spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

openpilot v0.8.2 release

pull/20122/head v0.8.2
Vehicle Researcher 2021-02-23 16:46:22 -08:00
parent 22a4193109
commit aed724beda
415 changed files with 14848 additions and 26656 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
.gitignore vendored
View File

@ -1,4 +1,5 @@
venv/
.clang-format
.DS_Store
.tags
.ipynb_checkpoints
@ -6,7 +7,7 @@ venv/
.overlay_init
.overlay_consistent
.sconsign.dblite
.vscode
.vscode*
model2.png
a.out
@ -31,6 +32,7 @@ a.out
*.vcd
config.json
clcache
compile_commands.json
persist
board/obj/
@ -42,6 +44,7 @@ selfdrive/ui/_ui
selfdrive/test/longitudinal_maneuvers/out
selfdrive/visiond/visiond
selfdrive/loggerd/loggerd
selfdrive/loggerd/bootlog
selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
selfdrive/camerad/camerad
@ -68,3 +71,6 @@ flycheck_*
cppcheck_report.txt
comma.sh
selfdrive/modeld/thneed/compile
models/*.thneed

70
Jenkinsfile vendored
View File

@ -1,25 +1,39 @@
def phone(String ip, String step_label, String cmd) {
def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
sh label: step_label,
script: """
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
echo \$\$ > /dev/cpuset/app/tasks || true
echo \$PPID > /dev/cpuset/app/tasks || true
mkdir -p /dev/shm
chmod 777 /dev/shm
def ssh_cmd = """
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
set -e
export CI=1
export TEST_DIR=${env.TEST_DIR}
export GIT_BRANCH=${env.GIT_BRANCH}
export GIT_COMMIT=${env.GIT_COMMIT}
source ~/.bash_profile
ln -snf ${env.TEST_DIR} /data/pythonpath
if [ -f /EON ]; then
echo \$\$ > /dev/cpuset/app/tasks || true
echo \$PPID > /dev/cpuset/app/tasks || true
mkdir -p /dev/shm
chmod 777 /dev/shm
fi
cd ${env.TEST_DIR} || true
${cmd}
exit 0
EOF"""
sh script: ssh_cmd, label: step_label
}
}
def phone_steps(String device_type, steps) {
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 60, unit: 'MINUTES') {
phone(device_ip, "kill old processes", "pkill -f comma || true")
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
steps.each { item ->
phone(device_ip, item[0], item[1])
@ -40,7 +54,7 @@ pipeline {
stages {
stage('Release Build') {
stage('Build release2') {
agent {
docker {
image 'python:3.7.3'
@ -104,16 +118,17 @@ pipeline {
stages {
stage('parallel tests') {
parallel {
stage('Devel Build') {
environment {
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
}
steps {
phone_steps("eon", [
phone_steps("eon-build", [
["build", "SCONS_CACHE=1 scons -j4"],
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
["test manager", "python selfdrive/test/test_manager.py"],
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
["test text window build", "cd selfdrive/ui/text && make clean && make"],
@ -124,7 +139,8 @@ pipeline {
stage('Replay Tests') {
steps {
phone_steps("eon2", [
["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
])
}
}
@ -135,13 +151,30 @@ pipeline {
["build", "SCONS_CACHE=1 scons -j4"],
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
//["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
//["test updater", "python installer/updater/test_updater.py"],
])
}
}
stage('Tici Build') {
environment {
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
}
steps {
phone_steps("tici", [
["build", "SCONS_CACHE=1 scons -j16"],
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
])
}
}
}
}
}
@ -158,3 +191,4 @@ pipeline {
}
}
}

27
README.md
View File

@ -77,16 +77,17 @@ Supported Cars
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | ES 2019-20 | All | openpilot | 0mph | 0mph |
| Lexus | ES Hybrid 2018 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
@ -96,15 +97,16 @@ Supported Cars
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Avalon 2016-18, 2021 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
| Toyota | Camry Hybrid 2021 | All | openpilot | 0mph | 0mph |
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
@ -113,6 +115,7 @@ Supported Cars
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
@ -129,6 +132,7 @@ Community Maintained Cars and Features
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
| Audi | A3 2015, 2017 | Prestige | Stock | 0mph | 0mph |
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
@ -136,7 +140,7 @@ Community Maintained Cars and Features
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
@ -148,17 +152,18 @@ Community Maintained Cars and Features
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Forte 2018-19, 2021 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Nissan | Altima 2020 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
@ -263,7 +268,7 @@ By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privac
Safety and Testing
----
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
@ -331,8 +336,6 @@ Directory Structure
├── test # Unit tests, system tests and a car simulator
└── ui # The UI
To understand how the services interact, see `cereal/service_list.yaml`.
Licensing
------

17
RELEASES.md
View File

@ -1,3 +1,20 @@
Version 0.8.2 (2021-02-26)
========================
* Use model points directly in MPC (no more polyfits), making lateral planning more accurate
* Use model heading prediction for smoother lateral control
* Smarter actuator delay compensation
* Improve qcamera resolution for improved video in explorer and connect
* Adjust maximum engagement speed to better fit the model's training distribution
* New driver monitoring model trained with 3x more diverse data
* Improved face detection with masks
* More predictable DM alerts when visibility is bad
* Rewritten video streaming between openpilot processes
* Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
* Audi A3 2015 and 2017 support thanks to keeleysam!
* Nissan Altima 2020 support thanks to avolmensky!
* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
* Toyota Camry Hybrid 2021 support thanks to alancyau!
Version 0.8.1 (2020-12-21)
========================
* Original EON is deprecated, upgrade to comma two

147
SConstruct
View File

@ -17,6 +17,28 @@ AddOption('--asan',
action='store_true',
help='turn on ASAN')
AddOption('--ubsan',
action='store_true',
help='turn on UBSan')
AddOption('--clazy',
action='store_true',
help='build with clazy')
AddOption('--compile_db',
action='store_true',
help='build clang compilation database')
AddOption('--mpc-generate',
action='store_true',
help='regenerates the mpc sources')
AddOption('--external-sconscript',
action='store',
metavar='FILE',
dest='external_sconscript',
help='add an external SConscript to the build')
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"
@ -27,11 +49,12 @@ if arch == "aarch64" and TICI:
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
lenv = {
"PATH": os.environ['PATH'],
}
if arch == "aarch64" or arch == "larch64":
lenv = {
"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
"PATH": os.environ['PATH'],
}
lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
if arch == "aarch64":
# android
@ -43,6 +66,7 @@ if arch == "aarch64" or arch == "larch64":
]
libpath = [
"/usr/local/lib",
"/usr/lib",
"/system/vendor/lib64",
"/system/comma/usr/lib",
@ -71,17 +95,10 @@ if arch == "aarch64" or arch == "larch64":
if QCOM_REPLAY:
cflags += ["-DQCOM_REPLAY"]
cxxflags += ["-DQCOM_REPLAY"]
else:
cflags = []
cxxflags = []
lenv = {
"PATH": "#external/bin:" + os.environ['PATH'],
}
cpppath = [
"#external/tensorflow/include",
]
cpppath = []
if arch == "Darwin":
libpath = [
@ -89,15 +106,16 @@ else:
"#cereal",
"#selfdrive/common",
"/usr/local/lib",
"/usr/local/opt/openssl/lib",
"/System/Library/Frameworks/OpenGL.framework/Libraries",
]
cflags += ["-DGL_SILENCE_DEPRECATION"]
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
cpppath += ["/usr/local/opt/openssl/include"]
else:
libpath = [
"#phonelibs/snpe/x86_64-linux-clang",
"#phonelibs/libyuv/x64/lib",
"#external/tensorflow/lib",
"#cereal",
"#selfdrive/common",
"/usr/lib",
@ -106,7 +124,6 @@ else:
rpath = [
"phonelibs/snpe/x86_64-linux-clang",
"external/tensorflow/lib",
"cereal",
"selfdrive/common"
]
@ -115,11 +132,14 @@ else:
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
if GetOption('asan'):
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
ldflags_asan = ["-fsanitize=address"]
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
ldflags = ["-fsanitize=address"]
elif GetOption('ubsan'):
ccflags = ["-fsanitize=undefined"]
ldflags = ["-fsanitize=undefined"]
else:
ccflags_asan = []
ldflags_asan = []
ccflags = []
ldflags = []
# change pythonpath to this
lenv["PYTHONPATH"] = Dir("#").path
@ -138,11 +158,12 @@ env = Environment(
"-Wno-inconsistent-missing-override",
"-Wno-c99-designator",
"-Wno-reorder-init-list",
] + cflags + ccflags_asan,
] + cflags + ccflags,
CPPPATH=cpppath + [
"#",
"#selfdrive",
"#phonelibs/catch2/include",
"#phonelibs/bzip2",
"#phonelibs/libyuv/include",
"#phonelibs/openmax/include",
@ -155,6 +176,7 @@ env = Environment(
"#phonelibs/linux/include",
"#phonelibs/snpe/include",
"#phonelibs/nanovg",
"#phonelibs/qrcode",
"#selfdrive/boardd",
"#selfdrive/common",
"#selfdrive/camerad",
@ -163,14 +185,15 @@ env = Environment(
"#selfdrive/modeld",
"#selfdrive/sensord",
"#selfdrive/ui",
"#cereal/messaging",
"#cereal",
"#cereal/messaging",
"#cereal/visionipc",
"#opendbc/can",
],
CC='clang',
CXX='clang++',
LINKFLAGS=ldflags_asan,
LINKFLAGS=ldflags,
RPATH=rpath,
@ -188,7 +211,7 @@ env = Environment(
tools=["default", "cython", "compilation_db"],
)
if GetOption('test'):
if GetOption('compile_db'):
env.CompilationDatabase('compile_commands.json')
if os.environ.get('SCONS_CACHE'):
@ -239,6 +262,64 @@ else:
Export('envCython')
# Qt build environment
qt_env = None
if arch in ["x86_64", "Darwin", "larch64"]:
qt_env = env.Clone()
qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia", "Network", "Concurrent", "WebEngine", "WebEngineWidgets"]
qt_libs = []
if arch == "Darwin":
qt_env['QTDIR'] = "/usr/local/opt/qt"
QT_BASE = "/usr/local/opt/qt/"
qt_dirs = [
QT_BASE + "include/",
]
qt_dirs += [f"{QT_BASE}include/Qt{m}" for m in qt_modules]
qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
else:
qt_env['QTDIR'] = "/usr"
qt_dirs = [
f"/usr/include/{real_arch}-linux-gnu/qt5",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
]
qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
qt_libs = [f"Qt5{m}" for m in qt_modules]
if arch == "larch64":
qt_libs += ["GLESv2", "wayland-client"]
elif arch != "Darwin":
qt_libs += ["GL"]
qt_env.Tool('qt')
qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
qt_flags = [
"-D_REENTRANT",
"-DQT_NO_DEBUG",
"-DQT_WIDGETS_LIB",
"-DQT_GUI_LIB",
"-DQT_CORE_LIB"
]
qt_env['CXXFLAGS'] += qt_flags
qt_env['LIBPATH'] += ['#selfdrive/ui']
qt_env['LIBS'] = qt_libs
if GetOption("clazy"):
checks = [
"level0",
"level1",
"no-range-loop",
"no-non-pod-global-static",
]
qt_env['CXX'] = 'clazy'
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
Export('qt_env')
# still needed for apks
zmq = 'zmq'
Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
@ -251,26 +332,32 @@ if SHARED:
else:
cereal = [File('#cereal/libcereal.a')]
messaging = [File('#cereal/libmessaging.a')]
visionipc = [File('#cereal/libvisionipc.a')]
Export('cereal', 'messaging')
SConscript(['selfdrive/common/SConscript'])
Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
Import('_common', '_gpucommon', '_gpu_libs')
if SHARED:
common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
common, gpucommon = abspath(common), abspath(gpucommon)
else:
common = [_common, 'json11']
visionipc = _visionipc
gpucommon = [_gpucommon] + _gpu_libs
Export('common', 'visionipc', 'gpucommon')
Export('common', 'gpucommon', 'visionipc')
# Build openpilot
SConscript(['cereal/SConscript'])
SConscript(['opendbc/can/SConscript'])
SConscript(['phonelibs/SConscript'])
SConscript(['common/SConscript'])
SConscript(['common/kalman/SConscript'])
SConscript(['common/transformations/SConscript'])
SConscript(['phonelibs/SConscript'])
SConscript(['selfdrive/camerad/SConscript'])
SConscript(['selfdrive/modeld/SConscript'])
@ -294,6 +381,10 @@ SConscript(['selfdrive/ui/SConscript'])
if arch != "Darwin":
SConscript(['selfdrive/logcatd/SConscript'])
if arch == "x86_64":
if real_arch == "x86_64":
SConscript(['tools/nui/SConscript'])
SConscript(['tools/lib/index_log/SConscript'])
external_sconscript = GetOption('external_sconscript')
if external_sconscript:
SConscript([external_sconscript])

BIN
apk/ai.comma.plus.offroad.apk
View File

Binary file not shown.

8
cereal/.gitignore vendored
View File

@ -6,10 +6,16 @@ package-lock.json
__pycache__
.*.swp
.*.swo
libcereal*.a
*.os
*.o
*.a
test_runner
libmessaging.*
libmessaging_shared.*
services.h
.sconsign.dblite
libcereal_shared.*
.mypy_cache/
catch2/

53
cereal/SConscript
View File

@ -1,4 +1,4 @@
Import('env', 'envCython', 'arch', 'zmq')
Import('env', 'envCython', 'arch', 'zmq', 'QCOM_REPLAY')
import shutil
@ -6,30 +6,28 @@ cereal_dir = Dir('.')
gen_dir = Dir('gen')
messaging_dir = Dir('messaging')
# TODO: remove src-prefix and cereal from command string. can we set working directory?
# Build cereal
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
['car.capnp', 'log.capnp'],
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
schema_files,
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
if shutil.which('capnpc-java'):
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
['car.capnp', 'log.capnp'],
schema_files,
f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
# TODO: remove non shared cereal and messaging
cereal_objects = env.SharedObject([
'gen/cpp/car.capnp.c++',
'gen/cpp/log.capnp.c++',
])
cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
env.Library('cereal', cereal_objects)
env.SharedLibrary('cereal_shared', cereal_objects)
cereal_dir = Dir('.')
services_h = env.Command(['services.h'],
['service_list.yaml', 'services.py'],
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
# Build messaging
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
messaging_objects = env.SharedObject([
'messaging/messaging.cc',
@ -52,10 +50,33 @@ if arch == "aarch64":
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
Depends('messaging/bridge.cc', services_h)
# different target?
#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
# Build Vision IPC
vipc_sources = [
'visionipc/ipc.cc',
'visionipc/visionipc_server.cc',
'visionipc/visionipc_client.cc',
'visionipc/visionbuf.cc',
]
if arch in ["aarch64", "larch64"] and (not QCOM_REPLAY):
vipc_sources += ['visionipc/visionbuf_ion.cc']
else:
vipc_sources += ['visionipc/visionbuf_cl.cc']
vipc_objects = env.SharedObject(vipc_sources)
vipc = env.Library('visionipc', vipc_objects)
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
if arch == "Darwin":
del libs[libs.index('OpenCL')]
envCython['FRAMEWORKS'] += ['OpenCL']
envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
if GetOption('test'):
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])

52
cereal/car.capnp
View File

@ -11,6 +11,8 @@ $Java.outerClassname("Car");
struct CarEvent @0x9b1657f34caf3ad3 {
name @0 :EventName;
# event types
enable @1 :Bool;
noEntry @2 :Bool;
warning @3 :Bool; # alerts presented only when enabled or soft disabling
@ -21,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
permanent @8 :Bool; # alerts presented regardless of openpilot state
enum EventName @0xbaa8c5d505f727de {
# TODO: copy from error list
canError @0;
steerUnavailable @1;
brakeUnavailable @2;
@ -36,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
buttonEnable @12;
pedalPressed @13;
cruiseDisabled @14;
radarCanError @15;
speedTooLow @17;
outOfSpace @18;
overheat @19;
@ -73,13 +73,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
preLaneChangeLeft @57;
preLaneChangeRight @58;
laneChange @59;
internetConnectivityNeeded @61;
communityFeatureDisallowed @62;
lowMemory @63;
stockAeb @64;
ldw @65;
carUnrecognized @66;
radarCommIssue @67;
driverMonitorLowAcc @68;
invalidLkasSetting @69;
speedTooHigh @70;
@ -100,9 +98,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
deviceFalling @90;
fanMalfunction @91;
cameraMalfunction @92;
gpsMalfunction @94;
startupOneplus @82;
processNotRunning @95;
radarCanErrorDEPRECATED @15;
radarCommIssueDEPRECATED @67;
gasUnavailableDEPRECATED @3;
dataNeededDEPRECATED @16;
modelCommIssueDEPRECATED @27;
@ -113,6 +114,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
calibrationProgressDEPRECATED @47;
invalidGiraffeHondaDEPRECATED @49;
invalidGiraffeToyotaDEPRECATED @60;
internetConnectivityNeededDEPRECATED @61;
whitePandaUnsupportedDEPRECATED @81;
commIssueWarningDEPRECATED @83;
focusRecoverActiveDEPRECATED @86;
@ -125,7 +127,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
# all speeds in m/s
struct CarState {
errorsDEPRECATED @0 :List(CarEvent.EventName);
events @13 :List(CarEvent);
# car speed
@ -146,8 +147,8 @@ struct CarState {
brakeLights @19 :Bool;
# steering wheel
steeringAngle @7 :Float32; # deg
steeringRate @15 :Float32; # deg/s
steeringAngleDeg @7 :Float32;
steeringRateDeg @15 :Float32;
steeringTorque @8 :Float32; # TODO: standardize units
steeringTorqueEps @27 :Float32; # TODO: standardize units
steeringPressed @9 :Bool; # if the user is using the steering wheel
@ -235,6 +236,8 @@ struct CarState {
gapAdjustCruise @11;
}
}
errorsDEPRECATED @0 :List(CarEvent.EventName);
}
# ******* radar state @ 20hz *******
@ -278,10 +281,6 @@ struct CarControl {
enabled @0 :Bool;
active @7 :Bool;
gasDEPRECATED @1 :Float32;
brakeDEPRECATED @2 :Float32;
steeringTorqueDEPRECATED @3 :Float32;
actuators @6 :Actuators;
cruiseControl @4 :CruiseControl;
@ -293,7 +292,7 @@ struct CarControl {
brake @1: Float32;
# range from -1.0 - 1.0
steer @2: Float32;
steerAngle @3: Float32;
steeringAngleDeg @3: Float32;
}
struct CruiseControl {
@ -329,8 +328,6 @@ struct CarControl {
}
enum AudibleAlert {
# these are the choices from the Honda
# map as good as you can for your car
none @0;
chimeEngage @1;
chimeDisengage @2;
@ -342,6 +339,10 @@ struct CarControl {
chimeWarning2Repeat @8;
}
}
gasDEPRECATED @1 :Float32;
brakeDEPRECATED @2 :Float32;
steeringTorqueDEPRECATED @3 :Float32;
}
# ****** car param ******
@ -358,6 +359,7 @@ struct CarParams {
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
maxSteeringAngleDeg @54 :Float32;
safetyModel @9 :SafetyModel;
safetyModelPassive @42 :SafetyModel = silent;
safetyParam @10 :Int16;
@ -406,7 +408,6 @@ struct CarParams {
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
carVin @38 :Text; # VIN number queried during fingerprinting
isPandaBlack @39: Bool;
dashcamOnly @41: Bool;
transmissionType @43 :TransmissionType;
carFw @44 :List(CarFw);
@ -438,10 +439,19 @@ struct CarParams {
}
struct LateralINDITuning {
outerLoopGain @0 :Float32;
innerLoopGain @1 :Float32;
timeConstant @2 :Float32;
actuatorEffectiveness @3 :Float32;
outerLoopGainBP @4 :List(Float32);
outerLoopGainV @5 :List(Float32);
innerLoopGainBP @6 :List(Float32);
innerLoopGainV @7 :List(Float32);
timeConstantBP @8 :List(Float32);
timeConstantV @9 :List(Float32);
actuatorEffectivenessBP @10 :List(Float32);
actuatorEffectivenessV @11 :List(Float32);
outerLoopGainDEPRECATED @0 :Float32;
innerLoopGainDEPRECATED @1 :Float32;
timeConstantDEPRECATED @2 :Float32;
actuatorEffectivenessDEPRECATED @3 :Float32;
}
struct LateralLQRTuning {
@ -539,4 +549,6 @@ struct CarParams {
fwdCamera @0; # Standard/default integration at LKAS camera
gateway @1; # Integration at vehicle's CAN gateway
}
isPandaBlackDEPRECATED @39: Bool;
}

850
cereal/legacy.capnp 100644
View File

@ -0,0 +1,850 @@
using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
using Java = import "./include/java.capnp";
$Java.package("ai.comma.openpilot.cereal");
$Java.outerClassname("Legacy");
@0x80ef1ec4889c2a63;
# legacy.capnp: a home for deprecated structs
struct LogRotate @0x9811e1f38f62f2d1 {
segmentNum @0 :Int32;
path @1 :Text;
}
struct LiveUI @0xc08240f996aefced {
rearViewCam @0 :Bool;
alertText1 @1 :Text;
alertText2 @2 :Text;
awarenessStatus @3 :Float32;
}
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
correctionMonoTime @0 :UInt64;
prePositionECEF @1 :List(Float64);
postPositionECEF @2 :List(Float64);
prePoseQuatECEF @3 :List(Float32);
postPoseQuatECEF @4 :List(Float32);
numInliers @5 :UInt32;
}
struct EthernetPacket @0xa99a9d5b33cf5859 {
pkt @0 :Data;
ts @1 :Float32;
}
struct CellInfo @0xcff7566681c277ce {
timestamp @0 :UInt64;
repr @1 :Text; # android toString() for now
}
struct WifiScan @0xd4df5a192382ba0b {
bssid @0 :Text;
ssid @1 :Text;
capabilities @2 :Text;
frequency @3 :Int32;
level @4 :Int32;
timestamp @5 :Int64;
centerFreq0 @6 :Int32;
centerFreq1 @7 :Int32;
channelWidth @8 :ChannelWidth;
operatorFriendlyName @9 :Text;
venueName @10 :Text;
is80211mcResponder @11 :Bool;
passpoint @12 :Bool;
distanceCm @13 :Int32;
distanceSdCm @14 :Int32;
enum ChannelWidth @0xcb6a279f015f6b51 {
w20Mhz @0;
w40Mhz @1;
w80Mhz @2;
w160Mhz @3;
w80Plus80Mhz @4;
}
}
struct LiveEventData @0x94b7baa90c5c321e {
name @0 :Text;
value @1 :Int32;
}
struct ModelData @0xb8aad62cffef28a9 {
frameId @0 :UInt32;
frameAge @12 :UInt32;
frameDropPerc @13 :Float32;
timestampEof @9 :UInt64;
modelExecutionTime @14 :Float32;
gpuExecutionTime @16 :Float32;
rawPred @15 :Data;
path @1 :PathData;
leftLane @2 :PathData;
rightLane @3 :PathData;
lead @4 :LeadData;
freePath @6 :List(Float32);
settings @5 :ModelSettings;
leadFuture @7 :LeadData;
speed @8 :List(Float32);
meta @10 :MetaData;
longitudinal @11 :LongitudinalData;
struct PathData @0x8817eeea389e9f08 {
points @0 :List(Float32);
prob @1 :Float32;
std @2 :Float32;
stds @3 :List(Float32);
poly @4 :List(Float32);
validLen @5 :Float32;
}
struct LeadData @0xd1c9bef96d26fa91 {
dist @0 :Float32;
prob @1 :Float32;
std @2 :Float32;
relVel @3 :Float32;
relVelStd @4 :Float32;
relY @5 :Float32;
relYStd @6 :Float32;
relA @7 :Float32;
relAStd @8 :Float32;
}
struct ModelSettings @0xa26e3710efd3e914 {
bigBoxX @0 :UInt16;
bigBoxY @1 :UInt16;
bigBoxWidth @2 :UInt16;
bigBoxHeight @3 :UInt16;
boxProjection @4 :List(Float32);
yuvCorrection @5 :List(Float32);
inputTransform @6 :List(Float32);
}
struct MetaData @0x9744f25fb60f2bf8 {
engagedProb @0 :Float32;
desirePrediction @1 :List(Float32);
brakeDisengageProb @2 :Float32;
gasDisengageProb @3 :Float32;
steerOverrideProb @4 :Float32;
desireState @5 :List(Float32);
}
struct LongitudinalData @0xf98f999c6a071122 {
distances @2 :List(Float32);
speeds @0 :List(Float32);
accelerations @1 :List(Float32);
}
}
struct ECEFPoint @0xc25bbbd524983447 {
x @0 :Float64;
y @1 :Float64;
z @2 :Float64;
}
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
x @0 :Float32;
y @1 :Float32;
z @2 :Float32;
}
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
curPos @6 :ECEFPoint;
points @7 :List(ECEFPoint);
valid @2 :Bool;
trackName @3 :Text;
speedLimit @4 :Float32;
accelTarget @5 :Float32;
}
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
valid @0 :Bool;
poly @1 :List(Float32);
trackName @2 :Text;
speed @3 :Float32;
acceleration @4 :Float32;
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
points @6 :List(ECEFPoint);
xLookahead @7 :Float32;
}
struct UiNavigationEvent @0x90c8426c3eaddd3b {
type @0: Type;
status @1: Status;
distanceTo @2: Float32;
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
endRoadPoint @4: ECEFPoint;
enum Type @0xe8db07dcf8fcea05 {
none @0;
laneChangeLeft @1;
laneChangeRight @2;
mergeLeft @3;
mergeRight @4;
turnLeft @5;
turnRight @6;
}
enum Status @0xb9aa88c75ef99a1f {
none @0;
passive @1;
approaching @2;
active @3;
}
}
struct LiveLocationData @0xb99b2bc7a57e8128 {
status @0 :UInt8;
# 3D fix
lat @1 :Float64;
lon @2 :Float64;
alt @3 :Float32; # m
# speed
speed @4 :Float32; # m/s
# NED velocity components
vNED @5 :List(Float32);
# roll, pitch, heading (x,y,z)
roll @6 :Float32; # WRT to center of earth?
pitch @7 :Float32; # WRT to center of earth?
heading @8 :Float32; # WRT to north?
# what are these?
wanderAngle @9 :Float32;
trackAngle @10 :Float32;
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
# gyro, in car frame, deg/s
gyro @11 :List(Float32);
# accel, in car frame, m/s^2
accel @12 :List(Float32);
accuracy @13 :Accuracy;
source @14 :SensorSource;
# if we are fixing a location in the past
fixMonoTime @15 :UInt64;
gpsWeek @16 :Int32;
timeOfWeek @17 :Float64;
positionECEF @18 :List(Float64);
poseQuatECEF @19 :List(Float32);
pitchCalibration @20 :Float32;
yawCalibration @21 :Float32;
imuFrame @22 :List(Float32);
struct Accuracy @0x943dc4625473b03f {
pNEDError @0 :List(Float32);
vNEDError @1 :List(Float32);
rollError @2 :Float32;
pitchError @3 :Float32;
headingError @4 :Float32;
ellipsoidSemiMajorError @5 :Float32;
ellipsoidSemiMinorError @6 :Float32;
ellipsoidOrientationError @7 :Float32;
}
enum SensorSource @0xc871d3cc252af657 {
applanix @0;
kalman @1;
orbslam @2;
timing @3;
dummy @4;
}
}
struct OrbOdometry @0xd7700859ed1f5b76 {
# timing first
startMonoTime @0 :UInt64;
endMonoTime @1 :UInt64;
# fundamental matrix and error
f @2: List(Float64);
err @3: Float64;
# number of inlier points
inliers @4: Int32;
# for debug only
# indexed by endMonoTime features
# value is startMonoTime feature match
# -1 if no match
matches @5: List(Int16);
}
struct OrbFeatures @0xcd60164a8a0159ef {
timestampEof @0 :UInt64;
# transposed arrays of normalized image coordinates
# len(xs) == len(ys) == len(descriptors) * 32
xs @1 :List(Float32);
ys @2 :List(Float32);
descriptors @3 :Data;
octaves @4 :List(Int8);
# match index to last OrbFeatures
# -1 if no match
timestampLastEof @5 :UInt64;
matches @6: List(Int16);
}
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
timestampEof @0 :UInt64;
timestampLastEof @1 :UInt64;
featureCount @2 :UInt16;
matchCount @3 :UInt16;
computeNs @4 :UInt64;
}
struct OrbKeyFrame @0xc8233c0345e27e24 {
# this is a globally unique id for the KeyFrame
id @0: UInt64;
# this is the location of the KeyFrame
pos @1: ECEFPoint;
# these are the features in the world
# len(dpos) == len(descriptors) * 32
dpos @2 :List(ECEFPoint);
descriptors @3 :Data;
}
struct KalmanOdometry @0x92e21bb7ea38793a {
trans @0 :List(Float32); # m/s in device frame
rot @1 :List(Float32); # rad/s in device frame
transStd @2 :List(Float32); # std m/s in device frame
rotStd @3 :List(Float32); # std rad/s in device frame
}
struct OrbObservation @0x9b326d4e436afec7 {
observationMonoTime @0 :UInt64;
normalizedCoordinates @1 :List(Float32);
locationECEF @2 :List(Float64);
matchDistance @3: UInt32;
}
struct CalibrationFeatures @0x8fdfadb254ea867a {
frameId @0 :UInt32;
p0 @1 :List(Float32);
p1 @2 :List(Float32);
status @3 :List(Int8);
}
struct NavStatus @0xbd8822120928120c {
isNavigating @0 :Bool;
currentAddress @1 :Address;
struct Address @0xce7cd672cacc7814 {
title @0 :Text;
lat @1 :Float64;
lng @2 :Float64;
house @3 :Text;
address @4 :Text;
street @5 :Text;
city @6 :Text;
state @7 :Text;
country @8 :Text;
}
}
struct NavUpdate @0xdb98be6565516acb {
isNavigating @0 :Bool;
curSegment @1 :Int32;
segments @2 :List(Segment);
struct LatLng @0x9eaef9187cadbb9b {
lat @0 :Float64;
lng @1 :Float64;
}
struct Segment @0xa5b39b4fc4d7da3f {
from @0 :LatLng;
to @1 :LatLng;
updateTime @2 :Int32;
distance @3 :Int32;
crossTime @4 :Int32;
exitNo @5 :Int32;
instruction @6 :Instruction;
parts @7 :List(LatLng);
enum Instruction @0xc5417a637451246f {
turnLeft @0;
turnRight @1;
keepLeft @2;
keepRight @3;
straight @4;
roundaboutExitNumber @5;
roundaboutExit @6;
roundaboutTurnLeft @7;
unkn8 @8;
roundaboutStraight @9;
unkn10 @10;
roundaboutTurnRight @11;
unkn12 @12;
roundaboutUturn @13;
unkn14 @14;
arrive @15;
exitLeft @16;
exitRight @17;
unkn18 @18;
uturn @19;
# ...
}
}
}
struct TrafficEvent @0xacfa74a094e62626 {
type @0 :Type;
distance @1 :Float32;
action @2 :Action;
resuming @3 :Bool;
enum Type @0xd85d75253435bf4b {
stopSign @0;
lightRed @1;
lightYellow @2;
lightGreen @3;
stopLight @4;
}
enum Action @0xa6f6ce72165ccb49 {
none @0;
yield @1;
stop @2;
resumeReady @3;
}
}
struct AndroidGnss @0xdfdf30d03fc485bd {
union {
measurements @0 :Measurements;
navigationMessage @1 :NavigationMessage;
}
struct Measurements @0xa20710d4f428d6cd {
clock @0 :Clock;
measurements @1 :List(Measurement);
struct Clock @0xa0e27b453a38f450 {
timeNanos @0 :Int64;
hardwareClockDiscontinuityCount @1 :Int32;
hasTimeUncertaintyNanos @2 :Bool;
timeUncertaintyNanos @3 :Float64;
hasLeapSecond @4 :Bool;
leapSecond @5 :Int32;
hasFullBiasNanos @6 :Bool;
fullBiasNanos @7 :Int64;
hasBiasNanos @8 :Bool;
biasNanos @9 :Float64;
hasBiasUncertaintyNanos @10 :Bool;
biasUncertaintyNanos @11 :Float64;
hasDriftNanosPerSecond @12 :Bool;
driftNanosPerSecond @13 :Float64;
hasDriftUncertaintyNanosPerSecond @14 :Bool;
driftUncertaintyNanosPerSecond @15 :Float64;
}
struct Measurement @0xd949bf717d77614d {
svId @0 :Int32;
constellation @1 :Constellation;
timeOffsetNanos @2 :Float64;
state @3 :Int32;
receivedSvTimeNanos @4 :Int64;
receivedSvTimeUncertaintyNanos @5 :Int64;
cn0DbHz @6 :Float64;
pseudorangeRateMetersPerSecond @7 :Float64;
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
accumulatedDeltaRangeState @9 :Int32;
accumulatedDeltaRangeMeters @10 :Float64;
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
hasCarrierFrequencyHz @12 :Bool;
carrierFrequencyHz @13 :Float32;
hasCarrierCycles @14 :Bool;
carrierCycles @15 :Int64;
hasCarrierPhase @16 :Bool;
carrierPhase @17 :Float64;
hasCarrierPhaseUncertainty @18 :Bool;
carrierPhaseUncertainty @19 :Float64;
hasSnrInDb @20 :Bool;
snrInDb @21 :Float64;
multipathIndicator @22 :MultipathIndicator;
enum Constellation @0x9ef1f3ff0deb5ffb {
unknown @0;
gps @1;
sbas @2;
glonass @3;
qzss @4;
beidou @5;
galileo @6;
}
enum State @0xcbb9490adce12d72 {
unknown @0;
codeLock @1;
bitSync @2;
subframeSync @3;
towDecoded @4;
msecAmbiguous @5;
symbolSync @6;
gloStringSync @7;
gloTodDecoded @8;
bdsD2BitSync @9;
bdsD2SubframeSync @10;
galE1bcCodeLock @11;
galE1c2ndCodeLock @12;
galE1bPageSync @13;
sbasSync @14;
}
enum MultipathIndicator @0xc04e7b6231d4caa8 {
unknown @0;
detected @1;
notDetected @2;
}
}
}
struct NavigationMessage @0xe2517b083095fd4e {
type @0 :Int32;
svId @1 :Int32;
messageId @2 :Int32;
submessageId @3 :Int32;
data @4 :Data;
status @5 :Status;
enum Status @0xec1ff7996b35366f {
unknown @0;
parityPassed @1;
parityRebuilt @2;
}
}
}
struct QcomGnss @0xde94674b07ae51c1 {
logTs @0 :UInt64;
union {
measurementReport @1 :MeasurementReport;
clockReport @2 :ClockReport;
drMeasurementReport @3 :DrMeasurementReport;
drSvPoly @4 :DrSvPolyReport;
rawLog @5 :Data;
}
enum MeasurementSource @0xd71a12b6faada7ee {
gps @0;
glonass @1;
beidou @2;
}
enum SVObservationState @0xe81e829a0d6c83e9 {
idle @0;
search @1;
searchVerify @2;
bitEdge @3;
trackVerify @4;
track @5;
restart @6;
dpo @7;
glo10msBe @8;
glo10msAt @9;
}
struct MeasurementStatus @0xe501010e1bcae83b {
subMillisecondIsValid @0 :Bool;
subBitTimeIsKnown @1 :Bool;
satelliteTimeIsKnown @2 :Bool;
bitEdgeConfirmedFromSignal @3 :Bool;
measuredVelocity @4 :Bool;
fineOrCoarseVelocity @5 :Bool;
lockPointValid @6 :Bool;
lockPointPositive @7 :Bool;
lastUpdateFromDifference @8 :Bool;
lastUpdateFromVelocityDifference @9 :Bool;
strongIndicationOfCrossCorelation @10 :Bool;
tentativeMeasurement @11 :Bool;
measurementNotUsable @12 :Bool;
sirCheckIsNeeded @13 :Bool;
probationMode @14 :Bool;
glonassMeanderBitEdgeValid @15 :Bool;
glonassTimeMarkValid @16 :Bool;
gpsRoundRobinRxDiversity @17 :Bool;
gpsRxDiversity @18 :Bool;
gpsLowBandwidthRxDiversityCombined @19 :Bool;
gpsHighBandwidthNu4 @20 :Bool;
gpsHighBandwidthNu8 @21 :Bool;
gpsHighBandwidthUniform @22 :Bool;
multipathIndicator @23 :Bool;
imdJammingIndicator @24 :Bool;
lteB13TxJammingIndicator @25 :Bool;
freshMeasurementIndicator @26 :Bool;
multipathEstimateIsValid @27 :Bool;
directionIsValid @28 :Bool;
}
struct MeasurementReport @0xf580d7d86b7b8692 {
source @0 :MeasurementSource;
fCount @1 :UInt32;
gpsWeek @2 :UInt16;
glonassCycleNumber @3 :UInt8;
glonassNumberOfDays @4 :UInt16;
milliseconds @5 :UInt32;
timeBias @6 :Float32;
clockTimeUncertainty @7 :Float32;
clockFrequencyBias @8 :Float32;
clockFrequencyUncertainty @9 :Float32;
sv @10 :List(SV);
struct SV @0xf10c595ae7bb2c27 {
svId @0 :UInt8;
observationState @2 :SVObservationState;
observations @3 :UInt8;
goodObservations @4 :UInt8;
gpsParityErrorCount @5 :UInt16;
glonassFrequencyIndex @1 :Int8;
glonassHemmingErrorCount @6 :UInt8;
filterStages @7 :UInt8;
carrierNoise @8 :UInt16;
latency @9 :Int16;
predetectInterval @10 :UInt8;
postdetections @11 :UInt16;
unfilteredMeasurementIntegral @12 :UInt32;
unfilteredMeasurementFraction @13 :Float32;
unfilteredTimeUncertainty @14 :Float32;
unfilteredSpeed @15 :Float32;
unfilteredSpeedUncertainty @16 :Float32;
measurementStatus @17 :MeasurementStatus;
multipathEstimate @18 :UInt32;
azimuth @19 :Float32;
elevation @20 :Float32;
carrierPhaseCyclesIntegral @21 :Int32;
carrierPhaseCyclesFraction @22 :UInt16;
fineSpeed @23 :Float32;
fineSpeedUncertainty @24 :Float32;
cycleSlipCount @25 :UInt8;
}
}
struct ClockReport @0xca965e4add8f4f0b {
hasFCount @0 :Bool;
fCount @1 :UInt32;
hasGpsWeek @2 :Bool;
gpsWeek @3 :UInt16;
hasGpsMilliseconds @4 :Bool;
gpsMilliseconds @5 :UInt32;
gpsTimeBias @6 :Float32;
gpsClockTimeUncertainty @7 :Float32;
gpsClockSource @8 :UInt8;
hasGlonassYear @9 :Bool;
glonassYear @10 :UInt8;
hasGlonassDay @11 :Bool;
glonassDay @12 :UInt16;
hasGlonassMilliseconds @13 :Bool;
glonassMilliseconds @14 :UInt32;
glonassTimeBias @15 :Float32;
glonassClockTimeUncertainty @16 :Float32;
glonassClockSource @17 :UInt8;
bdsWeek @18 :UInt16;
bdsMilliseconds @19 :UInt32;
bdsTimeBias @20 :Float32;
bdsClockTimeUncertainty @21 :Float32;
bdsClockSource @22 :UInt8;
galWeek @23 :UInt16;
galMilliseconds @24 :UInt32;
galTimeBias @25 :Float32;
galClockTimeUncertainty @26 :Float32;
galClockSource @27 :UInt8;
clockFrequencyBias @28 :Float32;
clockFrequencyUncertainty @29 :Float32;
frequencySource @30 :UInt8;
gpsLeapSeconds @31 :UInt8;
gpsLeapSecondsUncertainty @32 :UInt8;
gpsLeapSecondsSource @33 :UInt8;
gpsToGlonassTimeBiasMilliseconds @34 :Float32;
gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
gpsToBdsTimeBiasMilliseconds @36 :Float32;
gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
bdsToGloTimeBiasMilliseconds @38 :Float32;
bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
gpsToGalTimeBiasMilliseconds @40 :Float32;
gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
galToGloTimeBiasMilliseconds @42 :Float32;
galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
galToBdsTimeBiasMilliseconds @44 :Float32;
galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
hasRtcTime @46 :Bool;
systemRtcTime @47 :UInt32;
fCountOffset @48 :UInt32;
lpmRtcCount @49 :UInt32;
clockResets @50 :UInt32;
}
struct DrMeasurementReport @0x8053c39445c6c75c {
reason @0 :UInt8;
seqNum @1 :UInt8;
seqMax @2 :UInt8;
rfLoss @3 :UInt16;
systemRtcValid @4 :Bool;
fCount @5 :UInt32;
clockResets @6 :UInt32;
systemRtcTime @7 :UInt64;
gpsLeapSeconds @8 :UInt8;
gpsLeapSecondsUncertainty @9 :UInt8;
gpsToGlonassTimeBiasMilliseconds @10 :Float32;
gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
gpsWeek @12 :UInt16;
gpsMilliseconds @13 :UInt32;
gpsTimeBiasMs @14 :UInt32;
gpsClockTimeUncertaintyMs @15 :UInt32;
gpsClockSource @16 :UInt8;
glonassClockSource @17 :UInt8;
glonassYear @18 :UInt8;
glonassDay @19 :UInt16;
glonassMilliseconds @20 :UInt32;
glonassTimeBias @21 :Float32;
glonassClockTimeUncertainty @22 :Float32;
clockFrequencyBias @23 :Float32;
clockFrequencyUncertainty @24 :Float32;
frequencySource @25 :UInt8;
source @26 :MeasurementSource;
sv @27 :List(SV);
struct SV @0xf08b81df8cbf459c {
svId @0 :UInt8;
glonassFrequencyIndex @1 :Int8;
observationState @2 :SVObservationState;
observations @3 :UInt8;
goodObservations @4 :UInt8;
filterStages @5 :UInt8;
predetectInterval @6 :UInt8;
cycleSlipCount @7 :UInt8;
postdetections @8 :UInt16;
measurementStatus @9 :MeasurementStatus;
carrierNoise @10 :UInt16;
rfLoss @11 :UInt16;
latency @12 :Int16;
filteredMeasurementFraction @13 :Float32;
filteredMeasurementIntegral @14 :UInt32;
filteredTimeUncertainty @15 :Float32;
filteredSpeed @16 :Float32;
filteredSpeedUncertainty @17 :Float32;
unfilteredMeasurementFraction @18 :Float32;
unfilteredMeasurementIntegral @19 :UInt32;
unfilteredTimeUncertainty @20 :Float32;
unfilteredSpeed @21 :Float32;
unfilteredSpeedUncertainty @22 :Float32;
multipathEstimate @23 :UInt32;
azimuth @24 :Float32;
elevation @25 :Float32;
dopplerAcceleration @26 :Float32;
fineSpeed @27 :Float32;
fineSpeedUncertainty @28 :Float32;
carrierPhase @29 :Float64;
fCount @30 :UInt32;
parityErrorCount @31 :UInt16;
goodParity @32 :Bool;
}
}
struct DrSvPolyReport @0xb1fb80811a673270 {
svId @0 :UInt16;
frequencyIndex @1 :Int8;
hasPosition @2 :Bool;
hasIono @3 :Bool;
hasTropo @4 :Bool;
hasElevation @5 :Bool;
polyFromXtra @6 :Bool;
hasSbasIono @7 :Bool;
iode @8 :UInt16;
t0 @9 :Float64;
xyz0 @10 :List(Float64);
xyzN @11 :List(Float64);
other @12 :List(Float32);
positionUncertainty @13 :Float32;
ionoDelay @14 :Float32;
ionoDot @15 :Float32;
sbasIonoDelay @16 :Float32;
sbasIonoDot @17 :Float32;
tropoDelay @18 :Float32;
elevation @19 :Float32;
elevationDot @20 :Float32;
elevationUncertainty @21 :Float32;
velocityCoeff @22 :List(Float64);
}
}
struct LidarPts @0xe3d6685d4e9d8f7a {
r @0 :List(UInt16); # uint16 m*500.0
theta @1 :List(UInt16); # uint16 deg*100.0
reflect @2 :List(UInt8); # uint8 0-255
# For storing out of file.
idx @3 :UInt64;
# For storing in file
pkt @4 :Data;
}

1357
cereal/log.capnp
View File

File diff suppressed because it is too large Load Diff

28
cereal/messaging/impl_msgq.cc
View File

@ -5,9 +5,10 @@
#include <csignal>
#include <cerrno>
#include "services.h"
#include "impl_msgq.hpp"
volatile sig_atomic_t msgq_do_exit = 0;
void sig_handler(int signal) {
@ -15,14 +16,21 @@ void sig_handler(int signal) {
msgq_do_exit = 1;
}
static bool service_exists(std::string path){
for (const auto& it : services) {
if (it.name == path) {
return true;
}
}
return false;
}
static size_t get_size(std::string endpoint){
size_t sz = DEFAULT_SEGMENT_SIZE;
#if !defined(QCOM) && !defined(QCOM2)
if (endpoint == "frame" || endpoint == "frontFrame" || endpoint == "wideFrame"){
if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
sz *= 10;
}
#endif
return sz;
}
@ -61,10 +69,14 @@ MSGQMessage::~MSGQMessage() {
this->close();
}
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
assert(context);
assert(address == "127.0.0.1");
if (check_endpoint && !service_exists(std::string(endpoint))){
std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
}
q = new msgq_queue_t;
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
if (r != 0){
@ -150,9 +162,13 @@ MSGQSubSocket::~MSGQSubSocket(){
}
}
int MSGQPubSocket::connect(Context *context, std::string endpoint){
int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
assert(context);
if (check_endpoint && !service_exists(std::string(endpoint))){
std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
}
q = new msgq_queue_t;
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
if (r != 0){

4
cereal/messaging/impl_msgq.hpp
View File

@ -34,7 +34,7 @@ private:
msgq_queue_t * q = NULL;
int timeout;
public:
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
void setTimeout(int timeout);
void * getRawSocket() {return (void*)q;}
Message *receive(bool non_blocking=false);
@ -45,7 +45,7 @@ class MSGQPubSocket : public PubSocket {
private:
msgq_queue_t * q = NULL;
public:
int connect(Context *context, std::string endpoint);
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
int sendMessage(Message *message);
int send(char *data, size_t size);
~MSGQPubSocket();

16
cereal/messaging/impl_zmq.cc
View File

@ -54,7 +54,7 @@ ZMQMessage::~ZMQMessage() {
}
int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
if (sock == NULL){
return -1;
@ -71,7 +71,11 @@ int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string ad
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
full_endpoint = "tcp://" + address + ":";
full_endpoint += std::to_string(get_port(endpoint));
if (check_endpoint){
full_endpoint += std::to_string(get_port(endpoint));
} else {
full_endpoint += endpoint;
}
return zmq_connect(sock, full_endpoint.c_str());
}
@ -103,14 +107,18 @@ ZMQSubSocket::~ZMQSubSocket(){
zmq_close(sock);
}
int ZMQPubSocket::connect(Context *context, std::string endpoint){
int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
if (sock == NULL){
return -1;
}
full_endpoint = "tcp://*:";
full_endpoint += std::to_string(get_port(endpoint));
if (check_endpoint){
full_endpoint += std::to_string(get_port(endpoint));
} else {
full_endpoint += endpoint;
}
return zmq_bind(sock, full_endpoint.c_str());
}

4
cereal/messaging/impl_zmq.hpp
View File

@ -32,7 +32,7 @@ private:
void * sock;
std::string full_endpoint;
public:
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
void setTimeout(int timeout);
void * getRawSocket() {return sock;}
Message *receive(bool non_blocking=false);
@ -44,7 +44,7 @@ private:
void * sock;
std::string full_endpoint;
public:
int connect(Context *context, std::string endpoint);
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
int sendMessage(Message *message);
int send(char *data, size_t size);
~ZMQPubSocket();

44
cereal/messaging/messaging.cc
View File

@ -8,9 +8,13 @@ const bool MUST_USE_ZMQ = true;
const bool MUST_USE_ZMQ = false;
#endif
bool messaging_use_zmq(){
return std::getenv("ZMQ") || MUST_USE_ZMQ;
}
Context * Context::create(){
Context * c;
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
if (messaging_use_zmq()){
c = new ZMQContext();
} else {
c = new MSGQContext();
@ -20,7 +24,7 @@ Context * Context::create(){
SubSocket * SubSocket::create(){
SubSocket * s;
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
if (messaging_use_zmq()){
s = new ZMQSubSocket();
} else {
s = new MSGQSubSocket();
@ -28,33 +32,9 @@ SubSocket * SubSocket::create(){
return s;
}
SubSocket * SubSocket::create(Context * context, std::string endpoint){
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
SubSocket *s = SubSocket::create();
int r = s->connect(context, endpoint, "127.0.0.1");
if (r == 0) {
return s;
} else {
delete s;
return NULL;
}
}
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
SubSocket *s = SubSocket::create();
int r = s->connect(context, endpoint, address);
if (r == 0) {
return s;
} else {
delete s;
return NULL;
}
}
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
SubSocket *s = SubSocket::create();
int r = s->connect(context, endpoint, address, conflate);
int r = s->connect(context, endpoint, address, conflate, check_endpoint);
if (r == 0) {
return s;
@ -66,7 +46,7 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
PubSocket * PubSocket::create(){
PubSocket * s;
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
if (messaging_use_zmq()){
s = new ZMQPubSocket();
} else {
s = new MSGQPubSocket();
@ -74,9 +54,9 @@ PubSocket * PubSocket::create(){
return s;
}
PubSocket * PubSocket::create(Context * context, std::string endpoint){
PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
PubSocket *s = PubSocket::create();
int r = s->connect(context, endpoint);
int r = s->connect(context, endpoint, check_endpoint);
if (r == 0) {
return s;
@ -88,7 +68,7 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){
Poller * Poller::create(){
Poller * p;
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
if (messaging_use_zmq()){
p = new ZMQPoller();
} else {
p = new MSGQPoller();

13
cereal/messaging/messaging.hpp
View File

@ -12,6 +12,8 @@
#define MSG_MULTIPLE_PUBLISHERS 100
bool messaging_use_zmq();
class Context {
public:
virtual void * getRawContext() = 0;
@ -32,24 +34,23 @@ public:
class SubSocket {
public:
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
virtual void setTimeout(int timeout) = 0;
virtual Message *receive(bool non_blocking=false) = 0;
virtual void * getRawSocket() = 0;
static SubSocket * create();
static SubSocket * create(Context * context, std::string endpoint);
static SubSocket * create(Context * context, std::string endpoint, std::string address);
static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
virtual ~SubSocket(){};
};
class PubSocket {
public:
virtual int connect(Context *context, std::string endpoint) = 0;
virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
virtual int sendMessage(Message *message) = 0;
virtual int send(char *data, size_t size) = 0;
static PubSocket * create();
static PubSocket * create(Context * context, std::string endpoint);
static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
virtual ~PubSocket(){};
};

13
cereal/messaging/msgq.cc
View File

@ -21,8 +21,6 @@
#include <stdio.h>
#include "services.h"
#include "msgq.hpp"
void sigusr2_handler(int signal) {
@ -83,20 +81,9 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
return;
}
bool service_exists(std::string path){
for (const auto& it : services) {
if (it.name == path) {
return true;
}
}
return false;
}
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
if (!service_exists(std::string(path))){
std::cout << "Warning, " << std::string(path) << " is not in service list." << std::endl;
}
std::signal(SIGUSR2, sigusr2_handler);
const char * prefix = "/dev/shm/";

180
cereal/service_list.yaml
View File

@ -1,180 +0,0 @@
# TODO: these port numbers are hardcoded in c, fix this
# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
# all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)
# frame syncing packet
frame: [8002, true, 20., 1]
# accel, gyro, and compass
sensorEvents: [8003, true, 100., 100]
# GPS data, also global timestamp
gpsNMEA: [8004, true, 9.] # 9 msgs each sec
# CPU+MEM+GPU+BAT temps
thermal: [8005, true, 2., 1]
# List(CanData), list of can messages
can: [8006, true, 100.]
controlsState: [8007, true, 100., 100]
#liveEvent: [8008, true, 0.]
model: [8009, true, 20., 5]
features: [8010, true, 0.]
health: [8011, true, 2., 1]
radarState: [8012, true, 20., 5]
#liveUI: [8014, true, 0.]
encodeIdx: [8015, true, 20.]
liveTracks: [8016, true, 20.]
sendcan: [8017, true, 100.]
logMessage: [8018, true, 0.]
liveCalibration: [8019, true, 4., 4]
androidLog: [8020, true, 0.]
carState: [8021, true, 100., 10]
# 8022 is reserved for sshd
carControl: [8023, true, 100., 10]
plan: [8024, true, 20., 2]
liveLocation: [8025, true, 0., 1]
gpsLocation: [8026, true, 1., 1]
ethernetData: [8027, true, 0.]
navUpdate: [8028, true, 0.]
qcomGnss: [8029, true, 0.]
lidarPts: [8030, true, 0.]
procLog: [8031, true, 0.5]
gpsLocationExternal: [8032, true, 10., 1]
ubloxGnss: [8033, true, 10.]
clocks: [8034, true, 1., 1]
liveMpc: [8035, false, 20.]
liveLongitudinalMpc: [8036, false, 20.]
navStatus: [8038, true, 0.]
gpsLocationTrimble: [8039, true, 0.]
trimbleGnss: [8041, true, 0.]
ubloxRaw: [8042, true, 20.]
gpsPlannerPoints: [8043, true, 0.]
gpsPlannerPlan: [8044, true, 0.]
applanixRaw: [8046, true, 0.]
orbLocation: [8047, true, 0.]
trafficEvents: [8048, true, 0.]
liveLocationTiming: [8049, true, 0.]
orbslamCorrection: [8050, true, 0.]
liveLocationCorrected: [8051, true, 0.]
orbObservation: [8052, true, 0.]
applanixLocation: [8053, true, 0.]
liveLocationKalman: [8054, true, 20., 2]
uiNavigationEvent: [8055, true, 0.]
orbOdometry: [8057, true, 0.]
orbFeatures: [8058, false, 0.]
orbKeyFrame: [8059, true, 0.]
uiLayoutState: [8060, true, 0.]
frontEncodeIdx: [8061, true, 5.] # should be 20fps on tici
orbFeaturesSummary: [8062, true, 0.]
driverState: [8063, true, 5., 1]
liveParameters: [8064, true, 20., 2]
liveMapData: [8065, true, 0.]
cameraOdometry: [8066, true, 20., 5]
pathPlan: [8067, true, 20., 2]
kalmanOdometry: [8068, true, 0.]
thumbnail: [8069, true, 0.2, 1]
carEvents: [8070, true, 1., 1]
carParams: [8071, true, 0.02, 1]
frontFrame: [8072, true, 10.]
dMonitoringState: [8073, true, 5., 1]
offroadLayout: [8074, false, 0.]
wideEncodeIdx: [8075, true, 20.]
wideFrame: [8076, true, 20.]
modelV2: [8077, true, 20., 20]
testModel: [8040, false, 0.]
testLiveLocation: [8045, false, 0.]
testJoystick: [8056, false, 0.]
# 8080 is reserved for slave testing daemon
# 8762 is reserved for logserver
# manager -- base process to manage starting and stopping of all others
# subscribes: thermal
# **** processes that communicate with the outside world ****
# thermald -- decides when to start and stop onroad
# subscribes: health, location
# publishes: thermal
# boardd -- communicates with the car
# subscribes: sendcan
# publishes: can, health, ubloxRaw
# sensord -- publishes IMU and Magnetometer
# publishes: sensorEvents
# gpsd -- publishes EON's gps
# publishes: gpsNMEA
# camerad -- publishes camera frames
# publishes: frame, frontFrame, thumbnail
# subscribes: driverState
# dmonitoringmodeld -- runs face detection on camera frames
# publishes: driverState
# **** stateful data transformers ****
# modeld -- runs & publishes the model
# publishes: model, cameraOdometry
# subscribes: liveCalibration, pathPlan
# plannerd -- decides where to drive the car
# subscribes: carState, model, radarState, controlsState, liveParameters
# publishes: plan, pathPlan, liveMpc, liveLongitudinalMpc
# controlsd -- drives the car by sending CAN messages to panda
# subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
# publishes: carState, carControl, sendcan, controlsState, carEvents, carParams
# dmonitoringd -- processes driver monitoring data and publishes driver awareness
# subscribes: driverState, liveCalibration, carState, model, gpsLocation
# publishes: dMonitoringState
# radard -- processes the radar and vision data
# subscribes: can, controlsState, model, liveParameters
# publishes: radarState, liveTracks
# params_learner -- learns vehicle params by observing the vehicle dynamics
# subscribes: controlsState, sensorEvents, cameraOdometry
# publishes: liveParameters
# calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
# subscribes: cameraOdometry
# publishes: liveCalibration
# ubloxd -- read raw ublox data and converts them in readable format
# subscribes: ubloxRaw
# publishes: ubloxGnss
# **** LOGGING SERVICE ****
# loggerd
# subscribes: EVERYTHING
# **** NON VITAL SERVICES ****
# ui
# subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData
# uploader
# communicates through file system with loggerd
# deleter
# communicates through file system with loggerd and uploader
# logmessaged -- central logging service, can log to cloud
# publishes: logMessage
# logcatd -- fetches logcat info from android
# publishes: androidLog
# proclogd -- fetches process information
# publishes: procLog
# tombstoned -- reports native crashes
# athenad -- on request, open a sub socket and return the value
# updated -- waits for network access and tries to update every hour

90
cereal/services.py
View File

@ -1,34 +1,84 @@
#!/usr/bin/env python3
import os
import yaml
from typing import Optional
EON = os.path.isfile('/EON')
class Service():
def __init__(self, port, should_log, frequency, decimation=None):
class Service:
def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
self.port = port
self.should_log = should_log
self.frequency = frequency
self.decimation = decimation
service_list = {
"roadCameraState": Service(8002, True, 20., 1),
"sensorEvents": Service(8003, True, 100., 100),
"gpsNMEA": Service(8004, True, 9.),
"deviceState": Service(8005, True, 2., 1),
"can": Service(8006, True, 100.),
"controlsState": Service(8007, True, 100., 100),
"features": Service(8010, True, 0.),
"pandaState": Service(8011, True, 2., 1),
"radarState": Service(8012, True, 20., 5),
"roadEncodeIdx": Service(8015, True, 20., 1),
"liveTracks": Service(8016, True, 20.),
"sendcan": Service(8017, True, 100.),
"logMessage": Service(8018, True, 0.),
"liveCalibration": Service(8019, True, 4., 4),
"androidLog": Service(8020, True, 0., 1),
"carState": Service(8021, True, 100., 10),
"carControl": Service(8023, True, 100., 10),
"longitudinalPlan": Service(8024, True, 20., 2),
"liveLocation": Service(8025, True, 0., 1),
"gpsLocation": Service(8026, True, 1., 1),
"procLog": Service(8031, True, 0.5),
"gpsLocationExternal": Service(8032, True, 10., 1),
"ubloxGnss": Service(8033, True, 10.),
"clocks": Service(8034, True, 1., 1),
"liveMpc": Service(8035, False, 20.),
"liveLongitudinalMpc": Service(8036, False, 20.),
"ubloxRaw": Service(8042, True, 20.),
"liveLocationKalman": Service(8054, True, 20., 2),
"uiLayoutState": Service(8060, True, 0.),
"liveParameters": Service(8064, True, 20., 2),
"cameraOdometry": Service(8066, True, 20., 5),
"lateralPlan": Service(8067, True, 20., 2),
"thumbnail": Service(8069, True, 0.2, 1),
"carEvents": Service(8070, True, 1., 1),
"carParams": Service(8071, True, 0.02, 1),
"driverCameraState": Service(8072, True, 10. if EON else 20., 1),
"driverEncodeIdx": Service(8061, True, 10. if EON else 20., 1),
"driverState": Service(8063, True, 10. if EON else 20., 1),
"driverMonitoringState": Service(8073, True, 10. if EON else 20., 1),
"offroadLayout": Service(8074, False, 0.),
"wideRoadEncodeIdx": Service(8075, True, 20., 1),
"wideRoadCameraState": Service(8076, True, 20., 1),
"modelV2": Service(8077, True, 20., 20),
"managerState": Service(8078, True, 2., 1),
service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
"testModel": Service(8040, False, 0.),
"testLiveLocation": Service(8045, False, 0.),
"testJoystick": Service(8056, False, 0.),
}
service_list = {}
with open(service_list_path, "r") as f:
for k, v in yaml.safe_load(f).items():
decimation = None
if len(v) == 4:
decimation = v[3]
service_list[k] = Service(v[0], v[1], v[2], decimation)
def build_header():
h = ""
h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
h += "#ifndef __SERVICES_H\n"
h += "#define __SERVICES_H\n"
h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
h += "static struct service services[] = {\n"
for k, v in service_list.items():
should_log = "true" if v.should_log else "false"
decimation = -1 if v.decimation is None else v.decimation
h += ' { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
(k, v.port, should_log, v.frequency, decimation)
h += "};\n"
h += "#endif\n"
return h
if __name__ == "__main__":
print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
print("#ifndef __SERVICES_H")
print("#define __SERVICES_H")
print("struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };")
print("static struct service services[] = {")
for k, v in service_list.items():
print(' { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
print("};")
print("#endif")
print(build_header())

2
cereal/visionipc/.gitignore vendored 100644
View File

@ -0,0 +1,2 @@
visionipc_pyx.cpp
*.so

0
cereal/visionipc/__init__.py 100644
View File

24
selfdrive/common/ipc.c → cereal/visionipc/ipc.cc
View File

@ -1,6 +1,5 @@
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <unistd.h>
#include <assert.h>
@ -10,16 +9,19 @@
#include <sys/socket.h>
#include <sys/un.h>
#ifdef __APPLE__
#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
#else
#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
#endif
#include "ipc.h"
int ipc_connect(const char* socket_path) {
int err;
#ifdef __APPLE__
int sock = socket(AF_UNIX, SOCK_STREAM, 0);
#else
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
#endif
int sock = getsocket();
if (sock < 0) return -1;
struct sockaddr_un addr = {
.sun_family = AF_UNIX,
@ -39,11 +41,8 @@ int ipc_bind(const char* socket_path) {
unlink(socket_path);
#ifdef __APPLE__
int sock = socket(AF_UNIX, SOCK_STREAM, 0);
#else
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
#endif
int sock = getsocket();
struct sockaddr_un addr = {
.sun_family = AF_UNIX,
};
@ -87,7 +86,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
cmsg->cmsg_type = SCM_RIGHTS;
cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
// printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
}
return sendmsg(fd, &msg, 0);
} else {
@ -102,8 +100,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
recv_fds /= sizeof(int);
// printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
// assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
assert(fds && recv_fds <= num_fds);
memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);

16
selfdrive/common/ipc.h → cereal/visionipc/ipc.h
View File

@ -1,19 +1,7 @@
#ifndef IPC_H
#define IPC_H
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
#pragma once
#include <cstddef>
int ipc_connect(const char* socket_path);
int ipc_bind(const char* socket_path);
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
int *out_num_fds);
#ifdef __cplusplus
} // extern "C"
#endif
#endif

2
cereal/visionipc/test_runner.cc 100644
View File

@ -0,0 +1,2 @@
#define CATCH_CONFIG_MAIN
#include "catch2/catch.hpp"

40
cereal/visionipc/visionbuf.cc 100644
View File

@ -0,0 +1,40 @@
#include "visionbuf.h"
#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
#ifdef QCOM
// 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
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
#if defined(QCOM) && !defined(QCOM_REPLAY)
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
}
void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
this->rgb = true;
this->width = width;
this->height = height;
this->stride = stride;
}
void VisionBuf::init_yuv(size_t width, size_t height){
this->rgb = false;
this->width = width;
this->height = height;
this->y = (uint8_t *)this->addr;
this->u = this->y + (width * height);
this->v = this->u + (width / 2 * height / 2);
}

63
cereal/visionipc/visionbuf.h 100644
View File

@ -0,0 +1,63 @@
#pragma once
#include "visionipc.h"
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif
#define VISIONBUF_SYNC_FROM_DEVICE 0
#define VISIONBUF_SYNC_TO_DEVICE 1
enum VisionStreamType {
VISION_STREAM_RGB_BACK,
VISION_STREAM_RGB_FRONT,
VISION_STREAM_RGB_WIDE,
VISION_STREAM_YUV_BACK,
VISION_STREAM_YUV_FRONT,
VISION_STREAM_YUV_WIDE,
VISION_STREAM_MAX,
};
class VisionBuf {
public:
size_t len = 0;
size_t mmap_len = 0;
void * addr = nullptr;
int fd = 0;
bool rgb = false;
size_t width = 0;
size_t height = 0;
size_t stride = 0;
// YUV
uint8_t * y = nullptr;
uint8_t * u = nullptr;
uint8_t * v = nullptr;
// Visionipc
uint64_t server_id = 0;
size_t idx = 0;
VisionStreamType type;
// OpenCL
cl_mem buf_cl = nullptr;
cl_command_queue copy_q = nullptr;
// ion
int handle = 0;
bool owner = false;
void allocate(size_t len);
void import();
void init_cl(cl_device_id device_id, cl_context ctx);
void init_rgb(size_t width, size_t height, size_t stride);
void init_yuv(size_t width, size_t height);
void sync(int dir);
void free();
};
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);

86
cereal/visionipc/visionbuf_cl.cc 100644
View File

@ -0,0 +1,86 @@
#include "visionbuf.h"
#include <atomic>
#include <stdio.h>
#include <fcntl.h>
#include <assert.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/mman.h>
#include <sys/types.h>
std::atomic<int> offset = 0;
static void *malloc_with_fd(size_t len, int *fd) {
char full_path[0x100];
#ifdef __APPLE__
snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
#else
snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
#endif
*fd = open(full_path, O_RDWR | O_CREAT, 0777);
assert(*fd >= 0);
unlink(full_path);
ftruncate(*fd, len);
void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
assert(addr != MAP_FAILED);
return addr;
}
void VisionBuf::allocate(size_t len) {
int fd;
void *addr = malloc_with_fd(len, &fd);
this->len = len;
this->mmap_len = len;
this->addr = addr;
this->fd = fd;
}
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
int err;
this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
assert(err == 0);
this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
assert(err == 0);
}
void VisionBuf::import(){
assert(this->fd >= 0);
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
assert(this->addr != MAP_FAILED);
}
void VisionBuf::sync(int dir) {
int err = 0;
if (!this->buf_cl) return;
if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
} else {
err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
}
assert(err == 0);
clFinish(this->copy_q);
}
void VisionBuf::free() {
if (this->buf_cl){
int err = clReleaseMemObject(this->buf_cl);
assert(err == 0);
clReleaseCommandQueue(this->copy_q);
}
munmap(this->addr, this->len);
close(this->fd);
}

106
selfdrive/common/visionbuf_ion.c → cereal/visionipc/visionbuf_ion.cc
View File

@ -10,7 +10,7 @@
#include <unistd.h>
#include <linux/ion.h>
#include <CL/cl_ext.h>
#include "common/clutil.h"
#include <msm_ion.h>
#include "visionbuf.h"
@ -36,7 +36,7 @@ static void ion_init() {
}
}
VisionBuf visionbuf_allocate(size_t len) {
void VisionBuf::allocate(size_t len) {
int err;
ion_init();
@ -62,46 +62,58 @@ VisionBuf visionbuf_allocate(size_t len) {
memset(addr, 0, ion_alloc.len);
return (VisionBuf){
.len = len,
.mmap_len = ion_alloc.len,
.addr = addr,
.handle = ion_alloc.handle,
.fd = ion_fd_data.fd,
};
this->owner = true;
this->len = len;
this->mmap_len = ion_alloc.len;
this->addr = addr;
this->handle = ion_alloc.handle;
this->fd = ion_fd_data.fd;
}
VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx) {
VisionBuf buf = visionbuf_allocate(len);
void VisionBuf::import(){
int err;
assert(this->fd >= 0);
assert(((uintptr_t)buf.addr % DEVICE_PAGE_SIZE_CL) == 0);
ion_init();
// Get handle
struct ion_fd_data fd_data = {0};
fd_data.fd = this->fd;
err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
assert(err == 0);
this->owner = false;
this->handle = fd_data.handle;
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
assert(this->addr != MAP_FAILED);
}
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
int err;
assert(((uintptr_t)this->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;
ion_cl.ion_filedesc = this->fd;
ion_cl.ion_hostptr = this->addr;
buf.buf_cl = CL_CHECK_ERR(clCreateBuffer(ctx,
this->buf_cl = clCreateBuffer(ctx,
CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
buf.len, &ion_cl, &err));
return buf;
this->len, &ion_cl, &err);
assert(err == 0);
}
void visionbuf_sync(const VisionBuf* buf, int dir) {
void VisionBuf::sync(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.handle = this->handle;
flush_data.vaddr = this->addr;
flush_data.offset = 0;
flush_data.length = buf->len;
flush_data.length = this->len;
// ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
// ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
@ -109,36 +121,28 @@ void visionbuf_sync(const VisionBuf* buf, int dir) {
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);
}
assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
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) {
if (buf->buf_cl) {
CL_CHECK(clReleaseMemObject(buf->buf_cl));
void VisionBuf::free() {
if (this->buf_cl){
int err = clReleaseMemObject(this->buf_cl);
assert(err == 0);
}
munmap(this->addr, this->mmap_len);
close(this->fd);
// Free the ION buffer if we also shared it
if (this->owner){
struct ion_handle_data handle_data = {.handle = this->handle};
int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
assert(ret == 0);
}
munmap(buf->addr, buf->mmap_len);
close(buf->fd);
struct ion_handle_data handle_data = {
.handle = buf->handle,
};
int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
assert(ret == 0);
}

18
cereal/visionipc/visionipc.h 100644
View File

@ -0,0 +1,18 @@
#pragma once
#include <cstdint>
#include <cstddef>
constexpr int VISIONIPC_MAX_FDS = 64;
struct VisionIpcBufExtra {
uint32_t frame_id;
uint64_t timestamp_sof;
uint64_t timestamp_eof;
};
struct VisionIpcPacket {
uint64_t server_id;
size_t idx;
struct VisionIpcBufExtra extra;
};

29
cereal/visionipc/visionipc.pxd 100644
View File

@ -0,0 +1,29 @@
# distutils: language = c++
#cython: language_level=3
from libcpp.string cimport string
from libcpp.vector cimport vector
from libc.stdint cimport uint32_t, uint64_t
from libcpp cimport bool
cdef extern from "visionbuf.h":
cdef enum VisionStreamType:
pass
cdef cppclass VisionBuf:
void * addr
size_t len
cdef extern from "visionipc.h":
struct VisionIpcBufExtra:
uint32_t frame_id
uint64_t timestamp_sof
uint64_t timestamp_eof
cdef extern from "visionipc_server.h":
cdef cppclass VisionIpcServer:
VisionIpcServer(string, void*, void*)
void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
VisionBuf * get_buffer(VisionStreamType)
void send(VisionBuf *, VisionIpcBufExtra *, bool)
void start_listener()

119
cereal/visionipc/visionipc_client.cc 100644
View File

@ -0,0 +1,119 @@
#include <chrono>
#include <cassert>
#include <iostream>
#include <thread>
#include "ipc.h"
#include "visionipc_client.h"
#include "visionipc_server.h"
VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
msg_ctx = Context::create();
sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
poller = Poller::create();
poller->registerSocket(sock);
}
// Connect is not thread safe. Do not use the buffers while calling connect
bool VisionIpcClient::connect(bool blocking){
connected = false;
// Cleanup old buffers on reconnect
for (size_t i = 0; i < num_buffers; i++){
buffers[i].free();
}
num_buffers = 0;
// Connect to server socket and ask for all FDs of type
std::string path = "/tmp/visionipc_" + name;
int socket_fd = -1;
while (socket_fd < 0) {
socket_fd = ipc_connect(path.c_str());
if (socket_fd < 0) {
if (blocking){
std::cout << "VisionIpcClient connecting" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(100));
} else {
return false;
}
}
}
// Send stream type to server to request FDs
int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
assert(r == sizeof(type));
// Get FDs
int fds[VISIONIPC_MAX_FDS];
VisionBuf bufs[VISIONIPC_MAX_FDS];
r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
assert(num_buffers > 0);
assert(r == sizeof(VisionBuf) * num_buffers);
// Import buffers
for (size_t i = 0; i < num_buffers; i++){
buffers[i] = bufs[i];
buffers[i].fd = fds[i];
buffers[i].import();
if (buffers[i].rgb) {
buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
} else {
buffers[i].init_yuv(buffers[i].width, buffers[i].height);
}
if (device_id) buffers[i].init_cl(device_id, ctx);
}
connected = true;
return true;
}
VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
auto p = poller->poll(timeout_ms);
if (!p.size()){
return nullptr;
}
Message * r = sock->receive(true);
if (r == nullptr){
return nullptr;
}
// Get buffer
assert(r->getSize() == sizeof(VisionIpcPacket));
VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
assert(packet->idx < num_buffers);
VisionBuf * buf = &buffers[packet->idx];
if (buf->server_id != packet->server_id){
connected = false;
delete r;
return nullptr;
}
if (extra) {
*extra = packet->extra;
}
buf->sync(VISIONBUF_SYNC_TO_DEVICE);
delete r;
return buf;
}
VisionIpcClient::~VisionIpcClient(){
for (size_t i = 0; i < num_buffers; i++){
buffers[i].free();
}
delete sock;
delete poller;
delete msg_ctx;
}

32
cereal/visionipc/visionipc_client.h 100644
View File

@ -0,0 +1,32 @@
#pragma once
#include <vector>
#include <string>
#include <unistd.h>
#include "messaging.hpp"
#include "visionipc.h"
#include "visionbuf.h"
class VisionIpcClient {
private:
std::string name;
Context * msg_ctx;
SubSocket * sock;
Poller * poller;
VisionStreamType type;
cl_device_id device_id = nullptr;
cl_context ctx = nullptr;
void init_msgq(bool conflate);
public:
bool connected = false;
int num_buffers = 0;
VisionBuf buffers[VISIONIPC_MAX_FDS];
VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
~VisionIpcClient();
VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
bool connect(bool blocking=true);
};

49
cereal/visionipc/visionipc_pyx.pyx 100644
View File

@ -0,0 +1,49 @@
# distutils: language = c++
# cython: c_string_encoding=ascii, language_level=3
import sys
from libcpp.string cimport string
from libcpp cimport bool
from libc.string cimport memcpy
from libc.stdint cimport uint32_t, uint64_t
from .visionipc cimport VisionIpcServer as cppVisionIpcServer
from .visionipc cimport VisionBuf as cppVisionBuf
from .visionipc cimport VisionIpcBufExtra
cpdef enum VisionStreamType:
VISION_STREAM_RGB_BACK
VISION_STREAM_RGB_FRONT
VISION_STREAM_RGB_WIDE
VISION_STREAM_YUV_BACK
VISION_STREAM_YUV_FRONT
VISION_STREAM_YUV_WIDE
cdef class VisionIpcServer:
cdef cppVisionIpcServer * server
def __init__(self, string name):
self.server = new cppVisionIpcServer(name, NULL, NULL)
def create_buffers(self, VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
self.server.create_buffers(tp, num_buffers, rgb, width, height)
def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
cdef cppVisionBuf * buf = self.server.get_buffer(tp)
# Populate buffer
assert buf.len == len(data)
memcpy(buf.addr, <char*>data, len(data))
cdef VisionIpcBufExtra extra
extra.frame_id = frame_id
extra.timestamp_sof = timestamp_sof
extra.timestamp_eof = timestamp_eof
self.server.send(buf, &extra, False)
def start_listener(self):
self.server.start_listener()
def __dealloc__(self):
del self.server

179
cereal/visionipc/visionipc_server.cc 100644
View File

@ -0,0 +1,179 @@
#include <iostream>
#include <chrono>
#include <cassert>
#include <random>
#include <poll.h>
#include <sys/socket.h>
#include <unistd.h>
#include "messaging.hpp"
#include "ipc.h"
#include "visionipc_server.h"
std::string get_endpoint_name(std::string name, VisionStreamType type){
if (messaging_use_zmq()){
assert(name == "camerad");
return std::to_string(9000 + static_cast<int>(type));
} else {
return "visionipc_" + name + "_" + std::to_string(type);
}
}
VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
msg_ctx = Context::create();
std::random_device rd("/dev/urandom");
std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
server_id = distribution(rd);
}
void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
// TODO: assert that this type is not created yet
assert(num_buffers < VISIONIPC_MAX_FDS);
int aligned_w = 0, aligned_h = 0;
size_t size = 0;
size_t stride = 0; // Only used for RGB
if (rgb) {
visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
size = (size_t)aligned_w * (size_t)aligned_h * 3;
stride = aligned_w * 3;
} else {
size = width * height * 3 / 2;
}
// Create map + alloc requested buffers
for (size_t i = 0; i < num_buffers; i++){
VisionBuf* buf = new VisionBuf();
buf->allocate(size);
buf->idx = i;
buf->type = type;
if (device_id) buf->init_cl(device_id, ctx);
rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
buffers[type].push_back(buf);
}
cur_idx[type] = 0;
// Create msgq publisher for each of the `name` + type combos
// TODO: compute port number directly if using zmq
sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
}
void VisionIpcServer::start_listener(){
listener_thread = std::thread(&VisionIpcServer::listener, this);
}
void VisionIpcServer::listener(){
std::cout << "Starting listener for: " << name << std::endl;
std::string path = "/tmp/visionipc_" + name;
int sock = ipc_bind(path.c_str());
assert(sock >= 0);
while (!should_exit){
// Wait for incoming connection
struct pollfd polls[1] = {{0}};
polls[0].fd = sock;
polls[0].events = POLLIN;
int ret = poll(polls, 1, 100);
if (ret < 0) {
if (errno == EINTR || errno == EAGAIN) continue;
std::cout << "poll failed, stopping listener" << std::endl;
break;
}
if (should_exit) break;
if (!polls[0].revents) {
continue;
}
// Handle incoming request
int fd = accept(sock, NULL, NULL);
assert(fd >= 0);
VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
assert(r == sizeof(type));
if (buffers.count(type) <= 0) {
std::cout << "got request for invalid buffer type: " << type << std::endl;
close(fd);
continue;
}
int fds[VISIONIPC_MAX_FDS];
int num_fds = buffers[type].size();
VisionBuf bufs[VISIONIPC_MAX_FDS];
for (int i = 0; i < num_fds; i++){
fds[i] = buffers[type][i]->fd;
bufs[i] = *buffers[type][i];
// Remove some private openCL/ion metadata
bufs[i].buf_cl = 0;
bufs[i].copy_q = 0;
bufs[i].handle = 0;
bufs[i].owner = false;
bufs[i].server_id = server_id;
}
r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
close(fd);
}
std::cout << "Stopping listener for: " << name << std::endl;
close(sock);
}
VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
// Do we want to keep track if the buffer has been sent out yet and warn user?
assert(buffers.count(type));
auto b = buffers[type];
return b[cur_idx[type]++ % b.size()];
}
void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
assert(buffers.count(buf->type));
assert(buf->idx < buffers[buf->type].size());
// Send over correct msgq socket
VisionIpcPacket packet = {0};
packet.server_id = server_id;
packet.idx = buf->idx;
packet.extra = *extra;
sockets[buf->type]->send((char*)&packet, sizeof(packet));
}
VisionIpcServer::~VisionIpcServer(){
should_exit = true;
listener_thread.join();
// VisionBuf cleanup
for( auto const& [type, buf] : buffers ) {
for (VisionBuf* b : buf){
b->free();
delete b;
}
}
// Messaging cleanup
for( auto const& [type, sock] : sockets ) {
delete sock;
}
delete msg_ctx;
}

42
cereal/visionipc/visionipc_server.h 100644
View File

@ -0,0 +1,42 @@
#pragma once
#include <vector>
#include <string>
#include <thread>
#include <atomic>
#include <map>
#include "messaging.hpp"
#include "visionipc.h"
#include "visionbuf.h"
std::string get_endpoint_name(std::string name, VisionStreamType type);
class VisionIpcServer {
private:
cl_device_id device_id = nullptr;
cl_context ctx = nullptr;
uint64_t server_id;
std::atomic<bool> should_exit = false;
std::string name;
std::thread listener_thread;
std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
Context * msg_ctx;
std::map<VisionStreamType, PubSocket*> sockets;
void listener(void);
public:
VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
~VisionIpcServer();
VisionBuf * get_buffer(VisionStreamType type);
void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
void start_listener();
};

135
cereal/visionipc/visionipc_tests.cc 100644
View File

@ -0,0 +1,135 @@
#include <thread>
#include <chrono>
#include "catch2/catch.hpp"
#include "visionipc_server.h"
#include "visionipc_client.h"
static void zmq_sleep(int milliseconds=1000){
if (messaging_use_zmq()){
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
}
}
TEST_CASE("Connecting"){
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
server.start_listener();
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
REQUIRE(client.connect());
REQUIRE(client.connected);
}
TEST_CASE("Check buffers"){
size_t width = 100, height = 200, num_buffers = 5;
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
server.start_listener();
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
REQUIRE(client.connect());
REQUIRE(client.buffers[0].width == width);
REQUIRE(client.buffers[0].height == height);
REQUIRE(client.buffers[0].len);
REQUIRE(client.num_buffers == num_buffers);
}
TEST_CASE("Check yuv/rgb"){
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
server.start_listener();
VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
client_yuv.connect();
client_rgb.connect();
REQUIRE(client_rgb.buffers[0].rgb == true);
REQUIRE(client_yuv.buffers[0].rgb == false);
}
TEST_CASE("Send single buffer"){
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
server.start_listener();
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
REQUIRE(client.connect());
zmq_sleep();
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
REQUIRE(buf != nullptr);
*((uint64_t*)buf->addr) = 1234;
VisionIpcBufExtra extra = {0};
extra.frame_id = 1337;
server.send(buf, &extra);
VisionIpcBufExtra extra_recv = {0};
VisionBuf * recv_buf = client.recv(&extra_recv);
REQUIRE(recv_buf != nullptr);
REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
REQUIRE(extra_recv.frame_id == extra.frame_id);
}
TEST_CASE("Test no conflate"){
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
server.start_listener();
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
REQUIRE(client.connect());
zmq_sleep();
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
REQUIRE(buf != nullptr);
VisionIpcBufExtra extra = {0};
extra.frame_id = 1;
server.send(buf, &extra);
extra.frame_id = 2;
server.send(buf, &extra);
VisionIpcBufExtra extra_recv = {0};
VisionBuf * recv_buf = client.recv(&extra_recv);
REQUIRE(recv_buf != nullptr);
REQUIRE(extra_recv.frame_id == 1);
recv_buf = client.recv(&extra_recv);
REQUIRE(recv_buf != nullptr);
REQUIRE(extra_recv.frame_id == 2);
}
TEST_CASE("Test conflate"){
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
server.start_listener();
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
REQUIRE(client.connect());
zmq_sleep();
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
REQUIRE(buf != nullptr);
VisionIpcBufExtra extra = {0};
extra.frame_id = 1;
server.send(buf, &extra);
extra.frame_id = 2;
server.send(buf, &extra);
VisionIpcBufExtra extra_recv = {0};
VisionBuf * recv_buf = client.recv(&extra_recv);
REQUIRE(recv_buf != nullptr);
REQUIRE(extra_recv.frame_id == 2);
recv_buf = client.recv(&extra_recv);
REQUIRE(recv_buf == nullptr);
}

6
common/api/__init__.py
View File

@ -27,7 +27,11 @@ class Api():
'iat': now,
'exp': now + timedelta(hours=1)
}
return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
token = jwt.encode(payload, self.private_key, algorithm='RS256')
if isinstance(token, bytes):
token = token.decode('utf8')
return token
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
backend = "https://api.commadotai.com/"

7
common/basedir.py
View File

@ -1,8 +1,11 @@
import os
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
from pathlib import Path
from selfdrive.hardware import PC
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
if PC:
PERSIST = os.path.join(BASEDIR, "persist")
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
else:
PERSIST = "/persist"

19
common/params.py
View File

@ -2,3 +2,22 @@ from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint:
assert Params
assert UnknownKeyName
assert put_nonblocking
if __name__ == "__main__":
import sys
from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
params = Params()
if len(sys.argv) == 3:
name = sys.argv[1]
val = sys.argv[2]
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
print(f"SET: {name} = {val}")
params.put(name, val)
elif len(sys.argv) == 2:
name = sys.argv[1]
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
print(f"GET: {name} = {params.get(name)}")
else:
for k in keys.keys():
print(f"GET: {k} = {params.get(k)}")

2
common/params_pxd.pxd
View File

@ -4,7 +4,7 @@ from libcpp cimport bool
cdef extern from "selfdrive/common/params.cc":
pass
cdef extern from "selfdrive/common/util.c":
cdef extern from "selfdrive/common/util.cc":
pass
cdef extern from "selfdrive/common/params.h":

9
common/params_pyx.pyx
View File

@ -31,9 +31,11 @@ keys = {
b"GitCommit": [TxType.PERSISTENT],
b"GitRemote": [TxType.PERSISTENT],
b"GithubSshKeys": [TxType.PERSISTENT],
b"HardwareSerial": [TxType.PERSISTENT],
b"HasAcceptedTerms": [TxType.PERSISTENT],
b"HasCompletedSetup": [TxType.PERSISTENT],
b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
b"IMEI": [TxType.PERSISTENT],
b"IsLdwEnabled": [TxType.PERSISTENT],
b"IsMetric": [TxType.PERSISTENT],
b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
@ -42,8 +44,9 @@ keys = {
b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
b"IsUploadRawEnabled": [TxType.PERSISTENT],
b"LastAthenaPingTime": [TxType.PERSISTENT],
b"LastUpdateTime": [TxType.PERSISTENT],
b"LastGPSPosition": [TxType.PERSISTENT],
b"LastUpdateException": [TxType.PERSISTENT],
b"LastUpdateTime": [TxType.PERSISTENT],
b"LiveParameters": [TxType.PERSISTENT],
b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
b"LaneChangeEnabled": [TxType.PERSISTENT],
@ -55,11 +58,14 @@ keys = {
b"ReleaseNotes": [TxType.PERSISTENT],
b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
b"SubscriberInfo": [TxType.PERSISTENT],
b"SshEnabled": [TxType.PERSISTENT],
b"TermsVersion": [TxType.PERSISTENT],
b"Timezone": [TxType.PERSISTENT],
b"TrainingVersion": [TxType.PERSISTENT],
b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
b"Version": [TxType.PERSISTENT],
b"VisionRadarToggle": [TxType.PERSISTENT],
b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
@ -70,6 +76,7 @@ keys = {
b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
b"ForcePowerDown": [TxType.CLEAR_ON_MANAGER_START],
}
def ensure_bytes(v):

5
common/spinner.py
View File

@ -16,7 +16,7 @@ class Spinner():
def __enter__(self):
return self
def update(self, spinner_text):
def update(self, spinner_text: str):
if self.spinner_proc is not None:
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
try:
@ -24,6 +24,9 @@ class Spinner():
except BrokenPipeError:
pass
def update_progress(self, cur: int, total: int):
self.update(str(int(100 * cur / total)))
def close(self):
if self.spinner_proc is not None:
try:

5
common/transformations/SConscript
View File

@ -1,3 +1,6 @@
Import('envCython')
Import('env', 'envCython')
transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
Export('transformations')
envCython.Program('transformations.so', 'transformations.pyx')

8
common/transformations/orientation.cc
View File

@ -39,7 +39,7 @@ Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
return quat.toRotationMatrix();
}
Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
return ensure_unique(Eigen::Quaterniond(rot));
}
@ -47,7 +47,7 @@ Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
return quat2rot(euler2quat(euler));
}
Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
return quat2euler(rot2quat(rot));
}
@ -141,7 +141,3 @@ Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
return {phi, theta, psi};
}
int main(void){
}

4
common/transformations/orientation.hpp
View File

@ -8,9 +8,9 @@ Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot);
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
Eigen::Vector3d rot2euler(Eigen::Matrix3d rot);
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);

19
installer/updater/updater.cc
View File

@ -12,6 +12,7 @@
#include <fstream>
#include <iostream>
#include <mutex>
#include <memory>
#include <thread>
#include <curl/curl.h>
@ -30,7 +31,7 @@
#include "common/framebuffer.h"
#include "common/touch.h"
#include "common/utilpp.h"
#include "common/util.h"
#define USER_AGENT "NEOSUpdater-0.2"
@ -183,7 +184,7 @@ struct Updater {
int fb_w, fb_h;
FramebufferState *fb = NULL;
std::unique_ptr<FrameBuffer> fb;
NVGcontext *vg = NULL;
int font_regular;
int font_semibold;
@ -227,11 +228,9 @@ struct Updater {
void ui_init() {
touch_init(&touch);
fb = framebuffer_init("updater", 0x00001000, false,
&fb_w, &fb_h);
assert(fb);
fb = std::make_unique<FrameBuffer>("updater", 0x00001000, false, &fb_w, &fb_h);
framebuffer_set_power(fb, HWC_POWER_MODE_NORMAL);
fb->set_power(HWC_POWER_MODE_NORMAL);
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
assert(vg);
@ -465,7 +464,7 @@ struct Updater {
while(battery_cap < min_battery_cap) {
battery_cap = battery_capacity();
battery_cap_text = std::to_string(battery_cap);
usleep(1000000);
util::sleep_for(1000);
}
set_running();
}
@ -483,7 +482,7 @@ struct Updater {
while(battery_cap < min_battery_cap) {
battery_cap = battery_capacity();
battery_cap_text = std::to_string(battery_cap);
usleep(1000000);
util::sleep_for(1000);
}
set_running();
}
@ -751,12 +750,12 @@ struct Updater {
glDisable(GL_BLEND);
framebuffer_swap(fb);
fb->swap();
assert(glGetError() == GL_NO_ERROR);
// no simple way to do 30fps vsync with surfaceflinger...
usleep(30000);
util::sleep_for(30);
}
if (update_thread_handle.joinable()) {

84
launch_chffrplus.sh
View File

@ -8,11 +8,6 @@ source "$BASEDIR/launch_env.sh"
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
function tici_init {
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
}
function two_init {
# Wifi scan
wpa_cli IFNAME=wlan0 SCAN
@ -110,6 +105,74 @@ function two_init {
fi
}
function tici_init {
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
# set success flag for current boot slot
sudo abctl --set_success
# Check if AGNOS update is required
if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
# Get number of slot to switch to
CUR_SLOT=$(abctl --boot_slot)
if [[ "$CUR_SLOT" == "_a" ]]; then
OTHER_SLOT="_b"
OTHER_SLOT_NUMBER="1"
else
OTHER_SLOT="_a"
OTHER_SLOT_NUMBER="0"
fi
echo "Cur slot $CUR_SLOT, target $OTHER_SLOT"
# Get expected hashes from manifest
MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
SYSTEM_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"system\") | .hash_raw" $MANIFEST)
SYSTEM_SIZE=$(jq -r ".[] | select(.name == \"system\") | .size" $MANIFEST)
BOOT_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"boot\") | .hash_raw" $MANIFEST)
BOOT_SIZE=$(jq -r ".[] | select(.name == \"boot\") | .size" $MANIFEST)
echo "Expected hashes:"
echo "System: $SYSTEM_HASH_EXPECTED"
echo "Boot: $BOOT_HASH_EXPECTED"
# Read hashes from alternate partitions, should already be flashed by updated
SYSTEM_HASH=$(dd if="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 skip="$SYSTEM_SIZE" count=64 2>/dev/null)
BOOT_HASH=$(dd if="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 skip="$BOOT_SIZE" count=64 2>/dev/null)
echo "Found hashes:"
echo "System: $SYSTEM_HASH"
echo "Boot: $BOOT_HASH"
if [[ "$SYSTEM_HASH" == "$SYSTEM_HASH_EXPECTED" && "$BOOT_HASH" == "$BOOT_HASH_EXPECTED" ]]; then
echo "Swapping active slot to $OTHER_SLOT_NUMBER"
# Clean hashes before swapping to prevent looping
dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
sync
abctl --set_active "$OTHER_SLOT_NUMBER"
sleep 1
sudo reboot
else
echo "Hash mismatch, downloading agnos"
if $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST; then
echo "Download done, swapping active slot to $OTHER_SLOT_NUMBER"
# Clean hashes before swapping to prevent looping
dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
sync
abctl --set_active "$OTHER_SLOT_NUMBER"
fi
sleep 1
sudo reboot
fi
fi
}
function launch {
# Remove orphaned git lock if it exists on boot
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
@ -144,6 +207,7 @@ function launch {
echo "Restarting launch script ${LAUNCHER_LOCATION}"
unset REQUIRED_NEOS_VERSION
unset AGNOS_VERSION
exec "${LAUNCHER_LOCATION}"
else
echo "openpilot backup found, not updating"
@ -153,17 +217,17 @@ function launch {
fi
fi
# comma two init
# handle pythonpath
ln -sfn $(pwd) /data/pythonpath
export PYTHONPATH="$PWD"
# hardware specific init
if [ -f /EON ]; then
two_init
elif [ -f /TICI ]; then
tici_init
fi
# handle pythonpath
ln -sfn $(pwd) /data/pythonpath
export PYTHONPATH="$PWD"
# write tmux scrollback to a file
tmux capture-pane -pq -S-1000 > /tmp/launch_log

4
launch_env.sh
View File

@ -10,6 +10,10 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
export REQUIRED_NEOS_VERSION="15-1"
fi
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="0.6"
fi
if [ -z "$PASSIVE" ]; then
export PASSIVE="1"
fi

BIN
models/dmonitoring_model_q.dlc
View File

Binary file not shown.

1
opendbc/acura_rdx_2020_can_generated.dbc
View File

@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

7
opendbc/can/SConscript
View File

@ -18,5 +18,8 @@ libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "commo
# Build packer and parser
lenv = envCython.Clone()
lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
parser = lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
lenv.Depends(parser, libdbc)
lenv.Depends(packer, libdbc)

2
opendbc/can/common.h
View File

@ -56,7 +56,7 @@ public:
const std::vector<SignalParseOptions> &sigoptions);
void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
void UpdateValid(uint64_t sec);
void update_string(std::string data, bool sendcan);
void update_string(const std::string &data, bool sendcan);
std::vector<SignalValue> query_latest();
};

2
opendbc/can/parser.cc
View File

@ -208,7 +208,7 @@ void CANParser::UpdateValid(uint64_t sec) {
}
}
void CANParser::update_string(std::string data, bool sendcan) {
void CANParser::update_string(const std::string &data, bool sendcan) {
// format for board, make copy due to alignment issues, will be freed on out of scope
auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
memcpy(amsg.begin(), data.data(), data.length());

3
opendbc/chrysler_pacifica_2017_hybrid.dbc
View File

@ -300,6 +300,7 @@ BO_ 501 DASHBOARD: 8 XXX
SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
SG_ CRUISE_STATE : 38|3@0+ (1,0) [0|7] "" XXX
BO_ 639 NEW_MSG_27f: 8 XXX
SG_ INCREASING : 47|8@0+ (1,0) [0|255] "" XXX
@ -425,9 +426,11 @@ CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help w
CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both.";
CM_ SG_ 625 SPEED "zero on non-acc drives";
CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged";
VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;

1
opendbc/honda_accord_lx15t_2018_can_generated.dbc
View File

@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

1
opendbc/honda_accord_s2t_2018_can_generated.dbc
View File

@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

1
opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
View File

@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

1
opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
View File

@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

1
opendbc/honda_crv_ex_2017_can_generated.dbc
View File

@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

1
opendbc/honda_crv_hybrid_2019_can_generated.dbc
View File

@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

1
opendbc/honda_insight_ex_2019_can_generated.dbc
View File

@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

41
opendbc/hyundai_kia_generic.dbc
View File

@ -996,7 +996,7 @@ BO_ 1342 LKAS12: 6 LDWS_LKAS
SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU
SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
SG_ CF_LkasDawStatus : 40|3@1+ (1,0) [0|7] "" CLU
SG_ CF_Lkas_Daw_USM : 39|3@1+ (1,0) [0|7] "" CLU
SG_ CF_Lkas_Daw_USM : 37|3@1+ (1,0) [0|7] "" CLU
BO_ 1338 TMU_GW_E_01: 8 CLU
SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM
@ -1470,19 +1470,24 @@ BO_ 1186 FRT_RADAR11: 2 FCA
SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC
BO_ 905 SCC14: 8 SCC
SG_ ComfortBandUpper : 0|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
SG_ ComfortBandLower : 6|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
SG_ JerkUpperLimit : 12|7@1+ (1,0) [0|12.7] "m/s^3" ESC
SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
BO_ 1157 LFAHDA_MFC: 4 XXX
SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX
SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX
SG_ HDA_Chime : 7|1@1+ (1,0) [0|1] "" XXX
SG_ HDA_VSetReq : 8|8@1+ (1,0) [0|255] "km/h" XXX
SG_ LFA_SysWarning : 16|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_1 : 20|3@1+ (1,0) [0|7] "" XXX
SG_ LFA_Icon_State : 24|2@1+ (1,0) [0|3] "" XXX
SG_ LFA_USM : 27|2@1+ (1,0) [0|3] "" XXX
SG_ HDA_SysWarning : 29|2@1+ (1,0) [0|3] "" XXX
BO_ 913 BCM_PO_11: 8 Vector__XXX
SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
@ -1565,7 +1570,7 @@ BO_ 352 AHB1: 8 iBAU
SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX
BO_ 1191 4a7MFC: 8 XXX
BO_ 1191 MFC_4a7: 8 XXX
SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX
BO_ 1162 BCA11: 8 BCW
@ -1575,9 +1580,11 @@ BO_ 1162 BCA11: 8 BCW
SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU
SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU
BO_ 1136 P_STS: 6 CGW
BO_ 1136 P_STS: 8 CGW
SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU
SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU
SG_ Counter : 58|4@1+ (1,0) [0|15] "" MDPS
SG_ Checksum : 62|2@1+ (1,0) [0|3] "" MDPS
BO_ 304 YRS11: 8 ACU
SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU
@ -1601,14 +1608,14 @@ BO_ 320 YRS12: 8 ACU
BO_ 1173 YRS13: 8 ACU
SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU
BO_ 870 366_EMS: 8 EMS
SG_ N : 7|16@0+ (1,0.25) [0|16383.75] "rpm" XXX
SG_ EMS_Related : 23|16@0+ (1,0) [0|65535] "" XXX
SG_ TQFR : 39|8@0+ (0.390625,0) [0|99.6094] "%" XXX
BO_ 870 EMS_366: 8 EMS
SG_ TQI_1 : 0|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
SG_ N : 8|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" MDPS
SG_ TQI_2 : 24|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS
SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX
BO_ 854 356: 8 XXX
BO_ 854 M_356: 8 XXX
SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX
SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX
SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX
@ -1633,3 +1640,7 @@ BO_ 1042 ICM_412h: 8 ICM
SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX
VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink";
VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled";

5
opendbc/lexus_ct200h_2018_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/lexus_is_2018_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/lexus_nx300_2018_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/lexus_nx300h_2018_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/lexus_rx_350_2016_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_avalon_2017_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_corolla_2017_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_highlander_2017_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_nodsu_hybrid_pt_generated.dbc
View File

@ -271,6 +271,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -333,6 +334,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -362,8 +364,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_nodsu_pt_generated.dbc
View File

@ -271,6 +271,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -333,6 +334,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -362,8 +364,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_prius_2017_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_rav4_2017_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

5
opendbc/toyota_sienna_xle_2018_pt_generated.dbc
View File

@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
CM_ SG_ 1163 TSRSPU "always 1";
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";

2
panda/.gitignore vendored
View File

@ -13,6 +13,6 @@ pandacan.egg-info/
board/obj/
examples/output.csv
.DS_Store
.vscode
.vscode*
nosetests.xml
.mypy_cache/

3
panda/board/boards/common.h
View File

@ -59,9 +59,10 @@ void peripherals_init(void){
RCC->APB1ENR |= RCC_APB1ENR_DACEN;
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // main counter
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // pedal and fan PWM
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // gmlan_alt and IR PWM
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // IR PWM
RCC->APB1ENR |= RCC_APB1ENR_TIM5EN; // k-line init
RCC->APB1ENR |= RCC_APB1ENR_TIM6EN; // interrupt timer
RCC->APB1ENR |= RCC_APB1ENR_TIM12EN; // gmlan_alt
RCC->APB1ENR |= RCC_APB1ENR_PWREN; // for RTC config
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;

18
panda/board/boards/dos.h
View File

@ -62,7 +62,23 @@ void dos_set_phone_power(bool enabled){
}
void dos_set_usb_power_mode(uint8_t mode) {
dos_set_bootkick(mode == USB_POWER_CDP);
bool valid = false;
switch (mode) {
case USB_POWER_CLIENT:
dos_set_bootkick(false);
valid = true;
break;
case USB_POWER_CDP:
dos_set_bootkick(true);
valid = true;
break;
default:
puts("Invalid USB power mode\n");
break;
}
if (valid) {
usb_power_mode = mode;
}
}
void dos_set_gps_mode(uint8_t mode) {

10
panda/board/build.mk
View File

@ -4,13 +4,19 @@ CFLAGS += -Tstm32_flash.ld
DFU_UTIL = "dfu-util"
# Compile fast charge (DCP) only not on EON
PC = 0
ifeq (,$(wildcard /EON))
ifeq (,$(wildcard /TICI))
PC = 1
endif
endif
ifeq (1, $(PC))
BUILDER = DEV
else
CFLAGS += "-DEON"
BUILDER = EON
DFU_UTIL = "tools/dfu-util-aarch64"
endif
#COMPILER_PATH = /home/batman/Downloads/gcc-arm-none-eabi-9-2020-q2-update/bin/

34
panda/board/drivers/gmlan_alt.h
View File

@ -122,23 +122,23 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
return len;
}
void TIM4_IRQ_Handler(void);
void TIM12_IRQ_Handler(void);
void setup_timer4(void) {
void setup_timer(void) {
// register interrupt
REGISTER_INTERRUPT(TIM4_IRQn, TIM4_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
REGISTER_INTERRUPT(TIM8_BRK_TIM12_IRQn, TIM12_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
// setup
register_set(&(TIM4->PSC), (48-1), 0xFFFFU); // Tick on 1 us
register_set(&(TIM4->CR1), TIM_CR1_CEN, 0x3FU); // Enable
register_set(&(TIM4->ARR), (30-1), 0xFFFFU); // 33.3 kbps
register_set(&(TIM12->PSC), (48-1), 0xFFFFU); // Tick on 1 us
register_set(&(TIM12->CR1), TIM_CR1_CEN, 0x3FU); // Enable
register_set(&(TIM12->ARR), (30-1), 0xFFFFU); // 33.3 kbps
// in case it's disabled
NVIC_EnableIRQ(TIM4_IRQn);
NVIC_EnableIRQ(TIM8_BRK_TIM12_IRQn);
// run the interrupt
register_set(&(TIM4->DIER), TIM_DIER_UIE, 0x5F5FU); // Update interrupt
TIM4->SR = 0;
register_set(&(TIM12->DIER), TIM_DIER_UIE, 0x5F5FU); // Update interrupt
TIM12->SR = 0;
}
int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
@ -154,7 +154,7 @@ void gmlan_switch_init(int timeout_enable) {
gmlan_switch_below_timeout = 1;
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
setup_timer4();
setup_timer();
inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
}
@ -192,9 +192,9 @@ int gmlan_fail_count = 0;
#define REQUIRED_SILENT_TIME 10
#define MAX_FAIL_COUNT 10
void TIM4_IRQ_Handler(void) {
void TIM12_IRQ_Handler(void) {
if (gmlan_alt_mode == BITBANG) {
if ((TIM4->SR & TIM_SR_UIF) && (gmlan_sendmax != -1)) {
if ((TIM12->SR & TIM_SR_UIF) && (gmlan_sendmax != -1)) {
int read = get_gpio_input(GPIOB, 12);
if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
if (read == 0) {
@ -236,13 +236,13 @@ void TIM4_IRQ_Handler(void) {
if ((gmlan_sending == gmlan_sendmax) || (gmlan_fail_count == MAX_FAIL_COUNT)) {
set_bitbanged_gmlan(1); // recessive
set_gpio_mode(GPIOB, 13, MODE_INPUT);
register_clear_bits(&(TIM4->DIER), TIM_DIER_UIE); // No update interrupt
register_set(&(TIM4->CR1), 0U, 0x3FU); // Disable timer
register_clear_bits(&(TIM12->DIER), TIM_DIER_UIE); // No update interrupt
register_set(&(TIM12->CR1), 0U, 0x3FU); // Disable timer
gmlan_sendmax = -1; // exit
}
}
} else if (gmlan_alt_mode == GPIO_SWITCH) {
if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
if ((TIM12->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
//it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
set_gpio_output(GPIOB, 13, GMLAN_LOW);
@ -266,7 +266,7 @@ void TIM4_IRQ_Handler(void) {
} else {
// Invalid GMLAN mode. Do not put a print statement here, way too fast to keep up with
}
TIM4->SR = 0;
TIM12->SR = 0;
}
bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
@ -284,7 +284,7 @@ bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
// 33kbps
setup_timer4();
setup_timer();
}
return gmlan_send_ok;
}

6
panda/board/main.c
View File

@ -614,6 +614,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
case 0xf6:
siren_enabled = (setup->b.wValue.w != 0U);
break;
// **** 0xf7: set green led enabled
case 0xf7:
green_led_enabled = (setup->b.wValue.w != 0U);
break;
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);
@ -701,7 +705,7 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
fan_tick();
// set green LED to be controls allowed
current_board->set_led(LED_GREEN, controls_allowed);
current_board->set_led(LED_GREEN, controls_allowed | green_led_enabled);
// turn off the blue LED, turned on by CAN
// unless we are in power saving mode

1
panda/board/main_declarations.h
View File

@ -14,3 +14,4 @@ bool is_enumerated = 0;
uint32_t heartbeat_counter = 0;
uint32_t uptime_cnt = 0;
bool siren_enabled = false;
bool green_led_enabled = false;

BIN
panda/board/tools/dfu-util-aarch64
View File

Binary file not shown.

BIN
panda/board/tools/dfu-util-aarch64-linux
View File

Binary file not shown.

BIN
panda/board/tools/dfu-util-x86_64-linux
View File

Binary file not shown.

33
panda/board/tools/enter_download_mode.py
View File

@ -1,33 +0,0 @@
#!/usr/bin/env python3
import sys
import time
import usb1
def enter_download_mode(device):
handle = device.open()
handle.claimInterface(0)
try:
handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, b'')
except (usb1.USBErrorIO, usb1.USBErrorPipe):
print("Device download mode enabled.")
time.sleep(1)
else:
print("Device failed to enter download mode.")
sys.exit(1)
def find_first_panda(context=None):
context = context or usb1.USBContext()
for device in context.getDeviceList(skip_on_error=True):
if device.getVendorID() == 0xbbaa and device.getProductID() & 0xFF00 == 0xdd00:
return device
if __name__ == "__main__":
panda_dev = find_first_panda()
if panda_dev is None:
print("no device found")
sys.exit(0)
print("found device")
enter_download_mode(panda_dev)

4
panda/python/__init__.py
View File

@ -676,3 +676,7 @@ class Panda(object):
# ****************** Siren *****************
def set_siren(self, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
# ****************** Debug *****************
def set_green_led(self, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')

93
phonelibs/android_frameworks_native/include/batteryservice/BatteryService.h
View File

@ -1,93 +0,0 @@
/*
* Copyright (C) 2013 The Android Open Source Project
* Copyright (C) 2015 The CyanogenMod Project
*
* 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 ANDROID_BATTERYSERVICE_H
#define ANDROID_BATTERYSERVICE_H
#include <binder/Parcel.h>
#include <sys/types.h>
#include <utils/Errors.h>
#include <utils/String8.h>
namespace android {
// must be kept in sync with definitions in BatteryManager.java
enum {
BATTERY_STATUS_UNKNOWN = 1, // equals BatteryManager.BATTERY_STATUS_UNKNOWN constant
BATTERY_STATUS_CHARGING = 2, // equals BatteryManager.BATTERY_STATUS_CHARGING constant
BATTERY_STATUS_DISCHARGING = 3, // equals BatteryManager.BATTERY_STATUS_DISCHARGING constant
BATTERY_STATUS_NOT_CHARGING = 4, // equals BatteryManager.BATTERY_STATUS_NOT_CHARGING constant
BATTERY_STATUS_FULL = 5, // equals BatteryManager.BATTERY_STATUS_FULL constant
};
// must be kept in sync with definitions in BatteryManager.java
enum {
BATTERY_HEALTH_UNKNOWN = 1, // equals BatteryManager.BATTERY_HEALTH_UNKNOWN constant
BATTERY_HEALTH_GOOD = 2, // equals BatteryManager.BATTERY_HEALTH_GOOD constant
BATTERY_HEALTH_OVERHEAT = 3, // equals BatteryManager.BATTERY_HEALTH_OVERHEAT constant
BATTERY_HEALTH_DEAD = 4, // equals BatteryManager.BATTERY_HEALTH_DEAD constant
BATTERY_HEALTH_OVER_VOLTAGE = 5, // equals BatteryManager.BATTERY_HEALTH_OVER_VOLTAGE constant
BATTERY_HEALTH_UNSPECIFIED_FAILURE = 6, // equals BatteryManager.BATTERY_HEALTH_UNSPECIFIED_FAILURE constant
BATTERY_HEALTH_COLD = 7, // equals BatteryManager.BATTERY_HEALTH_COLD constant
};
// must be kept in sync with definitions in BatteryProperty.java
enum {
BATTERY_PROP_CHARGE_COUNTER = 1, // equals BatteryProperty.CHARGE_COUNTER constant
BATTERY_PROP_CURRENT_NOW = 2, // equals BatteryProperty.CURRENT_NOW constant
BATTERY_PROP_CURRENT_AVG = 3, // equals BatteryProperty.CURRENT_AVG constant
BATTERY_PROP_CAPACITY = 4, // equals BatteryProperty.CAPACITY constant
BATTERY_PROP_ENERGY_COUNTER = 5, // equals BatteryProperty.ENERGY_COUNTER constant
};
struct BatteryProperties {
bool chargerAcOnline;
bool chargerUsbOnline;
bool chargerWirelessOnline;
int maxChargingCurrent;
int batteryStatus;
int batteryHealth;
bool batteryPresent;
int batteryLevel;
int batteryVoltage;
int batteryTemperature;
String8 batteryTechnology;
bool dockBatterySupported;
bool chargerDockAcOnline;
int dockBatteryStatus;
int dockBatteryHealth;
bool dockBatteryPresent;
int dockBatteryLevel;
int dockBatteryVoltage;
int dockBatteryTemperature;
String8 dockBatteryTechnology;
status_t writeToParcel(Parcel* parcel) const;
status_t readFromParcel(Parcel* parcel);
};
struct BatteryProperty {
int64_t valueInt64;
status_t writeToParcel(Parcel* parcel) const;
status_t readFromParcel(Parcel* parcel);
};
}; // namespace android
#endif // ANDROID_BATTERYSERVICE_H

45
phonelibs/android_frameworks_native/include/batteryservice/IBatteryPropertiesListener.h
View File

@ -1,45 +0,0 @@
/*
* Copyright (C) 2013 The Android Open Source Project
*
* 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 ANDROID_IBATTERYPROPERTIESLISTENER_H
#define ANDROID_IBATTERYPROPERTIESLISTENER_H
#include <binder/IBinder.h>
#include <binder/IInterface.h>
#include <batteryservice/BatteryService.h>
namespace android {
// must be kept in sync with interface defined in IBatteryPropertiesListener.aidl
enum {
TRANSACT_BATTERYPROPERTIESCHANGED = IBinder::FIRST_CALL_TRANSACTION,
};
// ----------------------------------------------------------------------------
class IBatteryPropertiesListener : public IInterface {
public:
DECLARE_META_INTERFACE(BatteryPropertiesListener);
virtual void batteryPropertiesChanged(struct BatteryProperties props) = 0;
};
// ----------------------------------------------------------------------------
}; // namespace android
#endif // ANDROID_IBATTERYPROPERTIESLISTENER_H

52
phonelibs/android_frameworks_native/include/batteryservice/IBatteryPropertiesRegistrar.h
View File

@ -1,52 +0,0 @@
/*
* Copyright (C) 2013 The Android Open Source Project
* Copyright (C) 2015 The CyanogenMod Project
*
* 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 ANDROID_IBATTERYPROPERTIESREGISTRAR_H
#define ANDROID_IBATTERYPROPERTIESREGISTRAR_H
#include <binder/IInterface.h>
#include <batteryservice/IBatteryPropertiesListener.h>
namespace android {
// must be kept in sync with interface defined in IBatteryPropertiesRegistrar.aidl
enum {
REGISTER_LISTENER = IBinder::FIRST_CALL_TRANSACTION,
UNREGISTER_LISTENER,
GET_PROPERTY,
GET_DOCK_PROPERTY,
};
class IBatteryPropertiesRegistrar : public IInterface {
public:
DECLARE_META_INTERFACE(BatteryPropertiesRegistrar);
virtual void registerListener(const sp<IBatteryPropertiesListener>& listener) = 0;
virtual void unregisterListener(const sp<IBatteryPropertiesListener>& listener) = 0;
virtual status_t getProperty(int id, struct BatteryProperty *val) = 0;
virtual status_t getDockProperty(int id, struct BatteryProperty *val) = 0;
};
class BnBatteryPropertiesRegistrar : public BnInterface<IBatteryPropertiesRegistrar> {
public:
virtual status_t onTransact(uint32_t code, const Parcel& data,
Parcel* reply, uint32_t flags = 0);
};
}; // namespace android
#endif // ANDROID_IBATTERYPROPERTIESREGISTRAR_H

30
phonelibs/android_frameworks_native/include/diskusage/dirsize.h
View File

@ -1,30 +0,0 @@
/*
*
* Copyright (C) 2010 The Android Open Source Project
*
* 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 __LIBDISKUSAGE_DIRSIZE_H
#define __LIBDISKUSAGE_DIRSIZE_H
#include <stdint.h>
__BEGIN_DECLS
int64_t stat_size(struct stat *s);
int64_t calculate_dir_size(int dfd);
__END_DECLS
#endif /* __LIBDISKUSAGE_DIRSIZE_H */

52
phonelibs/android_frameworks_native/include/input/IInputFlinger.h
View File

@ -1,52 +0,0 @@
/*
* Copyright (C) 2013 The Android Open Source Project
*
* 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 _LIBINPUT_IINPUT_FLINGER_H
#define _LIBINPUT_IINPUT_FLINGER_H
#include <stdint.h>
#include <sys/types.h>
#include <binder/IInterface.h>
namespace android {
/*
* This class defines the Binder IPC interface for accessing various
* InputFlinger features.
*/
class IInputFlinger : public IInterface {
public:
DECLARE_META_INTERFACE(InputFlinger);
};
/**
* Binder implementation.
*/
class BnInputFlinger : public BnInterface<IInputFlinger> {
public:
enum {
DO_SOMETHING_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION,
};
virtual status_t onTransact(uint32_t code, const Parcel& data,
Parcel* reply, uint32_t flags = 0);
};
} // namespace android
#endif // _LIBINPUT_IINPUT_FLINGER_H

681
phonelibs/android_frameworks_native/include/input/Input.h
View File

@ -1,681 +0,0 @@
/*
* Copyright (C) 2010 The Android Open Source Project
*
* 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 _LIBINPUT_INPUT_H
#define _LIBINPUT_INPUT_H
/**
* Native input event structures.
*/
#include <android/input.h>
#include <utils/BitSet.h>
#include <utils/KeyedVector.h>
#include <utils/RefBase.h>
#include <utils/String8.h>
#include <utils/Timers.h>
#include <utils/Vector.h>
#include <stdint.h>
/*
* Additional private constants not defined in ndk/ui/input.h.
*/
enum {
/* Signifies that the key is being predispatched */
AKEY_EVENT_FLAG_PREDISPATCH = 0x20000000,
/* Private control to determine when an app is tracking a key sequence. */
AKEY_EVENT_FLAG_START_TRACKING = 0x40000000,
/* Key event is inconsistent with previously sent key events. */
AKEY_EVENT_FLAG_TAINTED = 0x80000000,
};
enum {
/**
* This flag indicates that the window that received this motion event is partly
* or wholly obscured by another visible window above it. This flag is set to true
* even if the event did not directly pass through the obscured area.
* A security sensitive application can check this flag to identify situations in which
* a malicious application may have covered up part of its content for the purpose
* of misleading the user or hijacking touches. An appropriate response might be
* to drop the suspect touches or to take additional precautions to confirm the user's
* actual intent.
*/
AMOTION_EVENT_FLAG_WINDOW_IS_PARTIALLY_OBSCURED = 0x2,
/* Motion event is inconsistent with previously sent motion events. */
AMOTION_EVENT_FLAG_TAINTED = 0x80000000,
};
enum {
/* Used when a motion event is not associated with any display.
* Typically used for non-pointer events. */
ADISPLAY_ID_NONE = -1,
/* The default display id. */
ADISPLAY_ID_DEFAULT = 0,
};
enum {
/*
* Indicates that an input device has switches.
* This input source flag is hidden from the API because switches are only used by the system
* and applications have no way to interact with them.
*/
AINPUT_SOURCE_SWITCH = 0x80000000,
};
enum {
/**
* Constants for LEDs. Hidden from the API since we don't actually expose a way to interact
* with LEDs to developers
*
* NOTE: If you add LEDs here, you must also add them to InputEventLabels.h
*/
ALED_NUM_LOCK = 0x00,
ALED_CAPS_LOCK = 0x01,
ALED_SCROLL_LOCK = 0x02,
ALED_COMPOSE = 0x03,
ALED_KANA = 0x04,
ALED_SLEEP = 0x05,
ALED_SUSPEND = 0x06,
ALED_MUTE = 0x07,
ALED_MISC = 0x08,
ALED_MAIL = 0x09,
ALED_CHARGING = 0x0a,
ALED_CONTROLLER_1 = 0x10,
ALED_CONTROLLER_2 = 0x11,
ALED_CONTROLLER_3 = 0x12,
ALED_CONTROLLER_4 = 0x13,
};
/* Maximum number of controller LEDs we support */
#define MAX_CONTROLLER_LEDS 4
/*
* SystemUiVisibility constants from View.
*/
enum {
ASYSTEM_UI_VISIBILITY_STATUS_BAR_VISIBLE = 0,
ASYSTEM_UI_VISIBILITY_STATUS_BAR_HIDDEN = 0x00000001,
};
/*
* Maximum number of pointers supported per motion event.
* Smallest number of pointers is 1.
* (We want at least 10 but some touch controllers obstensibly configured for 10 pointers
* will occasionally emit 11. There is not much harm making this constant bigger.)
*/
#define MAX_POINTERS 16
/*
* Maximum number of samples supported per motion event.
*/
#define MAX_SAMPLES UINT16_MAX
/*
* Maximum pointer id value supported in a motion event.
* Smallest pointer id is 0.
* (This is limited by our use of BitSet32 to track pointer assignments.)
*/
#define MAX_POINTER_ID 31
/*
* Declare a concrete type for the NDK's input event forward declaration.
*/
struct AInputEvent {
virtual ~AInputEvent() { }
};
/*
* Declare a concrete type for the NDK's input device forward declaration.
*/
struct AInputDevice {
virtual ~AInputDevice() { }
};
namespace android {
#ifdef HAVE_ANDROID_OS
class Parcel;
#endif
/*
* Flags that flow alongside events in the input dispatch system to help with certain
* policy decisions such as waking from device sleep.
*
* These flags are also defined in frameworks/base/core/java/android/view/WindowManagerPolicy.java.
*/
enum {
/* These flags originate in RawEvents and are generally set in the key map.
* NOTE: If you want a flag to be able to set in a keylayout file, then you must add it to
* InputEventLabels.h as well. */
// Indicates that the event should wake the device.
POLICY_FLAG_WAKE = 0x00000001,
// Indicates that the key is virtual, such as a capacitive button, and should
// generate haptic feedback. Virtual keys may be suppressed for some time
// after a recent touch to prevent accidental activation of virtual keys adjacent
// to the touch screen during an edge swipe.
POLICY_FLAG_VIRTUAL = 0x00000002,
// Indicates that the key is the special function modifier.
POLICY_FLAG_FUNCTION = 0x00000004,
// Indicates that the key represents a special gesture that has been detected by
// the touch firmware or driver. Causes touch events from the same device to be canceled.
POLICY_FLAG_GESTURE = 0x00000008,
POLICY_FLAG_RAW_MASK = 0x0000ffff,
/* These flags are set by the input dispatcher. */
// Indicates that the input event was injected.
POLICY_FLAG_INJECTED = 0x01000000,
// Indicates that the input event is from a trusted source such as a directly attached
// input device or an application with system-wide event injection permission.
POLICY_FLAG_TRUSTED = 0x02000000,
// Indicates that the input event has passed through an input filter.
POLICY_FLAG_FILTERED = 0x04000000,
// Disables automatic key repeating behavior.
POLICY_FLAG_DISABLE_KEY_REPEAT = 0x08000000,
/* These flags are set by the input reader policy as it intercepts each event. */
// Indicates that the device was in an interactive state when the
// event was intercepted.
POLICY_FLAG_INTERACTIVE = 0x20000000,
// Indicates that the event should be dispatched to applications.
// The input event should still be sent to the InputDispatcher so that it can see all
// input events received include those that it will not deliver.
POLICY_FLAG_PASS_TO_USER = 0x40000000,
};
/*
* Pointer coordinate data.
*/
struct PointerCoords {
enum { MAX_AXES = 30 }; // 30 so that sizeof(PointerCoords) == 128
// Bitfield of axes that are present in this structure.
uint64_t bits __attribute__((aligned(8)));
// Values of axes that are stored in this structure packed in order by axis id
// for each axis that is present in the structure according to 'bits'.
float values[MAX_AXES];
inline void clear() {
BitSet64::clear(bits);
}
bool isEmpty() const {
return BitSet64::isEmpty(bits);
}
float getAxisValue(int32_t axis) const;
status_t setAxisValue(int32_t axis, float value);
void scale(float scale);
void applyOffset(float xOffset, float yOffset);
inline float getX() const {
return getAxisValue(AMOTION_EVENT_AXIS_X);
}
inline float getY() const {
return getAxisValue(AMOTION_EVENT_AXIS_Y);
}
#ifdef HAVE_ANDROID_OS
status_t readFromParcel(Parcel* parcel);
status_t writeToParcel(Parcel* parcel) const;
#endif
bool operator==(const PointerCoords& other) const;
inline bool operator!=(const PointerCoords& other) const {
return !(*this == other);
}
void copyFrom(const PointerCoords& other);
private:
void tooManyAxes(int axis);
};
/*
* Pointer property data.
*/
struct PointerProperties {
// The id of the pointer.
int32_t id;
// The pointer tool type.
int32_t toolType;
inline void clear() {
id = -1;
toolType = 0;
}
bool operator==(const PointerProperties& other) const;
inline bool operator!=(const PointerProperties& other) const {
return !(*this == other);
}
void copyFrom(const PointerProperties& other);
};
/*
* Input events.
*/
class InputEvent : public AInputEvent {
public:
virtual ~InputEvent() { }
virtual int32_t getType() const = 0;
inline int32_t getDeviceId() const { return mDeviceId; }
inline int32_t getSource() const { return mSource; }
inline void setSource(int32_t source) { mSource = source; }
protected:
void initialize(int32_t deviceId, int32_t source);
void initialize(const InputEvent& from);
int32_t mDeviceId;
int32_t mSource;
};
/*
* Key events.
*/
class KeyEvent : public InputEvent {
public:
virtual ~KeyEvent() { }
virtual int32_t getType() const { return AINPUT_EVENT_TYPE_KEY; }
inline int32_t getAction() const { return mAction; }
inline int32_t getFlags() const { return mFlags; }
inline void setFlags(int32_t flags) { mFlags = flags; }
inline int32_t getKeyCode() const { return mKeyCode; }
inline int32_t getScanCode() const { return mScanCode; }
inline int32_t getMetaState() const { return mMetaState; }
inline int32_t getRepeatCount() const { return mRepeatCount; }
inline nsecs_t getDownTime() const { return mDownTime; }
inline nsecs_t getEventTime() const { return mEventTime; }
static const char* getLabel(int32_t keyCode);
static int32_t getKeyCodeFromLabel(const char* label);
void initialize(
int32_t deviceId,
int32_t source,
int32_t action,
int32_t flags,
int32_t keyCode,
int32_t scanCode,
int32_t metaState,
int32_t repeatCount,
nsecs_t downTime,
nsecs_t eventTime);
void initialize(const KeyEvent& from);
protected:
int32_t mAction;
int32_t mFlags;
int32_t mKeyCode;
int32_t mScanCode;
int32_t mMetaState;
int32_t mRepeatCount;
nsecs_t mDownTime;
nsecs_t mEventTime;
};
/*
* Motion events.
*/
class MotionEvent : public InputEvent {
public:
virtual ~MotionEvent() { }
virtual int32_t getType() const { return AINPUT_EVENT_TYPE_MOTION; }
inline int32_t getAction() const { return mAction; }
inline int32_t getActionMasked() const { return mAction & AMOTION_EVENT_ACTION_MASK; }
inline int32_t getActionIndex() const {
return (mAction & AMOTION_EVENT_ACTION_POINTER_INDEX_MASK)
>> AMOTION_EVENT_ACTION_POINTER_INDEX_SHIFT;
}
inline void setAction(int32_t action) { mAction = action; }
inline int32_t getFlags() const { return mFlags; }
inline void setFlags(int32_t flags) { mFlags = flags; }
inline int32_t getEdgeFlags() const { return mEdgeFlags; }
inline void setEdgeFlags(int32_t edgeFlags) { mEdgeFlags = edgeFlags; }
inline int32_t getMetaState() const { return mMetaState; }
inline void setMetaState(int32_t metaState) { mMetaState = metaState; }
inline int32_t getButtonState() const { return mButtonState; }
inline int32_t setButtonState(int32_t buttonState) { mButtonState = buttonState; }
inline int32_t getActionButton() const { return mActionButton; }
inline void setActionButton(int32_t button) { mActionButton = button; }
inline float getXOffset() const { return mXOffset; }
inline float getYOffset() const { return mYOffset; }
inline float getXPrecision() const { return mXPrecision; }
inline float getYPrecision() const { return mYPrecision; }
inline nsecs_t getDownTime() const { return mDownTime; }
inline void setDownTime(nsecs_t downTime) { mDownTime = downTime; }
inline size_t getPointerCount() const { return mPointerProperties.size(); }
inline const PointerProperties* getPointerProperties(size_t pointerIndex) const {
return &mPointerProperties[pointerIndex];
}
inline int32_t getPointerId(size_t pointerIndex) const {
return mPointerProperties[pointerIndex].id;
}
inline int32_t getToolType(size_t pointerIndex) const {
return mPointerProperties[pointerIndex].toolType;
}
inline nsecs_t getEventTime() const { return mSampleEventTimes[getHistorySize()]; }
const PointerCoords* getRawPointerCoords(size_t pointerIndex) const;
float getRawAxisValue(int32_t axis, size_t pointerIndex) const;
inline float getRawX(size_t pointerIndex) const {
return getRawAxisValue(AMOTION_EVENT_AXIS_X, pointerIndex);
}
inline float getRawY(size_t pointerIndex) const {
return getRawAxisValue(AMOTION_EVENT_AXIS_Y, pointerIndex);
}
float getAxisValue(int32_t axis, size_t pointerIndex) const;
inline float getX(size_t pointerIndex) const {
return getAxisValue(AMOTION_EVENT_AXIS_X, pointerIndex);
}
inline float getY(size_t pointerIndex) const {
return getAxisValue(AMOTION_EVENT_AXIS_Y, pointerIndex);
}
inline float getPressure(size_t pointerIndex) const {
return getAxisValue(AMOTION_EVENT_AXIS_PRESSURE, pointerIndex);
}
inline float getSize(size_t pointerIndex) const {
return getAxisValue(AMOTION_EVENT_AXIS_SIZE, pointerIndex);
}
inline float getTouchMajor(size_t pointerIndex) const {
return getAxisValue(AMOTION_EVENT_AXIS_TOUCH_MAJOR, pointerIndex);
}
inline float getTouchMinor(size_t pointerIndex) const {
return getAxisValue(AMOTION_EVENT_AXIS_TOUCH_MINOR, pointerIndex);
}
inline float getToolMajor(size_t pointerIndex) const {
return getAxisValue(AMOTION_EVENT_AXIS_TOOL_MAJOR, pointerIndex);
}
inline float getToolMinor(size_t pointerIndex) const {
return getAxisValue(AMOTION_EVENT_AXIS_TOOL_MINOR, pointerIndex);
}
inline float getOrientation(size_t pointerIndex) const {
return getAxisValue(AMOTION_EVENT_AXIS_ORIENTATION, pointerIndex);
}
inline size_t getHistorySize() const { return mSampleEventTimes.size() - 1; }
inline nsecs_t getHistoricalEventTime(size_t historicalIndex) const {
return mSampleEventTimes[historicalIndex];
}
const PointerCoords* getHistoricalRawPointerCoords(
size_t pointerIndex, size_t historicalIndex) const;
float getHistoricalRawAxisValue(int32_t axis, size_t pointerIndex,
size_t historicalIndex) const;
inline float getHistoricalRawX(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalRawAxisValue(
AMOTION_EVENT_AXIS_X, pointerIndex, historicalIndex);
}
inline float getHistoricalRawY(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalRawAxisValue(
AMOTION_EVENT_AXIS_Y, pointerIndex, historicalIndex);
}
float getHistoricalAxisValue(int32_t axis, size_t pointerIndex, size_t historicalIndex) const;
inline float getHistoricalX(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalAxisValue(
AMOTION_EVENT_AXIS_X, pointerIndex, historicalIndex);
}
inline float getHistoricalY(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalAxisValue(
AMOTION_EVENT_AXIS_Y, pointerIndex, historicalIndex);
}
inline float getHistoricalPressure(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalAxisValue(
AMOTION_EVENT_AXIS_PRESSURE, pointerIndex, historicalIndex);
}
inline float getHistoricalSize(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalAxisValue(
AMOTION_EVENT_AXIS_SIZE, pointerIndex, historicalIndex);
}
inline float getHistoricalTouchMajor(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalAxisValue(
AMOTION_EVENT_AXIS_TOUCH_MAJOR, pointerIndex, historicalIndex);
}
inline float getHistoricalTouchMinor(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalAxisValue(
AMOTION_EVENT_AXIS_TOUCH_MINOR, pointerIndex, historicalIndex);
}
inline float getHistoricalToolMajor(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalAxisValue(
AMOTION_EVENT_AXIS_TOOL_MAJOR, pointerIndex, historicalIndex);
}
inline float getHistoricalToolMinor(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalAxisValue(
AMOTION_EVENT_AXIS_TOOL_MINOR, pointerIndex, historicalIndex);
}
inline float getHistoricalOrientation(size_t pointerIndex, size_t historicalIndex) const {
return getHistoricalAxisValue(
AMOTION_EVENT_AXIS_ORIENTATION, pointerIndex, historicalIndex);
}
ssize_t findPointerIndex(int32_t pointerId) const;
void initialize(
int32_t deviceId,
int32_t source,
int32_t action,
int32_t actionButton,
int32_t flags,
int32_t edgeFlags,
int32_t metaState,
int32_t buttonState,
float xOffset,
float yOffset,
float xPrecision,
float yPrecision,
nsecs_t downTime,
nsecs_t eventTime,
size_t pointerCount,
const PointerProperties* pointerProperties,
const PointerCoords* pointerCoords);
void copyFrom(const MotionEvent* other, bool keepHistory);
void addSample(
nsecs_t eventTime,
const PointerCoords* pointerCoords);
void offsetLocation(float xOffset, float yOffset);
void scale(float scaleFactor);
// Apply 3x3 perspective matrix transformation.
// Matrix is in row-major form and compatible with SkMatrix.
void transform(const float matrix[9]);
#ifdef HAVE_ANDROID_OS
status_t readFromParcel(Parcel* parcel);
status_t writeToParcel(Parcel* parcel) const;
#endif
static bool isTouchEvent(int32_t source, int32_t action);
inline bool isTouchEvent() const {
return isTouchEvent(mSource, mAction);
}
// Low-level accessors.
inline const PointerProperties* getPointerProperties() const {
return mPointerProperties.array();
}
inline const nsecs_t* getSampleEventTimes() const { return mSampleEventTimes.array(); }
inline const PointerCoords* getSamplePointerCoords() const {
return mSamplePointerCoords.array();
}
static const char* getLabel(int32_t axis);
static int32_t getAxisFromLabel(const char* label);
protected:
int32_t mAction;
int32_t mActionButton;
int32_t mFlags;
int32_t mEdgeFlags;
int32_t mMetaState;
int32_t mButtonState;
float mXOffset;
float mYOffset;
float mXPrecision;
float mYPrecision;
nsecs_t mDownTime;
Vector<PointerProperties> mPointerProperties;
Vector<nsecs_t> mSampleEventTimes;
Vector<PointerCoords> mSamplePointerCoords;
};
/*
* Input event factory.
*/
class InputEventFactoryInterface {
protected:
virtual ~InputEventFactoryInterface() { }
public:
InputEventFactoryInterface() { }
virtual KeyEvent* createKeyEvent() = 0;
virtual MotionEvent* createMotionEvent() = 0;
};
/*
* A simple input event factory implementation that uses a single preallocated instance
* of each type of input event that are reused for each request.
*/
class PreallocatedInputEventFactory : public InputEventFactoryInterface {
public:
PreallocatedInputEventFactory() { }
virtual ~PreallocatedInputEventFactory() { }
virtual KeyEvent* createKeyEvent() { return & mKeyEvent; }
virtual MotionEvent* createMotionEvent() { return & mMotionEvent; }
private:
KeyEvent mKeyEvent;
MotionEvent mMotionEvent;
};
/*
* An input event factory implementation that maintains a pool of input events.
*/
class PooledInputEventFactory : public InputEventFactoryInterface {
public:
PooledInputEventFactory(size_t maxPoolSize = 20);
virtual ~PooledInputEventFactory();
virtual KeyEvent* createKeyEvent();
virtual MotionEvent* createMotionEvent();
void recycle(InputEvent* event);
private:
const size_t mMaxPoolSize;
Vector<KeyEvent*> mKeyEventPool;
Vector<MotionEvent*> mMotionEventPool;
};
} // namespace android
#endif // _LIBINPUT_INPUT_H

170
phonelibs/android_frameworks_native/include/input/InputDevice.h
View File

@ -1,170 +0,0 @@
/*
* Copyright (C) 2012 The Android Open Source Project
*
* 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 _LIBINPUT_INPUT_DEVICE_H
#define _LIBINPUT_INPUT_DEVICE_H
#include <input/Input.h>
#include <input/KeyCharacterMap.h>
namespace android {
/*
* Identifies a device.
*/
struct InputDeviceIdentifier {
inline InputDeviceIdentifier() :
bus(0), vendor(0), product(0), version(0) {
}
// Information provided by the kernel.
String8 name;
String8 location;
String8 uniqueId;
uint16_t bus;
uint16_t vendor;
uint16_t product;
uint16_t version;
// A composite input device descriptor string that uniquely identifies the device
// even across reboots or reconnections. The value of this field is used by
// upper layers of the input system to associate settings with individual devices.
// It is hashed from whatever kernel provided information is available.
// Ideally, the way this value is computed should not change between Android releases
// because that would invalidate persistent settings that rely on it.
String8 descriptor;
// A value added to uniquely identify a device in the absence of a unique id. This
// is intended to be a minimum way to distinguish from other active devices and may
// reuse values that are not associated with an input anymore.
uint16_t nonce;
};
/*
* Describes the characteristics and capabilities of an input device.
*/
class InputDeviceInfo {
public:
InputDeviceInfo();
InputDeviceInfo(const InputDeviceInfo& other);
~InputDeviceInfo();
struct MotionRange {
int32_t axis;
uint32_t source;
float min;
float max;
float flat;
float fuzz;
float resolution;
};
void initialize(int32_t id, int32_t generation, int32_t controllerNumber,
const InputDeviceIdentifier& identifier, const String8& alias, bool isExternal,
bool hasMic);
inline int32_t getId() const { return mId; }
inline int32_t getControllerNumber() const { return mControllerNumber; }
inline int32_t getGeneration() const { return mGeneration; }
inline const InputDeviceIdentifier& getIdentifier() const { return mIdentifier; }
inline const String8& getAlias() const { return mAlias; }
inline const String8& getDisplayName() const {
return mAlias.isEmpty() ? mIdentifier.name : mAlias;
}
inline bool isExternal() const { return mIsExternal; }
inline bool hasMic() const { return mHasMic; }
inline uint32_t getSources() const { return mSources; }
const MotionRange* getMotionRange(int32_t axis, uint32_t source) const;
void addSource(uint32_t source);
void addMotionRange(int32_t axis, uint32_t source,
float min, float max, float flat, float fuzz, float resolution);
void addMotionRange(const MotionRange& range);
inline void setKeyboardType(int32_t keyboardType) { mKeyboardType = keyboardType; }
inline int32_t getKeyboardType() const { return mKeyboardType; }
inline void setKeyCharacterMap(const sp<KeyCharacterMap>& value) {
mKeyCharacterMap = value;
}
inline sp<KeyCharacterMap> getKeyCharacterMap() const {
return mKeyCharacterMap;
}
inline void setVibrator(bool hasVibrator) { mHasVibrator = hasVibrator; }
inline bool hasVibrator() const { return mHasVibrator; }
inline void setButtonUnderPad(bool hasButton) { mHasButtonUnderPad = hasButton; }
inline bool hasButtonUnderPad() const { return mHasButtonUnderPad; }
inline const Vector<MotionRange>& getMotionRanges() const {
return mMotionRanges;
}
private:
int32_t mId;
int32_t mGeneration;
int32_t mControllerNumber;
InputDeviceIdentifier mIdentifier;
String8 mAlias;
bool mIsExternal;
bool mHasMic;
uint32_t mSources;
int32_t mKeyboardType;
sp<KeyCharacterMap> mKeyCharacterMap;
bool mHasVibrator;
bool mHasButtonUnderPad;
Vector<MotionRange> mMotionRanges;
};
/* Types of input device configuration files. */
enum InputDeviceConfigurationFileType {
INPUT_DEVICE_CONFIGURATION_FILE_TYPE_CONFIGURATION = 0, /* .idc file */
INPUT_DEVICE_CONFIGURATION_FILE_TYPE_KEY_LAYOUT = 1, /* .kl file */
INPUT_DEVICE_CONFIGURATION_FILE_TYPE_KEY_CHARACTER_MAP = 2, /* .kcm file */
};
/*
* Gets the path of an input device configuration file, if one is available.
* Considers both system provided and user installed configuration files.
*
* The device identifier is used to construct several default configuration file
* names to try based on the device name, vendor, product, and version.
*
* Returns an empty string if not found.
*/
extern String8 getInputDeviceConfigurationFilePathByDeviceIdentifier(
const InputDeviceIdentifier& deviceIdentifier,
InputDeviceConfigurationFileType type);
/*
* Gets the path of an input device configuration file, if one is available.
* Considers both system provided and user installed configuration files.
*
* The name is case-sensitive and is used to construct the filename to resolve.
* All characters except 'a'-'z', 'A'-'Z', '0'-'9', '-', and '_' are replaced by underscores.
*
* Returns an empty string if not found.
*/
extern String8 getInputDeviceConfigurationFilePathByName(
const String8& name, InputDeviceConfigurationFileType type);
} // namespace android
#endif // _LIBINPUT_INPUT_DEVICE_H

447
phonelibs/android_frameworks_native/include/input/InputEventLabels.h
View File

@ -1,447 +0,0 @@
/*
* Copyright (C) 2008 The Android Open Source Project
*
* 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 _LIBINPUT_INPUT_EVENT_LABELS_H
#define _LIBINPUT_INPUT_EVENT_LABELS_H
#include <input/Input.h>
#include <android/keycodes.h>
#define DEFINE_KEYCODE(key) { #key, AKEYCODE_##key }
#define DEFINE_AXIS(axis) { #axis, AMOTION_EVENT_AXIS_##axis }
#define DEFINE_LED(led) { #led, ALED_##led }
#define DEFINE_FLAG(flag) { #flag, POLICY_FLAG_##flag }
namespace android {
template<typename T, size_t N>
size_t size(T (&)[N]) { return N; }
struct InputEventLabel {
const char *literal;
int value;
};
static const InputEventLabel KEYCODES[] = {
// NOTE: If you add a new keycode here you must also add it to several other files.
// Refer to frameworks/base/core/java/android/view/KeyEvent.java for the full list.
DEFINE_KEYCODE(UNKNOWN),
DEFINE_KEYCODE(SOFT_LEFT),
DEFINE_KEYCODE(SOFT_RIGHT),
DEFINE_KEYCODE(HOME),
DEFINE_KEYCODE(BACK),
DEFINE_KEYCODE(CALL),
DEFINE_KEYCODE(ENDCALL),
DEFINE_KEYCODE(0),
DEFINE_KEYCODE(1),
DEFINE_KEYCODE(2),
DEFINE_KEYCODE(3),
DEFINE_KEYCODE(4),
DEFINE_KEYCODE(5),
DEFINE_KEYCODE(6),
DEFINE_KEYCODE(7),
DEFINE_KEYCODE(8),
DEFINE_KEYCODE(9),
DEFINE_KEYCODE(STAR),
DEFINE_KEYCODE(POUND),
DEFINE_KEYCODE(DPAD_UP),
DEFINE_KEYCODE(DPAD_DOWN),
DEFINE_KEYCODE(DPAD_LEFT),
DEFINE_KEYCODE(DPAD_RIGHT),
DEFINE_KEYCODE(DPAD_CENTER),
DEFINE_KEYCODE(VOLUME_UP),
DEFINE_KEYCODE(VOLUME_DOWN),
DEFINE_KEYCODE(POWER),
DEFINE_KEYCODE(CAMERA),
DEFINE_KEYCODE(CLEAR),
DEFINE_KEYCODE(A),
DEFINE_KEYCODE(B),
DEFINE_KEYCODE(C),
DEFINE_KEYCODE(D),
DEFINE_KEYCODE(E),
DEFINE_KEYCODE(F),
DEFINE_KEYCODE(G),
DEFINE_KEYCODE(H),
DEFINE_KEYCODE(I),
DEFINE_KEYCODE(J),
DEFINE_KEYCODE(K),
DEFINE_KEYCODE(L),
DEFINE_KEYCODE(M),
DEFINE_KEYCODE(N),
DEFINE_KEYCODE(O),
DEFINE_KEYCODE(P),
DEFINE_KEYCODE(Q),
DEFINE_KEYCODE(R),
DEFINE_KEYCODE(S),
DEFINE_KEYCODE(T),
DEFINE_KEYCODE(U),
DEFINE_KEYCODE(V),
DEFINE_KEYCODE(W),
DEFINE_KEYCODE(X),
DEFINE_KEYCODE(Y),
DEFINE_KEYCODE(Z),
DEFINE_KEYCODE(COMMA),
DEFINE_KEYCODE(PERIOD),
DEFINE_KEYCODE(ALT_LEFT),
DEFINE_KEYCODE(ALT_RIGHT),
DEFINE_KEYCODE(SHIFT_LEFT),
DEFINE_KEYCODE(SHIFT_RIGHT),
DEFINE_KEYCODE(TAB),
DEFINE_KEYCODE(SPACE),
DEFINE_KEYCODE(SYM),
DEFINE_KEYCODE(EXPLORER),
DEFINE_KEYCODE(ENVELOPE),
DEFINE_KEYCODE(ENTER),
DEFINE_KEYCODE(DEL),
DEFINE_KEYCODE(GRAVE),
DEFINE_KEYCODE(MINUS),
DEFINE_KEYCODE(EQUALS),
DEFINE_KEYCODE(LEFT_BRACKET),
DEFINE_KEYCODE(RIGHT_BRACKET),
DEFINE_KEYCODE(BACKSLASH),
DEFINE_KEYCODE(SEMICOLON),
DEFINE_KEYCODE(APOSTROPHE),
DEFINE_KEYCODE(SLASH),
DEFINE_KEYCODE(AT),
DEFINE_KEYCODE(NUM),
DEFINE_KEYCODE(HEADSETHOOK),
DEFINE_KEYCODE(FOCUS), // *Camera* focus
DEFINE_KEYCODE(PLUS),
DEFINE_KEYCODE(MENU),
DEFINE_KEYCODE(NOTIFICATION),
DEFINE_KEYCODE(SEARCH),
DEFINE_KEYCODE(MEDIA_PLAY_PAUSE),
DEFINE_KEYCODE(MEDIA_STOP),
DEFINE_KEYCODE(MEDIA_NEXT),
DEFINE_KEYCODE(MEDIA_PREVIOUS),
DEFINE_KEYCODE(MEDIA_REWIND),
DEFINE_KEYCODE(MEDIA_FAST_FORWARD),
DEFINE_KEYCODE(MUTE),
DEFINE_KEYCODE(PAGE_UP),
DEFINE_KEYCODE(PAGE_DOWN),
DEFINE_KEYCODE(PICTSYMBOLS),
DEFINE_KEYCODE(SWITCH_CHARSET),
DEFINE_KEYCODE(BUTTON_A),
DEFINE_KEYCODE(BUTTON_B),
DEFINE_KEYCODE(BUTTON_C),
DEFINE_KEYCODE(BUTTON_X),
DEFINE_KEYCODE(BUTTON_Y),
DEFINE_KEYCODE(BUTTON_Z),
DEFINE_KEYCODE(BUTTON_L1),
DEFINE_KEYCODE(BUTTON_R1),
DEFINE_KEYCODE(BUTTON_L2),
DEFINE_KEYCODE(BUTTON_R2),
DEFINE_KEYCODE(BUTTON_THUMBL),
DEFINE_KEYCODE(BUTTON_THUMBR),
DEFINE_KEYCODE(BUTTON_START),
DEFINE_KEYCODE(BUTTON_SELECT),
DEFINE_KEYCODE(BUTTON_MODE),
DEFINE_KEYCODE(ESCAPE),
DEFINE_KEYCODE(FORWARD_DEL),
DEFINE_KEYCODE(CTRL_LEFT),
DEFINE_KEYCODE(CTRL_RIGHT),
DEFINE_KEYCODE(CAPS_LOCK),
DEFINE_KEYCODE(SCROLL_LOCK),
DEFINE_KEYCODE(META_LEFT),
DEFINE_KEYCODE(META_RIGHT),
DEFINE_KEYCODE(FUNCTION),
DEFINE_KEYCODE(SYSRQ),
DEFINE_KEYCODE(BREAK),
DEFINE_KEYCODE(MOVE_HOME),
DEFINE_KEYCODE(MOVE_END),
DEFINE_KEYCODE(INSERT),
DEFINE_KEYCODE(FORWARD),
DEFINE_KEYCODE(MEDIA_PLAY),
DEFINE_KEYCODE(MEDIA_PAUSE),
DEFINE_KEYCODE(MEDIA_CLOSE),
DEFINE_KEYCODE(MEDIA_EJECT),
DEFINE_KEYCODE(MEDIA_RECORD),
DEFINE_KEYCODE(F1),
DEFINE_KEYCODE(F2),
DEFINE_KEYCODE(F3),
DEFINE_KEYCODE(F4),
DEFINE_KEYCODE(F5),
DEFINE_KEYCODE(F6),
DEFINE_KEYCODE(F7),
DEFINE_KEYCODE(F8),
DEFINE_KEYCODE(F9),
DEFINE_KEYCODE(F10),
DEFINE_KEYCODE(F11),
DEFINE_KEYCODE(F12),
DEFINE_KEYCODE(NUM_LOCK),
DEFINE_KEYCODE(NUMPAD_0),
DEFINE_KEYCODE(NUMPAD_1),
DEFINE_KEYCODE(NUMPAD_2),
DEFINE_KEYCODE(NUMPAD_3),
DEFINE_KEYCODE(NUMPAD_4),
DEFINE_KEYCODE(NUMPAD_5),
DEFINE_KEYCODE(NUMPAD_6),
DEFINE_KEYCODE(NUMPAD_7),
DEFINE_KEYCODE(NUMPAD_8),
DEFINE_KEYCODE(NUMPAD_9),
DEFINE_KEYCODE(NUMPAD_DIVIDE),
DEFINE_KEYCODE(NUMPAD_MULTIPLY),
DEFINE_KEYCODE(NUMPAD_SUBTRACT),
DEFINE_KEYCODE(NUMPAD_ADD),
DEFINE_KEYCODE(NUMPAD_DOT),
DEFINE_KEYCODE(NUMPAD_COMMA),
DEFINE_KEYCODE(NUMPAD_ENTER),
DEFINE_KEYCODE(NUMPAD_EQUALS),
DEFINE_KEYCODE(NUMPAD_LEFT_PAREN),
DEFINE_KEYCODE(NUMPAD_RIGHT_PAREN),
DEFINE_KEYCODE(VOLUME_MUTE),
DEFINE_KEYCODE(INFO),
DEFINE_KEYCODE(CHANNEL_UP),
DEFINE_KEYCODE(CHANNEL_DOWN),
DEFINE_KEYCODE(ZOOM_IN),
DEFINE_KEYCODE(ZOOM_OUT),
DEFINE_KEYCODE(TV),
DEFINE_KEYCODE(WINDOW),
DEFINE_KEYCODE(GUIDE),
DEFINE_KEYCODE(DVR),
DEFINE_KEYCODE(BOOKMARK),
DEFINE_KEYCODE(CAPTIONS),
DEFINE_KEYCODE(SETTINGS),
DEFINE_KEYCODE(TV_POWER),
DEFINE_KEYCODE(TV_INPUT),
DEFINE_KEYCODE(STB_POWER),
DEFINE_KEYCODE(STB_INPUT),
DEFINE_KEYCODE(AVR_POWER),
DEFINE_KEYCODE(AVR_INPUT),
DEFINE_KEYCODE(PROG_RED),
DEFINE_KEYCODE(PROG_GREEN),
DEFINE_KEYCODE(PROG_YELLOW),
DEFINE_KEYCODE(PROG_BLUE),
DEFINE_KEYCODE(APP_SWITCH),
DEFINE_KEYCODE(BUTTON_1),
DEFINE_KEYCODE(BUTTON_2),
DEFINE_KEYCODE(BUTTON_3),
DEFINE_KEYCODE(BUTTON_4),
DEFINE_KEYCODE(BUTTON_5),
DEFINE_KEYCODE(BUTTON_6),
DEFINE_KEYCODE(BUTTON_7),
DEFINE_KEYCODE(BUTTON_8),
DEFINE_KEYCODE(BUTTON_9),
DEFINE_KEYCODE(BUTTON_10),
DEFINE_KEYCODE(BUTTON_11),
DEFINE_KEYCODE(BUTTON_12),
DEFINE_KEYCODE(BUTTON_13),
DEFINE_KEYCODE(BUTTON_14),
DEFINE_KEYCODE(BUTTON_15),
DEFINE_KEYCODE(BUTTON_16),
DEFINE_KEYCODE(LANGUAGE_SWITCH),
DEFINE_KEYCODE(MANNER_MODE),
DEFINE_KEYCODE(3D_MODE),
DEFINE_KEYCODE(CONTACTS),
DEFINE_KEYCODE(CALENDAR),
DEFINE_KEYCODE(MUSIC),
DEFINE_KEYCODE(CALCULATOR),
DEFINE_KEYCODE(ZENKAKU_HANKAKU),
DEFINE_KEYCODE(EISU),
DEFINE_KEYCODE(MUHENKAN),
DEFINE_KEYCODE(HENKAN),
DEFINE_KEYCODE(KATAKANA_HIRAGANA),
DEFINE_KEYCODE(YEN),
DEFINE_KEYCODE(RO),
DEFINE_KEYCODE(KANA),
DEFINE_KEYCODE(ASSIST),
DEFINE_KEYCODE(BRIGHTNESS_DOWN),
DEFINE_KEYCODE(BRIGHTNESS_UP),
DEFINE_KEYCODE(MEDIA_AUDIO_TRACK),
DEFINE_KEYCODE(SLEEP),
DEFINE_KEYCODE(WAKEUP),
DEFINE_KEYCODE(PAIRING),
DEFINE_KEYCODE(MEDIA_TOP_MENU),
DEFINE_KEYCODE(11),
DEFINE_KEYCODE(12),
DEFINE_KEYCODE(LAST_CHANNEL),
DEFINE_KEYCODE(TV_DATA_SERVICE),
DEFINE_KEYCODE(VOICE_ASSIST),
DEFINE_KEYCODE(TV_RADIO_SERVICE),
DEFINE_KEYCODE(TV_TELETEXT),
DEFINE_KEYCODE(TV_NUMBER_ENTRY),
DEFINE_KEYCODE(TV_TERRESTRIAL_ANALOG),
DEFINE_KEYCODE(TV_TERRESTRIAL_DIGITAL),
DEFINE_KEYCODE(TV_SATELLITE),
DEFINE_KEYCODE(TV_SATELLITE_BS),
DEFINE_KEYCODE(TV_SATELLITE_CS),
DEFINE_KEYCODE(TV_SATELLITE_SERVICE),
DEFINE_KEYCODE(TV_NETWORK),
DEFINE_KEYCODE(TV_ANTENNA_CABLE),
DEFINE_KEYCODE(TV_INPUT_HDMI_1),
DEFINE_KEYCODE(TV_INPUT_HDMI_2),
DEFINE_KEYCODE(TV_INPUT_HDMI_3),
DEFINE_KEYCODE(TV_INPUT_HDMI_4),
DEFINE_KEYCODE(TV_INPUT_COMPOSITE_1),
DEFINE_KEYCODE(TV_INPUT_COMPOSITE_2),
DEFINE_KEYCODE(TV_INPUT_COMPONENT_1),
DEFINE_KEYCODE(TV_INPUT_COMPONENT_2),
DEFINE_KEYCODE(TV_INPUT_VGA_1),
DEFINE_KEYCODE(TV_AUDIO_DESCRIPTION),
DEFINE_KEYCODE(TV_AUDIO_DESCRIPTION_MIX_UP),
DEFINE_KEYCODE(TV_AUDIO_DESCRIPTION_MIX_DOWN),
DEFINE_KEYCODE(TV_ZOOM_MODE),
DEFINE_KEYCODE(TV_CONTENTS_MENU),
DEFINE_KEYCODE(TV_MEDIA_CONTEXT_MENU),
DEFINE_KEYCODE(TV_TIMER_PROGRAMMING),
DEFINE_KEYCODE(HELP),
DEFINE_KEYCODE(NAVIGATE_PREVIOUS),
DEFINE_KEYCODE(NAVIGATE_NEXT),
DEFINE_KEYCODE(NAVIGATE_IN),
DEFINE_KEYCODE(NAVIGATE_OUT),
DEFINE_KEYCODE(STEM_PRIMARY),
DEFINE_KEYCODE(STEM_1),
DEFINE_KEYCODE(STEM_2),
DEFINE_KEYCODE(STEM_3),
DEFINE_KEYCODE(MEDIA_SKIP_FORWARD),
DEFINE_KEYCODE(MEDIA_SKIP_BACKWARD),
DEFINE_KEYCODE(MEDIA_STEP_FORWARD),
DEFINE_KEYCODE(MEDIA_STEP_BACKWARD),
DEFINE_KEYCODE(SOFT_SLEEP),
{ NULL, 0 }
};
static const InputEventLabel AXES[] = {
DEFINE_AXIS(X),
DEFINE_AXIS(Y),
DEFINE_AXIS(PRESSURE),
DEFINE_AXIS(SIZE),
DEFINE_AXIS(TOUCH_MAJOR),
DEFINE_AXIS(TOUCH_MINOR),
DEFINE_AXIS(TOOL_MAJOR),
DEFINE_AXIS(TOOL_MINOR),
DEFINE_AXIS(ORIENTATION),
DEFINE_AXIS(VSCROLL),
DEFINE_AXIS(HSCROLL),
DEFINE_AXIS(Z),
DEFINE_AXIS(RX),
DEFINE_AXIS(RY),
DEFINE_AXIS(RZ),
DEFINE_AXIS(HAT_X),
DEFINE_AXIS(HAT_Y),
DEFINE_AXIS(LTRIGGER),
DEFINE_AXIS(RTRIGGER),
DEFINE_AXIS(THROTTLE),
DEFINE_AXIS(RUDDER),
DEFINE_AXIS(WHEEL),
DEFINE_AXIS(GAS),
DEFINE_AXIS(BRAKE),
DEFINE_AXIS(DISTANCE),
DEFINE_AXIS(TILT),
DEFINE_AXIS(GENERIC_1),
DEFINE_AXIS(GENERIC_2),
DEFINE_AXIS(GENERIC_3),
DEFINE_AXIS(GENERIC_4),
DEFINE_AXIS(GENERIC_5),
DEFINE_AXIS(GENERIC_6),
DEFINE_AXIS(GENERIC_7),
DEFINE_AXIS(GENERIC_8),
DEFINE_AXIS(GENERIC_9),
DEFINE_AXIS(GENERIC_10),
DEFINE_AXIS(GENERIC_11),
DEFINE_AXIS(GENERIC_12),
DEFINE_AXIS(GENERIC_13),
DEFINE_AXIS(GENERIC_14),
DEFINE_AXIS(GENERIC_15),
DEFINE_AXIS(GENERIC_16),
// NOTE: If you add a new axis here you must also add it to several other files.
// Refer to frameworks/base/core/java/android/view/MotionEvent.java for the full list.
{ NULL, 0 }
};
static const InputEventLabel LEDS[] = {
DEFINE_LED(NUM_LOCK),
DEFINE_LED(CAPS_LOCK),
DEFINE_LED(SCROLL_LOCK),
DEFINE_LED(COMPOSE),
DEFINE_LED(KANA),
DEFINE_LED(SLEEP),
DEFINE_LED(SUSPEND),
DEFINE_LED(MUTE),
DEFINE_LED(MISC),
DEFINE_LED(MAIL),
DEFINE_LED(CHARGING),
DEFINE_LED(CONTROLLER_1),
DEFINE_LED(CONTROLLER_2),
DEFINE_LED(CONTROLLER_3),
DEFINE_LED(CONTROLLER_4),
// NOTE: If you add new LEDs here, you must also add them to Input.h
{ NULL, 0 }
};
static const InputEventLabel FLAGS[] = {
DEFINE_FLAG(WAKE),
DEFINE_FLAG(VIRTUAL),
DEFINE_FLAG(FUNCTION),
DEFINE_FLAG(GESTURE),
{ NULL, 0 }
};
static int lookupValueByLabel(const char* literal, const InputEventLabel *list) {
while (list->literal) {
if (strcmp(literal, list->literal) == 0) {
return list->value;
}
list++;
}
return list->value;
}
static const char* lookupLabelByValue(int value, const InputEventLabel* list) {
while (list->literal) {
if (list->value == value) {
return list->literal;
}
list++;
}
return NULL;
}
static int32_t getKeyCodeByLabel(const char* label) {
return int32_t(lookupValueByLabel(label, KEYCODES));
}
static const char* getLabelByKeyCode(int32_t keyCode) {
if (keyCode >= 0 && keyCode < size(KEYCODES)) {
return KEYCODES[keyCode].literal;
}
return NULL;
}
static uint32_t getKeyFlagByLabel(const char* label) {
return uint32_t(lookupValueByLabel(label, FLAGS));
}
static int32_t getAxisByLabel(const char* label) {
return int32_t(lookupValueByLabel(label, AXES));
}
static const char* getAxisLabel(int32_t axisId) {
return lookupLabelByValue(axisId, AXES);
}
static int32_t getLedByLabel(const char* label) {
return int32_t(lookupValueByLabel(label, LEDS));
}
} // namespace android
#endif // _LIBINPUT_INPUT_EVENT_LABELS_H

Some files were not shown because too many files have changed in this diff Show More