
#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C
/* cl_mem_info */
#define CL_MEM_D3D10_RESOURCE_KHR 0x4015
/* cl_image_info */
#define CL_IMAGE_D3D10_SUBRESOURCE_KHR 0x4016
/* cl_command_type */
#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR 0x4017
#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR 0x4018
/******************************************************************************/
typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)(
cl_platform_id platform,
cl_d3d10_device_source_khr d3d_device_source,
void * d3d_object,
cl_d3d10_device_set_khr d3d_device_set,
cl_uint num_entries,
cl_device_id * devices,
cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_0;
typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)(
cl_context context,
cl_mem_flags flags,
ID3D10Buffer * resource,
cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0;
typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)(
cl_context context,
cl_mem_flags flags,
ID3D10Texture2D * resource,
UINT subresource,
cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0;
typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)(
cl_context context,
cl_mem_flags flags,
ID3D10Texture3D * resource,
UINT subresource,
cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0;
typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)(
cl_command_queue command_queue,
cl_uint num_objects,
const cl_mem * mem_objects,
cl_uint num_events_in_wait_list,
const cl_event * event_wait_list,
cl_event * event) CL_API_SUFFIX__VERSION_1_0;
typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)(
cl_command_queue command_queue,
cl_uint num_objects,
const cl_mem * mem_objects,
cl_uint num_events_in_wait_list,
const cl_event * event_wait_list,
cl_event * event) CL_API_SUFFIX__VERSION_1_0;
#ifdef __cplusplus
}
#endif
#endif /* __OPENCL_CL_D3D10_H */

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phonelibs/opencl/include/CL/cl_d3d11.h 100644
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/**********************************************************************************
* Copyright (c) 2008-2015 The Khronos Group Inc.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and/or associated documentation files (the
* "Materials"), to deal in the Materials without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Materials, and to
* permit persons to whom the Materials are 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 Materials.
*
* MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
* KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
* SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
* https://www.khronos.org/registry/
*
* THE MATERIALS ARE 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
* MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
**********************************************************************************/
/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
#ifndef __OPENCL_CL_D3D11_H
#define __OPENCL_CL_D3D11_H
#include <d3d11.h>
#include <CL/cl.h>
#include <CL/cl_platform.h>
#ifdef __cplusplus
extern "C" {
#endif
/******************************************************************************
* cl_khr_d3d11_sharing */
#define cl_khr_d3d11_sharing 1
typedef cl_uint cl_d3d11_device_source_khr;
typedef cl_uint cl_d3d11_device_set_khr;
/******************************************************************************/
/* Error Codes */
#define CL_INVALID_D3D11_DEVICE_KHR -1006
#define CL_INVALID_D3D11_RESOURCE_KHR -1007
#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR -1008
#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR -1009
/* cl_d3d11_device_source */
#define CL_D3D11_DEVICE_KHR 0x4019
#define CL_D3D11_DXGI_ADAPTER_KHR 0x401A
/* cl_d3d11_device_set */
#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR 0x401B
#define CL_ALL_DEVICES_FOR_D3D11_KHR 0x401C
/* cl_context_info */
#define CL_CONTEXT_D3D11_DEVICE_KHR 0x401D
#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D
/* cl_mem_info */
#define CL_MEM_D3D11_RESOURCE_KHR 0x401E
/* cl_image_info */
#define CL_IMAGE_D3D11_SUBRESOURCE_KHR 0x401F
/* cl_command_type */
#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR 0x4020
#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR 0x4021
/******************************************************************************/
typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)(
cl_platform_id platform,
cl_d3d11_device_source_khr d3d_device_source,
void * d3d_object,
cl_d3d11_device_set_khr d3d_device_set,
cl_uint num_entries,
cl_device_id * devices,
cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2;
typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)(
cl_context context,
cl_mem_flags flags,
ID3D11Buffer * resource,
cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)(
cl_context context,
cl_mem_flags flags,
ID3D11Texture2D * resource,
UINT subresource,
cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)(
cl_context context,
cl_mem_flags flags,
ID3D11Texture3D * resource,
UINT subresource,
cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)(
cl_command_queue command_queue,
cl_uint num_objects,
const cl_mem * mem_objects,
cl_uint num_events_in_wait_list,
const cl_event * event_wait_list,
cl_event * event) CL_API_SUFFIX__VERSION_1_2;
typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)(
cl_command_queue command_queue,
cl_uint num_objects,
const cl_mem * mem_objects,
cl_uint num_events_in_wait_list,
const cl_event * event_wait_list,
cl_event * event) CL_API_SUFFIX__VERSION_1_2;
#ifdef __cplusplus
}
#endif
#endif /* __OPENCL_CL_D3D11_H */

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phonelibs/opencl/include/CL/cl_dx9_media_sharing.h 100644
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/**********************************************************************************
* Copyright (c) 2008-2015 The Khronos Group Inc.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and/or associated documentation files (the
* "Materials"), to deal in the Materials without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Materials, and to
* permit persons to whom the Materials are 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 Materials.
*
* MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
* KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
* SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
* https://www.khronos.org/registry/
*
* THE MATERIALS ARE 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
* MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
**********************************************************************************/
/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H
#define __OPENCL_CL_DX9_MEDIA_SHARING_H
#include <CL/cl.h>
#include <CL/cl_platform.h>
#ifdef __cplusplus
extern "C" {
#endif
/******************************************************************************/
/* cl_khr_dx9_media_sharing */
#define cl_khr_dx9_media_sharing 1
typedef cl_uint cl_dx9_media_adapter_type_khr;
typedef cl_uint cl_dx9_media_adapter_set_khr;
#if defined(_WIN32)
#include <d3d9.h>
typedef struct _cl_dx9_surface_info_khr
{
IDirect3DSurface9 *resource;
HANDLE shared_handle;
} cl_dx9_surface_info_khr;
#endif
/******************************************************************************/
/* Error Codes */
#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR -1010
#define CL_INVALID_DX9_MEDIA_SURFACE_KHR -1011
#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR -1012
#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR -1013
/* cl_media_adapter_type_khr */
#define CL_ADAPTER_D3D9_KHR 0x2020
#define CL_ADAPTER_D3D9EX_KHR 0x2021
#define CL_ADAPTER_DXVA_KHR 0x2022
/* cl_media_adapter_set_khr */
#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2023
#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2024
/* cl_context_info */
#define CL_CONTEXT_ADAPTER_D3D9_KHR 0x2025
#define CL_CONTEXT_ADAPTER_D3D9EX_KHR 0x2026
#define CL_CONTEXT_ADAPTER_DXVA_KHR 0x2027
/* cl_mem_info */
#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR 0x2028
#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR 0x2029
/* cl_image_info */
#define CL_IMAGE_DX9_MEDIA_PLANE_KHR 0x202A
/* cl_command_type */
#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR 0x202B
#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR 0x202C
/******************************************************************************/
typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)(
cl_platform_id platform,
cl_uint num_media_adapters,
cl_dx9_media_adapter_type_khr * media_adapter_type,
void * media_adapters,
cl_dx9_media_adapter_set_khr media_adapter_set,
cl_uint num_entries,
cl_device_id * devices,
cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2;
typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)(
cl_context context,
cl_mem_flags flags,
cl_dx9_media_adapter_type_khr adapter_type,
void * surface_info,
cl_uint plane,
cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)(
cl_command_queue command_queue,
cl_uint num_objects,
const cl_mem * mem_objects,
cl_uint num_events_in_wait_list,
const cl_event * event_wait_list,
cl_event * event) CL_API_SUFFIX__VERSION_1_2;
typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)(
cl_command_queue command_queue,
cl_uint num_objects,
const cl_mem * mem_objects,
cl_uint num_events_in_wait_list,
const cl_event * event_wait_list,
cl_event * event) CL_API_SUFFIX__VERSION_1_2;
#ifdef __cplusplus
}
#endif
#endif /* __OPENCL_CL_DX9_MEDIA_SHARING_H */

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phonelibs/opencl/include/CL/cl_egl.h 100644
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/*******************************************************************************
* Copyright (c) 2008-2015 The Khronos Group Inc.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and/or associated documentation files (the
* "Materials"), to deal in the Materials without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Materials, and to
* permit persons to whom the Materials are 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 Materials.
*
* MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
* KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
* SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
* https://www.khronos.org/registry/
*
* THE MATERIALS ARE 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
* MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
******************************************************************************/
#ifndef __OPENCL_CL_EGL_H
#define __OPENCL_CL_EGL_H
#ifdef __APPLE__
#else
#include <CL/cl.h>
#endif
#ifdef __cplusplus
extern "C" {
#endif
/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */
#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR 0x202F
#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR 0x202D
#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR 0x202E
/* Error type for clCreateFromEGLImageKHR */
#define CL_INVALID_EGL_OBJECT_KHR -1093
#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR -1092
/* CLeglImageKHR is an opaque handle to an EGLImage */
typedef void* CLeglImageKHR;
/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */
typedef void* CLeglDisplayKHR;
/* CLeglSyncKHR is an opaque handle to an EGLSync object */
typedef void* CLeglSyncKHR;
/* properties passed to clCreateFromEGLImageKHR */
typedef intptr_t cl_egl_image_properties_khr;
#define cl_khr_egl_image 1
extern CL_API_ENTRY cl_mem CL_API_CALL
clCreateFromEGLImageKHR(cl_context /* context */,
CLeglDisplayKHR /* egldisplay */,
CLeglImageKHR /* eglimage */,
cl_mem_flags /* flags */,
const cl_egl_image_properties_khr * /* properties */,
cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)(
cl_context context,
CLeglDisplayKHR egldisplay,
CLeglImageKHR eglimage,
cl_mem_flags flags,
const cl_egl_image_properties_khr * properties,
cl_int * errcode_ret);
extern CL_API_ENTRY cl_int CL_API_CALL
clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */,
cl_uint /* num_objects */,
const cl_mem * /* mem_objects */,
cl_uint /* num_events_in_wait_list */,
const cl_event * /* event_wait_list */,
cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)(
cl_command_queue command_queue,
cl_uint num_objects,
const cl_mem * mem_objects,
cl_uint num_events_in_wait_list,
const cl_event * event_wait_list,
cl_event * event);
extern CL_API_ENTRY cl_int CL_API_CALL
clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */,
cl_uint /* num_objects */,
const cl_mem * /* mem_objects */,
cl_uint /* num_events_in_wait_list */,
const cl_event * /* event_wait_list */,
cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)(
cl_command_queue command_queue,
cl_uint num_objects,
const cl_mem * mem_objects,
cl_uint num_events_in_wait_list,
const cl_event * event_wait_list,
cl_event * event);
#define cl_khr_egl_event 1
extern CL_API_ENTRY cl_event CL_API_CALL
clCreateEventFromEGLSyncKHR(cl_context /* context */,
CLeglSyncKHR /* sync */,
CLeglDisplayKHR /* display */,
cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)(
cl_context context,
CLeglSyncKHR sync,
CLeglDisplayKHR display,
cl_int * errcode_ret);
#ifdef __cplusplus
}
#endif
#endif /* __OPENCL_CL_EGL_H */

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phonelibs/opencl/include/CL/cl_ext.h 100644
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/*******************************************************************************
* Copyright (c) 2008-2015 The Khronos Group Inc.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and/or associated documentation files (the
* "Materials"), to deal in the Materials without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Materials, and to
* permit persons to whom the Materials are 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 Materials.
*
* MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
* KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
* SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
* https://www.khronos.org/registry/
*
* THE MATERIALS ARE 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
* MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
******************************************************************************/
/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */
/* cl_ext.h contains OpenCL extensions which don't have external */
/* (OpenGL, D3D) dependencies. */
#ifndef __CL_EXT_H
#define __CL_EXT_H
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __APPLE__
#include <OpenCL/cl.h>
#include <AvailabilityMacros.h>
#else
#include <CL/cl.h>
#endif
/* cl_khr_fp16 extension - no extension #define since it has no functions */
#define CL_DEVICE_HALF_FP_CONFIG 0x1033
/* Memory object destruction
*
* Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR
*
* Registers a user callback function that will be called when the memory object is deleted and its resources
* freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback
* stack associated with memobj. The registered user callback functions are called in the reverse order in
* which they were registered. The user callback functions are called and then the memory object is deleted
* and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be
* notified when the memory referenced by host_ptr, specified when the memory object is created and used as
* the storage bits for the memory object, can be reused or freed.
*
* The application may not call CL api's with the cl_mem object passed to the pfn_notify.
*
* Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
* before using.
*/
#define cl_APPLE_SetMemObjectDestructor 1
cl_int CL_API_ENTRY clSetMemObjectDestructorAPPLE( cl_mem /* memobj */,
void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/),
void * /*user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
/* Context Logging Functions
*
* The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext().
* Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
* before using.
*
* clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger
*/
#define cl_APPLE_ContextLoggingFunctions 1
extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE( const char * /* errstr */,
const void * /* private_info */,
size_t /* cb */,
void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */
extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE( const char * /* errstr */,
const void * /* private_info */,
size_t /* cb */,
void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */
extern void CL_API_ENTRY clLogMessagesToStderrAPPLE( const char * /* errstr */,
const void * /* private_info */,
size_t /* cb */,
void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
/************************
* cl_khr_icd extension *
************************/
#define cl_khr_icd 1
/* cl_platform_info */
#define CL_PLATFORM_ICD_SUFFIX_KHR 0x0920
/* Additional Error Codes */
#define CL_PLATFORM_NOT_FOUND_KHR -1001
extern CL_API_ENTRY cl_int CL_API_CALL
clIcdGetPlatformIDsKHR(cl_uint /* num_entries */,
cl_platform_id * /* platforms */,
cl_uint * /* num_platforms */);
typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)(
cl_uint /* num_entries */,
cl_platform_id * /* platforms */,
cl_uint * /* num_platforms */);
/* Extension: cl_khr_image2D_buffer
*
* This extension allows a 2D image to be created from a cl_mem buffer without a copy.
* The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t.
* Both the sampler and sampler-less read_image built-in functions are supported for 2D images
* and 2D images created from a buffer. Similarly, the write_image built-ins are also supported
* for 2D images created from a buffer.
*
* When the 2D image from buffer is created, the client must specify the width,
* height, image format (i.e. channel order and channel data type) and optionally the row pitch
*
* The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels.
* The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels.
*/
/*************************************
* cl_khr_initalize_memory extension *
*************************************/
#define CL_CONTEXT_MEMORY_INITIALIZE_KHR 0x2030
/**************************************
* cl_khr_terminate_context extension *
**************************************/
#define CL_DEVICE_TERMINATE_CAPABILITY_KHR 0x2031
#define CL_CONTEXT_TERMINATE_KHR 0x2032
#define cl_khr_terminate_context 1
extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
/*
* Extension: cl_khr_spir
*
* This extension adds support to create an OpenCL program object from a
* Standard Portable Intermediate Representation (SPIR) instance
*/
#define CL_DEVICE_SPIR_VERSIONS 0x40E0
#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE 0x40E1
/******************************************
* cl_nv_device_attribute_query extension *
******************************************/
/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */
#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV 0x4000
#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV 0x4001
#define CL_DEVICE_REGISTERS_PER_BLOCK_NV 0x4002
#define CL_DEVICE_WARP_SIZE_NV 0x4003
#define CL_DEVICE_GPU_OVERLAP_NV 0x4004
#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV 0x4005
#define CL_DEVICE_INTEGRATED_MEMORY_NV 0x4006
/*********************************
* cl_amd_device_attribute_query *
*********************************/
#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD 0x4036
/*********************************
* cl_arm_printf extension
*********************************/
#define CL_PRINTF_CALLBACK_ARM 0x40B0
#define CL_PRINTF_BUFFERSIZE_ARM 0x40B1
#ifdef CL_VERSION_1_1
/***********************************
* cl_ext_device_fission extension *
***********************************/
#define cl_ext_device_fission 1
extern CL_API_ENTRY cl_int CL_API_CALL
clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
typedef CL_API_ENTRY cl_int
(CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
extern CL_API_ENTRY cl_int CL_API_CALL
clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
typedef CL_API_ENTRY cl_int
(CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
typedef cl_ulong cl_device_partition_property_ext;
extern CL_API_ENTRY cl_int CL_API_CALL
clCreateSubDevicesEXT( cl_device_id /*in_device*/,
const cl_device_partition_property_ext * /* properties */,
cl_uint /*num_entries*/,
cl_device_id * /*out_devices*/,
cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
typedef CL_API_ENTRY cl_int
( CL_API_CALL * clCreateSubDevicesEXT_fn)( cl_device_id /*in_device*/,
const cl_device_partition_property_ext * /* properties */,
cl_uint /*num_entries*/,
cl_device_id * /*out_devices*/,
cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
/* cl_device_partition_property_ext */
#define CL_DEVICE_PARTITION_EQUALLY_EXT 0x4050
#define CL_DEVICE_PARTITION_BY_COUNTS_EXT 0x4051
#define CL_DEVICE_PARTITION_BY_NAMES_EXT 0x4052
#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT 0x4053
/* clDeviceGetInfo selectors */
#define CL_DEVICE_PARENT_DEVICE_EXT 0x4054
#define CL_DEVICE_PARTITION_TYPES_EXT 0x4055
#define CL_DEVICE_AFFINITY_DOMAINS_EXT 0x4056
#define CL_DEVICE_REFERENCE_COUNT_EXT 0x4057
#define CL_DEVICE_PARTITION_STYLE_EXT 0x4058
/* error codes */
#define CL_DEVICE_PARTITION_FAILED_EXT -1057
#define CL_INVALID_PARTITION_COUNT_EXT -1058
#define CL_INVALID_PARTITION_NAME_EXT -1059
/* CL_AFFINITY_DOMAINs */
#define CL_AFFINITY_DOMAIN_L1_CACHE_EXT 0x1
#define CL_AFFINITY_DOMAIN_L2_CACHE_EXT 0x2
#define CL_AFFINITY_DOMAIN_L3_CACHE_EXT 0x3
#define CL_AFFINITY_DOMAIN_L4_CACHE_EXT 0x4
#define CL_AFFINITY_DOMAIN_NUMA_EXT 0x10
#define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT 0x100
/* cl_device_partition_property_ext list terminators */
#define CL_PROPERTIES_LIST_END_EXT ((cl_device_partition_property_ext) 0)
#define CL_PARTITION_BY_COUNTS_LIST_END_EXT ((cl_device_partition_property_ext) 0)
#define CL_PARTITION_BY_NAMES_LIST_END_EXT ((cl_device_partition_property_ext) 0 - 1)
/*********************************
* cl_qcom_ext_host_ptr extension
*********************************/
#define CL_MEM_EXT_HOST_PTR_QCOM (1 << 29)
#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM 0x40A0
#define CL_DEVICE_PAGE_SIZE_QCOM 0x40A1
#define CL_IMAGE_ROW_ALIGNMENT_QCOM 0x40A2
#define CL_IMAGE_SLICE_ALIGNMENT_QCOM 0x40A3
#define CL_MEM_HOST_UNCACHED_QCOM 0x40A4
#define CL_MEM_HOST_WRITEBACK_QCOM 0x40A5
#define CL_MEM_HOST_WRITETHROUGH_QCOM 0x40A6
#define CL_MEM_HOST_WRITE_COMBINING_QCOM 0x40A7
typedef cl_uint cl_image_pitch_info_qcom;
extern CL_API_ENTRY cl_int CL_API_CALL
clGetDeviceImageInfoQCOM(cl_device_id device,
size_t image_width,
size_t image_height,
const cl_image_format *image_format,
cl_image_pitch_info_qcom param_name,
size_t param_value_size,
void *param_value,
size_t *param_value_size_ret);
typedef struct _cl_mem_ext_host_ptr
{
/* Type of external memory allocation. */
/* Legal values will be defined in layered extensions. */
cl_uint allocation_type;
/* Host cache policy for this external memory allocation. */
cl_uint host_cache_policy;
} cl_mem_ext_host_ptr;
/*********************************
* cl_qcom_ion_host_ptr extension
*********************************/
#define CL_MEM_ION_HOST_PTR_QCOM 0x40A8
typedef struct _cl_mem_ion_host_ptr
{
/* Type of external memory allocation. */
/* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */
cl_mem_ext_host_ptr ext_host_ptr;
/* ION file descriptor */
int ion_filedesc;
/* Host pointer to the ION allocated memory */
void* ion_hostptr;
} cl_mem_ion_host_ptr;
#endif /* CL_VERSION_1_1 */
#ifdef CL_VERSION_2_0
/*********************************
* cl_khr_sub_groups extension
*********************************/
#define cl_khr_sub_groups 1
typedef cl_uint cl_kernel_sub_group_info_khr;
/* cl_khr_sub_group_info */
#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR 0x2033
#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR 0x2034
extern CL_API_ENTRY cl_int CL_API_CALL
clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */,
cl_device_id /*in_device*/,
cl_kernel_sub_group_info_khr /* param_name */,
size_t /*input_value_size*/,
const void * /*input_value*/,
size_t /*param_value_size*/,
void* /*param_value*/,
size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
typedef CL_API_ENTRY cl_int
( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */,
cl_device_id /*in_device*/,
cl_kernel_sub_group_info_khr /* param_name */,
size_t /*input_value_size*/,
const void * /*input_value*/,
size_t /*param_value_size*/,
void* /*param_value*/,
size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
#endif /* CL_VERSION_2_0 */
#ifdef CL_VERSION_2_1
/*********************************
* cl_khr_priority_hints extension
*********************************/
#define cl_khr_priority_hints 1
typedef cl_uint cl_queue_priority_khr;
/* cl_command_queue_properties */
#define CL_QUEUE_PRIORITY_KHR 0x1096
/* cl_queue_priority_khr */
#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0)
#define CL_QUEUE_PRIORITY_MED_KHR (1<<1)
#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2)
#endif /* CL_VERSION_2_1 */
#ifdef CL_VERSION_2_1
/*********************************
* cl_khr_throttle_hints extension
*********************************/
#define cl_khr_throttle_hints 1
typedef cl_uint cl_queue_throttle_khr;
/* cl_command_queue_properties */
#define CL_QUEUE_THROTTLE_KHR 0x1097
/* cl_queue_throttle_khr */
#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0)
#define CL_QUEUE_THROTTLE_MED_KHR (1<<1)
#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2)
#endif /* CL_VERSION_2_1 */
#ifdef __cplusplus
}
#endif
#endif /* __CL_EXT_H */

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/**********************************************************************************
* Copyright (c) 2008-2015 The Khronos Group Inc.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and/or associated documentation files (the
* "Materials"), to deal in the Materials without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Materials, and to
* permit persons to whom the Materials are 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 Materials.
*
* MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
* KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
* SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
* https://www.khronos.org/registry/
*
* THE MATERIALS ARE 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
* MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
**********************************************************************************/
#ifndef __OPENCL_CL_GL_H
#define __OPENCL_CL_GL_H
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif
#ifdef __cplusplus
extern "C" {
#endif
typedef cl_uint cl_gl_object_type;
typedef cl_uint cl_gl_texture_info;
typedef cl_uint cl_gl_platform_info;
typedef struct __GLsync *cl_GLsync;
/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken */
#define CL_GL_OBJECT_BUFFER 0x2000
#define CL_GL_OBJECT_TEXTURE2D 0x2001
#define CL_GL_OBJECT_TEXTURE3D 0x2002
#define CL_GL_OBJECT_RENDERBUFFER 0x2003
#define CL_GL_OBJECT_TEXTURE2D_ARRAY 0x200E
#define CL_GL_OBJECT_TEXTURE1D 0x200F
#define CL_GL_OBJECT_TEXTURE1D_ARRAY 0x2010
#define CL_GL_OBJECT_TEXTURE_BUFFER 0x2011
/* cl_gl_texture_info */
#define CL_GL_TEXTURE_TARGET 0x2004
#define CL_GL_MIPMAP_LEVEL 0x2005
#define CL_GL_NUM_SAMPLES 0x2012
extern CL_API_ENTRY cl_mem CL_API_CALL
clCreateFromGLBuffer(cl_context /* context */,
cl_mem_flags /* flags */,
cl_GLuint /* bufobj */,
int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
extern CL_API_ENTRY cl_mem CL_API_CALL
clCreateFromGLTexture(cl_context /* context */,
cl_mem_flags /* flags */,
cl_GLenum /* target */,
cl_GLint /* miplevel */,
cl_GLuint /* texture */,
cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
extern CL_API_ENTRY cl_mem CL_API_CALL
clCreateFromGLRenderbuffer(cl_context /* context */,
cl_mem_flags /* flags */,
cl_GLuint /* renderbuffer */,
cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
extern CL_API_ENTRY cl_int CL_API_CALL
clGetGLObjectInfo(cl_mem /* memobj */,
cl_gl_object_type * /* gl_object_type */,
cl_GLuint * /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0;
extern CL_API_ENTRY cl_int CL_API_CALL
clGetGLTextureInfo(cl_mem /* memobj */,
cl_gl_texture_info /* param_name */,
size_t /* param_value_size */,
void * /* param_value */,
size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
extern CL_API_ENTRY cl_int CL_API_CALL
clEnqueueAcquireGLObjects(cl_command_queue /* command_queue */,
cl_uint /* num_objects */,
const cl_mem * /* mem_objects */,
cl_uint /* num_events_in_wait_list */,
const cl_event * /* event_wait_list */,
cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
extern CL_API_ENTRY cl_int CL_API_CALL
clEnqueueReleaseGLObjects(cl_command_queue /* command_queue */,
cl_uint /* num_objects */,
const cl_mem * /* mem_objects */,
cl_uint /* num_events_in_wait_list */,
const cl_event * /* event_wait_list */,
cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
/* Deprecated OpenCL 1.1 APIs */
extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
clCreateFromGLTexture2D(cl_context /* context */,
cl_mem_flags /* flags */,
cl_GLenum /* target */,
cl_GLint /* miplevel */,
cl_GLuint /* texture */,
cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
clCreateFromGLTexture3D(cl_context /* context */,
cl_mem_flags /* flags */,
cl_GLenum /* target */,
cl_GLint /* miplevel */,
cl_GLuint /* texture */,
cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
/* cl_khr_gl_sharing extension */
#define cl_khr_gl_sharing 1
typedef cl_uint cl_gl_context_info;
/* Additional Error Codes */
#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR -1000
/* cl_gl_context_info */
#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR 0x2006
#define CL_DEVICES_FOR_GL_CONTEXT_KHR 0x2007
/* Additional cl_context_properties */
#define CL_GL_CONTEXT_KHR 0x2008
#define CL_EGL_DISPLAY_KHR 0x2009
#define CL_GLX_DISPLAY_KHR 0x200A
#define CL_WGL_HDC_KHR 0x200B
#define CL_CGL_SHAREGROUP_KHR 0x200C
extern CL_API_ENTRY cl_int CL_API_CALL
clGetGLContextInfoKHR(const cl_context_properties * /* properties */,
cl_gl_context_info /* param_name */,
size_t /* param_value_size */,
void * /* param_value */,
size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)(
const cl_context_properties * properties,
cl_gl_context_info param_name,
size_t param_value_size,
void * param_value,
size_t * param_value_size_ret);
#ifdef __cplusplus
}
#endif
#endif /* __OPENCL_CL_GL_H */

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/**********************************************************************************
* Copyright (c) 2008-2015 The Khronos Group Inc.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and/or associated documentation files (the
* "Materials"), to deal in the Materials without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Materials, and to
* permit persons to whom the Materials are 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 Materials.
*
* MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
* KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
* SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
* https://www.khronos.org/registry/
*
* THE MATERIALS ARE 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
* MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
**********************************************************************************/
/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have */
/* OpenGL dependencies. */
#ifndef __OPENCL_CL_GL_EXT_H
#define __OPENCL_CL_GL_EXT_H
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __APPLE__
#include <OpenCL/cl_gl.h>
#else
#include <CL/cl_gl.h>
#endif
/*
* For each extension, follow this template
* cl_VEN_extname extension */
/* #define cl_VEN_extname 1
* ... define new types, if any
* ... define new tokens, if any
* ... define new APIs, if any
*
* If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header
* This allows us to avoid having to decide whether to include GL headers or GLES here.
*/
/*
* cl_khr_gl_event extension
* See section 9.9 in the OpenCL 1.1 spec for more information
*/
#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR 0x200D
extern CL_API_ENTRY cl_event CL_API_CALL
clCreateEventFromGLsyncKHR(cl_context /* context */,
cl_GLsync /* cl_GLsync */,
cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1;
#ifdef __cplusplus
}
#endif
#endif /* __OPENCL_CL_GL_EXT_H */

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/*******************************************************************************
* Copyright (c) 2008-2015 The Khronos Group Inc.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and/or associated documentation files (the
* "Materials"), to deal in the Materials without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Materials, and to
* permit persons to whom the Materials are 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 Materials.
*
* MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
* KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
* SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
* https://www.khronos.org/registry/
*
* THE MATERIALS ARE 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
* MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
******************************************************************************/
/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
#ifndef __OPENCL_H
#define __OPENCL_H
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __APPLE__
#include <OpenCL/cl.h>
#include <OpenCL/cl_gl.h>
#include <OpenCL/cl_gl_ext.h>
#include <OpenCL/cl_ext.h>
#else
#include <CL/cl.h>
#include <CL/cl_gl.h>
#include <CL/cl_gl_ext.h>
#include <CL/cl_ext.h>
#endif
#ifdef __cplusplus
}
#endif
#endif /* __OPENCL_H */

2
requirements_openpilot.txt
View File

@ -15,5 +15,5 @@ sympy==1.1.1
filterpy==1.0.0
smbus2==0.2.0
pyflakes==1.5.0
-e git+https://github.com/commaai/le_python.git#egg=Logentries
-e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries
Flask==1.0.1

4
selfdrive/boardd/boardd.cc
View File

@ -53,7 +53,7 @@ pthread_mutex_t usb_lock;
bool spoofing_started = false;
bool fake_send = false;
bool loopback_can = false;
bool has_pigeon = false;
bool is_grey_panda = false;
pthread_t safety_setter_thread_handle = -1;
pthread_t pigeon_thread_handle = -1;
@ -173,6 +173,7 @@ bool usb_connect() {
if (is_pigeon[0]) {
LOGW("grey panda detected");
is_grey_panda = true;
pigeon_needs_init = true;
if (pigeon_thread_handle == -1) {
err = pthread_create(&pigeon_thread_handle, NULL, pigeon_thread, NULL);
@ -295,6 +296,7 @@ void can_health(void *s) {
healthData.setControlsAllowed(health.controls_allowed);
healthData.setGasInterceptorDetected(health.gas_interceptor_detected);
healthData.setStartedSignalDetected(health.started_signal_detected);
healthData.setIsGreyPanda(is_grey_panda);
// send to health
auto words = capnp::messageToFlatArray(msg);

8
selfdrive/boardd/boardd.py
View File

@ -104,10 +104,10 @@ def can_init():
handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'')
if handle is None:
print "CAN NOT FOUND"
cloudlog.warn("CAN NOT FOUND")
exit(-1)
print "got handle"
cloudlog.info("got handle")
cloudlog.info("can init done")
def boardd_mock_loop():
@ -129,7 +129,7 @@ def boardd_mock_loop():
# recv @ 100hz
can_msgs = can_recv()
print "sent %d got %d" % (len(snd), len(can_msgs))
print("sent %d got %d" % (len(snd), len(can_msgs)))
m = can_list_to_can_capnp(can_msgs)
sendcan.send(m.to_bytes())
@ -142,7 +142,7 @@ def boardd_test_loop():
#can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]])
# recv @ 100hz
can_msgs = can_recv()
print "got %d" % (len(can_msgs))
print("got %d" % (len(can_msgs)))
time.sleep(0.01)
cnt += 1

19
selfdrive/can/packer.py
View File

@ -1,6 +1,4 @@
import struct
import numbers
from selfdrive.can.libdbc_py import libdbc, ffi
@ -10,7 +8,6 @@ class CANPacker(object):
self.dbc = libdbc.dbc_lookup(dbc_name)
self.sig_names = {}
self.name_to_address_and_size = {}
self.address_to_size = {}
num_msgs = self.dbc[0].num_msgs
for i in range(num_msgs):
@ -19,16 +16,11 @@ class CANPacker(object):
name = ffi.string(msg.name)
address = msg.address
self.name_to_address_and_size[name] = (address, msg.size)
self.address_to_size[address] = msg.size
self.name_to_address_and_size[address] = (address, msg.size)
def pack(self, addr, values, counter):
# values: [(signal_name, signal_value)]
values_thing = []
if isinstance(values, dict):
values = values.items()
for name, value in values:
for name, value in values.iteritems():
if name not in self.sig_names:
self.sig_names[name] = ffi.new("char[]", name)
@ -42,10 +34,7 @@ class CANPacker(object):
return libdbc.canpack_pack(self.packer, addr, len(values_thing), values_c, counter)
def pack_bytes(self, addr, values, counter=-1):
if isinstance(addr, numbers.Number):
size = self.address_to_size[addr]
else:
addr, size = self.name_to_address_and_size[addr]
addr, size = self.name_to_address_and_size[addr]
val = self.pack(addr, values, counter)
r = struct.pack(">Q", val)
@ -62,4 +51,4 @@ if __name__ == "__main__":
("PCM_SPEED", 123),
("PCM_GAS", 10),
])
print s[1].encode("hex")
print(s[1].encode("hex"))

4
selfdrive/can/parser.py
View File

@ -203,6 +203,6 @@ if __name__ == "__main__":
while True:
cp.update(int(sec_since_boot()*1e9), True)
# print cp.vl
print cp.ts
print cp.can_valid
print(cp.ts)
print(cp.can_valid)
time.sleep(0.01)

15
selfdrive/car/car_helpers.py
View File

@ -1,4 +1,5 @@
import os
import time
from common.basedir import BASEDIR
from common.realtime import sec_since_boot
from common.fingerprints import eliminate_incompatible_cars, all_known_cars
@ -49,18 +50,20 @@ def fingerprint(logcan, timeout):
candidate_cars = all_known_cars()
finger = {}
st = None
st_passive = sec_since_boot() # only relevant when passive
can_seen = False
while 1:
for a in messaging.drain_sock(logcan, wait_for_one=True):
for a in messaging.drain_sock(logcan):
for can in a.can:
can_seen = True
# ignore everything not on bus 0 and with more than 11 bits,
# which are ussually sporadic and hard to include in fingerprints
if can.src == 0 and can.address < 0x800:
finger[can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
if st is None:
if st is None and can_seen:
st = sec_since_boot() # start time
st_passive = sec_since_boot() # only relevant when passive
ts = sec_since_boot()
# if we only have one car choice and the time_fingerprint since we got our first
# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
@ -75,13 +78,15 @@ def fingerprint(logcan, timeout):
elif len(candidate_cars) == 0 or (timeout and (ts - st_passive) > timeout):
return None, finger
time.sleep(0.01)
cloudlog.warning("fingerprinted %s", candidate_cars[0])
return (candidate_cars[0], finger)
def get_car(logcan, sendcan=None, passive=True):
# TODO: timeout only useful for replays so controlsd can start before unlogger
timeout = 1. if passive else None
timeout = 2. if passive else None
candidate, fingerprints = fingerprint(logcan, timeout)
if candidate is None:
@ -93,7 +98,7 @@ def get_car(logcan, sendcan=None, passive=True):
interface_cls = interfaces[candidate]
if interface_cls is None:
cloudlog.warning("car matched %s, but interface wasn't available" % candidate)
cloudlog.warning("car matched %s, but interface wasn't available or failed to import" % candidate)
return None, None
params = interface_cls.get_params(candidate, fingerprints)

4
selfdrive/car/ford/interface.py
View File

@ -1,6 +1,7 @@
#!/usr/bin/env python
from common.realtime import sec_since_boot
from cereal import car
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
from selfdrive.controls.lib.vehicle_model import VehicleModel
@ -75,6 +76,7 @@ class CarInterface(object):
ret.steerKpV, ret.steerKiV = [[0.01], [0.005]] # TODO: tune this
ret.steerKf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerRateCost = 1.0
f = 1.2
tireStiffnessFront_civic *= f
@ -117,7 +119,7 @@ class CarInterface(object):
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not any(x for x in [970, 973, 984] if x in fingerprint)
print "ECU Camera Simulated: ", ret.enableCamera
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
ret.steerLimitAlert = False
ret.stoppingControl = False

1
selfdrive/car/gm/interface.py
View File

@ -151,6 +151,7 @@ class CarInterface(object):
ret.startAccel = 0.8
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerRateCost = 1.0
ret.steerControlType = car.CarParams.SteerControlType.torque
return ret

2
selfdrive/car/honda/carcontroller.py
View File

@ -6,7 +6,6 @@ from selfdrive.car.honda import hondacan
from selfdrive.car.honda.values import AH, CruiseButtons, CAR
from selfdrive.can.packer import CANPacker
def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
# hyst params... TODO: move these to VehicleParams
brake_hyst_on = 0.02 # to activate brakes exceed this value
@ -109,7 +108,6 @@ class CarController(object):
0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)
if not all(isinstance(x, int) and 0 <= x < 256 for x in hud):
print "INVALID HUD", hud
hud = HUDData(0xc6, 255, 64, 0xc0, 209, 0x40, 0, 0, 0, 0)
# **** process the car messages ****

31
selfdrive/car/honda/carstate.py
View File

@ -3,8 +3,6 @@ from common.kalman.simple_kalman import KF1D
from selfdrive.can.parser import CANParser
from selfdrive.config import Conversions as CV
from selfdrive.car.honda.values import CAR, DBC
import numpy as np
def parse_gear_shifter(can_gear_shifter, car_fingerprint):
@ -73,7 +71,6 @@ def get_can_signals(CP):
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
("GEAR", "GEARBOX", 0),
("WHEELS_MOVING", "STANDSTILL", 1),
("BRAKE_ERROR_1", "STANDSTILL", 1),
("BRAKE_ERROR_2", "STANDSTILL", 1),
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
@ -128,8 +125,10 @@ def get_can_signals(CP):
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
("DOOR_OPEN_FR", "DOORS_STATUS", 1),
("DOOR_OPEN_RL", "DOORS_STATUS", 1),
("DOOR_OPEN_RR", "DOORS_STATUS", 1)]
("DOOR_OPEN_RR", "DOORS_STATUS", 1),
("WHEELS_MOVING", "STANDSTILL", 1)]
checks += [("DOORS_STATUS", 3)]
if CP.carFingerprint == CAR.CIVIC:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
@ -188,10 +187,10 @@ class CarState(object):
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
A=np.matrix([[1.0, dt], [0.0, 1.0]]),
C=np.matrix([1.0, 0.0]),
K=np.matrix([[0.12287673], [0.29666309]]))
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[[1.0, 0.0]],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
def update(self, cp):
@ -212,9 +211,12 @@ class CarState(object):
self.prev_right_blinker_on = self.right_blinker_on
# ******************* parse out can *******************
if self.CP.carFingerprint in (CAR.ACCORD):
if self.CP.carFingerprint == CAR.ACCORD: # TODO: find wheels moving bit in dbc
self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
else:
self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
self.door_all_closed = not any([cp.vl["DOORS_STATUS"]['DOOR_OPEN_FL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_FR'],
cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
@ -232,14 +234,14 @@ class CarState(object):
self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
self.v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
self.v_wheel = (self.v_wheel_fl+self.v_wheel_fr+self.v_wheel_rl+self.v_wheel_rr)/4.
# blend in transmission speed at low speed, since it has more low speed accuracy
self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v)
speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS + self.v_weight * self.v_wheel
if abs(speed - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
self.v_ego_x = np.matrix([[speed], [0.0]])
self.v_ego_x = [[speed], [0.0]]
self.v_ego_raw = speed
v_ego_x = self.v_ego_kf.update(speed)
@ -283,10 +285,8 @@ class CarState(object):
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
#rdx has different steer override threshold
if self.CP.carFingerprint in (CAR.ACURA_RDX):
self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > 400
else:
self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > 1200
steer_thrsld = 400 if self.CP.carFingerprint == CAR.ACURA_RDX else 1200
self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > steer_thrsld
self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
@ -319,7 +319,6 @@ class CarState(object):
self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
self.user_brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']

101
selfdrive/car/honda/interface.py
View File

@ -4,6 +4,7 @@ import numpy as np
from cereal import car
from common.numpy_fast import clip, interp
from common.realtime import sec_since_boot
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
from selfdrive.controls.lib.vehicle_model import VehicleModel
@ -132,14 +133,7 @@ class CarInterface(object):
@staticmethod
def get_params(candidate, fingerprint):
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
# Ridgeline reqires scaled tire stiffness
ts_factor = 1
ret = car.CarParams.new_message()
ret.carName = "honda"
ret.carFingerprint = candidate
@ -151,11 +145,14 @@ class CarInterface(object):
ret.safetyModel = car.CarParams.SafetyModels.honda
ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
ret.enableGasInterceptor = 0x201 in fingerprint
print "ECU Camera Simulated: ", ret.enableCamera
print "ECU Gas Interceptor: ", ret.enableGasInterceptor
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.enableCruise = not ret.enableGasInterceptor
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
@ -163,141 +160,163 @@ class CarInterface(object):
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 85400
tireStiffnessRear_civic = 90000
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
# Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle
# model optimization process. Certain Hondas have an extra steering sensor at the bottom
# of the steering rack, which improves controls quality as it removes the steering column
# torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKf = 0.00006 # conservative feed-forward
if candidate == CAR.CIVIC:
stop_and_go = True
ret.mass = mass_civic
ret.wheelbase = wheelbase_civic
ret.centerToFront = centerToFront_civic
ret.steerRatio = 13.0
ret.steerRatio = 14.63 # 10.93 is end-to-end spec
tire_stiffness_factor = 1.
# Civic at comma has modified steering FW, so different tuning for the Neo in that car
is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
ret.steerKpV, ret.steerKiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]
ret.steerKpV, ret.steerKiV = [[0.33], [0.10]] if is_fw_modified else [[0.8], [0.24]]
if is_fw_modified:
ret.steerKf = 0.00003
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.54, 0.36]
elif candidate == CAR.CIVIC_HATCH:
stop_and_go = True
ret.mass = 2916. * CV.LB_TO_KG + std_cargo
ret.wheelbase = wheelbase_civic
ret.centerToFront = centerToFront_civic
ret.steerRatio = 10.93
ret.steerRatio = 14.63 # 10.93 is spec end-to-end
tire_stiffness_factor = 1.
ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.ACCORD:
stop_and_go = True
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 11.82
ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
ret.steerRatio = 15.96 # 11.82 is spec end-to-end
tire_stiffness_factor = 0.8467
ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.ACURA_ILX:
stop_and_go = False
ret.mass = 3095 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 15.3
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
tire_stiffness_factor = 0.72
# Acura at comma has modified steering FW, so different tuning for the Neo in that car
is_fw_modified = os.getenv("DONGLE_ID") in ['ff83f397542ab647']
ret.steerKpV, ret.steerKiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]
ret.steerKpV, ret.steerKiV = [[0.45], [0.00]] if is_fw_modified else [[0.8], [0.24]]
if is_fw_modified:
ret.steerKf = 0.00003
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.CRV:
stop_and_go = False
ret.mass = 3572 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.3
ret.steerRatio = 15.3 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.CRV_5G:
stop_and_go = True
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 3410. * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 12.30
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
tire_stiffness_factor = 0.677
ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0
ret.steerRatio = 15.0 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY:
stop_and_go = False
ret.mass = 4354 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35
ret.steerRatio = 14.35 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.PILOT:
stop_and_go = False
ret.mass = 4303 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.81
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0
ret.steerRatio = 16.0 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.RIDGELINE:
stop_and_go = False
ts_factor = 1.4
ret.mass = 4515 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59
ret.steerRatio = 15.59 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
else:
raise ValueError("unsupported car %s" % candidate)
ret.steerKf = 0. # TODO: investigate FF steer control for Honda
ret.steerControlType = car.CarParams.SteerControlType.torque
# min speed to enable ACC. if car can do stop and go, then set enabling speed
@ -313,10 +332,10 @@ class CarInterface(object):
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * ts_factor) * \
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * ts_factor) * \
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
@ -339,7 +358,8 @@ class CarInterface(object):
ret.steerLimitAlert = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.09
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
return ret
@ -465,7 +485,7 @@ class CarInterface(object):
if self.CS.steer_error:
events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
elif self.CS.steer_warning:
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
events.append(create_event('steerTempUnavailable', [ET.WARNING]))
if self.CS.brake_error:
events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not ret.gearShifter == 'drive':
@ -514,7 +534,6 @@ class CarInterface(object):
# do enable on both accel and decel buttons
if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
print "enabled pressed at", cur_time
self.last_enable_pressed = cur_time
enable_pressed = True

21
selfdrive/car/honda/values.py
View File

@ -54,42 +54,42 @@ FINGERPRINTS = {
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
}],
CAR.ACURA_ILX: [{
1024L: 5, 513L: 6, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
1024: 5, 513: 6, 1027: 5, 1029: 8, 929: 4, 1057: 5, 777: 8, 1034: 5, 1036: 8, 398: 3, 399: 7, 145: 8, 660: 8, 985: 3, 923: 2, 542: 7, 773: 7, 800: 8, 432: 7, 419: 8, 420: 8, 1030: 5, 422: 8, 808: 8, 428: 8, 304: 8, 819: 7, 821: 5, 57: 3, 316: 8, 545: 4, 464: 8, 1108: 8, 597: 8, 342: 6, 983: 8, 344: 8, 804: 8, 1039: 8, 476: 4, 892: 8, 490: 8, 1064: 7, 882: 2, 884: 7, 887: 8, 888: 8, 380: 8, 1365: 5,
# sent messages
0xe4: 5, 0x1fa: 8, 0x200: 6, 0x30c: 8, 0x33d: 5,
}],
CAR.ACURA_RDX: [{
57L: 3, 145L: 8, 229L: 4, 308L: 5, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 392L: 6, 398L: 3, 399L: 6, 404L: 4, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 773L: 7, 777L: 8, 780L: 8, 800L: 8, 804L: 8, 808L: 8, 819L: 7, 821L: 5, 829L: 5, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 892L: 8, 923L: 2, 929L: 4, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1034L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1365L: 5, 1424L: 5, 1729L: 1
57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
}],
CAR.CIVIC: [{
1024L: 5, 513L: 6, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
1024: 5, 513: 6, 1027: 5, 1029: 8, 777: 8, 1036: 8, 1039: 8, 1424: 5, 401: 8, 148: 8, 662: 4, 985: 3, 795: 8, 773: 7, 800: 8, 545: 6, 420: 8, 806: 8, 808: 8, 1322: 5, 427: 3, 428: 8, 304: 8, 432: 7, 57: 3, 450: 8, 929: 8, 330: 8, 1302: 8, 464: 8, 1361: 5, 1108: 8, 597: 8, 470: 2, 344: 8, 804: 8, 399: 7, 476: 7, 1633: 8, 487: 4, 892: 8, 490: 8, 493: 5, 884: 8, 891: 8, 380: 8, 1365: 5,
# sent messages
0xe4: 5, 0x1fa: 8, 0x200: 6, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
}],
CAR.CIVIC_HATCH: [{
57L: 3, 148L: 8, 228L: 5, 304L: 8, 330L: 8, 344L: 8, 380L: 8, 399L: 7, 401L: 8, 420L: 8, 427L: 3, 428L: 8, 432L: 7, 441L: 5, 450L: 8, 464L: 8, 470L: 2, 476L: 7, 477L: 8, 479L: 8, 490L: 8, 493L: 5, 495L: 8, 506L: 8, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 829L: 5, 862L: 8, 884L: 8, 891L: 8, 892L: 8, 927L: 8, 929L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1036L: 8, 1039L: 8, 1108L: 8, 1302L: 8, 1322L: 5, 1361L: 5, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8, 1633L: 8
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
}],
CAR.CRV: [{
57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 507: 1, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 800: 8, 804: 8, 808: 8, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
# sent messages
0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
}],
CAR.CRV_5G: [{
57L: 3, 148L: 8, 199L: 4, 228L: 5, 231L: 5, 232L: 7, 304L: 8, 330L: 8, 340L: 8, 344L: 8, 380L: 8, 399L: 7, 401L: 8, 420L: 8, 423L: 2, 427L: 3, 428L: 8, 432L: 7, 441L: 5, 446L: 3, 450L: 8, 464L: 8, 467L: 2, 469L: 3, 470L: 2, 474L: 8, 476L: 7, 477L: 8, 479L: 8, 490L: 8, 493L: 5, 495L: 8, 507L: 1, 545L: 6, 597L: 8, 661L: 4, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 814L: 4, 815L: 8, 817L: 4, 825L: 4, 829L: 5, 862L: 8, 881L: 8, 882L: 4, 884L: 8, 888L: 8, 891L: 8, 927L: 8, 918L: 7, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1036L: 8, 1039L: 8, 1064L: 7, 1108L: 8, 1092L: 1, 1115L: 4, 1125L: 8, 1127L: 2, 1296L: 8, 1302L: 8, 1322L: 5, 1361L: 5, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8, 1618L: 5, 1633L: 8, 1670L: 5
57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 4, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
}],
CAR.ODYSSEY: [{
57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
},
# Odyssey Elite
{
57L: 3, 148L: 8, 228L: 5, 229L: 4, 304L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 440L: 8, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 507L: 1, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
57: 3, 148: 8, 228: 5, 229: 4, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 440: 8, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1616: 5, 1619: 5, 1623: 5, 1668: 5
}],
# Includes 2017 Touring and 2016 EX-L messaging.
CAR.PILOT: [{
57L: 3, 145L: 8, 228L: 5, 229L: 4, 308L: 5, 316L: 8, 334L: 8, 339L: 7, 342L: 6, 344L: 8, 379L: 8, 380L: 8, 392L: 6, 399L: 7, 419L: 8, 420L: 8, 422L: 8, 425L: 8, 426L: 8, 427L: 3, 432L: 7, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 507L: 1, 538L: 3, 542L: 7, 545L: 5, 546L: 3, 597L: 8, 660L: 8, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 808L: 8, 819L: 7, 821L: 5, 829L: 5, 837L: 5, 856L: 7, 871L: 8, 882L: 2, 884L: 7, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1027L: 5, 1029L: 8, 1036L: 8, 1039L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1108L: 8, 1125L: 8, 1296L: 8, 1424L: 5, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1616L: 5, 1618L: 5, 1668L: 5
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
}],
CAR.RIDGELINE: [{
57L: 3, 145L: 8, 228L: 5, 229L: 4, 308L: 5, 316L: 8, 339L: 7, 342L: 6, 344L: 8, 380L: 8, 392L: 6, 399L: 7, 419L: 8, 420L: 8, 422L: 8, 425L: 8, 426L: 8, 427L: 3, 432L: 7, 464L: 8, 471L: 3, 476L: 4, 490L: 8, 506L: 8, 545L: 5, 546L: 3, 597L: 8, 660L: 8, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 808L: 8, 819L: 7, 821L: 5, 829L: 5, 871L: 8, 882L: 2, 884L: 7, 892L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1027L: 5, 1029L: 8, 1036L: 8, 1039L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8, 1613L: 5, 1616L: 5, 1618L: 5, 1668L: 5, 2015L: 3
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 471: 3, 476: 4, 490: 8, 506: 8, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1613: 5, 1616: 5, 1618: 5, 1668: 5, 2015: 3
}]
}
@ -107,4 +107,5 @@ DBC = {
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
}
# TODO: get these from dbc file
HONDA_BOSCH = [CAR.ACCORD, CAR.CIVIC_HATCH, CAR.CRV_5G]

3
selfdrive/car/mock/interface.py
View File

@ -3,6 +3,7 @@ import zmq
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.services import service_list
from selfdrive.swaglog import cloudlog
import selfdrive.messaging as messaging
# mocked car interface to work with chffrplus
@ -17,7 +18,7 @@ class CarInterface(object):
self.CP = CP
print "Using Mock Car Interface"
cloudlog.debug("Using Mock Car Interface")
context = zmq.Context()
# TODO: subscribe to phone sensor

36
selfdrive/car/toyota/interface.py
View File

@ -6,6 +6,7 @@ from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.toyota.carstate import CarState, get_can_parser
from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR
from selfdrive.swaglog import cloudlog
try:
from selfdrive.car.toyota.carcontroller import CarController
@ -65,8 +66,8 @@ class CarInterface(object):
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 85400
tireStiffnessRear_civic = 90000
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
@ -74,39 +75,42 @@ class CarInterface(object):
if candidate == CAR.PRIUS:
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.0
ret.steerRatio = 15.59 # unknown end-to-end spec
tire_stiffness_factor = 0.7933
ret.mass = 3045 * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
f = 1.43353663
tireStiffnessFront_civic *= f
tireStiffnessRear_civic *= f
# Prius has a very bad actuator
# TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
ret.steerActuatorDelay = 0.25
elif candidate in [CAR.RAV4, CAR.RAV4H]:
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.65
ret.steerRatio = 14.5 # Rav4 2017
ret.steerRatio = 16.30 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.COROLLA:
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 17.8
tire_stiffness_factor = 0.444
ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RXH:
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.79
ret.steerRatio = 16. # official specs say 14.8, but it does not seem right
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481 * CV.LB_TO_KG + std_cargo # mean between min and max
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
ret.longPidDeadzoneBP = [0., 9.]
@ -127,10 +131,10 @@ class CarInterface(object):
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = tireStiffnessFront_civic * \
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = tireStiffnessRear_civic * \
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
@ -149,9 +153,9 @@ class CarInterface(object):
ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, candidate, ECU.APGS)
print "ECU Camera Simulated: ", ret.enableCamera
print "ECU DSU Simulated: ", ret.enableDsu
print "ECU APGS Simulated: ", ret.enableApgs
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
ret.steerLimitAlert = False
ret.stoppingControl = False

4
selfdrive/car/toyota/radar_interface.py
View File

@ -8,7 +8,7 @@ from selfdrive.services import service_list
import selfdrive.messaging as messaging
RADAR_MSGS = range(0x210, 0x220)
RADAR_MSGS = list(range(0x210, 0x220))
def _create_radard_can_parser():
dbc_f = 'toyota_prius_2017_adas.dbc'
@ -90,4 +90,4 @@ if __name__ == "__main__":
while 1:
ret = RI.update()
print(chr(27) + "[2J")
print ret
print(ret)

10
selfdrive/car/toyota/values.py
View File

@ -71,21 +71,21 @@ def check_ecu_msgs(fingerprint, candidate, ecu):
FINGERPRINTS = {
CAR.RAV4: [{
36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1264L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.RAV4H: [{
36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 296L: 8, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 4, 581L: 5, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 713L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 3, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1184L: 8, 1185L: 8, 1186L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1197L: 8, 1198L: 8, 1199L: 8, 1212L: 8, 1227L: 8, 1228L: 8, 1232L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1264L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.PRIUS: [{
36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2, 898L: 8, 900L: 6, 902L: 6, 905L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# Prius Prime
{
36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 824L: 2, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2,898L: 8, 900L: 6, 902L: 6, 905L: 8, 913L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 974L: 8, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1076L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1164L: 8, 1165L: 8, 1166L: 8, 1167L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# Taiwanese Prius Prime
{
36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 824L: 2, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 845L: 5, 863L: 8, 869L: 7, 870L: 7, 871L: 2,898L: 8, 900L: 6, 902L: 6, 905L: 8, 913L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 974L: 8, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1076L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1164L: 8, 1165L: 8, 1166L: 8, 1167L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1264L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.COROLLA: [{
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8

4
selfdrive/common/touch.c
View File

@ -48,7 +48,7 @@ void touch_init(TouchState *s) {
assert(s->fd >= 0);
}
int touch_poll(TouchState *s, int* out_x, int* out_y) {
int touch_poll(TouchState *s, int* out_x, int* out_y, int timeout) {
assert(out_x && out_y);
bool up = false;
while (true) {
@ -56,7 +56,7 @@ int touch_poll(TouchState *s, int* out_x, int* out_y) {
.fd = s->fd,
.events = POLLIN,
}};
int err = poll(polls, 1, 0);
int err = poll(polls, 1, timeout);
if (err < 0) {
return -1;
}

2
selfdrive/common/touch.h
View File

@ -11,7 +11,7 @@ typedef struct TouchState {
} TouchState;
void touch_init(TouchState *s);
int touch_poll(TouchState *s, int *out_x, int *out_y);
int touch_poll(TouchState *s, int *out_x, int *out_y, int timeout);
#ifdef __cplusplus
}

17
selfdrive/common/util.c
View File

@ -2,9 +2,12 @@
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <unistd.h>
#ifdef __linux__
#include <sys/prctl.h>
#include <sys/syscall.h>
#include <sched.h>
#endif
void* read_file(const char* path, size_t* out_len) {
@ -39,3 +42,17 @@ void set_thread_name(const char* name) {
prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
#endif
}
int set_realtime_priority(int level) {
#ifdef __linux__
long tid = syscall(SYS_gettid);
// should match python using chrt
struct sched_param sa;
memset(&sa, 0, sizeof(sa));
sa.sched_priority = level;
return sched_setscheduler(tid, SCHED_FIFO, &sa);
#endif
}

4
selfdrive/common/util.h
View File

@ -24,6 +24,8 @@
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
#ifdef __cplusplus
extern "C" {
#endif
@ -36,6 +38,8 @@ void* read_file(const char* path, size_t* out_len);
void set_thread_name(const char* name);
int set_realtime_priority(int level);
#ifdef __cplusplus
}
#endif

2
selfdrive/common/version.h
View File

@ -1 +1 @@
#define COMMA_VERSION "0.4.7.2-release"
#define COMMA_VERSION "0.5-release"

39
selfdrive/common/visionbuf.h 100644
View File

@ -0,0 +1,39 @@
#ifndef IONBUF_H
#define IONBUF_H
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif
#ifdef __cplusplus
extern "C" {
#endif
typedef struct VisionBuf {
size_t len;
void* addr;
int handle;
int fd;
cl_context ctx;
cl_device_id device_id;
cl_mem buf_cl;
cl_command_queue copy_q;
} VisionBuf;
#define VISIONBUF_SYNC_FROM_DEVICE 0
#define VISIONBUF_SYNC_TO_DEVICE 1
VisionBuf visionbuf_allocate(size_t len);
VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx, cl_mem *out_mem);
cl_mem visionbuf_to_cl(const VisionBuf* buf, cl_device_id device_id, cl_context ctx);
void visionbuf_sync(const VisionBuf* buf, int dir);
void visionbuf_free(const VisionBuf* buf);
#ifdef __cplusplus
}
#endif
#endif

141
selfdrive/common/visionbuf_ion.c 100644
View File

@ -0,0 +1,141 @@
#include <stdlib.h>
#include <stdio.h>
#include <assert.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <linux/ion.h>
#include <CL/cl_ext.h>
#include <msm_ion.h>
#include "visionbuf.h"
// just hard-code these for convenience
// size_t device_page_size = 0;
// clGetDeviceInfo(device_id, CL_DEVICE_PAGE_SIZE_QCOM,
// sizeof(device_page_size), &device_page_size,
// NULL);
// size_t padding_cl = 0;
// clGetDeviceInfo(device_id, CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM,
// sizeof(padding_cl), &padding_cl,
// NULL);
#define DEVICE_PAGE_SIZE_CL 4096
#define PADDING_CL 0
static int ion_fd = -1;
static void ion_init() {
if (ion_fd == -1) {
ion_fd = open("/dev/ion", O_RDWR | O_NONBLOCK);
}
}
VisionBuf visionbuf_allocate(size_t len) {
int err;
ion_init();
struct ion_allocation_data ion_alloc = {0};
ion_alloc.len = len + PADDING_CL;
ion_alloc.align = 4096;
ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
ion_alloc.flags = ION_FLAG_CACHED;
err = ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc);
assert(err == 0);
struct ion_fd_data ion_fd_data = {0};
ion_fd_data.handle = ion_alloc.handle;
err = ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data);
assert(err == 0);
void *addr = mmap(NULL, ion_alloc.len,
PROT_READ | PROT_WRITE,
MAP_SHARED, ion_fd_data.fd, 0);
assert(addr != MAP_FAILED);
memset(addr, 0, ion_alloc.len);
return (VisionBuf){
.len = len,
.addr = addr,
.handle = ion_alloc.handle,
.fd = ion_fd_data.fd,
};
}
VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx, cl_mem *out_mem) {
VisionBuf r = visionbuf_allocate(len);
*out_mem = visionbuf_to_cl(&r, device_id, ctx);
return r;
}
cl_mem visionbuf_to_cl(const VisionBuf* buf, cl_device_id device_id, cl_context ctx) {
int err = 0;
assert(((uintptr_t)buf->addr % DEVICE_PAGE_SIZE_CL) == 0);
cl_mem_ion_host_ptr ion_cl = {0};
ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
ion_cl.ion_filedesc = buf->fd;
ion_cl.ion_hostptr = buf->addr;
cl_mem mem = clCreateBuffer(ctx,
CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
buf->len, &ion_cl, &err);
assert(err == 0);
return mem;
}
void visionbuf_sync(const VisionBuf* buf, int dir) {
int err;
struct ion_fd_data fd_data = {0};
fd_data.fd = buf->fd;
err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
assert(err == 0);
struct ion_flush_data flush_data = {0};
flush_data.handle = fd_data.handle;
flush_data.vaddr = buf->addr;
flush_data.offset = 0;
flush_data.length = buf->len;
// ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
// ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
// ION_IOC_CLEAN_INV_CACHES ~= DMA_BIDIRECTIONAL
struct ion_custom_data custom_data = {0};
switch (dir) {
case VISIONBUF_SYNC_FROM_DEVICE:
custom_data.cmd = ION_IOC_INV_CACHES;
break;
case VISIONBUF_SYNC_TO_DEVICE:
custom_data.cmd = ION_IOC_CLEAN_CACHES;
break;
default:
assert(0);
}
custom_data.arg = (unsigned long)&flush_data;
err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
assert(err == 0);
struct ion_handle_data handle_data = {0};
handle_data.handle = fd_data.handle;
err = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
assert(err == 0);
}
void visionbuf_free(const VisionBuf* buf) {
struct ion_handle_data handle_data = {
.handle = buf->handle,
};
int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
assert(ret == 0);
}

111
selfdrive/common/visionimg.cc 100644
View File

@ -0,0 +1,111 @@
#include <cassert>
#ifdef QCOM
#include <system/graphics.h>
#include <ui/GraphicBuffer.h>
#include <ui/PixelFormat.h>
#include <gralloc_priv.h>
#include <GLES3/gl3.h>
#define GL_GLEXT_PROTOTYPES
#include <GLES2/gl2ext.h>
#include <EGL/egl.h>
#define EGL_EGLEXT_PROTOTYPES
#include <EGL/eglext.h>
#endif
#include "common/util.h"
#include "common/visionbuf.h"
#include "common/visionimg.h"
#ifdef QCOM
using namespace android;
// from libadreno_utils.so
extern "C" void compute_aligned_width_and_height(int width,
int height,
int bpp,
int tile_mode,
int raster_mode,
int padding_threshold,
int *aligned_w,
int *aligned_h);
#endif
VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
int aligned_w = 0, aligned_h = 0;
#ifdef QCOM
compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, &aligned_w, &aligned_h);
#else
aligned_w = width; aligned_h = height;
#endif
int stride = aligned_w * 3;
size_t size = aligned_w * aligned_h * 3;
VisionBuf buf = visionbuf_allocate(size);
*out_buf = buf;
return (VisionImg){
.fd = buf.fd,
.format = VISIONIMG_FORMAT_RGB24,
.width = width,
.height = height,
.stride = stride,
.size = size,
.bpp = 3,
};
}
#ifdef QCOM
EGLClientBuffer visionimg_to_egl(const VisionImg *img) {
assert((img->size % img->stride) == 0);
assert((img->stride % img->bpp) == 0);
int format = 0;
if (img->format == VISIONIMG_FORMAT_RGB24) {
format = HAL_PIXEL_FORMAT_RGB_888;
} else {
assert(false);
}
private_handle_t* hnd = new private_handle_t(img->fd, img->size,
private_handle_t::PRIV_FLAGS_USES_ION|private_handle_t::PRIV_FLAGS_FRAMEBUFFER,
0, format,
img->stride/img->bpp, img->size/img->stride,
img->width, img->height);
GraphicBuffer* gb = new GraphicBuffer(img->width, img->height, (PixelFormat)format,
GraphicBuffer::USAGE_HW_TEXTURE, img->stride/img->bpp, hnd, false);
return (EGLClientBuffer) gb->getNativeBuffer();
}
GLuint visionimg_to_gl(const VisionImg *img) {
EGLClientBuffer buf = visionimg_to_egl(img);
EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
assert(display != EGL_NO_DISPLAY);
EGLint img_attrs[] = { EGL_IMAGE_PRESERVED_KHR, EGL_TRUE, EGL_NONE };
EGLImageKHR image = eglCreateImageKHR(display, EGL_NO_CONTEXT,
EGL_NATIVE_BUFFER_ANDROID, buf, img_attrs);
assert(image != EGL_NO_IMAGE_KHR);
GLuint tex = 0;
glGenTextures(1, &tex);
glBindTexture(GL_TEXTURE_2D, tex);
glEGLImageTargetTexture2DOES(GL_TEXTURE_2D, image);
return tex;
}
#endif

37
selfdrive/common/visionimg.h 100644
View File

@ -0,0 +1,37 @@
#ifndef VISIONIMG_H
#define VISIONIMG_H
#ifdef QCOM
#include <GLES3/gl3.h>
#include <EGL/egl.h>
#include <EGL/eglext.h>
#endif
#include "common/visionbuf.h"
#ifdef __cplusplus
extern "C" {
#endif
#define VISIONIMG_FORMAT_RGB24 1
typedef struct VisionImg {
int fd;
int format;
int width, height, stride;
int bpp;
size_t size;
} VisionImg;
VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf);
#ifdef QCOM
EGLClientBuffer visionimg_to_egl(const VisionImg *img);
GLuint visionimg_to_gl(const VisionImg *img);
#endif
#ifdef __cplusplus
} // extern "C"
#endif
#endif

4
selfdrive/common/visionipc.h
View File

@ -21,8 +21,8 @@ typedef enum VisionIPCPacketType {
} VisionIPCPacketType;
typedef enum VisionStreamType {
VISION_STREAM_UI_BACK,
VISION_STREAM_UI_FRONT,
VISION_STREAM_RGB_BACK,
VISION_STREAM_RGB_FRONT,
VISION_STREAM_YUV,
VISION_STREAM_YUV_FRONT,
VISION_STREAM_MAX,

239
selfdrive/controls/controlsd.py
View File

@ -1,6 +1,6 @@
#!/usr/bin/env python
import gc
import json
from copy import copy
import zmq
from cereal import car, log
from common.numpy_fast import clip
@ -17,18 +17,18 @@ from selfdrive.controls.lib.drive_helpers import learn_angle_offset, \
create_event, \
EventTypes as ET, \
update_v_cruise, \
initialize_v_cruise
initialize_v_cruise, \
kill_defaultd
from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
from selfdrive.controls.lib.latcontrol import LatControl
from selfdrive.controls.lib.alertmanager import AlertManager
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.controls.lib.driver_monitor import DriverStatus
AWARENESS_TIME = 360. # 6 minutes limit without user touching steering wheels
AWARENESS_PRE_TIME = 20. # a first alert is issued 20s before start decelerating the car
ThermalStatus = log.ThermalData.ThermalStatus
State = log.Live100Data.ControlState
class Calibration:
UNCALIBRATED = 0
CALIBRATED = 1
@ -45,15 +45,20 @@ def isEnabled(state):
return (isActive(state) or state == State.preEnabled)
def data_sample(CI, CC, thermal, calibration, health, poller, cal_status, overtemp, free_space):
def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_location,
poller, cal_status, overtemp, free_space, driver_status, geofence,
state, mismatch_counter, params):
# *** read can and compute car states ***
CS = CI.update(CC)
events = list(CS.events)
enabled = isEnabled(state)
td = None
cal = None
hh = None
dm = None
gps = None
for socket, event in poller.poll(0):
if socket is thermal:
@ -62,16 +67,15 @@ def data_sample(CI, CC, thermal, calibration, health, poller, cal_status, overte
cal = messaging.recv_one(socket)
elif socket is health:
hh = messaging.recv_one(socket)
elif socket is driver_monitor:
dm = messaging.recv_one(socket)
elif socket is gps_location:
gps = messaging.recv_one(socket)
# *** thermal checking logic ***
# thermal data, checked every second
if td is not None:
# CPU overtemp above 95 deg
overtemp_proc = any(t > 950 for t in
(td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
td.thermal.cpu3, td.thermal.mem, td.thermal.gpu))
overtemp_bat = td.thermal.bat > 60000 # 60c
overtemp = overtemp_proc or overtemp_bat
overtemp = td.thermal.thermalStatus >= ThermalStatus.red
# under 15% of space free no enable allowed
free_space = td.thermal.freeSpace < 0.15
@ -92,18 +96,34 @@ def data_sample(CI, CC, thermal, calibration, health, poller, cal_status, overte
else:
events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not enabled:
mismatch_counter = 0
# *** health checking logic ***
if hh is not None:
controls_allowed = hh.health.controlsAllowed
if not controls_allowed:
if not controls_allowed and enabled:
mismatch_counter += 1
if mismatch_counter >= 2:
events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))
return CS, events, cal_status, overtemp, free_space
if dm is not None:
driver_status.get_pose(dm.driverMonitoring, params)
if geofence is not None and gps is not None:
geofence.update_geofence_status(gps.gpsLocationExternal, params)
if geofence is not None and not geofence.in_geofence:
events.append(create_event('geofence', [ET.NO_ENTRY, ET.WARNING]))
return CS, events, cal_status, overtemp, free_space, mismatch_counter
def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, awareness_status):
def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
# plan runs always, independently of the state
plan_packet = PL.update(CS, LaC, LoC, v_cruise_kph, awareness_status < -0.)
force_decel = driver_status.awareness < 0. or (geofence is not None and not geofence.in_geofence)
plan_packet = PL.update(CS, LaC, LoC, v_cruise_kph, force_decel)
plan = plan_packet.plan
plan_ts = plan_packet.logMonoTime
@ -127,6 +147,8 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
# if stock cruise is completely disabled, then we can use our own set speed logic
if not CP.enableCruise:
v_cruise_kph = update_v_cruise(v_cruise_kph, CS.buttonEvents, enabled)
elif CP.enableCruise and CS.cruiseState.enabled:
v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
# decrease the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
@ -147,7 +169,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
else:
state = State.enabled
AM.add("enable", enabled)
v_cruise_kph = initialize_v_cruise(CS.vEgo)
v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, v_cruise_kph_last)
# ENABLED
elif state == State.enabled:
@ -202,8 +224,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
awareness_status, PL, LaC, LoC, VM, angle_offset, rear_view_allowed,
rear_view_toggle, passive):
driver_status, PL, LaC, LoC, VM, angle_offset, passive):
# Given the state, this function returns the actuators
# reset actuators to zero
@ -212,14 +233,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
enabled = isEnabled(state)
active = isActive(state)
for b in CS.buttonEvents:
# button presses for rear view
if b.type == "leftBlinker" or b.type == "rightBlinker":
rear_view_toggle = b.pressed and rear_view_allowed
if (b.type == "altButton1" and b.pressed) and not passive:
rear_view_toggle = not rear_view_toggle
# check if user has interacted with the car
driver_engaged = len(CS.buttonEvents) > 0 or \
v_cruise_kph != v_cruise_kph_last or \
CS.steeringPressed
# add eventual driver distracted events
events = driver_status.update(events, driver_engaged, isActive(state), CS.standstill)
# send FCW alert if triggered by planner
if plan.fcw:
@ -236,14 +256,6 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
# ENABLED or SOFT_DISABLING
elif state in [State.enabled, State.softDisabling]:
# decrease awareness status
awareness_status -= 0.01/(AWARENESS_TIME)
if awareness_status <= 0.:
AM.add("driverDistracted", enabled)
elif awareness_status <= AWARENESS_PRE_TIME / AWARENESS_TIME and \
awareness_status >= (AWARENESS_PRE_TIME - 4.) / AWARENESS_TIME:
AM.add("preDriverDistracted", enabled)
# parse warnings from car specific interface
for e in get_events(events, [ET.WARNING]):
AM.add(e, enabled)
@ -265,16 +277,6 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle,
CS.steeringPressed, plan.dPoly, angle_offset, VM, PL)
if CP.enableCruise and CS.cruiseState.enabled:
v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
# reset conditions for the 6 minutes timout
if CS.buttonEvents or \
v_cruise_kph != v_cruise_kph_last or \
CS.steeringPressed or \
state in [State.preEnabled, State.disabled]:
awareness_status = 1.
# send a "steering required alert" if saturation count has reached the limit
if LaC.sat_flag and CP.steerLimitAlert:
AM.add("steerSaturated", enabled)
@ -287,11 +289,11 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
AM.process_alerts(sec_since_boot())
return actuators, v_cruise_kph, awareness_status, angle_offset, rear_view_toggle
return actuators, v_cruise_kph, driver_status, angle_offset
def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
carcontrol, live100, livempc, AM, rear_view_allowed, rear_view_toggle, awareness_status,
carcontrol, live100, livempc, AM, driver_status,
LaC, LoC, angle_offset, passive):
# ***** control the car *****
@ -328,74 +330,54 @@ def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_
dat = messaging.new_message()
dat.init('live100')
# show rear view camera on phone if in reverse gear or when button is pressed
dat.live100.rearViewCam = ('reverseGear' in [e.name for e in events] and rear_view_allowed) or rear_view_toggle
dat.live100.alertText1 = AM.alert_text_1
dat.live100.alertText2 = AM.alert_text_2
dat.live100.alertSize = AM.alert_size
dat.live100.alertStatus = AM.alert_status
dat.live100.awarenessStatus = max(awareness_status, 0.0) if isEnabled(state) else 0.0
# what packets were used to process
dat.live100.canMonoTimes = list(CS.canMonoTimes)
dat.live100.planMonoTime = plan_ts
# if controls is enabled
dat.live100.enabled = isEnabled(state)
dat.live100.active = isActive(state)
# car state
dat.live100.vEgo = CS.vEgo
dat.live100.vEgoRaw = CS.vEgoRaw
dat.live100.angleSteers = CS.steeringAngle
dat.live100.curvature = VM.calc_curvature(CS.steeringAngle * CV.DEG_TO_RAD, CS.vEgo)
dat.live100.steerOverride = CS.steeringPressed
# high level control state
dat.live100.state = state
# longitudinal control state
dat.live100.longControlState = LoC.long_control_state
dat.live100.vPid = float(LoC.v_pid)
dat.live100.vCruise = float(v_cruise_kph)
dat.live100.upAccelCmd = float(LoC.pid.p)
dat.live100.uiAccelCmd = float(LoC.pid.i)
dat.live100.ufAccelCmd = float(LoC.pid.f)
# lateral control state
dat.live100.angleSteersDes = float(LaC.angle_steers_des)
dat.live100.upSteer = float(LaC.pid.p)
dat.live100.uiSteer = float(LaC.pid.i)
dat.live100.ufSteer = float(LaC.pid.f)
# processed radar state, should add a_pcm?
dat.live100.vTargetLead = float(plan.vTarget)
dat.live100.aTarget = float(plan.aTarget)
dat.live100.jerkFactor = float(plan.jerkFactor)
# log learned angle offset
dat.live100.angleOffset = float(angle_offset)
# Save GPS planner status
dat.live100.gpsPlannerActive = plan.gpsPlannerActive
# lag
dat.live100.cumLagMs = -rk.remaining*1000.
dat.live100 = {
"alertText1": AM.alert_text_1,
"alertText2": AM.alert_text_2,
"alertSize": AM.alert_size,
"alertStatus": AM.alert_status,
"alertBlinkingRate": AM.alert_rate,
"awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
"canMonoTimes": list(CS.canMonoTimes),
"planMonoTime": plan_ts,
"enabled": isEnabled(state),
"active": isActive(state),
"vEgo": CS.vEgo,
"vEgoRaw": CS.vEgoRaw,
"angleSteers": CS.steeringAngle,
"curvature": VM.calc_curvature(CS.steeringAngle * CV.DEG_TO_RAD, CS.vEgo),
"steerOverride": CS.steeringPressed,
"state": state,
"engageable": not bool(get_events(events, [ET.NO_ENTRY])),
"longControlState": LoC.long_control_state,
"vPid": float(LoC.v_pid),
"vCruise": float(v_cruise_kph),
"upAccelCmd": float(LoC.pid.p),
"uiAccelCmd": float(LoC.pid.i),
"ufAccelCmd": float(LoC.pid.f),
"angleSteersDes": float(LaC.angle_steers_des),
"upSteer": float(LaC.pid.p),
"uiSteer": float(LaC.pid.i),
"ufSteer": float(LaC.pid.f),
"vTargetLead": float(plan.vTarget),
"aTarget": float(plan.aTarget),
"jerkFactor": float(plan.jerkFactor),
"angleOffset": float(angle_offset),
"gpsPlannerActive": plan.gpsPlannerActive,
"cumLagMs": -rk.remaining*1000.,
}
live100.send(dat.to_bytes())
# broadcast carState
cs_send = messaging.new_message()
cs_send.init('carState')
# TODO: override CS.events with all the cumulated events
cs_send.carState = copy(CS)
cs_send.carState = CS
cs_send.carState.events = events
carstate.send(cs_send.to_bytes())
# broadcast carControl
cc_send = messaging.new_message()
cc_send.init('carControl')
cc_send.carControl = copy(CC)
cc_send.carControl = CC
carcontrol.send(cc_send.to_bytes())
# publish mpc state at 20Hz
@ -413,11 +395,12 @@ def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_
def controlsd_thread(gctx=None, rate=100, default_bias=0.):
gc.disable()
# start the loop
set_realtime_priority(3)
context = zmq.Context()
params = Params()
# pub
@ -428,7 +411,12 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
passive = params.get("Passive") != "0"
if not passive:
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
while 1:
try:
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
break
except zmq.error.ZMQError:
kill_defaultd()
else:
sendcan = None
@ -437,6 +425,8 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
thermal = messaging.sub_sock(context, service_list['thermal'].port, conflate=True, poller=poller)
health = messaging.sub_sock(context, service_list['health'].port, conflate=True, poller=poller)
cal = messaging.sub_sock(context, service_list['liveCalibration'].port, conflate=True, poller=poller)
driver_monitor = messaging.sub_sock(context, service_list['driverMonitoring'].port, conflate=True, poller=poller)
gps_location = messaging.sub_sock(context, service_list['gpsLocationExternal'].port, conflate=True, poller=poller)
logcan = messaging.sub_sock(context, service_list['can'].port)
@ -456,12 +446,21 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
CP.safetyModel = car.CarParams.SafetyModels.noOutput
fcw_enabled = params.get("IsFcwEnabled") == "1"
driver_monitor_on = params.get("IsDriverMonitoringEnabled") == "1"
geofence = None
try:
from selfdrive.controls.lib.geofence import Geofence
geofence = Geofence(params.get("IsGeofenceEnabled") == "1")
except ImportError:
# geofence not available
params.put("IsGeofenceEnabled", "-1")
PL = Planner(CP, fcw_enabled)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
LaC = LatControl(VM)
AM = AlertManager()
driver_status = DriverStatus(driver_monitor_on)
if not passive:
AM.add("startup", False)
@ -472,15 +471,11 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.UNCALIBRATED
rear_view_toggle = False
rear_view_allowed = params.get("IsRearViewMirror") == "1"
# 0.0 - 1.0
awareness_status = 1.
v_cruise_kph_last = 0
mismatch_counter = 0
rk = Ratekeeper(rate, print_delay_threshold=2./1000)
@ -501,30 +496,28 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
prof.checkpoint("Ratekeeper", ignore=True)
# sample data and compute car events
CS, events, cal_status, overtemp, free_space = data_sample(CI, CC, thermal, cal, health, poller, cal_status,
overtemp, free_space)
CS, events, cal_status, overtemp, free_space, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
driver_monitor, gps_location, poller, cal_status, overtemp, free_space, driver_status, geofence, state, mismatch_counter, params)
prof.checkpoint("Sample")
# define plan
plan, plan_ts = calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, awareness_status)
plan, plan_ts = calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence)
prof.checkpoint("Plan")
if not passive:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = state_transition(CS, CP, state, events, soft_disable_timer,
v_cruise_kph, AM)
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# compute actuators
actuators, v_cruise_kph, awareness_status, angle_offset, rear_view_toggle = state_control(plan, CS, CP, state, events, v_cruise_kph,
v_cruise_kph_last, AM, rk, awareness_status, PL, LaC, LoC, VM,
angle_offset, rear_view_allowed, rear_view_toggle, passive)
actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive)
prof.checkpoint("State Control")
# publish data
CC = data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph,
rk, carstate, carcontrol, live100, livempc, AM, rear_view_allowed,
rear_view_toggle, awareness_status, LaC, LoC, angle_offset, passive)
CC = data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive)
prof.checkpoint("Sent")
# *** run loop at fixed rate ***

61
selfdrive/controls/lib/alertmanager.py
View File

@ -6,6 +6,7 @@ import copy
# Priority
class Priority:
HIGHEST = 4
HIGH = 3
MID = 2
LOW = 1
@ -25,7 +26,8 @@ class Alert(object):
audible_alert,
duration_sound,
duration_hud_alert,
duration_text):
duration_text,
alert_rate=0.):
self.alert_text_1 = alert_text_1
self.alert_text_2 = alert_text_2
@ -40,6 +42,7 @@ class Alert(object):
self.duration_text = duration_text
self.start_time = 0.
self.alert_rate = alert_rate
# typecheck that enums are valid on startup
tst = car.CarControl.new_message()
@ -74,7 +77,7 @@ class AlertManager(object):
"Brake!",
"Risk of Collision",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "fcw", "chimeRepeated", 1., 2., 2.),
Priority.HIGHEST, "fcw", "chimeRepeated", 1., 2., 2.),
"steerSaturated": Alert(
"TAKE CONTROL",
@ -95,16 +98,28 @@ class AlertManager(object):
Priority.LOW, None, None, .2, .2, .2),
"preDriverDistracted": Alert(
"TAKE CONTROL: User Appears Distracted",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
"promptDriverDistracted": Alert(
"TAKE CONTROL",
"User Appears Distracted",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, "steerRequired", None, 0., .1, .1),
Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
"driverDistracted": Alert(
"TAKE CONTROL TO REGAIN SPEED",
"User Appears Distracted",
"DISENGAGEMENT REQUIRED",
"User Was Distracted",
AlertStatus.critical, AlertSize.full,
Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
"geofence": Alert(
"DISENGAGEMENT REQUIRED",
"Not in Geofenced Area",
AlertStatus.userPrompt, AlertSize.mid,
Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
"startup": Alert(
"Be ready to take over at any time",
@ -116,7 +131,7 @@ class AlertManager(object):
"TAKE CONTROL IMMEDIATELY",
"Ethical Dilemma Detected",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 3.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 3.),
"steerTempUnavailableNoEntry": Alert(
"openpilot Unavailable",
@ -239,73 +254,73 @@ class AlertManager(object):
"TAKE CONTROL IMMEDIATELY",
"Radar Error: Restart the Car",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"radarFault": Alert(
"TAKE CONTROL IMMEDIATELY",
"Radar Error: Restart the Car",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"modelCommIssue": Alert(
"TAKE CONTROL IMMEDIATELY",
"Model Error: Check Internet Connection",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"controlsFailed": Alert(
"TAKE CONTROL IMMEDIATELY",
"Controls Failed",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"controlsMismatch": Alert(
"TAKE CONTROL IMMEDIATELY",
"Controls Mismatch",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"commIssue": Alert(
"TAKE CONTROL IMMEDIATELY",
"CAN Error: Check Connections",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"steerUnavailable": Alert(
"TAKE CONTROL IMMEDIATELY",
"Steer Fault: Restart the Car",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"brakeUnavailable": Alert(
"TAKE CONTROL IMMEDIATELY",
"Brake Fault: Restart the Car",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"gasUnavailable": Alert(
"TAKE CONTROL IMMEDIATELY",
"Gas Fault: Restart the Car",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"reverseGear": Alert(
"TAKE CONTROL IMMEDIATELY",
"Reverse Gear",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"cruiseDisabled": Alert(
"TAKE CONTROL IMMEDIATELY",
"Cruise Is Off",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
"plannerError": Alert(
"TAKE CONTROL IMMEDIATELY",
"Planner Solution Error",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
# not loud cancellations (user is in control)
"noTarget": Alert(
@ -363,6 +378,12 @@ class AlertManager(object):
AlertStatus.normal, AlertSize.mid,
Priority.LOW, None, "chimeDouble", .4, 2., 3.),
"geofenceNoEntry": Alert(
"openpilot Unavailable",
"Not in Geofenced Area",
AlertStatus.normal, AlertSize.mid,
Priority.MID, None, "chimeDouble", .4, 2., 3.),
"radarCommIssueNoEntry": Alert(
"openpilot Unavailable",
"Radar Error: Restart the Car",
@ -494,6 +515,7 @@ class AlertManager(object):
self.alert_size = AlertSize.none
self.visual_alert = "none"
self.audible_alert = "none"
self.alert_rate = 0.
if ca:
if ca.start_time + ca.duration_sound > cur_time:
@ -507,3 +529,4 @@ class AlertManager(object):
self.alert_text_2 = ca.alert_text_2
self.alert_status = ca.alert_status
self.alert_size = ca.alert_size
self.alert_rate = ca.alert_rate

18
selfdrive/controls/lib/drive_helpers.py
View File

@ -1,3 +1,5 @@
import os
import signal
from cereal import car
from common.numpy_fast import clip
from selfdrive.config import Conversions as CV
@ -88,5 +90,19 @@ def update_v_cruise(v_cruise_kph, buttonEvents, enabled):
return v_cruise_kph
def initialize_v_cruise(v_ego):
def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
for b in buttonEvents:
# 300kph or above probably means we never had a set speed
if b.type == "accelCruise" and v_cruise_last < 300:
return v_cruise_last
return int(round(max(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN)))
def kill_defaultd():
# defaultd is used to send can messages when controlsd is off to make car test easier
if os.path.isfile("/tmp/defaultd_pid"):
with open("/tmp/defaultd_pid") as f:
ddpid = int(f.read())
print("signalling defaultd with pid %d" % ddpid)
os.kill(ddpid, signal.SIGUSR1)

121
selfdrive/controls/lib/driver_monitor.py 100644
View File

@ -0,0 +1,121 @@
import numpy as np
from common.realtime import sec_since_boot
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
_DT = 0.01 # update runs at 100Hz
_AWARENESS_TIME = 180 # 3 minutes limit without user touching steering wheels make the car enter a terminal status
_AWARENESS_PRE_TIME = 20. # a first alert is issued 20s before expiration
_AWARENESS_PROMPT_TIME = 5. # a second alert is issued 5s before start decelerating the car
_DISTRACTED_TIME = 6.
_DISTRACTED_PRE_TIME = 4.
_DISTRACTED_PROMPT_TIME = 2.
# measured 1 rad in x FOV. 1152x864 is original image, 160x320 is a right crop for model
_CAMERA_FOV_X = 1. # rad
_CAMERA_FOV_Y = 0.75 # 4/3 aspect ratio
# model output refers to center of cropped image, so need to apply the x displacement offset
_CAMERA_OFFSET_X = 0.3125 #(1152/2 - 0.5*(160*864/320))/1152
_CAMERA_X_CONV = 0.375 # 160*864/320/1152
_PITCH_WEIGHT = 1.5 # pitch matters a lot more
_METRIC_THRESHOLD = 0.4
_PITCH_POS_ALLOWANCE = 0.08 # rad, to not be too sensitive on positive pitch
_DTM = 0.2 # driver monitor runs at 5Hz
_DISTRACTED_FILTER_F = 0.3 # 0.3Hz
_DISTRACTED_FILTER_K = 2 * np.pi * _DISTRACTED_FILTER_F * _DTM / (1 + 2 * np.pi * _DISTRACTED_FILTER_F * _DTM)
_PITCH_NATURAL_OFFSET = 0.1 # people don't seem to look straight when they drive relaxed, rather a bit up
class _DriverPose():
def __init__(self):
self.yaw = 0.
self.pitch = 0.
self.roll = 0.
self.yaw_offset = 0.
self.pitch_offset = 0.
class DriverStatus():
def __init__(self, monitor_on):
self.pose = _DriverPose()
self.monitor_on = monitor_on
self.awareness = 1.
self.driver_distracted = False
self.driver_distraction_level = 0.
self.ts_last_check = 0.
self._set_timers()
def _set_timers(self):
if self.monitor_on:
self.threshold_pre = _DISTRACTED_PRE_TIME / _DISTRACTED_TIME
self.threshold_prompt = _DISTRACTED_PROMPT_TIME / _DISTRACTED_TIME
self.step_change = _DT / _DISTRACTED_TIME
else:
self.threshold_pre = _AWARENESS_PRE_TIME / _AWARENESS_TIME
self.threshold_prompt = _AWARENESS_PROMPT_TIME / _AWARENESS_TIME
self.step_change = _DT / _AWARENESS_TIME
def _is_driver_distracted(self, pose):
# to be tuned and to learn the driver's normal pose
yaw_error = pose.yaw - pose.yaw_offset
pitch_error = pose.pitch - pose.pitch_offset - _PITCH_NATURAL_OFFSET
# add positive pitch allowance
if pitch_error > 0.:
pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.)
pitch_error *= _PITCH_WEIGHT
metric = np.sqrt(yaw_error**2 + pitch_error**2)
#print "%02.4f" % np.degrees(pose.pitch), "%02.4f" % np.degrees(pitch_error), "%03.4f" % np.degrees(pose.pitch_offset), metric
return 1 if metric > _METRIC_THRESHOLD else 0
def get_pose(self, driver_monitoring, params):
ts = sec_since_boot()
# don's check for param too often as it's a kernel call
if ts - self.ts_last_check > 1.:
self.monitor_on = params.get("IsDriverMonitoringEnabled") == "1"
self._set_timers()
self.ts_last_check = ts
self.pose.pitch = driver_monitoring.descriptor[0]
self.pose.yaw = driver_monitoring.descriptor[1]
self.pose.roll = driver_monitoring.descriptor[2]
self.pose.yaw_offset = (driver_monitoring.descriptor[3] * _CAMERA_X_CONV + _CAMERA_OFFSET_X) * _CAMERA_FOV_X
self.pose.pitch_offset = -driver_monitoring.descriptor[4] * _CAMERA_FOV_Y # positive y is down
self.driver_distracted = self._is_driver_distracted(self.pose)
# first order filter
self.driver_distraction_level = (1. - _DISTRACTED_FILTER_K) * self.driver_distraction_level + \
_DISTRACTED_FILTER_K * self.driver_distracted
def update(self, events, driver_engaged, ctrl_active, standstill):
driver_engaged |= (self.driver_distraction_level < 0.37 and self.monitor_on)
if (driver_engaged and self.awareness > 0.) or not ctrl_active:
# always reset if driver is in control (unless we are in red alert state) or op isn't active
self.awareness = 1.
if (not self.monitor_on or (self.driver_distraction_level > 0.63 and self.driver_distracted)) and \
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
self.awareness = max(self.awareness - self.step_change, -0.1)
if self.awareness <= 0.:
# terminal red alert: disengagement required
events.append(create_event('driverDistracted', [ET.WARNING]))
elif self.awareness <= self.threshold_prompt:
# prompt orange alert
events.append(create_event('promptDriverDistracted', [ET.WARNING]))
elif self.awareness <= self.threshold_pre:
# pre green alert
events.append(create_event('preDriverDistracted', [ET.WARNING]))
return events
if __name__ == "__main__":
ds = DriverStatus(True)
ds.driver_distraction_level = 1.
ds.driver_distracted = 1
for i in range(1000):
ds.update([], False, True, True)
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
ds.update([], True, True, False)
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)

13
selfdrive/controls/lib/latcontrol.py
View File

@ -28,12 +28,11 @@ class LatControl(object):
(VM.CP.steerKiBP, VM.CP.steerKiV),
k_f=VM.CP.steerKf, pos_limit=1.0)
self.last_cloudlog_t = 0.0
self.setup_mpc()
self.setup_mpc(VM.CP.steerRateCost)
def setup_mpc(self):
def setup_mpc(self, steer_rate_cost):
self.libmpc = libmpc_py.libmpc
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE,
MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, steer_rate_cost)
self.mpc_solution = libmpc_py.ffi.new("log_t *")
self.cur_state = libmpc_py.ffi.new("state_t *")
@ -91,7 +90,7 @@ class LatControl(object):
self.mpc_nans = np.any(np.isnan(list(self.mpc_solution[0].delta)))
t = sec_since_boot()
if self.mpc_nans:
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, VM.CP.steerRateCost)
self.cur_state[0].delta = math.radians(angle_steers) / VM.CP.steerRatio
if t > self.last_cloudlog_t + 5.0:
@ -113,7 +112,9 @@ class LatControl(object):
steer_feedforward = self.angle_steers_des # feedforward desired angle
if VM.CP.steerControlType == car.CarParams.SteerControlType.torque:
steer_feedforward *= v_ego**2 # proportional to realigning tire momentum (~ lateral accel)
output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override, feedforward=steer_feedforward, speed=v_ego)
deadzone = 0.0
output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override,
feedforward=steer_feedforward, speed=v_ego, deadzone=deadzone)
self.sat_flag = self.pid.saturated
return output_steer, float(self.angle_steers_des)

2
selfdrive/controls/lib/pathplanner.py
View File

@ -1,7 +1,7 @@
from common.numpy_fast import interp
from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, calc_desired_path, compute_path_pinv
CAMERA_OFFSET = 0.12 # ~12cm from center car to camera
CAMERA_OFFSET = 0.06 # m from center car to camera
class PathPlanner(object):
def __init__(self):

17
selfdrive/controls/lib/planner.py
View File

@ -22,7 +22,6 @@ _DT = 0.01 # 100Hz
_DT_MPC = 0.2 # 5Hz
MAX_SPEED_ERROR = 2.0
AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
_DEBUG = False
_LEAD_ACCEL_TAU = 1.5
GPS_PLANNER_ADDR = "192.168.5.1"
@ -315,10 +314,11 @@ class Planner(object):
slowest = min(solutions, key=solutions.get)
if _DEBUG:
print "D_SOL", solutions, slowest, self.v_acc_sol, self.a_acc_sol
print "D_V", self.mpc1.v_mpc, self.mpc2.v_mpc, self.v_cruise
print "D_A", self.mpc1.a_mpc, self.mpc2.a_mpc, self.a_cruise
"""
print "D_SOL", solutions, slowest, self.v_acc_sol, self.a_acc_sol
print "D_V", self.mpc1.v_mpc, self.mpc2.v_mpc, self.v_cruise
print "D_A", self.mpc1.a_mpc, self.mpc2.a_mpc, self.a_cruise
"""
self.longitudinalPlanSource = slowest
@ -336,7 +336,7 @@ class Planner(object):
self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, v_cruise_setpoint])
# this runs whenever we get a packet that can change the plan
def update(self, CS, LaC, LoC, v_cruise_kph, user_distracted):
def update(self, CS, LaC, LoC, v_cruise_kph, force_slow_decel):
cur_time = sec_since_boot()
v_cruise_setpoint = v_cruise_kph * CV.KPH_TO_MS
@ -396,8 +396,9 @@ class Planner(object):
# TODO: make a separate lookup for jerk tuning
jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]
accel_limits = limit_accel_in_turns(CS.vEgo, CS.steeringAngle, accel_limits, self.CP)
if user_distracted:
# if user is not responsive to awareness alerts, then start a smooth deceleration
if force_slow_decel:
# if required so, force a smooth deceleration
accel_limits[1] = min(accel_limits[1], AWARENESS_DECEL)
accel_limits[0] = min(accel_limits[0], accel_limits[1])

38
selfdrive/controls/lib/radar_helpers.py
View File

@ -25,12 +25,12 @@ v_oncoming_thr = -3.9 # needs to be a bit lower in abs value than v_stationary
v_ego_stationary = 4. # no stationary object flag below this speed
# Lead Kalman Filter params
_VLEAD_A = np.matrix([[1.0, ts], [0.0, 1.0]])
_VLEAD_C = np.matrix([1.0, 0.0])
_VLEAD_A = [[1.0, ts], [0.0, 1.0]]
_VLEAD_C = [[1.0, 0.0]]
#_VLEAD_Q = np.matrix([[10., 0.0], [0.0, 100.]])
#_VLEAD_R = 1e3
#_VLEAD_K = np.matrix([[ 0.05705578], [ 0.03073241]])
_VLEAD_K = np.matrix([[ 0.1988689 ], [ 0.28555364]])
_VLEAD_K = [[ 0.1988689 ], [ 0.28555364]]
class Track(object):
@ -65,7 +65,7 @@ class Track(object):
self.vision = False
self.aRel = 0. # nidec gives no information about this
self.vLat = 0.
self.kf = KF1D(np.matrix([[self.vLead], [0.0]]), _VLEAD_A, _VLEAD_C, _VLEAD_K)
self.kf = KF1D([[self.vLead], [0.0]], _VLEAD_A, _VLEAD_C, _VLEAD_K)
else:
# estimate acceleration
# TODO: use Kalman filter
@ -82,8 +82,8 @@ class Track(object):
self.cnt += 1
self.vLeadK = float(self.kf.x[SPEED])
self.aLeadK = float(self.kf.x[ACCEL])
self.vLeadK = float(self.kf.x[SPEED][0])
self.aLeadK = float(self.kf.x[ACCEL][0])
if self.stationary:
# stationary objects can become non stationary, but not the other way around
@ -200,18 +200,20 @@ class Cluster(object):
def oncoming(self):
return all([t.oncoming for t in self.tracks])
def toLive20(self, lead):
lead.dRel = float(self.dRel) - RDR_TO_LDR
lead.yRel = float(self.yRel)
lead.vRel = float(self.vRel)
lead.aRel = float(self.aRel)
lead.vLead = float(self.vLead)
lead.dPath = float(self.dPath)
lead.vLat = float(self.vLat)
lead.vLeadK = float(self.vLeadK)
lead.aLeadK = float(self.aLeadK)
lead.status = True
lead.fcw = self.is_potential_fcw()
def toLive20(self):
return {
"dRel": float(self.dRel) - RDR_TO_LDR,
"yRel": float(self.yRel),
"vRel": float(self.vRel),
"aRel": float(self.aRel),
"vLead": float(self.vLead),
"dPath": float(self.dPath),
"vLat": float(self.vLat),
"vLeadK": float(self.vLeadK),
"aLeadK": float(self.aLeadK),
"status": True,
"fcw": self.is_potential_fcw(),
}
def __str__(self):
ret = "x: %4.1f y: %4.1f v: %4.1f a: %4.1f d: %4.2f" % (self.dRel, self.yRel, self.vRel, self.aLeadK, self.dPath)

9
selfdrive/controls/lib/vehicle_model.py
View File

@ -97,8 +97,9 @@ if __name__ == '__main__':
# load car params
#CP = CarInterface.get_params("TOYOTA PRIUS 2017", {})
CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING", {})
print CP
#print CP
VM = VehicleModel(CP)
print VM.steady_state_sol(.1, 0.15)
print calc_slip_factor(VM)
print VM.yaw_rate(0.2*np.pi/180, 32.) * 180./np.pi
#print VM.steady_state_sol(.1, 0.15)
#print calc_slip_factor(VM)
#print VM.yaw_rate(3.*np.pi/180, 32.) * 180./np.pi
#print VM.curvature_factor(32)

32
selfdrive/controls/radard.py
View File

@ -1,4 +1,5 @@
#!/usr/bin/env python
import gc
import zmq
import numpy as np
import numpy.matlib
@ -44,6 +45,7 @@ class EKFV1D(EKF):
# fuses camera and radar data for best lead detection
def radard_thread(gctx=None):
gc.disable()
set_realtime_priority(2)
# wait for stats about the car to come in from controls
@ -195,9 +197,9 @@ def radard_thread(gctx=None):
tracks[fused_id].update_vision_fusion()
if DEBUG:
print "NEW CYCLE"
print("NEW CYCLE")
if VISION_POINT in ar_pts:
print "vision", ar_pts[VISION_POINT]
print("vision", ar_pts[VISION_POINT])
idens = tracks.keys()
track_pts = np.array([tracks[iden].get_key_for_cluster() for iden in idens])
@ -223,7 +225,7 @@ def radard_thread(gctx=None):
if DEBUG:
for i in clusters:
print i
print(i)
# *** extract the lead car ***
lead_clusters = [c for c in clusters
if c.is_potential_lead(v_ego)]
@ -244,9 +246,9 @@ def radard_thread(gctx=None):
dat.live20.radarErrors = list(rr.errors)
dat.live20.l100MonoTime = last_l100_ts
if lead_len > 0:
lead_clusters[0].toLive20(dat.live20.leadOne)
dat.live20.leadOne = lead_clusters[0].toLive20()
if lead2_len > 0:
lead2_clusters[0].toLive20(dat.live20.leadTwo)
dat.live20.leadTwo = lead2_clusters[0].toLive20()
else:
dat.live20.leadTwo.status = False
else:
@ -261,20 +263,22 @@ def radard_thread(gctx=None):
for cnt, ids in enumerate(tracks.keys()):
if DEBUG:
print "id: %4.0f x: %4.1f y: %4.1f vr: %4.1f d: %4.1f va: %4.1f vl: %4.1f vlk: %4.1f alk: %4.1f s: %1.0f v: %1.0f" % \
print("id: %4.0f x: %4.1f y: %4.1f vr: %4.1f d: %4.1f va: %4.1f vl: %4.1f vlk: %4.1f alk: %4.1f s: %1.0f v: %1.0f" % \
(ids, tracks[ids].dRel, tracks[ids].yRel, tracks[ids].vRel,
tracks[ids].dPath, tracks[ids].vLat,
tracks[ids].vLead, tracks[ids].vLeadK,
tracks[ids].aLeadK,
tracks[ids].stationary,
tracks[ids].measured)
dat.liveTracks[cnt].trackId = ids
dat.liveTracks[cnt].dRel = float(tracks[ids].dRel)
dat.liveTracks[cnt].yRel = float(tracks[ids].yRel)
dat.liveTracks[cnt].vRel = float(tracks[ids].vRel)
dat.liveTracks[cnt].aRel = float(tracks[ids].aRel)
dat.liveTracks[cnt].stationary = tracks[ids].stationary
dat.liveTracks[cnt].oncoming = tracks[ids].oncoming
tracks[ids].measured))
dat.liveTracks[cnt] = {
"trackId": ids,
"dRel": float(tracks[ids].dRel),
"yRel": float(tracks[ids].yRel),
"vRel": float(tracks[ids].vRel),
"aRel": float(tracks[ids].aRel),
"stationary": tracks[ids].stationary,
"oncoming": tracks[ids].oncoming,
}
liveTracks.send(dat.to_bytes())
rk.monitor_time()

20
selfdrive/debug/getframes/getframes.py
View File

@ -14,9 +14,10 @@ ffi = FFI()
ffi.cdef("""
typedef enum VisionStreamType {
VISION_STREAM_UI_BACK,
VISION_STREAM_UI_FRONT,
VISION_STREAM_RGB_BACK,
VISION_STREAM_RGB_FRONT,
VISION_STREAM_YUV,
VISION_STREAM_YUV_FRONT,
VISION_STREAM_MAX,
} VisionStreamType;
@ -47,12 +48,15 @@ typedef struct VIPCBuf {
} VIPCBuf;
typedef struct VIPCBufExtra {
uint32_t frame_id; // only for yuv
// only for yuv
uint32_t frame_id;
uint64_t timestamp_eof;
} VIPCBufExtra;
typedef struct VisionStream {
int ipc_fd;
int last_idx;
int last_type;
int num_bufs;
VisionStreamBufs bufs_info;
VIPCBuf *bufs;
@ -68,10 +72,16 @@ void visionstream_destroy(VisionStream *s);
clib = ffi.dlopen(os.path.join(gf_dir, "libvisionipc.so"))
def getframes():
def getframes(front=False):
s = ffi.new("VisionStream*")
buf_info = ffi.new("VisionStreamBufs*")
err = clib.visionstream_init(s, clib.VISION_STREAM_UI_BACK, True, buf_info)
if front:
stream_type = clib.VISION_STREAM_RGB_FRONT
else:
stream_type = clib.VISION_STREAM_RGB_BACK
err = clib.visionstream_init(s, stream_type, True, buf_info)
assert err == 0
w = buf_info.width

73
selfdrive/locationd/locationd_dummy.py
View File

@ -1,73 +0,0 @@
#!/usr/bin/env python
import zmq
from copy import copy
from selfdrive import messaging
from selfdrive.services import service_list
from cereal import log
from common.transformations.coordinates import geodetic2ecef
def main(gctx=None):
context = zmq.Context()
poller = zmq.Poller()
gps_sock = messaging.sub_sock(context, service_list['gpsLocation'].port, poller)
gps_ext_sock = messaging.sub_sock(context, service_list['gpsLocationExternal'].port, poller)
app_sock = messaging.sub_sock(context, service_list['applanixLocation'].port, poller)
loc_sock = messaging.pub_sock(context, service_list['liveLocation'].port)
last_ext, last_gps, last_app = -1, -1, -1
# 5 sec
max_gap = 5*1e9
preferred_type = None
while 1:
for sock, event in poller.poll(500):
if sock is app_sock:
msg = messaging.recv_one(sock)
last_app = msg.logMonoTime
this_type = 'app'
if sock is gps_sock:
msg = messaging.recv_one(sock)
gps_pkt = msg.gpsLocation
last_gps = msg.logMonoTime
this_type = 'gps'
if sock is gps_ext_sock:
msg = messaging.recv_one(sock)
gps_pkt = msg.gpsLocationExternal
last_ext = msg.logMonoTime
this_type = 'ext'
last = max(last_gps, last_ext, last_app)
if last_app > last - max_gap:
new_preferred_type = 'app'
elif last_ext > last - max_gap:
new_preferred_type = 'ext'
else:
new_preferred_type = 'gps'
if preferred_type != new_preferred_type:
print "switching from %s to %s" % (preferred_type, new_preferred_type)
preferred_type = new_preferred_type
if this_type == preferred_type:
new_msg = messaging.new_message()
if this_type == 'app':
# straight proxy the applanix
new_msg.init('liveLocation')
new_msg.liveLocation = copy(msg.applanixLocation)
else:
new_msg.logMonoTime = msg.logMonoTime
new_msg.init('liveLocation')
pkt = new_msg.liveLocation
pkt.lat = gps_pkt.latitude
pkt.lon = gps_pkt.longitude
pkt.alt = gps_pkt.altitude
pkt.speed = gps_pkt.speed
pkt.heading = gps_pkt.bearing
pkt.positionECEF = [float(x) for x in geodetic2ecef([pkt.lat, pkt.lon, pkt.alt])]
pkt.source = log.LiveLocationData.SensorSource.dummy
loc_sock.send(new_msg.to_bytes())
if __name__ == '__main__':
main()

BIN
selfdrive/loggerd/loggerd
View File

Binary file not shown.

307
selfdrive/manager.py
View File

@ -20,7 +20,7 @@ if __name__ == "__main__":
copyfile(os.path.join(BASEDIR, "scripts", "continue.sh"), "/data/data/com.termux/files/continue.sh")
# run the updater
print "Starting NEOS updater"
print("Starting NEOS updater")
subprocess.check_call(["git", "clean", "-xdf"], cwd=BASEDIR)
os.system(os.path.join(BASEDIR, "installer", "updater", "updater"))
raise Exception("NEOS outdated")
@ -62,35 +62,29 @@ import subprocess
import traceback
from multiprocessing import Process
EON = os.path.exists("/EON")
if EON and os.path.exists(os.path.join(BASEDIR, "vpn")):
print "installing vpn"
os.system(os.path.join(BASEDIR, "vpn", "install.sh"))
import zmq
from setproctitle import setproctitle #pylint: disable=no-name-in-module
from common.params import Params
from common.realtime import sec_since_boot
import cereal
ThermalStatus = cereal.log.ThermalData.ThermalStatus
from selfdrive.services import service_list
from selfdrive.swaglog import cloudlog
import selfdrive.messaging as messaging
from selfdrive.thermal import read_thermal
from selfdrive.registration import register
from selfdrive.version import version, dirty, training_version
from selfdrive.version import version, dirty
import selfdrive.crash as crash
from selfdrive.loggerd.config import ROOT
# comment out anything you don't want to run
managed_processes = {
"thermald": "selfdrive.thermald",
"uploader": "selfdrive.loggerd.uploader",
"controlsd": "selfdrive.controls.controlsd",
"radard": "selfdrive.controls.radard",
"ubloxd": "selfdrive.locationd.ubloxd",
"locationd_dummy": "selfdrive.locationd.locationd_dummy",
"loggerd": ("selfdrive/loggerd", ["./loggerd"]),
"logmessaged": "selfdrive.logmessaged",
"tombstoned": "selfdrive.tombstoned",
@ -102,10 +96,9 @@ managed_processes = {
"visiond": ("selfdrive/visiond", ["./visiond"]),
"sensord": ("selfdrive/sensord", ["./sensord"]),
"gpsd": ("selfdrive/sensord", ["./gpsd"]),
#"orbd": ("selfdrive/orbd", ["./orbd_wrapper.sh"]),
"updated": "selfdrive.updated",
#"gpsplanner": "selfdrive.controls.gps_plannerd",
}
android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
running = {}
def get_running():
@ -118,6 +111,7 @@ unkillable_processes = ['visiond']
interrupt_processes = []
persistent_processes = [
'thermald',
'logmessaged',
'logcatd',
'tombstoned',
@ -125,7 +119,6 @@ persistent_processes = [
'ui',
'gpsd',
'ubloxd',
'locationd_dummy',
'updated',
]
@ -137,12 +130,11 @@ car_started_processes = [
'visiond',
'proclogd',
'orbd',
# 'gpsplanner,
]
def register_managed_process(name, desc, car_started=False):
global managed_processes, car_started_processes, persistent_processes
print "registering", name
print("registering %s" % name)
managed_processes[name] = desc
if car_started:
car_started_processes.append(name)
@ -181,7 +173,7 @@ def start_managed_process(name):
if name in running or name not in managed_processes:
return
proc = managed_processes[name]
if isinstance(proc, basestring):
if isinstance(proc, str):
cloudlog.info("starting python %s" % proc)
running[name] = Process(name=name, target=launcher, args=(proc, gctx))
else:
@ -193,7 +185,7 @@ def start_managed_process(name):
def prepare_managed_process(p):
proc = managed_processes[p]
if isinstance(proc, basestring):
if isinstance(proc, str):
# import this python
cloudlog.info("preimporting %s" % proc)
importlib.import_module(proc)
@ -238,13 +230,16 @@ def kill_managed_process(name):
cloudlog.info("%s is dead with %d" % (name, running[name].exitcode))
del running[name]
def pm_apply_packages(cmd):
for p in android_packages:
system("pm %s %s" % (cmd, p))
def cleanup_all_processes(signal, frame):
cloudlog.info("caught ctrl-c %s %s" % (signal, frame))
for p in ("com.waze", "com.spotify.music", "ai.comma.plus.offroad", "ai.comma.plus.frame"):
system("am force-stop %s" % p)
pm_apply_packages('disable')
for name in running.keys():
for name in list(running.keys()):
kill_managed_process(name)
cloudlog.info("everything is dead")
@ -271,13 +266,13 @@ def manager_init(should_register=True):
if not dirty:
os.environ['CLEAN'] = '1'
cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, is_eon=EON)
cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, is_eon=True)
crash.bind_user(id=dongle_id)
crash.bind_extra(version=version, dirty=dirty, is_eon=EON)
crash.bind_extra(version=version, dirty=dirty, is_eon=True)
os.umask(0)
try:
os.mkdir(ROOT, 0777)
os.mkdir(ROOT, 0o777)
except OSError:
pass
@ -288,119 +283,17 @@ def system(cmd):
try:
cloudlog.info("running %s" % cmd)
subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
except subprocess.CalledProcessError, e:
except subprocess.CalledProcessError as e:
cloudlog.event("running failed",
cmd=e.cmd,
output=e.output[-1024:],
returncode=e.returncode)
LEON = False
def setup_eon_fan():
global LEON
if not EON:
return
os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
from smbus2 import SMBus
bus = SMBus(7, force=True)
try:
bus.write_byte_data(0x21, 0x10, 0xf) # mask all interrupts
bus.write_byte_data(0x21, 0x03, 0x1) # set drive current and global interrupt disable
bus.write_byte_data(0x21, 0x02, 0x2) # needed?
bus.write_byte_data(0x21, 0x04, 0x4) # manual override source
except IOError:
print "LEON detected"
#os.system("echo 1 > /sys/devices/soc/6a00000.ssusb/power_supply/usb/usb_otg")
LEON = True
bus.close()
last_eon_fan_val = None
def set_eon_fan(val):
global LEON, last_eon_fan_val
if not EON:
return
from smbus2 import SMBus
if last_eon_fan_val is None or last_eon_fan_val != val:
bus = SMBus(7, force=True)
if LEON:
i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
bus.write_i2c_block_data(0x3d, 0, [i])
else:
bus.write_byte_data(0x21, 0x04, 0x2)
bus.write_byte_data(0x21, 0x03, (val*2)+1)
bus.write_byte_data(0x21, 0x04, 0x4)
bus.close()
last_eon_fan_val = val
# temp thresholds to control fan speed - high hysteresis
_TEMP_THRS_H = [50., 65., 80., 10000]
# temp thresholds to control fan speed - low hysteresis
_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
# fan speed options
_FAN_SPEEDS = [0, 16384, 32768, 65535]
# max fan speed only allowed if battery if hot
_BAT_TEMP_THERSHOLD = 45.
def handle_fan(max_temp, bat_temp, fan_speed):
new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_temp)
new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_temp)
if new_speed_h > fan_speed:
# update speed if using the high thresholds results in fan speed increment
fan_speed = new_speed_h
elif new_speed_l < fan_speed:
# update speed if using the low thresholds results in fan speed decrement
fan_speed = new_speed_l
if bat_temp < _BAT_TEMP_THERSHOLD:
# no max fan speed unless battery is hot
fan_speed = min(fan_speed, _FAN_SPEEDS[-2])
set_eon_fan(fan_speed/16384)
return fan_speed
class LocationStarter(object):
def __init__(self):
self.last_good_loc = 0
def update(self, started_ts, location):
rt = sec_since_boot()
if location is None or location.accuracy > 50 or location.speed < 2:
# bad location, stop if we havent gotten a location in a while
# dont stop if we're been going for less than a minute
if started_ts:
if rt-self.last_good_loc > 60. and rt-started_ts > 60:
cloudlog.event("location_stop",
ts=rt,
started_ts=started_ts,
last_good_loc=self.last_good_loc,
location=location.to_dict() if location else None)
return False
else:
return True
else:
return False
self.last_good_loc = rt
if started_ts:
return True
else:
cloudlog.event("location_start", location=location.to_dict() if location else None)
return location.speed*3.6 > 10
def manager_thread():
# now loop
context = zmq.Context()
thermal_sock = messaging.pub_sock(context, service_list['thermal'].port)
health_sock = messaging.sub_sock(context, service_list['health'].port)
location_sock = messaging.sub_sock(context, service_list['gpsLocation'].port)
thermal_sock = messaging.sub_sock(context, service_list['thermal'].port)
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
@ -409,156 +302,47 @@ def manager_thread():
start_managed_process(p)
# start frame
pm_apply_packages('enable')
system("am start -n ai.comma.plus.frame/.MainActivity")
# do this before panda flashing
setup_eon_fan()
if os.getenv("NOBOARD") is None:
start_managed_process("pandad")
params = Params()
passive_starter = LocationStarter()
started_ts = None
off_ts = None
logger_dead = False
count = 0
fan_speed = 0
ignition_seen = False
started_seen = False
panda_seen = False
health_sock.RCVTIMEO = 1500
while 1:
# get health of board, log this in "thermal"
td = messaging.recv_sock(health_sock, wait=True)
location = messaging.recv_sock(location_sock)
location = location.gpsLocation if location else None
print td
# replace thermald
msg = read_thermal()
# loggerd is gated based on free space
statvfs = os.statvfs(ROOT)
avail = (statvfs.f_bavail * 1.0)/statvfs.f_blocks
# thermal message now also includes free space
msg.thermal.freeSpace = avail
with open("/sys/class/power_supply/battery/capacity") as f:
msg.thermal.batteryPercent = int(f.read())
with open("/sys/class/power_supply/battery/status") as f:
msg.thermal.batteryStatus = f.read().strip()
with open("/sys/class/power_supply/usb/online") as f:
msg.thermal.usbOnline = bool(int(f.read()))
# TODO: add car battery voltage check
max_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
bat_temp = msg.thermal.bat/1000.
fan_speed = handle_fan(max_temp, bat_temp, fan_speed)
msg.thermal.fanSpeed = fan_speed
msg.thermal.started = started_ts is not None
msg.thermal.startedTs = int(1e9*(started_ts or 0))
thermal_sock.send(msg.to_bytes())
print msg
msg = messaging.recv_sock(thermal_sock, wait=True)
# uploader is gated based on the phone temperature
if max_temp > 85.0:
cloudlog.warning("over temp: %r", max_temp)
if msg.thermal.thermalStatus >= ThermalStatus.yellow:
kill_managed_process("uploader")
elif max_temp < 70.0:
else:
start_managed_process("uploader")
if avail < 0.05:
if msg.thermal.freeSpace < 0.05:
logger_dead = True
# start constellation of processes when the car starts
ignition = td is not None and td.health.started
ignition_seen = ignition_seen or ignition
# add voltage check for ignition
if not ignition_seen and td is not None and td.health.voltage > 13500:
ignition = True
do_uninstall = params.get("DoUninstall") == "1"
accepted_terms = params.get("HasAcceptedTerms") == "1"
completed_training = params.get("CompletedTrainingVersion") == training_version
should_start = ignition
# have we seen a panda?
panda_seen = panda_seen or td is not None
# start on gps movement if we haven't seen ignition and are in passive mode
should_start = should_start or (not (ignition_seen and td) # seen ignition and panda is connected
and params.get("Passive") == "1"
and passive_starter.update(started_ts, location))
# with 2% left, we killall, otherwise the phone will take a long time to boot
should_start = should_start and avail > 0.02
# require usb power
should_start = should_start and msg.thermal.usbOnline
should_start = should_start and accepted_terms and completed_training and (not do_uninstall)
# if any CPU gets above 107 or the battery gets above 63, kill all processes
# controls will warn with CPU above 95 or battery above 60
if max_temp > 107.0 or msg.thermal.bat >= 63000:
# TODO: Add a better warning when this is happening
should_start = False
if should_start:
off_ts = None
if started_ts is None:
params.car_start()
started_ts = sec_since_boot()
started_seen = True
if msg.thermal.started:
for p in car_started_processes:
if p == "loggerd" and logger_dead:
kill_managed_process(p)
else:
start_managed_process(p)
else:
started_ts = None
if off_ts is None:
off_ts = sec_since_boot()
logger_dead = False
for p in car_started_processes:
kill_managed_process(p)
# shutdown if the battery gets lower than 3%, t's discharging, we aren't running for
# more than a minute but we were running
if msg.thermal.batteryPercent < 3 and msg.thermal.batteryStatus == "Discharging" and \
started_seen and (sec_since_boot() - off_ts) > 60:
os.system('LD_LIBRARY_PATH="" svc power shutdown')
# check the status of all processes, did any of them die?
for p in running:
cloudlog.debug(" running %s %s" % (p, running[p]))
# report to server once per minute
if (count%60) == 0:
cloudlog.event("STATUS_PACKET",
running=running.keys(),
count=count,
health=(td.to_dict() if td else None),
location=(location.to_dict() if location else None),
thermal=msg.to_dict())
if do_uninstall:
# is this still needed?
if params.get("DoUninstall") == "1":
break
count += 1
def get_installed_apks():
dat = subprocess.check_output(["pm", "list", "packages", "-f"]).strip().split("\n")
ret = {}
@ -578,19 +362,10 @@ def install_apk(path):
return ret == 0
def update_apks():
# patch apks
if os.getenv("PREPAREONLY"):
# assume we have internet, download too
patched = subprocess.call([os.path.join(BASEDIR, "apk/external/patcher.py")])
else:
patched = subprocess.call([os.path.join(BASEDIR, "apk/external/patcher.py"), "patch"])
cloudlog.info("patcher: %r" % (patched,))
# install apks
installed = get_installed_apks()
install_apks = (glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
+ glob.glob(os.path.join(BASEDIR, "apk/external/out/*.apk")))
install_apks = glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
for apk in install_apks:
app = os.path.basename(apk)[:-4]
if app not in installed:
@ -601,8 +376,6 @@ def update_apks():
for app in installed.iterkeys():
apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
if not os.path.exists(apk_path):
apk_path = os.path.join(BASEDIR, "apk/external/out/"+app+".apk")
if not os.path.exists(apk_path):
continue
@ -624,10 +397,12 @@ def update_apks():
assert success
def manager_update():
if os.path.exists(os.path.join(BASEDIR, "vpn")):
cloudlog.info("installing vpn")
os.system(os.path.join(BASEDIR, "vpn", "install.sh"))
update_apks()
def manager_prepare():
# build cereal first
subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, "cereal"))
@ -664,13 +439,8 @@ def main():
if os.getenv("NOCONTROL") is not None:
del managed_processes['controlsd']
del managed_processes['radard']
# disable this until we use it
"""
if os.path.isfile('logserver/logserver.py'):
managed_processes["logserver"] = "selfdrive.logserver.wsgi"
persistent_processes.append("logserver")
"""
if os.getenv("DEFAULTD") is not None:
managed_processes["controlsd"] = "selfdrive.controls.defaultd"
# support additional internal only extensions
try:
@ -687,14 +457,16 @@ def main():
params.put("IsMetric", "0")
if params.get("RecordFront") is None:
params.put("RecordFront", "0")
if params.get("IsRearViewMirror") is None:
params.put("IsRearViewMirror", "0")
if params.get("IsFcwEnabled") is None:
params.put("IsFcwEnabled", "1")
if params.get("HasAcceptedTerms") is None:
params.put("HasAcceptedTerms", "0")
if params.get("IsUploadVideoOverCellularEnabled") is None:
params.put("IsUploadVideoOverCellularEnabled", "1")
if params.get("IsDriverMonitoringEnabled") is None:
params.put("IsDriverMonitoringEnabled", "0")
if params.get("IsGeofenceEnabled") is None:
params.put("IsGeofenceEnabled", "-1")
# is this chffrplus?
if os.getenv("PASSIVE") is not None:
@ -740,3 +512,4 @@ if __name__ == "__main__":
main()
# manual exit because we are forked
sys.exit(0)

2
selfdrive/messaging.py
View File

@ -18,7 +18,7 @@ def sub_sock(context, port, poller=None, addr="127.0.0.1", conflate=False):
if conflate:
sock.setsockopt(zmq.CONFLATE, 1)
sock.connect("tcp://%s:%d" % (addr, port))
sock.setsockopt(zmq.SUBSCRIBE, "")
sock.setsockopt(zmq.SUBSCRIBE, b"")
if poller is not None:
poller.register(sock, zmq.POLLIN)
return sock

8
selfdrive/orbd/.gitignore vendored
View File

@ -1,8 +0,0 @@
orbd
orbd_cpu
test/turbocv_profile
test/turbocv_test
dspout/*
dumb_test
bilinear_lut.h
orb_lut.h

105
selfdrive/orbd/Makefile
View File

@ -1,105 +0,0 @@
# CPU
CC = clang
CXX = clang++
WARN_FLAGS = -Werror=implicit-function-declaration \
-Werror=incompatible-pointer-types \
-Werror=int-conversion \
-Werror=return-type \
-Werror=format-extra-args
JSON_FLAGS = -I$(PHONELIBS)/json/src
CFLAGS = -std=gnu11 -g -O2 -fPIC $(WARN_FLAGS) -Iinclude $(JSON_FLAGS) -I.
CXXFLAGS = -std=c++11 -g -O2 -fPIC $(WARN_FLAGS) -Iinclude $(JSON_FLAGS) -I.
LDFLAGS =
# profile
# CXXFLAGS += -DTURBOCV_PROFILE=1
PHONELIBS = ../../phonelibs
BASEDIR = ../..
EXTERNAL = ../../external
PYTHONLIBS =
UNAME_M := $(shell uname -m)
ifeq ($(UNAME_M),x86_64)
# computer
ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
ZMQ_LIBS = -L$(BASEDIR)/external/zmq/lib/ \
-l:libczmq.a -l:libzmq.a -lpthread
OPENCV_LIBS = -lopencv_core -lopencv_highgui -lopencv_features2d -lopencv_imgproc
CXXFLAGS += -fopenmp
LDFLAGS += -lomp
else
# phone
ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
-l:libczmq.a -l:libzmq.a \
-lgnustl_shared
OPENCV_FLAGS = -I$(PHONELIBS)/opencv/include
OPENCV_LIBS = -Wl,--enable-new-dtags -Wl,-rpath,/usr/local/lib/python2.7/site-packages -L/usr/local/lib/python2.7/site-packages -l:cv2.so
endif
.PHONY: all
all: orbd
include ../common/cereal.mk
DEP_OBJS = ../common/visionipc.o ../common/swaglog.o $(PHONELIBS)/json/src/json.o
orbd: orbd_dsp.o $(DEP_OBJS) calculator_stub.o freethedsp.o
@echo "[ LINK ] $@"
$(CXX) -fPIC -o '$@' $^ \
$(LDFLAGS) \
$(ZMQ_LIBS) \
$(CEREAL_LIBS) \
-L/usr/lib \
-L/system/vendor/lib64 \
-ladsprpc \
-lm -lz -llog
%.o: %.c
@echo "[ CC ] $@"
$(CC) $(CFLAGS) \
$(ZMQ_FLAGS) \
-I../ \
-I../../ \
-c -o '$@' '$<'
orbd_dsp.o: orbd.cc
@echo "[ CXX ] $@"
$(CXX) $(CXXFLAGS) \
$(CEREAL_CXXFLAGS) \
$(ZMQ_FLAGS) \
$(OPENCV_FLAGS) \
-DDSP \
-I../ \
-I../../ \
-I../../../ \
-I./include \
-c -o '$@' '$<'
freethedsp.o: dsp/freethedsp.c
@echo "[ CC ] $@"
$(CC) $(CFLAGS) \
-c -o '$@' '$<'
calculator_stub.o: dsp/gen/calculator_stub.c
@echo "[ CC ] $@"
$(CC) $(CFLAGS) -I./include -c -o '$@' '$<'
-include internal.mk
.PHONY: clean
clean:
rm -f *.o turbocv.so orbd test/turbocv_profile test/turbocv_test test/*.o *_lut.h

119
selfdrive/orbd/dsp/freethedsp.c
View File

@ -1,119 +0,0 @@
// freethedsp by geohot
// (because the DSP should be free)
// released under MIT License
// usage instructions:
// 1. Compile an example from the Qualcomm Hexagon SDK
// 2. Try to run it on your phone
// 3. Be very sad when "adsprpc ... dlopen error: ... signature verify start failed for ..." appears in logcat
// ...here is where people would give up before freethedsp
// 4. Compile freethedsp with 'clang -shared freethedsp.c -o freethedsp.so' (or statically link it to your program)
// 5. Run your program with 'LD_PRELOAD=./freethedsp.so ./<your_prog>'
// 6. OMG THE DSP WORKS
// 7. Be happy.
// *** patch may have to change for your phone ***
// this is patching /dsp/fastrpc_shell_0
// correct if sha hash of fastrpc_shell_0 is "fbadc96848aefad99a95aa4edb560929dcdf78f8"
// patch to return 0xFFFFFFFF from is_test_enabled instead of 0
// your fastrpc_shell_0 may vary
#define PATCH_ADDR 0x5200c
#define PATCH_OLD "\x40\x3f\x20\x50"
#define PATCH_NEW "\x40\x3f\x00\x5a"
#define PATCH_LEN (sizeof(PATCH_OLD)-1)
#define _BITS_IOCTL_H_
// under 100 lines of code begins now
#include <stdio.h>
#include <dlfcn.h>
#include <assert.h>
#include <stdlib.h>
#include <unistd.h>
// ioctl stuff
#define IOC_OUT 0x40000000 /* copy out parameters */
#define IOC_IN 0x80000000 /* copy in parameters */
#define IOC_INOUT (IOC_IN|IOC_OUT)
#define IOCPARM_MASK 0x1fff /* parameter length, at most 13 bits */
#define _IOC(inout,group,num,len) \
(inout | ((len & IOCPARM_MASK) << 16) | ((group) << 8) | (num))
#define _IOWR(g,n,t) _IOC(IOC_INOUT, (g), (n), sizeof(t))
// ion ioctls
#include <linux/ion.h>
#define ION_IOC_MSM_MAGIC 'M'
#define ION_IOC_CLEAN_INV_CACHES _IOWR(ION_IOC_MSM_MAGIC, 2, \
struct ion_flush_data)
struct ion_flush_data {
ion_user_handle_t handle;
int fd;
void *vaddr;
unsigned int offset;
unsigned int length;
};
// fastrpc ioctls
#define FASTRPC_IOCTL_INIT _IOWR('R', 6, struct fastrpc_ioctl_init)
struct fastrpc_ioctl_init {
uint32_t flags; /* one of FASTRPC_INIT_* macros */
uintptr_t __user file; /* pointer to elf file */
int32_t filelen; /* elf file length */
int32_t filefd; /* ION fd for the file */
uintptr_t __user mem; /* mem for the PD */
int32_t memlen; /* mem length */
int32_t memfd; /* ION fd for the mem */
};
int ioctl(int fd, unsigned long request, void *arg) {
static void *handle = NULL;
static int (*orig_ioctl)(int, int, void*);
if (handle == NULL) {
handle = dlopen("/system/lib64/libc.so", RTLD_LAZY);
assert(handle != NULL);
orig_ioctl = dlsym(handle, "ioctl");
}
int ret = orig_ioctl(fd, request, arg);
// carefully modify this one
if (request == FASTRPC_IOCTL_INIT) {
struct fastrpc_ioctl_init *init = (struct fastrpc_ioctl_init *)arg;
// confirm patch is correct and do the patch
assert(memcmp((void*)(init->mem+PATCH_ADDR), PATCH_OLD, PATCH_LEN) == 0);
memcpy((void*)(init->mem+PATCH_ADDR), PATCH_NEW, PATCH_LEN);
// flush cache
int ionfd = open("/dev/ion", O_RDONLY);
assert(ionfd > 0);
struct ion_fd_data fd_data;
fd_data.fd = init->memfd;
int ret = ioctl(ionfd, ION_IOC_IMPORT, &fd_data);
assert(ret == 0);
struct ion_flush_data flush_data;
flush_data.handle = fd_data.handle;
flush_data.vaddr = (void*)init->mem;
flush_data.offset = 0;
flush_data.length = init->memlen;
ret = ioctl(ionfd, ION_IOC_CLEAN_INV_CACHES, &flush_data);
assert(ret == 0);
struct ion_handle_data handle_data;
handle_data.handle = fd_data.handle;
ret = ioctl(ionfd, ION_IOC_FREE, &handle_data);
assert(ret == 0);
// cleanup
close(ionfd);
}
return ret;
}

39
selfdrive/orbd/dsp/gen/calculator.h
View File

@ -1,39 +0,0 @@
#ifndef _CALCULATOR_H
#define _CALCULATOR_H
#include <stdint.h>
typedef uint8_t uint8;
typedef uint32_t uint32;
#ifndef __QAIC_HEADER
#define __QAIC_HEADER(ff) ff
#endif //__QAIC_HEADER
#ifndef __QAIC_HEADER_EXPORT
#define __QAIC_HEADER_EXPORT
#endif // __QAIC_HEADER_EXPORT
#ifndef __QAIC_HEADER_ATTRIBUTE
#define __QAIC_HEADER_ATTRIBUTE
#endif // __QAIC_HEADER_ATTRIBUTE
#ifndef __QAIC_IMPL
#define __QAIC_IMPL(ff) ff
#endif //__QAIC_IMPL
#ifndef __QAIC_IMPL_EXPORT
#define __QAIC_IMPL_EXPORT
#endif // __QAIC_IMPL_EXPORT
#ifndef __QAIC_IMPL_ATTRIBUTE
#define __QAIC_IMPL_ATTRIBUTE
#endif // __QAIC_IMPL_ATTRIBUTE
#ifdef __cplusplus
extern "C" {
#endif
__QAIC_HEADER_EXPORT int __QAIC_HEADER(calculator_init)(uint32* leet) __QAIC_HEADER_ATTRIBUTE;
__QAIC_HEADER_EXPORT int __QAIC_HEADER(calculator_extract_and_match)(const uint8* img, int imgLen, uint8* features, int featuresLen) __QAIC_HEADER_ATTRIBUTE;
#ifdef __cplusplus
}
#endif
#endif //_CALCULATOR_H

613
selfdrive/orbd/dsp/gen/calculator_stub.c
View File

@ -1,613 +0,0 @@
#ifndef _CALCULATOR_STUB_H
#define _CALCULATOR_STUB_H
#include "calculator.h"
// remote.h
#include <stdint.h>
#include <sys/types.h>
typedef uint32_t remote_handle;
typedef uint64_t remote_handle64;
typedef struct {
void *pv;
size_t nLen;
} remote_buf;
typedef struct {
int32_t fd;
uint32_t offset;
} remote_dma_handle;
typedef union {
remote_buf buf;
remote_handle h;
remote_handle64 h64;
remote_dma_handle dma;
} remote_arg;
int remote_handle_open(const char* name, remote_handle *ph);
int remote_handle_invoke(remote_handle h, uint32_t dwScalars, remote_arg *pra);
int remote_handle_close(remote_handle h);
#define REMOTE_SCALARS_MAKEX(nAttr,nMethod,nIn,nOut,noIn,noOut) \
((((uint32_t) (nAttr) & 0x7) << 29) | \
(((uint32_t) (nMethod) & 0x1f) << 24) | \
(((uint32_t) (nIn) & 0xff) << 16) | \
(((uint32_t) (nOut) & 0xff) << 8) | \
(((uint32_t) (noIn) & 0x0f) << 4) | \
((uint32_t) (noOut) & 0x0f))
#ifndef _QAIC_ENV_H
#define _QAIC_ENV_H
#ifdef __GNUC__
#ifdef __clang__
#pragma GCC diagnostic ignored "-Wunknown-pragmas"
#else
#pragma GCC diagnostic ignored "-Wpragmas"
#endif
#pragma GCC diagnostic ignored "-Wuninitialized"
#pragma GCC diagnostic ignored "-Wunused-parameter"
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
#ifndef _ATTRIBUTE_UNUSED
#ifdef _WIN32
#define _ATTRIBUTE_UNUSED
#else
#define _ATTRIBUTE_UNUSED __attribute__ ((unused))
#endif
#endif // _ATTRIBUTE_UNUSED
#ifndef __QAIC_REMOTE
#define __QAIC_REMOTE(ff) ff
#endif //__QAIC_REMOTE
#ifndef __QAIC_HEADER
#define __QAIC_HEADER(ff) ff
#endif //__QAIC_HEADER
#ifndef __QAIC_HEADER_EXPORT
#define __QAIC_HEADER_EXPORT
#endif // __QAIC_HEADER_EXPORT
#ifndef __QAIC_HEADER_ATTRIBUTE
#define __QAIC_HEADER_ATTRIBUTE
#endif // __QAIC_HEADER_ATTRIBUTE
#ifndef __QAIC_IMPL
#define __QAIC_IMPL(ff) ff
#endif //__QAIC_IMPL
#ifndef __QAIC_IMPL_EXPORT
#define __QAIC_IMPL_EXPORT
#endif // __QAIC_IMPL_EXPORT
#ifndef __QAIC_IMPL_ATTRIBUTE
#define __QAIC_IMPL_ATTRIBUTE
#endif // __QAIC_IMPL_ATTRIBUTE
#ifndef __QAIC_STUB
#define __QAIC_STUB(ff) ff
#endif //__QAIC_STUB
#ifndef __QAIC_STUB_EXPORT
#define __QAIC_STUB_EXPORT
#endif // __QAIC_STUB_EXPORT
#ifndef __QAIC_STUB_ATTRIBUTE
#define __QAIC_STUB_ATTRIBUTE
#endif // __QAIC_STUB_ATTRIBUTE
#ifndef __QAIC_SKEL
#define __QAIC_SKEL(ff) ff
#endif //__QAIC_SKEL__
#ifndef __QAIC_SKEL_EXPORT
#define __QAIC_SKEL_EXPORT
#endif // __QAIC_SKEL_EXPORT
#ifndef __QAIC_SKEL_ATTRIBUTE
#define __QAIC_SKEL_ATTRIBUTE
#endif // __QAIC_SKEL_ATTRIBUTE
#ifdef __QAIC_DEBUG__
#ifndef __QAIC_DBG_PRINTF__
#include <stdio.h>
#define __QAIC_DBG_PRINTF__( ee ) do { printf ee ; } while(0)
#endif
#else
#define __QAIC_DBG_PRINTF__( ee ) (void)0
#endif
#define _OFFSET(src, sof) ((void*)(((char*)(src)) + (sof)))
#define _COPY(dst, dof, src, sof, sz) \
do {\
struct __copy { \
char ar[sz]; \
};\
*(struct __copy*)_OFFSET(dst, dof) = *(struct __copy*)_OFFSET(src, sof);\
} while (0)
#define _COPYIF(dst, dof, src, sof, sz) \
do {\
if(_OFFSET(dst, dof) != _OFFSET(src, sof)) {\
_COPY(dst, dof, src, sof, sz); \
} \
} while (0)
_ATTRIBUTE_UNUSED
static __inline void _qaic_memmove(void* dst, void* src, int size) {
int i;
for(i = 0; i < size; ++i) {
((char*)dst)[i] = ((char*)src)[i];
}
}
#define _MEMMOVEIF(dst, src, sz) \
do {\
if(dst != src) {\
_qaic_memmove(dst, src, sz);\
} \
} while (0)
#define _ASSIGN(dst, src, sof) \
do {\
dst = OFFSET(src, sof); \
} while (0)
#define _STD_STRLEN_IF(str) (str == 0 ? 0 : strlen(str))
#define AEE_SUCCESS 0
#define AEE_EOFFSET 0x80000400
#define AEE_EBADPARM (AEE_EOFFSET + 0x00E)
#define _TRY(ee, func) \
do { \
if (AEE_SUCCESS != ((ee) = func)) {\
__QAIC_DBG_PRINTF__((__FILE__ ":%d:error:%d:%s\n", __LINE__, (int)(ee),#func));\
goto ee##bail;\
} \
} while (0)
#define _CATCH(exception) exception##bail: if (exception != AEE_SUCCESS)
#define _ASSERT(nErr, ff) _TRY(nErr, 0 == (ff) ? AEE_EBADPARM : AEE_SUCCESS)
#ifdef __QAIC_DEBUG__
#define _ALLOCATE(nErr, pal, size, alignment, pv) _TRY(nErr, _allocator_alloc(pal, __FILE_LINE__, size, alignment, (void**)&pv))
#else
#define _ALLOCATE(nErr, pal, size, alignment, pv) _TRY(nErr, _allocator_alloc(pal, 0, size, alignment, (void**)&pv))
#endif
#endif // _QAIC_ENV_H
#ifndef _ALLOCATOR_H
#define _ALLOCATOR_H
#include <stdlib.h>
#include <stdint.h>
typedef struct _heap _heap;
struct _heap {
_heap* pPrev;
const char* loc;
uint64_t buf;
};
typedef struct _allocator {
_heap* pheap;
uint8_t* stack;
uint8_t* stackEnd;
int nSize;
} _allocator;
_ATTRIBUTE_UNUSED
static __inline int _heap_alloc(_heap** ppa, const char* loc, int size, void** ppbuf) {
_heap* pn = 0;
pn = malloc(size + sizeof(_heap) - sizeof(uint64_t));
if(pn != 0) {
pn->pPrev = *ppa;
pn->loc = loc;
*ppa = pn;
*ppbuf = (void*)&(pn->buf);
return 0;
} else {
return -1;
}
}
#define _ALIGN_SIZE(x, y) (((x) + (y-1)) & ~(y-1))
_ATTRIBUTE_UNUSED
static __inline int _allocator_alloc(_allocator* me,
const char* loc,
int size,
unsigned int al,
void** ppbuf) {
if(size < 0) {
return -1;
} else if (size == 0) {
*ppbuf = 0;
return 0;
}
if((_ALIGN_SIZE((uintptr_t)me->stackEnd, al) + size) < (uintptr_t)me->stack + me->nSize) {
*ppbuf = (uint8_t*)_ALIGN_SIZE((uintptr_t)me->stackEnd, al);
me->stackEnd = (uint8_t*)_ALIGN_SIZE((uintptr_t)me->stackEnd, al) + size;
return 0;
} else {
return _heap_alloc(&me->pheap, loc, size, ppbuf);
}
}
_ATTRIBUTE_UNUSED
static __inline void _allocator_deinit(_allocator* me) {
_heap* pa = me->pheap;
while(pa != 0) {
_heap* pn = pa;
const char* loc = pn->loc;
(void)loc;
pa = pn->pPrev;
free(pn);
}
}
_ATTRIBUTE_UNUSED
static __inline void _allocator_init(_allocator* me, uint8_t* stack, int stackSize) {
me->stack = stack;
me->stackEnd = stack + stackSize;
me->nSize = stackSize;
me->pheap = 0;
}
#endif // _ALLOCATOR_H
#ifndef SLIM_H
#define SLIM_H
#include <stdint.h>
//a C data structure for the idl types that can be used to implement
//static and dynamic language bindings fairly efficiently.
//
//the goal is to have a minimal ROM and RAM footprint and without
//doing too many allocations. A good way to package these things seemed
//like the module boundary, so all the idls within one module can share
//all the type references.
#define PARAMETER_IN 0x0
#define PARAMETER_OUT 0x1
#define PARAMETER_INOUT 0x2
#define PARAMETER_ROUT 0x3
#define PARAMETER_INROUT 0x4
//the types that we get from idl
#define TYPE_OBJECT 0x0
#define TYPE_INTERFACE 0x1
#define TYPE_PRIMITIVE 0x2
#define TYPE_ENUM 0x3
#define TYPE_STRING 0x4
#define TYPE_WSTRING 0x5
#define TYPE_STRUCTURE 0x6
#define TYPE_UNION 0x7
#define TYPE_ARRAY 0x8
#define TYPE_SEQUENCE 0x9
//these require the pack/unpack to recurse
//so it's a hint to those languages that can optimize in cases where
//recursion isn't necessary.
#define TYPE_COMPLEX_STRUCTURE (0x10 | TYPE_STRUCTURE)
#define TYPE_COMPLEX_UNION (0x10 | TYPE_UNION)
#define TYPE_COMPLEX_ARRAY (0x10 | TYPE_ARRAY)
#define TYPE_COMPLEX_SEQUENCE (0x10 | TYPE_SEQUENCE)
typedef struct Type Type;
#define INHERIT_TYPE\
int32_t nativeSize; /*in the simple case its the same as wire size and alignment*/\
union {\
struct {\
const uintptr_t p1;\
const uintptr_t p2;\
} _cast;\
struct {\
uint32_t iid;\
uint32_t bNotNil;\
} object;\
struct {\
const Type *arrayType;\
int32_t nItems;\
} array;\
struct {\
const Type *seqType;\
int32_t nMaxLen;\
} seqSimple; \
struct {\
uint32_t bFloating;\
uint32_t bSigned;\
} prim; \
const SequenceType* seqComplex;\
const UnionType *unionType;\
const StructType *structType;\
int32_t stringMaxLen;\
uint8_t bInterfaceNotNil;\
} param;\
uint8_t type;\
uint8_t nativeAlignment\
typedef struct UnionType UnionType;
typedef struct StructType StructType;
typedef struct SequenceType SequenceType;
struct Type {
INHERIT_TYPE;
};
struct SequenceType {
const Type * seqType;
uint32_t nMaxLen;
uint32_t inSize;
uint32_t routSizePrimIn;
uint32_t routSizePrimROut;
};
//byte offset from the start of the case values for
//this unions case value array. it MUST be aligned
//at the alignment requrements for the descriptor
//
//if negative it means that the unions cases are
//simple enumerators, so the value read from the descriptor
//can be used directly to find the correct case
typedef union CaseValuePtr CaseValuePtr;
union CaseValuePtr {
const uint8_t* value8s;
const uint16_t* value16s;
const uint32_t* value32s;
const uint64_t* value64s;
};
//these are only used in complex cases
//so I pulled them out of the type definition as references to make
//the type smaller
struct UnionType {
const Type *descriptor;
uint32_t nCases;
const CaseValuePtr caseValues;
const Type * const *cases;
int32_t inSize;
int32_t routSizePrimIn;
int32_t routSizePrimROut;
uint8_t inAlignment;
uint8_t routAlignmentPrimIn;
uint8_t routAlignmentPrimROut;
uint8_t inCaseAlignment;
uint8_t routCaseAlignmentPrimIn;
uint8_t routCaseAlignmentPrimROut;
uint8_t nativeCaseAlignment;
uint8_t bDefaultCase;
};
struct StructType {
uint32_t nMembers;
const Type * const *members;
int32_t inSize;
int32_t routSizePrimIn;
int32_t routSizePrimROut;
uint8_t inAlignment;
uint8_t routAlignmentPrimIn;
uint8_t routAlignmentPrimROut;
};
typedef struct Parameter Parameter;
struct Parameter {
INHERIT_TYPE;
uint8_t mode;
uint8_t bNotNil;
};
#define SLIM_IFPTR32(is32,is64) (sizeof(uintptr_t) == 4 ? (is32) : (is64))
#define SLIM_SCALARS_IS_DYNAMIC(u) (((u) & 0x00ffffff) == 0x00ffffff)
typedef struct Method Method;
struct Method {
uint32_t uScalars; //no method index
int32_t primInSize;
int32_t primROutSize;
int maxArgs;
int numParams;
const Parameter * const *params;
uint8_t primInAlignment;
uint8_t primROutAlignment;
};
typedef struct Interface Interface;
struct Interface {
int nMethods;
const Method * const *methodArray;
int nIIds;
const uint32_t *iids;
const uint16_t* methodStringArray;
const uint16_t* methodStrings;
const char* strings;
};
#endif //SLIM_H
#ifndef _CALCULATOR_SLIM_H
#define _CALCULATOR_SLIM_H
// remote.h
#include <stdint.h>
#ifndef __QAIC_SLIM
#define __QAIC_SLIM(ff) ff
#endif
#ifndef __QAIC_SLIM_EXPORT
#define __QAIC_SLIM_EXPORT
#endif
static const Type types[1];
static const Type types[1] = {{0x1,{{(const uintptr_t)0,(const uintptr_t)0}}, 2,0x1}};
static const Parameter parameters[3] = {{0x4,{{(const uintptr_t)0,(const uintptr_t)0}}, 2,0x4,3,0},{SLIM_IFPTR32(0x8,0x10),{{(const uintptr_t)&(types[0]),(const uintptr_t)0x0}}, 9,SLIM_IFPTR32(0x4,0x8),0,0},{SLIM_IFPTR32(0x8,0x10),{{(const uintptr_t)&(types[0]),(const uintptr_t)0x0}}, 9,SLIM_IFPTR32(0x4,0x8),3,0}};
static const Parameter* const parameterArrays[3] = {(&(parameters[1])),(&(parameters[2])),(&(parameters[0]))};
static const Method methods[2] = {{REMOTE_SCALARS_MAKEX(0,0,0x0,0x1,0x0,0x0),0x0,0x4,1,1,(&(parameterArrays[2])),0x1,0x4},{REMOTE_SCALARS_MAKEX(0,0,0x2,0x1,0x0,0x0),0x8,0x0,5,2,(&(parameterArrays[0])),0x4,0x1}};
static const Method* const methodArrays[2] = {&(methods[0]),&(methods[1])};
static const char strings[41] = "extract_and_match\0features\0leet\0init\0img\0";
static const uint16_t methodStrings[5] = {0,37,18,32,27};
static const uint16_t methodStringsArrays[2] = {3,0};
__QAIC_SLIM_EXPORT const Interface __QAIC_SLIM(calculator_slim) = {2,&(methodArrays[0]),0,0,&(methodStringsArrays [0]),methodStrings,strings};
#endif //_CALCULATOR_SLIM_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef _const_calculator_handle
#define _const_calculator_handle ((remote_handle)-1)
#endif //_const_calculator_handle
static void _calculator_pls_dtor(void* data) {
remote_handle* ph = (remote_handle*)data;
if(_const_calculator_handle != *ph) {
(void)__QAIC_REMOTE(remote_handle_close)(*ph);
*ph = _const_calculator_handle;
}
}
static int _calculator_pls_ctor(void* ctx, void* data) {
remote_handle* ph = (remote_handle*)data;
*ph = _const_calculator_handle;
if(*ph == (remote_handle)-1) {
return __QAIC_REMOTE(remote_handle_open)((const char*)ctx, ph);
}
return 0;
}
#if (defined __qdsp6__) || (defined __hexagon__)
#pragma weak adsp_pls_add_lookup
extern int adsp_pls_add_lookup(uint32_t type, uint32_t key, int size, int (*ctor)(void* ctx, void* data), void* ctx, void (*dtor)(void* ctx), void** ppo);
#pragma weak HAP_pls_add_lookup
extern int HAP_pls_add_lookup(uint32_t type, uint32_t key, int size, int (*ctor)(void* ctx, void* data), void* ctx, void (*dtor)(void* ctx), void** ppo);
__QAIC_STUB_EXPORT remote_handle _calculator_handle(void) {
remote_handle* ph;
if(adsp_pls_add_lookup) {
if(0 == adsp_pls_add_lookup((uint32_t)_calculator_handle, 0, sizeof(*ph), _calculator_pls_ctor, "calculator", _calculator_pls_dtor, (void**)&ph)) {
return *ph;
}
return (remote_handle)-1;
} else if(HAP_pls_add_lookup) {
if(0 == HAP_pls_add_lookup((uint32_t)_calculator_handle, 0, sizeof(*ph), _calculator_pls_ctor, "calculator", _calculator_pls_dtor, (void**)&ph)) {
return *ph;
}
return (remote_handle)-1;
}
return(remote_handle)-1;
}
#else //__qdsp6__ || __hexagon__
uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare);
#ifdef _WIN32
#include "Windows.h"
uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare) {
return (uint32_t)InterlockedCompareExchange((volatile LONG*)puDest, (LONG)uExchange, (LONG)uCompare);
}
#elif __GNUC__
uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare) {
return __sync_val_compare_and_swap(puDest, uCompare, uExchange);
}
#endif //_WIN32
__QAIC_STUB_EXPORT remote_handle _calculator_handle(void) {
static remote_handle handle = _const_calculator_handle;
if((remote_handle)-1 != handle) {
return handle;
} else {
remote_handle tmp;
int nErr = _calculator_pls_ctor("calculator", (void*)&tmp);
if(nErr) {
return (remote_handle)-1;
}
if(((remote_handle)-1 != handle) || ((remote_handle)-1 != (remote_handle)_calculator_atomic_CompareAndExchange((uint32_t*)&handle, (uint32_t)tmp, (uint32_t)-1))) {
_calculator_pls_dtor(&tmp);
}
return handle;
}
}
#endif //__qdsp6__
__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_skel_invoke)(uint32_t _sc, remote_arg* _pra) __QAIC_STUB_ATTRIBUTE {
return __QAIC_REMOTE(remote_handle_invoke)(_calculator_handle(), _sc, _pra);
}
#ifdef __cplusplus
}
#endif
#ifdef __cplusplus
extern "C" {
#endif
extern int remote_register_dma_handle(int, uint32_t);
static __inline int _stub_method(remote_handle _handle, uint32_t _mid, uint32_t _rout0[1]) {
int _numIn[1];
remote_arg _pra[1];
uint32_t _primROut[1];
int _nErr = 0;
_numIn[0] = 0;
_pra[(_numIn[0] + 0)].buf.pv = (void*)_primROut;
_pra[(_numIn[0] + 0)].buf.nLen = sizeof(_primROut);
_TRY(_nErr, __QAIC_REMOTE(remote_handle_invoke)(_handle, REMOTE_SCALARS_MAKEX(0, _mid, 0, 1, 0, 0), _pra));
_COPY(_rout0, 0, _primROut, 0, 4);
_CATCH(_nErr) {}
return _nErr;
}
__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_init)(uint32* leet) __QAIC_STUB_ATTRIBUTE {
uint32_t _mid = 0;
return _stub_method(_calculator_handle(), _mid, (uint32_t*)leet);
}
static __inline int _stub_method_1(remote_handle _handle, uint32_t _mid, char* _in0[1], uint32_t _in0Len[1], char* _rout1[1], uint32_t _rout1Len[1]) {
int _numIn[1];
remote_arg _pra[3];
uint32_t _primIn[2];
remote_arg* _praIn;
remote_arg* _praROut;
int _nErr = 0;
_numIn[0] = 1;
_pra[0].buf.pv = (void*)_primIn;
_pra[0].buf.nLen = sizeof(_primIn);
_COPY(_primIn, 0, _in0Len, 0, 4);
_praIn = (_pra + 1);
_praIn[0].buf.pv = _in0[0];
_praIn[0].buf.nLen = (1 * _in0Len[0]);
_COPY(_primIn, 4, _rout1Len, 0, 4);
_praROut = (_praIn + _numIn[0] + 0);
_praROut[0].buf.pv = _rout1[0];
_praROut[0].buf.nLen = (1 * _rout1Len[0]);
_TRY(_nErr, __QAIC_REMOTE(remote_handle_invoke)(_handle, REMOTE_SCALARS_MAKEX(0, _mid, 2, 1, 0, 0), _pra));
_CATCH(_nErr) {}
return _nErr;
}
__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_extract_and_match)(const uint8* img, int imgLen, uint8* features, int featuresLen) __QAIC_STUB_ATTRIBUTE {
uint32_t _mid = 1;
return _stub_method_1(_calculator_handle(), _mid, (char**)&img, (uint32_t*)&imgLen, (char**)&features, (uint32_t*)&featuresLen);
}
#ifdef __cplusplus
}
#endif
#endif //_CALCULATOR_STUB_H

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selfdrive/orbd/dsp/gen/libcalculator_skel.so
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37
selfdrive/orbd/extractor.h
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@ -1,37 +0,0 @@
#ifndef EXTRACTOR_H
#define EXTRACTOR_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#define ORBD_KEYPOINTS 3000
#define ORBD_DESCRIPTOR_LENGTH 32
#define ORBD_HEIGHT 874
#define ORBD_WIDTH 1164
// matches OrbFeatures from log.capnp
struct orb_features {
// align this
uint16_t n_corners;
uint16_t xy[ORBD_KEYPOINTS][2];
uint8_t octave[ORBD_KEYPOINTS];
uint8_t des[ORBD_KEYPOINTS][ORBD_DESCRIPTOR_LENGTH];
int16_t matches[ORBD_KEYPOINTS];
};
// forward declare this
struct pyramid;
// manage the pyramids in extractor.c
void init_gpyrs();
int extract_and_match_gpyrs(const uint8_t *img, struct orb_features *);
int extract_and_match(const uint8_t *img, struct pyramid *pyrs, struct pyramid *prev_pyrs, struct orb_features *);
#ifdef __cplusplus
}
#endif
#endif // EXTRACTOR_H

181
selfdrive/orbd/orbd.cc
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@ -1,181 +0,0 @@
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <unistd.h>
#include <stdint.h>
#include <assert.h>
#include <sys/resource.h>
#include "common/visionipc.h"
#include "common/swaglog.h"
#include "extractor.h"
#ifdef DSP
#include "dsp/gen/calculator.h"
#else
#include "turbocv.h"
#endif
#include <zmq.h>
#include <capnp/serialize.h>
#include "cereal/gen/cpp/log.capnp.h"
#ifndef PATH_MAX
#include <linux/limits.h>
#endif
volatile int do_exit = 0;
static void set_do_exit(int sig) {
do_exit = 1;
}
int main(int argc, char *argv[]) {
int err;
setpriority(PRIO_PROCESS, 0, -13);
printf("starting orbd\n");
#ifdef DSP
uint32_t test_leet = 0;
char my_path[PATH_MAX+1];
memset(my_path, 0, sizeof(my_path));
ssize_t len = readlink("/proc/self/exe", my_path, sizeof(my_path));
assert(len > 5);
my_path[len-5] = '\0';
LOGW("running from %s with PATH_MAX %d", my_path, PATH_MAX);
char adsp_path[PATH_MAX+1];
snprintf(adsp_path, PATH_MAX, "ADSP_LIBRARY_PATH=%s/dsp/gen", my_path);
assert(putenv(adsp_path) == 0);
assert(calculator_init(&test_leet) == 0);
assert(test_leet == 0x1337);
LOGW("orbd init complete");
#else
init_gpyrs();
#endif
signal(SIGINT, (sighandler_t) set_do_exit);
signal(SIGTERM, (sighandler_t) set_do_exit);
void *ctx = zmq_ctx_new();
void *orb_features_sock = zmq_socket(ctx, ZMQ_PUB);
assert(orb_features_sock);
zmq_bind(orb_features_sock, "tcp://*:8058");
void *orb_features_summary_sock = zmq_socket(ctx, ZMQ_PUB);
assert(orb_features_summary_sock);
zmq_bind(orb_features_summary_sock, "tcp://*:8062");
struct orb_features *features = (struct orb_features *)malloc(sizeof(struct orb_features));
int last_frame_id = 0;
VisionStream stream;
while (!do_exit) {
VisionStreamBufs buf_info;
err = visionstream_init(&stream, VISION_STREAM_YUV, true, &buf_info);
if (err) {
printf("visionstream connect fail\n");
usleep(100000);
continue;
}
uint64_t timestamp_last_eof = 0;
while (!do_exit) {
VIPCBuf *buf;
VIPCBufExtra extra;
buf = visionstream_get(&stream, &extra);
if (buf == NULL) {
printf("visionstream get failed\n");
break;
}
uint64_t start = nanos_since_boot();
#ifdef DSP
int ret = calculator_extract_and_match((uint8_t *)buf->addr, ORBD_HEIGHT*ORBD_WIDTH, (uint8_t *)features, sizeof(struct orb_features));
#else
int ret = extract_and_match_gpyrs((uint8_t *) buf->addr, features);
#endif
uint64_t end = nanos_since_boot();
LOGD("total(%d): %6.2f ms to get %4d features on %d", ret, (end-start)/1000000.0, features->n_corners, extra.frame_id);
assert(ret == 0);
if (last_frame_id+1 != extra.frame_id) {
LOGW("dropped frame!");
}
last_frame_id = extra.frame_id;
if (timestamp_last_eof == 0) {
timestamp_last_eof = extra.timestamp_eof;
continue;
}
int match_count = 0;
// *** send OrbFeatures ***
{
// create capnp message
capnp::MallocMessageBuilder msg;
cereal::Event::Builder event = msg.initRoot<cereal::Event>();
event.setLogMonoTime(nanos_since_boot());
auto orb_features = event.initOrbFeatures();
// set timestamps
orb_features.setTimestampEof(extra.timestamp_eof);
orb_features.setTimestampLastEof(timestamp_last_eof);
// init descriptors for send
kj::ArrayPtr<capnp::byte> descriptorsPtr = kj::arrayPtr((uint8_t *)features->des, ORBD_DESCRIPTOR_LENGTH * features->n_corners);
orb_features.setDescriptors(descriptorsPtr);
auto xs = orb_features.initXs(features->n_corners);
auto ys = orb_features.initYs(features->n_corners);
auto octaves = orb_features.initOctaves(features->n_corners);
auto matches = orb_features.initMatches(features->n_corners);
// copy out normalized keypoints
for (int i = 0; i < features->n_corners; i++) {
xs.set(i, features->xy[i][0] * 1.0f / ORBD_WIDTH - 0.5f);
ys.set(i, features->xy[i][1] * 1.0f / ORBD_HEIGHT - 0.5f);
octaves.set(i, features->octave[i]);
matches.set(i, features->matches[i]);
match_count += features->matches[i] != -1;
}
auto words = capnp::messageToFlatArray(msg);
auto bytes = words.asBytes();
zmq_send(orb_features_sock, bytes.begin(), bytes.size(), 0);
}
// *** send OrbFeaturesSummary ***
{
// create capnp message
capnp::MallocMessageBuilder msg;
cereal::Event::Builder event = msg.initRoot<cereal::Event>();
event.setLogMonoTime(nanos_since_boot());
auto orb_features_summary = event.initOrbFeaturesSummary();
orb_features_summary.setTimestampEof(extra.timestamp_eof);
orb_features_summary.setTimestampLastEof(timestamp_last_eof);
orb_features_summary.setFeatureCount(features->n_corners);
orb_features_summary.setMatchCount(match_count);
orb_features_summary.setComputeNs(end-start);
auto words = capnp::messageToFlatArray(msg);
auto bytes = words.asBytes();
zmq_send(orb_features_summary_sock, bytes.begin(), bytes.size(), 0);
}
timestamp_last_eof = extra.timestamp_eof;
}
}
visionstream_destroy(&stream);
return 0;
}

3
selfdrive/pandad.py
View File

@ -10,4 +10,5 @@ def main(gctx=None):
os.execvp("./boardd", ["./boardd"])
if __name__ == "__main__":
main()
main()

4
selfdrive/registration.py
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@ -47,5 +47,5 @@ def register():
return None
if __name__ == "__main__":
print api_get("").text
print register()
print(api_get("").text)
print(register())

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selfdrive/sensord/gpsd
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selfdrive/sensord/sensord
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1
selfdrive/service_list.yaml
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@ -69,6 +69,7 @@ orbKeyFrame: [8059, true]
uiLayoutState: [8060, true]
frontEncodeIdx: [8061, true]
orbFeaturesSummary: [8062, true]
driverMonitoring: [8063, true]
testModel: [8040, false]
testLiveLocation: [8045, false]

2
selfdrive/services.py
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@ -10,5 +10,5 @@ service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
service_list = {}
with open(service_list_path, "r") as f:
for k, v in yaml.load(f).iteritems():
for k, v in yaml.load(f).items():
service_list[k] = Service(v[0], v[1])

51
selfdrive/test/plant/plant.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python
import os
import struct
from collections import namedtuple
import zmq
import numpy as np
@ -210,15 +210,47 @@ class Plant(object):
print "%6.2f m %6.2f m/s %6.2f m/s2 %.2f ang gas: %.2f brake: %.2f steer: %5.2f lead_rel: %6.2f m %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel)
# ******** publish the car ********
# TODO: the order is this list should not matter, but currently everytime we change carstate we break this test. Fix it!
vls = [self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
self.angle_steer, self.angle_steer_rate, 0,
vls_tuple = namedtuple('vls', [
'XMISSION_SPEED',
'WHEEL_SPEED_FL', 'WHEEL_SPEED_FR', 'WHEEL_SPEED_RL', 'WHEEL_SPEED_RR',
'STEER_ANGLE', 'STEER_ANGLE_RATE', 'STEER_TORQUE_SENSOR',
'LEFT_BLINKER', 'RIGHT_BLINKER',
'GEAR',
'WHEELS_MOVING',
'BRAKE_ERROR_1', 'BRAKE_ERROR_2',
'SEATBELT_DRIVER_LAMP', 'SEATBELT_DRIVER_LATCHED',
'BRAKE_PRESSED', 'BRAKE_SWITCH',
'CRUISE_BUTTONS',
'ESP_DISABLED',
'HUD_LEAD',
'USER_BRAKE',
'STEER_STATUS',
'GEAR_SHIFTER',
'PEDAL_GAS',
'CRUISE_SETTING',
'ACC_STATUS',
'CRUISE_SPEED_PCM',
'CRUISE_SPEED_OFFSET',
'DOOR_OPEN_FL', 'DOOR_OPEN_FR', 'DOOR_OPEN_RL', 'DOOR_OPEN_RR',
'CAR_GAS',
'MAIN_ON',
'EPB_STATE',
'BRAKE_HOLD_ACTIVE',
'INTERCEPTOR_GAS',
])
vls = vls_tuple(
self.speed_sensor(speed),
self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
self.angle_steer, self.angle_steer_rate, 0, #Steer torque sensor
0, 0, # Blinkers
self.gear_choice,
speed != 0,
self.brake_error, self.brake_error,
not self.seatbelt, self.seatbelt, # Seatbelt
self.brake_pressed, 0.,
self.brake_pressed, 0., #Brake pressed, Brake switch
cruise_buttons,
self.esp_disabled,
0, # HUD lead
@ -238,11 +270,8 @@ class Plant(object):
self.main_on,
0, # EPB State
0, # Brake hold
0, # Interceptor feedback
# 0,
]
0 # Interceptor feedback
)
# TODO: publish each message at proper frequency
can_msgs = []
@ -250,7 +279,7 @@ class Plant(object):
msg_struct = {}
indxs = [i for i, x in enumerate(msgs) if msg == msgs[i]]
for i in indxs:
msg_struct[sgs[i]] = vls[i]
msg_struct[sgs[i]] = getattr(vls, sgs[i])
if "COUNTER" in honda.get_signals(msg):
msg_struct["COUNTER"] = self.rk.frame % 4

19
selfdrive/thermal.py
View File

@ -1,19 +0,0 @@
"""Methods for reading system thermal information."""
import selfdrive.messaging as messaging
def read_tz(x):
with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
ret = max(0, int(f.read()))
return ret
def read_thermal():
dat = messaging.new_message()
dat.init('thermal')
dat.thermal.cpu0 = read_tz(5)
dat.thermal.cpu1 = read_tz(7)
dat.thermal.cpu2 = read_tz(10)
dat.thermal.cpu3 = read_tz(12)
dat.thermal.mem = read_tz(2)
dat.thermal.gpu = read_tz(16)
dat.thermal.bat = read_tz(29)
return dat

272
selfdrive/thermald.py 100755
View File

@ -0,0 +1,272 @@
#!/usr/bin/env python2.7
import os
import zmq
from smbus2 import SMBus
from selfdrive.version import training_version
from selfdrive.swaglog import cloudlog
import selfdrive.messaging as messaging
from selfdrive.services import service_list
from selfdrive.loggerd.config import ROOT
from common.params import Params
from common.realtime import sec_since_boot
import cereal
ThermalStatus = cereal.log.ThermalData.ThermalStatus
def read_tz(x):
with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
ret = max(0, int(f.read()))
return ret
def read_thermal():
dat = messaging.new_message()
dat.init('thermal')
dat.thermal.cpu0 = read_tz(5)
dat.thermal.cpu1 = read_tz(7)
dat.thermal.cpu2 = read_tz(10)
dat.thermal.cpu3 = read_tz(12)
dat.thermal.mem = read_tz(2)
dat.thermal.gpu = read_tz(16)
dat.thermal.bat = read_tz(29)
return dat
LEON = False
def setup_eon_fan():
global LEON
os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
bus = SMBus(7, force=True)
try:
bus.write_byte_data(0x21, 0x10, 0xf) # mask all interrupts
bus.write_byte_data(0x21, 0x03, 0x1) # set drive current and global interrupt disable
bus.write_byte_data(0x21, 0x02, 0x2) # needed?
bus.write_byte_data(0x21, 0x04, 0x4) # manual override source
except IOError:
print "LEON detected"
#os.system("echo 1 > /sys/devices/soc/6a00000.ssusb/power_supply/usb/usb_otg")
LEON = True
bus.close()
last_eon_fan_val = None
def set_eon_fan(val):
global LEON, last_eon_fan_val
if last_eon_fan_val is None or last_eon_fan_val != val:
bus = SMBus(7, force=True)
if LEON:
i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
bus.write_i2c_block_data(0x3d, 0, [i])
else:
bus.write_byte_data(0x21, 0x04, 0x2)
bus.write_byte_data(0x21, 0x03, (val*2)+1)
bus.write_byte_data(0x21, 0x04, 0x4)
bus.close()
last_eon_fan_val = val
# temp thresholds to control fan speed - high hysteresis
_TEMP_THRS_H = [50., 65., 80., 10000]
# temp thresholds to control fan speed - low hysteresis
_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
# fan speed options
_FAN_SPEEDS = [0, 16384, 32768, 65535]
# max fan speed only allowed if battery if hot
_BAT_TEMP_THERSHOLD = 45.
def handle_fan(max_temp, bat_temp, fan_speed):
new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_temp)
new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_temp)
if new_speed_h > fan_speed:
# update speed if using the high thresholds results in fan speed increment
fan_speed = new_speed_h
elif new_speed_l < fan_speed:
# update speed if using the low thresholds results in fan speed decrement
fan_speed = new_speed_l
if bat_temp < _BAT_TEMP_THERSHOLD:
# no max fan speed unless battery is hot
fan_speed = min(fan_speed, _FAN_SPEEDS[-2])
set_eon_fan(fan_speed/16384)
return fan_speed
class LocationStarter(object):
def __init__(self):
self.last_good_loc = 0
def update(self, started_ts, location):
rt = sec_since_boot()
if location is None or location.accuracy > 50 or location.speed < 2:
# bad location, stop if we havent gotten a location in a while
# dont stop if we're been going for less than a minute
if started_ts:
if rt-self.last_good_loc > 60. and rt-started_ts > 60:
cloudlog.event("location_stop",
ts=rt,
started_ts=started_ts,
last_good_loc=self.last_good_loc,
location=location.to_dict() if location else None)
return False
else:
return True
else:
return False
self.last_good_loc = rt
if started_ts:
return True
else:
cloudlog.event("location_start", location=location.to_dict() if location else None)
return location.speed*3.6 > 10
def thermald_thread():
setup_eon_fan()
# now loop
context = zmq.Context()
thermal_sock = messaging.pub_sock(context, service_list['thermal'].port)
health_sock = messaging.sub_sock(context, service_list['health'].port)
location_sock = messaging.sub_sock(context, service_list['gpsLocation'].port)
fan_speed = 0
count = 0
off_ts = None
started_ts = None
ignition_seen = False
started_seen = False
passive_starter = LocationStarter()
thermal_status = ThermalStatus.green
health_sock.RCVTIMEO = 1500
params = Params()
while 1:
td = messaging.recv_sock(health_sock, wait=True)
location = messaging.recv_sock(location_sock)
location = location.gpsLocation if location else None
msg = read_thermal()
# loggerd is gated based on free space
statvfs = os.statvfs(ROOT)
avail = (statvfs.f_bavail * 1.0)/statvfs.f_blocks
# thermal message now also includes free space
msg.thermal.freeSpace = avail
with open("/sys/class/power_supply/battery/capacity") as f:
msg.thermal.batteryPercent = int(f.read())
with open("/sys/class/power_supply/battery/status") as f:
msg.thermal.batteryStatus = f.read().strip()
with open("/sys/class/power_supply/usb/online") as f:
msg.thermal.usbOnline = bool(int(f.read()))
# TODO: add car battery voltage check
max_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
bat_temp = msg.thermal.bat/1000.
fan_speed = handle_fan(max_temp, bat_temp, fan_speed)
msg.thermal.fanSpeed = fan_speed
# thermal logic here
if max_temp < 70.0:
thermal_status = ThermalStatus.green
if max_temp > 85.0:
cloudlog.warning("over temp: %r", max_temp)
thermal_status = ThermalStatus.yellow
# from controls
overtemp_proc = any(t > 950 for t in
(msg.thermal.cpu0, msg.thermal.cpu1, msg.thermal.cpu2,
msg.thermal.cpu3, msg.thermal.mem, msg.thermal.gpu))
overtemp_bat = msg.thermal.bat > 60000 # 60c
if overtemp_proc or overtemp_bat:
# TODO: hysteresis
thermal_status = ThermalStatus.red
if max_temp > 107.0 or msg.thermal.bat >= 63000:
thermal_status = ThermalStatus.danger
# **** starting logic ****
# start constellation of processes when the car starts
ignition = td is not None and td.health.started
ignition_seen = ignition_seen or ignition
# add voltage check for ignition
if not ignition_seen and td is not None and td.health.voltage > 13500:
ignition = True
do_uninstall = params.get("DoUninstall") == "1"
accepted_terms = params.get("HasAcceptedTerms") == "1"
completed_training = params.get("CompletedTrainingVersion") == training_version
should_start = ignition
# have we seen a panda?
passive = (params.get("Passive") == "1")
# start on gps movement if we haven't seen ignition and are in passive mode
should_start = should_start or (not (ignition_seen and td) # seen ignition and panda is connected
and passive
and passive_starter.update(started_ts, location))
# with 2% left, we killall, otherwise the phone will take a long time to boot
should_start = should_start and msg.thermal.freeSpace > 0.02
# require usb power in passive mode
should_start = should_start and (not passive or msg.thermal.usbOnline)
# confirm we have completed training and aren't uninstalling
should_start = should_start and accepted_terms and (passive or completed_training) and (not do_uninstall)
# if any CPU gets above 107 or the battery gets above 63, kill all processes
# controls will warn with CPU above 95 or battery above 60
if msg.thermal.thermalStatus >= ThermalStatus.danger:
# TODO: Add a better warning when this is happening
should_start = False
if should_start:
off_ts = None
if started_ts is None:
params.car_start()
started_ts = sec_since_boot()
started_seen = True
else:
started_ts = None
if off_ts is None:
off_ts = sec_since_boot()
# shutdown if the battery gets lower than 3%, it's discharging, we aren't running for
# more than a minute but we were running
if msg.thermal.batteryPercent < 3 and msg.thermal.batteryStatus == "Discharging" and \
started_seen and (sec_since_boot() - off_ts) > 60:
os.system('LD_LIBRARY_PATH="" svc power shutdown')
msg.thermal.started = started_ts is not None
msg.thermal.startedTs = int(1e9*(started_ts or 0))
msg.thermal.thermalStatus = thermal_status
thermal_sock.send(msg.to_bytes())
print msg
# report to server once per minute
if (count%60) == 0:
cloudlog.event("STATUS_PACKET",
count=count,
health=(td.to_dict() if td else None),
location=(location.to_dict() if location else None),
thermal=msg.to_dict())
count += 1
def main(gctx=None):
thermald_thread()
if __name__ == "__main__":
main()

20
selfdrive/ui/Makefile
View File

@ -25,13 +25,21 @@ CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
JSON_FLAGS = -I$(PHONELIBS)/json/src
OPENCL_FLAGS = -I$(PHONELIBS)/opencl/include
OPENCL_LIBS = -lgsl -lCB -lOpenCL
OPENGL_LIBS = -lGLESv3
FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
CFLAGS += -DQCOM
CXXFLAGS += -DQCOM
OBJS = ui.o \
../common/glutil.o \
../common/visionipc.o \
../common/visionimg.o \
../common/visionbuf_ion.o \
../common/framebuffer.o \
../common/params.o \
../common/util.o \
@ -52,27 +60,33 @@ ui: $(OBJS)
$(CEREAL_LIBS) \
$(ZMQ_LIBS) \
-L/system/vendor/lib64 \
-lhardware \
-lhardware -lui \
$(OPENGL_LIBS) \
-lcutils -lm -llog
$(OPENCL_LIBS) \
-lcutils -lm -llog -lui -ladreno_utils
%.o: %.cc
@echo "[ CXX ] $@"
$(CXX) $(CXXFLAGS) -MMD \
-Iinclude -I.. -I../.. \
$(OPENCL_FLAGS) \
-I$(PHONELIBS)/android_frameworks_native/include \
-I$(PHONELIBS)/android_system_core/include \
-I$(PHONELIBS)/android_hardware_libhardware/include \
-I$(PHONELIBS)/libgralloc/include \
-I$(PHONELIBS)/linux/include \
-c -o '$@' '$<'
%.o: %.c
@echo "[ CC ] $@"
$(CC) $(CFLAGS) -MMD \
-I.. -I../.. \
-Iinclude -I.. -I../.. \
$(NANOVG_FLAGS) \
$(ZMQ_FLAGS) \
$(CEREAL_CFLAGS) \
$(JSON_FLAGS) \
$(OPENCL_FLAGS) \
-I$(PHONELIBS)/linux/include \
-c -o '$@' '$<'
.PHONY: clean

204
selfdrive/ui/ui.c
View File

@ -4,12 +4,12 @@
#include <unistd.h>
#include <assert.h>
#include <sys/mman.h>
#include <sys/resource.h>
#include <cutils/properties.h>
#include <GLES3/gl3.h>
#include <EGL/egl.h>
#include <EGL/eglext.h>
#include <json.h>
#include <czmq.h>
@ -28,6 +28,7 @@
#include "common/touch.h"
#include "common/framebuffer.h"
#include "common/visionipc.h"
#include "common/visionimg.h"
#include "common/modeldata.h"
#include "common/params.h"
@ -91,8 +92,6 @@ const int alert_sizes[] = {
typedef struct UIScene {
int frontview;
uint8_t *bgr_ptr;
int transformed_width, transformed_height;
uint64_t model_ts;
@ -110,6 +109,7 @@ typedef struct UIScene {
float v_ego;
float curvature;
int engaged;
bool engageable;
bool uilayout_sidebarcollapsed;
bool uilayout_mapenabled;
@ -121,13 +121,13 @@ typedef struct UIScene {
int lead_status;
float lead_d_rel, lead_y_rel, lead_v_rel;
uint8_t *bgr_front_ptr;
int front_box_x, front_box_y, front_box_width, front_box_height;
uint64_t alert_ts;
char alert_text1[1024];
char alert_text2[1024];
uint8_t alert_size;
float alert_blinkingrate;
float awareness_status;
@ -190,8 +190,9 @@ typedef struct UIState {
int cur_vision_front_idx;
GLuint frame_program;
GLuint frame_texs[UI_BUF_COUNT];
GLuint frame_front_texs[UI_BUF_COUNT];
GLuint frame_tex;
GLint frame_pos_loc, frame_texcoord_loc;
GLint frame_texture_loc, frame_transform_loc;
@ -199,11 +200,12 @@ typedef struct UIState {
GLint line_pos_loc, line_color_loc;
GLint line_transform_loc;
unsigned int rgb_width, rgb_height;
unsigned int rgb_width, rgb_height, rgb_stride;
size_t rgb_buf_len;
mat4 rgb_transform;
unsigned int rgb_front_width, rgb_front_height;
GLuint frame_front_tex;
unsigned int rgb_front_width, rgb_front_height, rgb_front_stride;
size_t rgb_front_buf_len;
bool intrinsic_matrix_loaded;
mat3 intrinsic_matrix;
@ -217,6 +219,8 @@ typedef struct UIState {
bool is_metric;
bool passive;
int alert_size;
float alert_blinking_alpha;
bool alert_blinked;
float light_sensor;
} UIState;
@ -469,9 +473,13 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->rgb_width = back_bufs.width;
s->rgb_height = back_bufs.height;
s->rgb_stride = back_bufs.stride;
s->rgb_buf_len = back_bufs.buf_len;
s->rgb_front_width = front_bufs.width;
s->rgb_front_height = front_bufs.height;
s->rgb_front_stride = front_bufs.stride;
s->rgb_front_buf_len = front_bufs.buf_len;
s->rgb_transform = (mat4){{
2.0/s->rgb_width, 0.0, 0.0, -1.0,
@ -488,30 +496,6 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
}
}
static void ui_update_frame(UIState *s) {
assert(glGetError() == GL_NO_ERROR);
UIScene *scene = &s->scene;
if (scene->frontview && scene->bgr_front_ptr) {
// load front frame texture
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, s->frame_front_tex);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0,
s->rgb_front_width, s->rgb_front_height,
GL_RGB, GL_UNSIGNED_BYTE, scene->bgr_front_ptr);
} else if (!scene->frontview && scene->bgr_ptr) {
// load frame texture
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, s->frame_tex);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0,
s->rgb_width, s->rgb_height,
GL_RGB, GL_UNSIGNED_BYTE, scene->bgr_ptr);
}
assert(glGetError() == GL_NO_ERROR);
}
static void ui_draw_transformed_box(UIState *s, uint32_t color) {
const UIScene *scene = &s->scene;
@ -808,10 +792,10 @@ static void draw_frame(UIState *s) {
};
glActiveTexture(GL_TEXTURE0);
if (s->scene.frontview) {
glBindTexture(GL_TEXTURE_2D, s->frame_front_tex);
} else {
glBindTexture(GL_TEXTURE_2D, s->frame_tex);
if (s->scene.frontview && s->cur_vision_front_idx >= 0) {
glBindTexture(GL_TEXTURE_2D, s->frame_front_texs[s->cur_vision_front_idx]);
} else if (!scene->frontview && s->cur_vision_idx >= 0) {
glBindTexture(GL_TEXTURE_2D, s->frame_texs[s->cur_vision_idx]);
}
glUseProgram(s->frame_program);
@ -972,16 +956,19 @@ static void ui_draw_vision_wheel(UIState *s) {
const int img_wheel_size = bg_wheel_size*1.5;
const int img_wheel_x = bg_wheel_x-(img_wheel_size/2);
const int img_wheel_y = bg_wheel_y-25;
float img_wheel_alpha = 0.5f;
float img_wheel_alpha = 0.1f;
bool is_engaged = (s->status == STATUS_ENGAGED);
bool is_warning = (s->status == STATUS_WARNING);
if (is_engaged || is_warning) {
bool is_engageable = scene->engageable;
if (is_engaged || is_warning || is_engageable) {
nvgBeginPath(s->vg);
nvgCircle(s->vg, bg_wheel_x, (bg_wheel_y + (bdr_s*1.5)), bg_wheel_size);
if (is_engaged) {
nvgFillColor(s->vg, nvgRGBA(23, 134, 68, 255));
} else if (is_warning) {
nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 255));
} else if (is_engageable) {
nvgFillColor(s->vg, nvgRGBA(23, 51, 73, 255));
}
nvgFill(s->vg);
img_wheel_alpha = 1.0f;
@ -1031,7 +1018,7 @@ static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
nvgBeginPath(s->vg);
nvgRect(s->vg, alr_x, alr_y, alr_w, alr_h);
nvgFillColor(s->vg, nvgRGBA(color[0],color[1],color[2],color[3]));
nvgFillColor(s->vg, nvgRGBA(color[0],color[1],color[2],(color[3]*s->alert_blinking_alpha)));
nvgFill(s->vg);
nvgBeginPath(s->vg);
@ -1151,7 +1138,6 @@ static void ui_draw(UIState *s) {
glDisable(GL_BLEND);
}
eglSwapBuffers(s->display, s->surface);
assert(glGetError() == GL_NO_ERROR);
}
@ -1211,31 +1197,53 @@ static void ui_update(UIState *s) {
// cant run this in connector thread because opengl.
// do this here for now in lieu of a run_on_main_thread event
// setup frame texture
glDeleteTextures(1, &s->frame_tex); //silently ignores a 0 texture
glGenTextures(1, &s->frame_tex);
glBindTexture(GL_TEXTURE_2D, s->frame_tex);
glTexStorage2D(GL_TEXTURE_2D, 1, GL_RGB8, s->rgb_width, s->rgb_height);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
for (int i=0; i<UI_BUF_COUNT; i++) {
glDeleteTextures(1, &s->frame_texs[i]);
// BGR
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED);
VisionImg img = {
.fd = s->bufs[i].fd,
.format = VISIONIMG_FORMAT_RGB24,
.width = s->rgb_width,
.height = s->rgb_height,
.stride = s->rgb_stride,
.bpp = 3,
.size = s->rgb_buf_len,
};
s->frame_texs[i] = visionimg_to_gl(&img);
// front
glDeleteTextures(1, &s->frame_front_tex);
glGenTextures(1, &s->frame_front_tex);
glBindTexture(GL_TEXTURE_2D, s->frame_front_tex);
glTexStorage2D(GL_TEXTURE_2D, 1, GL_RGB8, s->rgb_front_width, s->rgb_front_height);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glBindTexture(GL_TEXTURE_2D, s->frame_texs[i]);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
// BGR
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED);
// BGR
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED);
}
for (int i=0; i<UI_BUF_COUNT; i++) {
glDeleteTextures(1, &s->frame_front_texs[i]);
VisionImg img = {
.fd = s->front_bufs[i].fd,
.format = VISIONIMG_FORMAT_RGB24,
.width = s->rgb_front_width,
.height = s->rgb_front_height,
.stride = s->rgb_front_stride,
.bpp = 3,
.size = s->rgb_front_buf_len,
};
s->frame_front_texs[i] = visionimg_to_gl(&img);
glBindTexture(GL_TEXTURE_2D, s->frame_front_texs[i]);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
// BGR
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED);
}
assert(glGetError() == GL_NO_ERROR);
@ -1245,6 +1253,9 @@ static void ui_update(UIState *s) {
s->scene.ui_viz_ro = 0;
s->vision_connect_firstrun = false;
s->alert_blinking_alpha = 1.0;
s->alert_blinked = false;
}
// poll for events
@ -1302,7 +1313,7 @@ static void ui_update(UIState *s) {
continue;
}
if (rp.type == VIPC_STREAM_ACQUIRE) {
bool front = rp.d.stream_acq.type == VISION_STREAM_UI_FRONT;
bool front = rp.d.stream_acq.type == VISION_STREAM_RGB_FRONT;
int idx = rp.d.stream_acq.idx;
int release_idx;
@ -1325,17 +1336,11 @@ static void ui_update(UIState *s) {
if (front) {
assert(idx < UI_BUF_COUNT);
s->cur_vision_front_idx = idx;
s->scene.bgr_front_ptr = s->front_bufs[idx].addr;
} else {
assert(idx < UI_BUF_COUNT);
s->cur_vision_idx = idx;
s->scene.bgr_ptr = s->bufs[idx].addr;
// printf("v %d\n", ((uint8_t*)s->bufs[idx].addr)[0]);
}
if (front == s->scene.frontview) {
ui_update_frame(s);
}
} else {
assert(false);
}
@ -1392,6 +1397,7 @@ static void ui_update(UIState *s) {
s->scene.v_ego = datad.vEgo;
s->scene.curvature = datad.curvature;
s->scene.engaged = datad.enabled;
s->scene.engageable = datad.engageable;
s->scene.gps_planner_active = datad.gpsPlannerActive;
// printf("recv %f\n", datad.vEgo);
@ -1431,6 +1437,24 @@ static void ui_update(UIState *s) {
update_status(s, STATUS_DISENGAGED);
}
s->scene.alert_blinkingrate = datad.alertBlinkingRate;
if (datad.alertBlinkingRate > 0.) {
if (s->alert_blinked) {
if (s->alert_blinking_alpha > 0.0 && s->alert_blinking_alpha < 1.0) {
s->alert_blinking_alpha += (0.05*datad.alertBlinkingRate);
} else {
s->alert_blinked = false;
}
} else {
if (s->alert_blinking_alpha > 0.25) {
s->alert_blinking_alpha -= (0.05*datad.alertBlinkingRate);
} else {
s->alert_blinking_alpha += 0.25;
s->alert_blinked = true;
}
}
}
} else if (eventd.which == cereal_Event_live20) {
struct cereal_Live20Data datad;
cereal_read_Live20Data(&datad, eventd.live20);
@ -1570,8 +1594,8 @@ static void* vision_connect_thread(void *args) {
if (fd < 0) continue;
VisionPacket back_rp, front_rp;
if (!vision_subscribe(fd, &back_rp, VISION_STREAM_UI_BACK)) continue;
if (!vision_subscribe(fd, &front_rp, VISION_STREAM_UI_FRONT)) continue;
if (!vision_subscribe(fd, &back_rp, VISION_STREAM_RGB_BACK)) continue;
if (!vision_subscribe(fd, &front_rp, VISION_STREAM_RGB_FRONT)) continue;
pthread_mutex_lock(&s->lock);
assert(!s->vision_connected);
@ -1649,28 +1673,24 @@ static void* bg_thread(void* args) {
&bg_display, &bg_surface, NULL, NULL);
assert(bg_fb);
bool first = true;
int bg_status = -1;
while(!do_exit) {
pthread_mutex_lock(&s->lock);
if (first) {
first = false;
} else {
if (bg_status == s->status) {
// will always be signaled if it changes?
pthread_cond_wait(&s->bg_cond, &s->lock);
}
assert(s->status < ARRAYSIZE(bg_colors));
const uint8_t *color = bg_colors[s->status];
bg_status = s->status;
pthread_mutex_unlock(&s->lock);
assert(bg_status < ARRAYSIZE(bg_colors));
const uint8_t *color = bg_colors[bg_status];
glClearColor(color[0]/256.0, color[1]/256.0, color[2]/256.0, 0.0);
glClear(GL_COLOR_BUFFER_BIT);
eglSwapBuffers(bg_display, bg_surface);
assert(glGetError() == GL_NO_ERROR);
}
return NULL;
@ -1679,6 +1699,7 @@ static void* bg_thread(void* args) {
int main() {
int err;
setpriority(PRIO_PROCESS, 0, -14);
zsys_handler_set(NULL);
signal(SIGINT, (sighandler_t)set_do_exit);
@ -1716,6 +1737,7 @@ int main() {
const int EON = (access("/EON", F_OK) != -1);
while (!do_exit) {
bool should_swap = false;
pthread_mutex_lock(&s->lock);
if (EON) {
@ -1731,13 +1753,10 @@ int main() {
}
ui_update(s);
if (s->awake) {
ui_draw(s);
}
// awake on any touch
int touch_x = -1, touch_y = -1;
int touched = touch_poll(&touch, &touch_x, &touch_y);
int touched = touch_poll(&touch, &touch_x, &touch_y, s->awake ? 0 : 100);
if (touched == 1) {
// touch event will still happen :(
set_awake(s, true);
@ -1750,10 +1769,19 @@ int main() {
set_awake(s, false);
}
if (s->awake) {
ui_draw(s);
glFinish();
should_swap = true;
}
pthread_mutex_unlock(&s->lock);
// no simple way to do 30fps vsync with surfaceflinger...
usleep(30000);
// the bg thread needs to be scheduled, so the main thread needs time without the lock
// safe to do this outside the lock?
if (should_swap) {
eglSwapBuffers(s->display, s->surface);
}
}
set_awake(s, true);

22
selfdrive/updated.py
View File

@ -1,12 +1,9 @@
#!/usr/bin/env python
# simple service that waits for network access and tries to update every 3 hours
# simple service that waits for network access and tries to update every hour
import os
import time
import subprocess
from common.basedir import BASEDIR
from selfdrive.swaglog import cloudlog
NICE_LOW_PRIORITY = ["nice", "-n", "19"]
@ -19,17 +16,18 @@ def main(gctx=None):
continue
# download application update
r = subprocess.call(NICE_LOW_PRIORITY + ["git", "fetch"])
cloudlog.info("git fetch: %r", r)
if r:
try:
r = subprocess.check_output(NICE_LOW_PRIORITY + ["git", "fetch"], stderr=subprocess.STDOUT)
except subprocess.CalledProcessError, e:
cloudlog.event("git fetch failed",
cmd=e.cmd,
output=e.output,
returncode=e.returncode)
time.sleep(60)
continue
cloudlog.info("git fetch success: %s", r)
# download apks
r = subprocess.call(NICE_LOW_PRIORITY + [os.path.join(BASEDIR, "apk/external/patcher.py"), "download"])
cloudlog.info("patcher download: %r", r)
time.sleep(60*60*3)
time.sleep(60*60)
if __name__ == "__main__":
main()

BIN
selfdrive/visiond/visiond
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