Vehicle Researcher
parent
db61810f98
commit
ecc565aa3f
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@ -1,5 +1,6 @@
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.DS_Store
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.tags
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.ipynb_checkpoints
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*.pyc
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.*.swp
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@ -0,0 +1,6 @@
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.PHONY: all
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# TODO: Add a global build system to openpilot
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all:
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cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
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11
README.md
11
README.md
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@ -10,15 +10,9 @@ The openpilot codebase has been written to be concise and enable rapid prototypi
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Hardware
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------
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Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support [Open Source Car Control](https://github.com/PolySync/OSCC) as well.
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Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support other platforms as well.
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To install it on the NEO:
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```bash
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# Requires working adb in PATH
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cd installation
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./install.sh
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```
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Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
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Supported Cars
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------
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@ -36,7 +30,6 @@ Directory structure
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- cereal -- The messaging spec used for all logs on the phone
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- common -- Library like functionality we've developed here
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- dbcs -- Files showing how to interpret data from cars
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- installation -- Installation on the neo platform
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- phonelibs -- Libraries used on the phone
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- selfdrive -- Code needed to drive the car
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- assets -- Fonts for ui
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@ -1,3 +1,9 @@
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Version 0.2.4 (2017-01-27)
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===========================
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* OnePlus 3T support
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* Enable installation as NEOS app
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* Various minor bugfixes
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Version 0.2.3 (2017-01-11)
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===========================
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* Reduce space usage by 80%
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@ -1,4 +1,13 @@
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void can_init(CAN_TypeDef *CAN) {
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// enable CAN busses
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if (CAN == CAN1) {
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// CAN1_EN
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GPIOB->ODR |= (1 << 3);
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} else if (CAN == CAN2) {
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// CAN2_EN
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GPIOB->ODR |= (1 << 4);
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}
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CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
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while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
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puts("CAN initting\n");
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@ -0,0 +1,148 @@
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/**
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******************************************************************************
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* @file stm32f2xx_hal_def.h
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* @author MCD Application Team
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* @version V1.0.1
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* @date 25-March-2014
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* @brief This file contains HAL common defines, enumeration, macros and
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* structures definitions.
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******************************************************************************
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* @attention
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*
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* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __STM32F2xx_HAL_DEF
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#define __STM32F2xx_HAL_DEF
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f2xx.h"
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/* Exported types ------------------------------------------------------------*/
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/**
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* @brief HAL Status structures definition
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*/
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typedef enum
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{
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HAL_OK = 0x00,
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HAL_ERROR = 0x01,
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HAL_BUSY = 0x02,
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HAL_TIMEOUT = 0x03
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} HAL_StatusTypeDef;
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/**
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* @brief HAL Lock structures definition
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*/
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typedef enum
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{
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HAL_UNLOCKED = 0x00,
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HAL_LOCKED = 0x01
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} HAL_LockTypeDef;
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/* Exported macro ------------------------------------------------------------*/
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#ifndef NULL
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#define NULL (void *) 0
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#endif
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#define HAL_MAX_DELAY 0xFFFFFFFF
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#define HAL_IS_BIT_SET(REG, BIT) (((REG) & (BIT)) != RESET)
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#define HAL_IS_BIT_CLR(REG, BIT) (((REG) & (BIT)) == RESET)
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#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD_, __DMA_HANDLE_) \
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do{ \
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(__HANDLE__)->__PPP_DMA_FIELD_ = &(__DMA_HANDLE_); \
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(__DMA_HANDLE_).Parent = (__HANDLE__); \
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} while(0)
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#if (USE_RTOS == 1)
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/* Reserved for future use */
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#else
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#define __HAL_LOCK(__HANDLE__) \
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do{ \
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if((__HANDLE__)->Lock == HAL_LOCKED) \
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{ \
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return HAL_BUSY; \
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} \
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else \
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{ \
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(__HANDLE__)->Lock = HAL_LOCKED; \
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} \
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}while (0)
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#define __HAL_UNLOCK(__HANDLE__) \
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do{ \
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(__HANDLE__)->Lock = HAL_UNLOCKED; \
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}while (0)
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#endif /* USE_RTOS */
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#if defined ( __GNUC__ )
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#ifndef __weak
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#define __weak __attribute__((weak))
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#endif /* __weak */
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#ifndef __packed
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#define __packed __attribute__((__packed__))
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#endif /* __packed */
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#endif /* __GNUC__ */
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/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
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#if defined (__GNUC__) /* GNU Compiler */
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#ifndef __ALIGN_END
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#define __ALIGN_END __attribute__ ((aligned (4)))
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#endif /* __ALIGN_END */
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#ifndef __ALIGN_BEGIN
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#define __ALIGN_BEGIN
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#endif /* __ALIGN_BEGIN */
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#else
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#ifndef __ALIGN_END
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#define __ALIGN_END
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#endif /* __ALIGN_END */
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#ifndef __ALIGN_BEGIN
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#if defined (__CC_ARM) /* ARM Compiler */
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#define __ALIGN_BEGIN __align(4)
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#elif defined (__ICCARM__) /* IAR Compiler */
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#define __ALIGN_BEGIN
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#elif defined (__TASKING__) /* TASKING Compiler */
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#define __ALIGN_BEGIN __align(4)
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#endif /* __CC_ARM */
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#endif /* __ALIGN_BEGIN */
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#endif /* __GNUC__ */
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#ifdef __cplusplus
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}
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#endif
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#endif /* ___STM32F2xx_HAL_DEF */
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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/**
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******************************************************************************
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* @file stm32f2xx_hal_gpio_ex.h
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* @author MCD Application Team
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* @version V1.0.1
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* @date 25-March-2014
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* @brief Header file of GPIO HAL Extension module.
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******************************************************************************
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* @attention
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*
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* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __STM32F2xx_HAL_GPIO_EX_H
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#define __STM32F2xx_HAL_GPIO_EX_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f2xx_hal_def.h"
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/** @addtogroup STM32F2xx_HAL_Driver
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* @{
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*/
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/** @addtogroup GPIO
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* @{
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*/
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/* Exported types ------------------------------------------------------------*/
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/* Exported constants --------------------------------------------------------*/
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/** @defgroup GPIO_Exported_Constants
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* @{
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*/
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/** @defgroup GPIO_Alternat_function_selection
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* @{
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*/
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/**
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* @brief AF 0 selection
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*/
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#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */
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#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */
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#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */
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#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */
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#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */
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/**
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* @brief AF 1 selection
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*/
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#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */
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#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */
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/**
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* @brief AF 2 selection
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*/
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#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */
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#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */
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#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */
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/**
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* @brief AF 3 selection
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*/
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#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */
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#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */
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#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */
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#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */
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/**
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* @brief AF 4 selection
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*/
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#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */
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#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */
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#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */
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/**
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* @brief AF 5 selection
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*/
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#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1 Alternate Function mapping */
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#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */
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/**
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* @brief AF 6 selection
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*/
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#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */
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/**
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* @brief AF 7 selection
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*/
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#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */
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#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */
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#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */
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/**
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* @brief AF 8 selection
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*/
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#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */
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#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */
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#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */
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/**
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* @brief AF 9 selection
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*/
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#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */
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#define GPIO_AF9_CAN2 ((uint8_t)0x09) /* CAN2 Alternate Function mapping */
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#define GPIO_AF9_TIM12 ((uint8_t)0x09) /* TIM12 Alternate Function mapping */
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#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */
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#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */
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/**
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* @brief AF 10 selection
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*/
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#define GPIO_AF10_OTG_FS ((uint8_t)0xA) /* OTG_FS Alternate Function mapping */
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#define GPIO_AF10_OTG_HS ((uint8_t)0xA) /* OTG_HS Alternate Function mapping */
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/**
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* @brief AF 11 selection
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*/
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#if defined(STM32F207xx) || defined(STM32F217xx)
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#define GPIO_AF11_ETH ((uint8_t)0x0B) /* ETHERNET Alternate Function mapping */
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#endif /* STM32F207xx || STM32F217xx */
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/**
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* @brief AF 12 selection
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*/
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#define GPIO_AF12_FSMC ((uint8_t)0xC) /* FSMC Alternate Function mapping */
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#define GPIO_AF12_OTG_HS_FS ((uint8_t)0xC) /* OTG HS configured in FS, Alternate Function mapping */
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#define GPIO_AF12_SDIO ((uint8_t)0xC) /* SDIO Alternate Function mapping */
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/**
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* @brief AF 13 selection
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*/
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#if defined(STM32F207xx) || defined(STM32F217xx)
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#define GPIO_AF13_DCMI ((uint8_t)0x0D) /* DCMI Alternate Function mapping */
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#endif /* STM32F207xx || STM32F217xx */
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/**
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* @brief AF 15 selection
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*/
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#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */
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#if defined(STM32F207xx) || defined(STM32F217xx)
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#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \
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((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \
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((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \
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((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \
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((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \
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((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \
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((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \
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((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \
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((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \
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((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \
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((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \
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((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \
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((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \
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((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \
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((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \
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((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \
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((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \
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((AF) == GPIO_AF12_FSMC) || ((AF) == GPIO_AF15_EVENTOUT))
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#else /* STM32F207xx || STM32F217xx */
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#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \
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((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \
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((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \
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((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \
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((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \
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((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \
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((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \
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((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \
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((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \
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((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \
|
||||
((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \
|
||||
((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \
|
||||
((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \
|
||||
((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \
|
||||
((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \
|
||||
((AF) == GPIO_AF12_OTG_HS_FS) || ((AF) == GPIO_AF12_SDIO) || \
|
||||
((AF) == GPIO_AF12_FSMC) || ((AF) == GPIO_AF15_EVENTOUT))
|
||||
#endif /* STM32F207xx || STM32F217xx */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* Exported macro ------------------------------------------------------------*/
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __STM32F2xx_HAL_GPIO_EX_H */
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
41
board/libc.h
41
board/libc.h
|
|
@ -13,19 +13,7 @@
|
|||
#define __DIVFRAQ(_PCLK_, _BAUD_) (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
|
||||
#define __USART_BRR(_PCLK_, _BAUD_) ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
|
||||
|
||||
#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */
|
||||
#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */
|
||||
#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */
|
||||
#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */
|
||||
#define GPIO_AF10_OTG_FS ((uint8_t)0xA) /* OTG_FS Alternate Function mapping */
|
||||
#define GPIO_AF12_OTG_HS_FS ((uint8_t)0xC) /* OTG HS configured in FS */
|
||||
|
||||
#ifdef OLD_BOARD
|
||||
#define USART USART2
|
||||
#else
|
||||
#define USART USART3
|
||||
#endif
|
||||
|
||||
#include "stm32f2xx_hal_gpio_ex.h"
|
||||
|
||||
// **** shitty libc ****
|
||||
|
||||
|
|
@ -68,15 +56,20 @@ void clock_init() {
|
|||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
|
||||
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
|
||||
|
||||
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_DACEN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
|
||||
//RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
|
||||
//RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
|
||||
|
||||
// turn on alt USB
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
|
||||
|
|
@ -101,7 +94,7 @@ void gpio_init() {
|
|||
// IGNITION on C13
|
||||
|
||||
// set mode for LEDs and CAN
|
||||
GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0;
|
||||
GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0 | GPIO_MODER_MODER12_0;
|
||||
// CAN 2
|
||||
GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
|
||||
// CAN 1
|
||||
|
|
@ -125,6 +118,12 @@ void gpio_init() {
|
|||
|
||||
GPIOA->PUPDR = GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
|
||||
|
||||
// setup SPI
|
||||
GPIOA->MODER |= GPIO_MODER_MODER4_1 | GPIO_MODER_MODER5_1 |
|
||||
GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1;
|
||||
GPIOA->AFR[0] |= GPIO_AF5_SPI1 << (4*4) | GPIO_AF5_SPI1 << (5*4) |
|
||||
GPIO_AF5_SPI1 << (6*4) | GPIO_AF5_SPI1 << (7*4);
|
||||
|
||||
// set mode for CAN / USB_HS pins
|
||||
GPIOB->AFR[0] = GPIO_AF9_CAN1 << (5*4) | GPIO_AF9_CAN1 << (6*4);
|
||||
GPIOB->AFR[1] = GPIO_AF9_CAN1 << ((8-8)*4) | GPIO_AF9_CAN1 << ((9-8)*4);
|
||||
|
|
@ -136,9 +135,6 @@ void gpio_init() {
|
|||
|
||||
GPIOB->OSPEEDR = GPIO_OSPEEDER_OSPEEDR14 | GPIO_OSPEEDER_OSPEEDR15;
|
||||
|
||||
// enable CAN busses
|
||||
GPIOB->ODR |= (1 << 3) | (1 << 4);
|
||||
|
||||
// enable OTG out tied to ground
|
||||
GPIOA->ODR = 0;
|
||||
GPIOA->MODER |= GPIO_MODER_MODER1_0;
|
||||
|
|
@ -223,4 +219,13 @@ void *memcpy(void *dest, const void *src, unsigned int n) {
|
|||
return dest;
|
||||
}
|
||||
|
||||
void set_led(int led_num, int state) {
|
||||
if (state) {
|
||||
// turn on
|
||||
GPIOB->ODR &= ~(1 << (10 + led_num));
|
||||
} else {
|
||||
// turn off
|
||||
GPIOB->ODR |= (1 << (10 + led_num));
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
80
board/main.c
80
board/main.c
|
|
@ -3,6 +3,11 @@
|
|||
//#define USE_INTERNAL_OSC
|
||||
//#define OLD_BOARD
|
||||
//#define ENABLE_CURRENT_SENSOR
|
||||
//#define ENABLE_SPI
|
||||
|
||||
// choose serial port for debugging
|
||||
//#define USART USART2
|
||||
#define USART USART3
|
||||
|
||||
#define USB_VID 0xbbaa
|
||||
#define USB_PID 0xddcc
|
||||
|
|
@ -22,6 +27,7 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
|
|||
#include "timer.h"
|
||||
#include "usb.h"
|
||||
#include "can.h"
|
||||
#include "spi.h"
|
||||
|
||||
// debug safety check: is controls allowed?
|
||||
int controls_allowed = 0;
|
||||
|
|
@ -394,6 +400,48 @@ void ADC_IRQHandler(void) {
|
|||
puts("ADC_IRQ\n");
|
||||
}
|
||||
|
||||
#ifdef ENABLE_SPI
|
||||
|
||||
#define SPI_BUF_SIZE 128
|
||||
uint8_t spi_buf[SPI_BUF_SIZE];
|
||||
int spi_buf_count = 0;
|
||||
uint8_t spi_tx_buf[0x10];
|
||||
|
||||
void DMA2_Stream3_IRQHandler(void) {
|
||||
#ifdef DEBUG
|
||||
puts("DMA2\n");
|
||||
#endif
|
||||
DMA2->LIFCR = DMA_LIFCR_CTCIF3;
|
||||
|
||||
pop(&can_rx_q, spi_tx_buf);
|
||||
spi_tx_dma(spi_tx_buf, 0x10);
|
||||
}
|
||||
|
||||
void SPI1_IRQHandler(void) {
|
||||
// status is 0x43
|
||||
if (SPI1->SR & SPI_SR_RXNE) {
|
||||
uint8_t dat = SPI1->DR;
|
||||
/*spi_buf[spi_buf_count] = dat;
|
||||
if (spi_buf_count < SPI_BUF_SIZE-1) {
|
||||
spi_buf_count += 1;
|
||||
}*/
|
||||
}
|
||||
|
||||
if (SPI1->SR & SPI_SR_TXE) {
|
||||
// all i send is U U U no matter what
|
||||
//SPI1->DR = 'U';
|
||||
}
|
||||
|
||||
int stat = SPI1->SR;
|
||||
if (stat & ((~SPI_SR_RXNE) & (~SPI_SR_TXE) & (~SPI_SR_BSY))) {
|
||||
puts("SPI status: ");
|
||||
puth(stat);
|
||||
puts("\n");
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// ***************************** main code *****************************
|
||||
|
||||
void __initialize_hardware_early() {
|
||||
|
|
@ -428,11 +476,6 @@ int main() {
|
|||
// init devices
|
||||
clock_init();
|
||||
|
||||
// test the USB choice before GPIO init
|
||||
if (GPIOA->IDR & (1 << 12)) {
|
||||
USBx = USB_OTG_HS;
|
||||
}
|
||||
|
||||
gpio_init();
|
||||
uart_init();
|
||||
usb_init();
|
||||
|
|
@ -440,6 +483,14 @@ int main() {
|
|||
can_init(CAN2);
|
||||
adc_init();
|
||||
|
||||
#ifdef ENABLE_SPI
|
||||
spi_init();
|
||||
|
||||
// set up DMA
|
||||
memset(spi_tx_buf, 0, 0x10);
|
||||
spi_tx_dma(spi_tx_buf, 0x10);
|
||||
#endif
|
||||
|
||||
// timer for fan PWM
|
||||
#ifdef OLD_BOARD
|
||||
TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
|
||||
|
|
@ -475,13 +526,21 @@ int main() {
|
|||
NVIC_EnableIRQ(CAN2_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_SCE_IRQn);
|
||||
|
||||
#ifdef ENABLE_SPI
|
||||
NVIC_EnableIRQ(DMA2_Stream3_IRQn);
|
||||
NVIC_EnableIRQ(SPI1_IRQn);
|
||||
#endif
|
||||
__enable_irq();
|
||||
|
||||
|
||||
// LED should keep on blinking all the time
|
||||
while (1) {
|
||||
int cnt;
|
||||
for (cnt=0;;cnt++) {
|
||||
can_live = pending_can_live;
|
||||
pending_can_live = 0;
|
||||
|
||||
// reset this every 16th pass
|
||||
if ((cnt&0xF) == 0) pending_can_live = 0;
|
||||
|
||||
#ifdef DEBUG
|
||||
puts("** blink ");
|
||||
|
|
@ -504,6 +563,13 @@ int main() {
|
|||
GPIOB->ODR &= ~(1 << 10);
|
||||
delay(1000000);
|
||||
|
||||
#ifdef ENABLE_SPI
|
||||
if (spi_buf_count > 0) {
|
||||
hexdump(spi_buf, spi_buf_count);
|
||||
spi_buf_count = 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
// started logic
|
||||
int started_signal = (GPIOC->IDR & (1 << 13)) != 0;
|
||||
if (started_signal) { started_signal_detected = 1; }
|
||||
|
|
|
|||
|
|
@ -0,0 +1,23 @@
|
|||
void spi_init() {
|
||||
puts("SPI init\n");
|
||||
SPI1->CR1 = SPI_CR1_SPE;
|
||||
SPI1->CR2 = SPI_CR2_RXNEIE | SPI_CR2_ERRIE | SPI_CR2_TXEIE;
|
||||
}
|
||||
|
||||
void spi_tx_dma(void *addr, int len) {
|
||||
// disable DMA
|
||||
SPI1->CR2 &= ~SPI_CR2_TXDMAEN;
|
||||
DMA2_Stream3->CR &= ~DMA_SxCR_EN;
|
||||
|
||||
// DMA2, stream 3, channel 3
|
||||
DMA2_Stream3->M0AR = addr;
|
||||
DMA2_Stream3->NDTR = len;
|
||||
DMA2_Stream3->PAR = &(SPI1->DR);
|
||||
|
||||
// channel3, increment memory, memory -> periph, enable
|
||||
DMA2_Stream3->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN;
|
||||
DMA2_Stream3->CR |= DMA_SxCR_TCIE;
|
||||
|
||||
SPI1->CR2 |= SPI_CR2_TXDMAEN;
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,337 @@
|
|||
#include "car.capnp.h"
|
||||
/* AUTO GENERATED - DO NOT EDIT */
|
||||
|
||||
cereal_CarState_ptr cereal_new_CarState(struct capn_segment *s) {
|
||||
cereal_CarState_ptr p;
|
||||
p.p = capn_new_struct(s, 24, 5);
|
||||
return p;
|
||||
}
|
||||
cereal_CarState_list cereal_new_CarState_list(struct capn_segment *s, int len) {
|
||||
cereal_CarState_list p;
|
||||
p.p = capn_new_list(s, len, 24, 5);
|
||||
return p;
|
||||
}
|
||||
void cereal_read_CarState(struct cereal_CarState *s, cereal_CarState_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
s->errors.p = capn_getp(p.p, 0, 0);
|
||||
s->vEgo = capn_to_f32(capn_read32(p.p, 0));
|
||||
s->wheelSpeeds.p = capn_getp(p.p, 1, 0);
|
||||
s->gas = capn_to_f32(capn_read32(p.p, 4));
|
||||
s->gasPressed = (capn_read8(p.p, 8) & 1) != 0;
|
||||
s->brake = capn_to_f32(capn_read32(p.p, 12));
|
||||
s->brakePressed = (capn_read8(p.p, 8) & 2) != 0;
|
||||
s->steeringAngle = capn_to_f32(capn_read32(p.p, 16));
|
||||
s->steeringTorque = capn_to_f32(capn_read32(p.p, 20));
|
||||
s->steeringPressed = (capn_read8(p.p, 8) & 4) != 0;
|
||||
s->cruiseState.p = capn_getp(p.p, 2, 0);
|
||||
s->buttonEvents.p = capn_getp(p.p, 3, 0);
|
||||
s->canMonoTimes.p = capn_getp(p.p, 4, 0);
|
||||
}
|
||||
void cereal_write_CarState(const struct cereal_CarState *s, cereal_CarState_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
capn_setp(p.p, 0, s->errors.p);
|
||||
capn_write32(p.p, 0, capn_from_f32(s->vEgo));
|
||||
capn_setp(p.p, 1, s->wheelSpeeds.p);
|
||||
capn_write32(p.p, 4, capn_from_f32(s->gas));
|
||||
capn_write1(p.p, 64, s->gasPressed != 0);
|
||||
capn_write32(p.p, 12, capn_from_f32(s->brake));
|
||||
capn_write1(p.p, 65, s->brakePressed != 0);
|
||||
capn_write32(p.p, 16, capn_from_f32(s->steeringAngle));
|
||||
capn_write32(p.p, 20, capn_from_f32(s->steeringTorque));
|
||||
capn_write1(p.p, 66, s->steeringPressed != 0);
|
||||
capn_setp(p.p, 2, s->cruiseState.p);
|
||||
capn_setp(p.p, 3, s->buttonEvents.p);
|
||||
capn_setp(p.p, 4, s->canMonoTimes.p);
|
||||
}
|
||||
void cereal_get_CarState(struct cereal_CarState *s, cereal_CarState_list l, int i) {
|
||||
cereal_CarState_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_read_CarState(s, p);
|
||||
}
|
||||
void cereal_set_CarState(const struct cereal_CarState *s, cereal_CarState_list l, int i) {
|
||||
cereal_CarState_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_write_CarState(s, p);
|
||||
}
|
||||
|
||||
cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment *s) {
|
||||
cereal_CarState_WheelSpeeds_ptr p;
|
||||
p.p = capn_new_struct(s, 16, 0);
|
||||
return p;
|
||||
}
|
||||
cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment *s, int len) {
|
||||
cereal_CarState_WheelSpeeds_list p;
|
||||
p.p = capn_new_list(s, len, 16, 0);
|
||||
return p;
|
||||
}
|
||||
void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
s->fl = capn_to_f32(capn_read32(p.p, 0));
|
||||
s->fr = capn_to_f32(capn_read32(p.p, 4));
|
||||
s->rl = capn_to_f32(capn_read32(p.p, 8));
|
||||
s->rr = capn_to_f32(capn_read32(p.p, 12));
|
||||
}
|
||||
void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
capn_write32(p.p, 0, capn_from_f32(s->fl));
|
||||
capn_write32(p.p, 4, capn_from_f32(s->fr));
|
||||
capn_write32(p.p, 8, capn_from_f32(s->rl));
|
||||
capn_write32(p.p, 12, capn_from_f32(s->rr));
|
||||
}
|
||||
void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
|
||||
cereal_CarState_WheelSpeeds_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_read_CarState_WheelSpeeds(s, p);
|
||||
}
|
||||
void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
|
||||
cereal_CarState_WheelSpeeds_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_write_CarState_WheelSpeeds(s, p);
|
||||
}
|
||||
|
||||
cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment *s) {
|
||||
cereal_CarState_CruiseState_ptr p;
|
||||
p.p = capn_new_struct(s, 8, 0);
|
||||
return p;
|
||||
}
|
||||
cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment *s, int len) {
|
||||
cereal_CarState_CruiseState_list p;
|
||||
p.p = capn_new_list(s, len, 8, 0);
|
||||
return p;
|
||||
}
|
||||
void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
s->enabled = (capn_read8(p.p, 0) & 1) != 0;
|
||||
s->speed = capn_to_f32(capn_read32(p.p, 4));
|
||||
}
|
||||
void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
capn_write1(p.p, 0, s->enabled != 0);
|
||||
capn_write32(p.p, 4, capn_from_f32(s->speed));
|
||||
}
|
||||
void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
|
||||
cereal_CarState_CruiseState_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_read_CarState_CruiseState(s, p);
|
||||
}
|
||||
void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
|
||||
cereal_CarState_CruiseState_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_write_CarState_CruiseState(s, p);
|
||||
}
|
||||
|
||||
cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment *s) {
|
||||
cereal_CarState_ButtonEvent_ptr p;
|
||||
p.p = capn_new_struct(s, 8, 0);
|
||||
return p;
|
||||
}
|
||||
cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment *s, int len) {
|
||||
cereal_CarState_ButtonEvent_list p;
|
||||
p.p = capn_new_list(s, len, 8, 0);
|
||||
return p;
|
||||
}
|
||||
void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
s->pressed = (capn_read8(p.p, 0) & 1) != 0;
|
||||
s->type = (enum cereal_CarState_ButtonEvent_Type)(int) capn_read16(p.p, 2);
|
||||
}
|
||||
void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
capn_write1(p.p, 0, s->pressed != 0);
|
||||
capn_write16(p.p, 2, (uint16_t) (s->type));
|
||||
}
|
||||
void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
|
||||
cereal_CarState_ButtonEvent_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_read_CarState_ButtonEvent(s, p);
|
||||
}
|
||||
void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
|
||||
cereal_CarState_ButtonEvent_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_write_CarState_ButtonEvent(s, p);
|
||||
}
|
||||
|
||||
cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment *s) {
|
||||
cereal_RadarState_ptr p;
|
||||
p.p = capn_new_struct(s, 0, 3);
|
||||
return p;
|
||||
}
|
||||
cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment *s, int len) {
|
||||
cereal_RadarState_list p;
|
||||
p.p = capn_new_list(s, len, 0, 3);
|
||||
return p;
|
||||
}
|
||||
void cereal_read_RadarState(struct cereal_RadarState *s, cereal_RadarState_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
s->errors.p = capn_getp(p.p, 0, 0);
|
||||
s->points.p = capn_getp(p.p, 1, 0);
|
||||
s->canMonoTimes.p = capn_getp(p.p, 2, 0);
|
||||
}
|
||||
void cereal_write_RadarState(const struct cereal_RadarState *s, cereal_RadarState_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
capn_setp(p.p, 0, s->errors.p);
|
||||
capn_setp(p.p, 1, s->points.p);
|
||||
capn_setp(p.p, 2, s->canMonoTimes.p);
|
||||
}
|
||||
void cereal_get_RadarState(struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
|
||||
cereal_RadarState_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_read_RadarState(s, p);
|
||||
}
|
||||
void cereal_set_RadarState(const struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
|
||||
cereal_RadarState_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_write_RadarState(s, p);
|
||||
}
|
||||
|
||||
cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment *s) {
|
||||
cereal_RadarState_RadarPoint_ptr p;
|
||||
p.p = capn_new_struct(s, 32, 0);
|
||||
return p;
|
||||
}
|
||||
cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment *s, int len) {
|
||||
cereal_RadarState_RadarPoint_list p;
|
||||
p.p = capn_new_list(s, len, 32, 0);
|
||||
return p;
|
||||
}
|
||||
void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
s->trackId = capn_read64(p.p, 0);
|
||||
s->dRel = capn_to_f32(capn_read32(p.p, 8));
|
||||
s->yRel = capn_to_f32(capn_read32(p.p, 12));
|
||||
s->vRel = capn_to_f32(capn_read32(p.p, 16));
|
||||
s->aRel = capn_to_f32(capn_read32(p.p, 20));
|
||||
s->yvRel = capn_to_f32(capn_read32(p.p, 24));
|
||||
}
|
||||
void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
capn_write64(p.p, 0, s->trackId);
|
||||
capn_write32(p.p, 8, capn_from_f32(s->dRel));
|
||||
capn_write32(p.p, 12, capn_from_f32(s->yRel));
|
||||
capn_write32(p.p, 16, capn_from_f32(s->vRel));
|
||||
capn_write32(p.p, 20, capn_from_f32(s->aRel));
|
||||
capn_write32(p.p, 24, capn_from_f32(s->yvRel));
|
||||
}
|
||||
void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
|
||||
cereal_RadarState_RadarPoint_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_read_RadarState_RadarPoint(s, p);
|
||||
}
|
||||
void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
|
||||
cereal_RadarState_RadarPoint_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_write_RadarState_RadarPoint(s, p);
|
||||
}
|
||||
|
||||
cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment *s) {
|
||||
cereal_CarControl_ptr p;
|
||||
p.p = capn_new_struct(s, 16, 2);
|
||||
return p;
|
||||
}
|
||||
cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment *s, int len) {
|
||||
cereal_CarControl_list p;
|
||||
p.p = capn_new_list(s, len, 16, 2);
|
||||
return p;
|
||||
}
|
||||
void cereal_read_CarControl(struct cereal_CarControl *s, cereal_CarControl_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
s->enabled = (capn_read8(p.p, 0) & 1) != 0;
|
||||
s->gas = capn_to_f32(capn_read32(p.p, 4));
|
||||
s->brake = capn_to_f32(capn_read32(p.p, 8));
|
||||
s->steeringTorque = capn_to_f32(capn_read32(p.p, 12));
|
||||
s->cruiseControl.p = capn_getp(p.p, 0, 0);
|
||||
s->hudControl.p = capn_getp(p.p, 1, 0);
|
||||
}
|
||||
void cereal_write_CarControl(const struct cereal_CarControl *s, cereal_CarControl_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
capn_write1(p.p, 0, s->enabled != 0);
|
||||
capn_write32(p.p, 4, capn_from_f32(s->gas));
|
||||
capn_write32(p.p, 8, capn_from_f32(s->brake));
|
||||
capn_write32(p.p, 12, capn_from_f32(s->steeringTorque));
|
||||
capn_setp(p.p, 0, s->cruiseControl.p);
|
||||
capn_setp(p.p, 1, s->hudControl.p);
|
||||
}
|
||||
void cereal_get_CarControl(struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
|
||||
cereal_CarControl_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_read_CarControl(s, p);
|
||||
}
|
||||
void cereal_set_CarControl(const struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
|
||||
cereal_CarControl_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_write_CarControl(s, p);
|
||||
}
|
||||
|
||||
cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment *s) {
|
||||
cereal_CarControl_CruiseControl_ptr p;
|
||||
p.p = capn_new_struct(s, 16, 0);
|
||||
return p;
|
||||
}
|
||||
cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment *s, int len) {
|
||||
cereal_CarControl_CruiseControl_list p;
|
||||
p.p = capn_new_list(s, len, 16, 0);
|
||||
return p;
|
||||
}
|
||||
void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
s->cancel = (capn_read8(p.p, 0) & 1) != 0;
|
||||
s->override = (capn_read8(p.p, 0) & 2) != 0;
|
||||
s->speedOverride = capn_to_f32(capn_read32(p.p, 4));
|
||||
s->accelOverride = capn_to_f32(capn_read32(p.p, 8));
|
||||
}
|
||||
void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
capn_write1(p.p, 0, s->cancel != 0);
|
||||
capn_write1(p.p, 1, s->override != 0);
|
||||
capn_write32(p.p, 4, capn_from_f32(s->speedOverride));
|
||||
capn_write32(p.p, 8, capn_from_f32(s->accelOverride));
|
||||
}
|
||||
void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
|
||||
cereal_CarControl_CruiseControl_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_read_CarControl_CruiseControl(s, p);
|
||||
}
|
||||
void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
|
||||
cereal_CarControl_CruiseControl_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_write_CarControl_CruiseControl(s, p);
|
||||
}
|
||||
|
||||
cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment *s) {
|
||||
cereal_CarControl_HUDControl_ptr p;
|
||||
p.p = capn_new_struct(s, 16, 0);
|
||||
return p;
|
||||
}
|
||||
cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment *s, int len) {
|
||||
cereal_CarControl_HUDControl_list p;
|
||||
p.p = capn_new_list(s, len, 16, 0);
|
||||
return p;
|
||||
}
|
||||
void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
s->speedVisible = (capn_read8(p.p, 0) & 1) != 0;
|
||||
s->setSpeed = capn_to_f32(capn_read32(p.p, 4));
|
||||
s->lanesVisible = (capn_read8(p.p, 0) & 2) != 0;
|
||||
s->leadVisible = (capn_read8(p.p, 0) & 4) != 0;
|
||||
s->visualAlert = (enum cereal_CarControl_HUDControl_VisualAlert)(int) capn_read16(p.p, 2);
|
||||
s->audibleAlert = (enum cereal_CarControl_HUDControl_AudibleAlert)(int) capn_read16(p.p, 8);
|
||||
}
|
||||
void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
capn_write1(p.p, 0, s->speedVisible != 0);
|
||||
capn_write32(p.p, 4, capn_from_f32(s->setSpeed));
|
||||
capn_write1(p.p, 1, s->lanesVisible != 0);
|
||||
capn_write1(p.p, 2, s->leadVisible != 0);
|
||||
capn_write16(p.p, 2, (uint16_t) (s->visualAlert));
|
||||
capn_write16(p.p, 8, (uint16_t) (s->audibleAlert));
|
||||
}
|
||||
void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
|
||||
cereal_CarControl_HUDControl_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_read_CarControl_HUDControl(s, p);
|
||||
}
|
||||
void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
|
||||
cereal_CarControl_HUDControl_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_write_CarControl_HUDControl(s, p);
|
||||
}
|
||||
|
|
@ -0,0 +1,287 @@
|
|||
#ifndef CAPN_8E2AF1E78AF8B8D
|
||||
#define CAPN_8E2AF1E78AF8B8D
|
||||
/* AUTO GENERATED - DO NOT EDIT */
|
||||
#include <capnp_c.h>
|
||||
|
||||
#if CAPN_VERSION != 1
|
||||
#error "version mismatch between capnp_c.h and generated code"
|
||||
#endif
|
||||
|
||||
#include "c++.capnp.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
struct cereal_CarState;
|
||||
struct cereal_CarState_WheelSpeeds;
|
||||
struct cereal_CarState_CruiseState;
|
||||
struct cereal_CarState_ButtonEvent;
|
||||
struct cereal_RadarState;
|
||||
struct cereal_RadarState_RadarPoint;
|
||||
struct cereal_CarControl;
|
||||
struct cereal_CarControl_CruiseControl;
|
||||
struct cereal_CarControl_HUDControl;
|
||||
|
||||
typedef struct {capn_ptr p;} cereal_CarState_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_CarState_CruiseState_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_RadarState_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_CarControl_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_ptr;
|
||||
|
||||
typedef struct {capn_ptr p;} cereal_CarState_list;
|
||||
typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_list;
|
||||
typedef struct {capn_ptr p;} cereal_CarState_CruiseState_list;
|
||||
typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_list;
|
||||
typedef struct {capn_ptr p;} cereal_RadarState_list;
|
||||
typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_list;
|
||||
typedef struct {capn_ptr p;} cereal_CarControl_list;
|
||||
typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_list;
|
||||
typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_list;
|
||||
|
||||
enum cereal_CarState_Error {
|
||||
cereal_CarState_Error_commIssue = 0,
|
||||
cereal_CarState_Error_steerUnavailable = 1,
|
||||
cereal_CarState_Error_brakeUnavailable = 2,
|
||||
cereal_CarState_Error_gasUnavailable = 3,
|
||||
cereal_CarState_Error_wrongGear = 4,
|
||||
cereal_CarState_Error_doorOpen = 5,
|
||||
cereal_CarState_Error_seatbeltNotLatched = 6,
|
||||
cereal_CarState_Error_espDisabled = 7,
|
||||
cereal_CarState_Error_wrongCarMode = 8,
|
||||
cereal_CarState_Error_steerTemporarilyUnavailable = 9,
|
||||
cereal_CarState_Error_reverseGear = 10
|
||||
};
|
||||
|
||||
enum cereal_CarState_ButtonEvent_Type {
|
||||
cereal_CarState_ButtonEvent_Type_unknown = 0,
|
||||
cereal_CarState_ButtonEvent_Type_leftBlinker = 1,
|
||||
cereal_CarState_ButtonEvent_Type_rightBlinker = 2,
|
||||
cereal_CarState_ButtonEvent_Type_accelCruise = 3,
|
||||
cereal_CarState_ButtonEvent_Type_decelCruise = 4,
|
||||
cereal_CarState_ButtonEvent_Type_cancel = 5,
|
||||
cereal_CarState_ButtonEvent_Type_altButton1 = 6,
|
||||
cereal_CarState_ButtonEvent_Type_altButton2 = 7,
|
||||
cereal_CarState_ButtonEvent_Type_altButton3 = 8
|
||||
};
|
||||
|
||||
enum cereal_RadarState_Error {
|
||||
cereal_RadarState_Error_notValid = 0
|
||||
};
|
||||
|
||||
enum cereal_CarControl_HUDControl_VisualAlert {
|
||||
cereal_CarControl_HUDControl_VisualAlert_none = 0,
|
||||
cereal_CarControl_HUDControl_VisualAlert_fcw = 1,
|
||||
cereal_CarControl_HUDControl_VisualAlert_steerRequired = 2,
|
||||
cereal_CarControl_HUDControl_VisualAlert_brakePressed = 3,
|
||||
cereal_CarControl_HUDControl_VisualAlert_wrongGear = 4,
|
||||
cereal_CarControl_HUDControl_VisualAlert_seatbeltUnbuckled = 5,
|
||||
cereal_CarControl_HUDControl_VisualAlert_speedTooHigh = 6
|
||||
};
|
||||
|
||||
enum cereal_CarControl_HUDControl_AudibleAlert {
|
||||
cereal_CarControl_HUDControl_AudibleAlert_none = 0,
|
||||
cereal_CarControl_HUDControl_AudibleAlert_beepSingle = 1,
|
||||
cereal_CarControl_HUDControl_AudibleAlert_beepTriple = 2,
|
||||
cereal_CarControl_HUDControl_AudibleAlert_beepRepeated = 3,
|
||||
cereal_CarControl_HUDControl_AudibleAlert_chimeSingle = 4,
|
||||
cereal_CarControl_HUDControl_AudibleAlert_chimeDouble = 5,
|
||||
cereal_CarControl_HUDControl_AudibleAlert_chimeRepeated = 6,
|
||||
cereal_CarControl_HUDControl_AudibleAlert_chimeContinuous = 7
|
||||
};
|
||||
|
||||
struct cereal_CarState {
|
||||
capn_list16 errors;
|
||||
float vEgo;
|
||||
cereal_CarState_WheelSpeeds_ptr wheelSpeeds;
|
||||
float gas;
|
||||
unsigned gasPressed : 1;
|
||||
float brake;
|
||||
unsigned brakePressed : 1;
|
||||
float steeringAngle;
|
||||
float steeringTorque;
|
||||
unsigned steeringPressed : 1;
|
||||
cereal_CarState_CruiseState_ptr cruiseState;
|
||||
cereal_CarState_ButtonEvent_list buttonEvents;
|
||||
capn_list64 canMonoTimes;
|
||||
};
|
||||
|
||||
static const size_t cereal_CarState_word_count = 3;
|
||||
|
||||
static const size_t cereal_CarState_pointer_count = 5;
|
||||
|
||||
static const size_t cereal_CarState_struct_bytes_count = 64;
|
||||
|
||||
struct cereal_CarState_WheelSpeeds {
|
||||
float fl;
|
||||
float fr;
|
||||
float rl;
|
||||
float rr;
|
||||
};
|
||||
|
||||
static const size_t cereal_CarState_WheelSpeeds_word_count = 2;
|
||||
|
||||
static const size_t cereal_CarState_WheelSpeeds_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_CarState_WheelSpeeds_struct_bytes_count = 16;
|
||||
|
||||
struct cereal_CarState_CruiseState {
|
||||
unsigned enabled : 1;
|
||||
float speed;
|
||||
};
|
||||
|
||||
static const size_t cereal_CarState_CruiseState_word_count = 1;
|
||||
|
||||
static const size_t cereal_CarState_CruiseState_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_CarState_CruiseState_struct_bytes_count = 8;
|
||||
|
||||
struct cereal_CarState_ButtonEvent {
|
||||
unsigned pressed : 1;
|
||||
enum cereal_CarState_ButtonEvent_Type type;
|
||||
};
|
||||
|
||||
static const size_t cereal_CarState_ButtonEvent_word_count = 1;
|
||||
|
||||
static const size_t cereal_CarState_ButtonEvent_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_CarState_ButtonEvent_struct_bytes_count = 8;
|
||||
|
||||
struct cereal_RadarState {
|
||||
capn_list16 errors;
|
||||
cereal_RadarState_RadarPoint_list points;
|
||||
capn_list64 canMonoTimes;
|
||||
};
|
||||
|
||||
static const size_t cereal_RadarState_word_count = 0;
|
||||
|
||||
static const size_t cereal_RadarState_pointer_count = 3;
|
||||
|
||||
static const size_t cereal_RadarState_struct_bytes_count = 24;
|
||||
|
||||
struct cereal_RadarState_RadarPoint {
|
||||
uint64_t trackId;
|
||||
float dRel;
|
||||
float yRel;
|
||||
float vRel;
|
||||
float aRel;
|
||||
float yvRel;
|
||||
};
|
||||
|
||||
static const size_t cereal_RadarState_RadarPoint_word_count = 4;
|
||||
|
||||
static const size_t cereal_RadarState_RadarPoint_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_RadarState_RadarPoint_struct_bytes_count = 32;
|
||||
|
||||
struct cereal_CarControl {
|
||||
unsigned enabled : 1;
|
||||
float gas;
|
||||
float brake;
|
||||
float steeringTorque;
|
||||
cereal_CarControl_CruiseControl_ptr cruiseControl;
|
||||
cereal_CarControl_HUDControl_ptr hudControl;
|
||||
};
|
||||
|
||||
static const size_t cereal_CarControl_word_count = 2;
|
||||
|
||||
static const size_t cereal_CarControl_pointer_count = 2;
|
||||
|
||||
static const size_t cereal_CarControl_struct_bytes_count = 32;
|
||||
|
||||
struct cereal_CarControl_CruiseControl {
|
||||
unsigned cancel : 1;
|
||||
unsigned override : 1;
|
||||
float speedOverride;
|
||||
float accelOverride;
|
||||
};
|
||||
|
||||
static const size_t cereal_CarControl_CruiseControl_word_count = 2;
|
||||
|
||||
static const size_t cereal_CarControl_CruiseControl_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_CarControl_CruiseControl_struct_bytes_count = 16;
|
||||
|
||||
struct cereal_CarControl_HUDControl {
|
||||
unsigned speedVisible : 1;
|
||||
float setSpeed;
|
||||
unsigned lanesVisible : 1;
|
||||
unsigned leadVisible : 1;
|
||||
enum cereal_CarControl_HUDControl_VisualAlert visualAlert;
|
||||
enum cereal_CarControl_HUDControl_AudibleAlert audibleAlert;
|
||||
};
|
||||
|
||||
static const size_t cereal_CarControl_HUDControl_word_count = 2;
|
||||
|
||||
static const size_t cereal_CarControl_HUDControl_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_CarControl_HUDControl_struct_bytes_count = 16;
|
||||
|
||||
cereal_CarState_ptr cereal_new_CarState(struct capn_segment*);
|
||||
cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment*);
|
||||
cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment*);
|
||||
cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment*);
|
||||
cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment*);
|
||||
cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment*);
|
||||
cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment*);
|
||||
cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment*);
|
||||
cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment*);
|
||||
|
||||
cereal_CarState_list cereal_new_CarState_list(struct capn_segment*, int len);
|
||||
cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment*, int len);
|
||||
cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment*, int len);
|
||||
cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment*, int len);
|
||||
cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment*, int len);
|
||||
cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment*, int len);
|
||||
cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment*, int len);
|
||||
cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment*, int len);
|
||||
cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment*, int len);
|
||||
|
||||
void cereal_read_CarState(struct cereal_CarState*, cereal_CarState_ptr);
|
||||
void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
|
||||
void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
|
||||
void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
|
||||
void cereal_read_RadarState(struct cereal_RadarState*, cereal_RadarState_ptr);
|
||||
void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
|
||||
void cereal_read_CarControl(struct cereal_CarControl*, cereal_CarControl_ptr);
|
||||
void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
|
||||
void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
|
||||
|
||||
void cereal_write_CarState(const struct cereal_CarState*, cereal_CarState_ptr);
|
||||
void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
|
||||
void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
|
||||
void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
|
||||
void cereal_write_RadarState(const struct cereal_RadarState*, cereal_RadarState_ptr);
|
||||
void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
|
||||
void cereal_write_CarControl(const struct cereal_CarControl*, cereal_CarControl_ptr);
|
||||
void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
|
||||
void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
|
||||
|
||||
void cereal_get_CarState(struct cereal_CarState*, cereal_CarState_list, int i);
|
||||
void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
|
||||
void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
|
||||
void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
|
||||
void cereal_get_RadarState(struct cereal_RadarState*, cereal_RadarState_list, int i);
|
||||
void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
|
||||
void cereal_get_CarControl(struct cereal_CarControl*, cereal_CarControl_list, int i);
|
||||
void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
|
||||
void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
|
||||
|
||||
void cereal_set_CarState(const struct cereal_CarState*, cereal_CarState_list, int i);
|
||||
void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
|
||||
void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
|
||||
void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
|
||||
void cereal_set_RadarState(const struct cereal_RadarState*, cereal_RadarState_list, int i);
|
||||
void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
|
||||
void cereal_set_CarControl(const struct cereal_CarControl*, cereal_CarControl_list, int i);
|
||||
void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
|
||||
void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
|
@ -137,6 +137,7 @@ void cereal_read_SensorEventData(struct cereal_SensorEventData *s, cereal_Sensor
|
|||
default:
|
||||
break;
|
||||
}
|
||||
s->source = (enum cereal_SensorEventData_SensorSource)(int) capn_read16(p.p, 14);
|
||||
}
|
||||
void cereal_write_SensorEventData(const struct cereal_SensorEventData *s, cereal_SensorEventData_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
|
|
@ -155,6 +156,7 @@ void cereal_write_SensorEventData(const struct cereal_SensorEventData *s, cereal
|
|||
default:
|
||||
break;
|
||||
}
|
||||
capn_write16(p.p, 14, (uint16_t) (s->source));
|
||||
}
|
||||
void cereal_get_SensorEventData(struct cereal_SensorEventData *s, cereal_SensorEventData_list l, int i) {
|
||||
cereal_SensorEventData_ptr p;
|
||||
|
|
@ -198,6 +200,49 @@ void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_Se
|
|||
cereal_write_SensorEventData_SensorVec(s, p);
|
||||
}
|
||||
|
||||
cereal_GpsLocationData_ptr cereal_new_GpsLocationData(struct capn_segment *s) {
|
||||
cereal_GpsLocationData_ptr p;
|
||||
p.p = capn_new_struct(s, 48, 0);
|
||||
return p;
|
||||
}
|
||||
cereal_GpsLocationData_list cereal_new_GpsLocationData_list(struct capn_segment *s, int len) {
|
||||
cereal_GpsLocationData_list p;
|
||||
p.p = capn_new_list(s, len, 48, 0);
|
||||
return p;
|
||||
}
|
||||
void cereal_read_GpsLocationData(struct cereal_GpsLocationData *s, cereal_GpsLocationData_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
s->flags = capn_read16(p.p, 0);
|
||||
s->latitude = capn_to_f64(capn_read64(p.p, 8));
|
||||
s->longitude = capn_to_f64(capn_read64(p.p, 16));
|
||||
s->altitude = capn_to_f64(capn_read64(p.p, 24));
|
||||
s->speed = capn_to_f32(capn_read32(p.p, 4));
|
||||
s->bearing = capn_to_f32(capn_read32(p.p, 32));
|
||||
s->accuracy = capn_to_f32(capn_read32(p.p, 36));
|
||||
s->timestamp = (int64_t) ((int64_t)(capn_read64(p.p, 40)));
|
||||
}
|
||||
void cereal_write_GpsLocationData(const struct cereal_GpsLocationData *s, cereal_GpsLocationData_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
capn_write16(p.p, 0, s->flags);
|
||||
capn_write64(p.p, 8, capn_from_f64(s->latitude));
|
||||
capn_write64(p.p, 16, capn_from_f64(s->longitude));
|
||||
capn_write64(p.p, 24, capn_from_f64(s->altitude));
|
||||
capn_write32(p.p, 4, capn_from_f32(s->speed));
|
||||
capn_write32(p.p, 32, capn_from_f32(s->bearing));
|
||||
capn_write32(p.p, 36, capn_from_f32(s->accuracy));
|
||||
capn_write64(p.p, 40, (uint64_t) (s->timestamp));
|
||||
}
|
||||
void cereal_get_GpsLocationData(struct cereal_GpsLocationData *s, cereal_GpsLocationData_list l, int i) {
|
||||
cereal_GpsLocationData_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_read_GpsLocationData(s, p);
|
||||
}
|
||||
void cereal_set_GpsLocationData(const struct cereal_GpsLocationData *s, cereal_GpsLocationData_list l, int i) {
|
||||
cereal_GpsLocationData_ptr p;
|
||||
p.p = capn_getp(l.p, i, 0);
|
||||
cereal_write_GpsLocationData(s, p);
|
||||
}
|
||||
|
||||
cereal_CanData_ptr cereal_new_CanData(struct capn_segment *s) {
|
||||
cereal_CanData_ptr p;
|
||||
p.p = capn_new_struct(s, 8, 1);
|
||||
|
|
@ -253,6 +298,7 @@ void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_pt
|
|||
s->gpu = capn_read16(p.p, 10);
|
||||
s->bat = capn_read32(p.p, 12);
|
||||
s->freeSpace = capn_to_f32(capn_read32(p.p, 16));
|
||||
s->batteryPercent = (int16_t) ((int16_t)capn_read16(p.p, 20));
|
||||
}
|
||||
void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
|
||||
capn_resolve(&p.p);
|
||||
|
|
@ -264,6 +310,7 @@ void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_Thermal
|
|||
capn_write16(p.p, 10, s->gpu);
|
||||
capn_write32(p.p, 12, s->bat);
|
||||
capn_write32(p.p, 16, capn_from_f32(s->freeSpace));
|
||||
capn_write16(p.p, 20, (uint16_t) (s->batteryPercent));
|
||||
}
|
||||
void cereal_get_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_list l, int i) {
|
||||
cereal_ThermalData_ptr p;
|
||||
|
|
@ -969,7 +1016,9 @@ void cereal_read_Event(struct cereal_Event *s, cereal_Event_ptr p) {
|
|||
case cereal_Event_sendcan:
|
||||
case cereal_Event_liveCalibration:
|
||||
case cereal_Event_androidLogEntry:
|
||||
s->androidLogEntry.p = capn_getp(p.p, 0, 0);
|
||||
case cereal_Event_gpsLocation:
|
||||
case cereal_Event_carState:
|
||||
s->carState.p = capn_getp(p.p, 0, 0);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
|
|
@ -1002,7 +1051,9 @@ void cereal_write_Event(const struct cereal_Event *s, cereal_Event_ptr p) {
|
|||
case cereal_Event_sendcan:
|
||||
case cereal_Event_liveCalibration:
|
||||
case cereal_Event_androidLogEntry:
|
||||
capn_setp(p.p, 0, s->androidLogEntry.p);
|
||||
case cereal_Event_gpsLocation:
|
||||
case cereal_Event_carState:
|
||||
capn_setp(p.p, 0, s->carState.p);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -8,6 +8,7 @@
|
|||
#endif
|
||||
|
||||
#include "c++.capnp.h"
|
||||
#include "car.capnp.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
|
@ -18,6 +19,7 @@ struct cereal_FrameData;
|
|||
struct cereal_GPSNMEAData;
|
||||
struct cereal_SensorEventData;
|
||||
struct cereal_SensorEventData_SensorVec;
|
||||
struct cereal_GpsLocationData;
|
||||
struct cereal_CanData;
|
||||
struct cereal_ThermalData;
|
||||
struct cereal_HealthData;
|
||||
|
|
@ -43,6 +45,7 @@ typedef struct {capn_ptr p;} cereal_FrameData_ptr;
|
|||
typedef struct {capn_ptr p;} cereal_GPSNMEAData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_SensorEventData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_GpsLocationData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_CanData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_ThermalData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_HealthData_ptr;
|
||||
|
|
@ -68,6 +71,7 @@ typedef struct {capn_ptr p;} cereal_FrameData_list;
|
|||
typedef struct {capn_ptr p;} cereal_GPSNMEAData_list;
|
||||
typedef struct {capn_ptr p;} cereal_SensorEventData_list;
|
||||
typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_list;
|
||||
typedef struct {capn_ptr p;} cereal_GpsLocationData_list;
|
||||
typedef struct {capn_ptr p;} cereal_CanData_list;
|
||||
typedef struct {capn_ptr p;} cereal_ThermalData_list;
|
||||
typedef struct {capn_ptr p;} cereal_HealthData_list;
|
||||
|
|
@ -88,6 +92,13 @@ typedef struct {capn_ptr p;} cereal_AndroidLogEntry_list;
|
|||
typedef struct {capn_ptr p;} cereal_LogRotate_list;
|
||||
typedef struct {capn_ptr p;} cereal_Event_list;
|
||||
|
||||
enum cereal_SensorEventData_SensorSource {
|
||||
cereal_SensorEventData_SensorSource_android = 0,
|
||||
cereal_SensorEventData_SensorSource_iOS = 1,
|
||||
cereal_SensorEventData_SensorSource_fiber = 2,
|
||||
cereal_SensorEventData_SensorSource_velodyne = 3
|
||||
};
|
||||
|
||||
enum cereal_EncodeIndex_Type {
|
||||
cereal_EncodeIndex_Type_bigBoxLossless = 0,
|
||||
cereal_EncodeIndex_Type_fullHEVC = 1,
|
||||
|
|
@ -153,6 +164,7 @@ struct cereal_SensorEventData {
|
|||
cereal_SensorEventData_SensorVec_ptr orientation;
|
||||
cereal_SensorEventData_SensorVec_ptr gyro;
|
||||
};
|
||||
enum cereal_SensorEventData_SensorSource source;
|
||||
};
|
||||
|
||||
static const size_t cereal_SensorEventData_word_count = 3;
|
||||
|
|
@ -172,6 +184,23 @@ static const size_t cereal_SensorEventData_SensorVec_pointer_count = 1;
|
|||
|
||||
static const size_t cereal_SensorEventData_SensorVec_struct_bytes_count = 16;
|
||||
|
||||
struct cereal_GpsLocationData {
|
||||
uint16_t flags;
|
||||
double latitude;
|
||||
double longitude;
|
||||
double altitude;
|
||||
float speed;
|
||||
float bearing;
|
||||
float accuracy;
|
||||
int64_t timestamp;
|
||||
};
|
||||
|
||||
static const size_t cereal_GpsLocationData_word_count = 6;
|
||||
|
||||
static const size_t cereal_GpsLocationData_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_GpsLocationData_struct_bytes_count = 48;
|
||||
|
||||
struct cereal_CanData {
|
||||
uint32_t address;
|
||||
uint16_t busTime;
|
||||
|
|
@ -194,6 +223,7 @@ struct cereal_ThermalData {
|
|||
uint16_t gpu;
|
||||
uint32_t bat;
|
||||
float freeSpace;
|
||||
int16_t batteryPercent;
|
||||
};
|
||||
|
||||
static const size_t cereal_ThermalData_word_count = 3;
|
||||
|
|
@ -477,7 +507,9 @@ enum cereal_Event_which {
|
|||
cereal_Event_sendcan = 16,
|
||||
cereal_Event_logMessage = 17,
|
||||
cereal_Event_liveCalibration = 18,
|
||||
cereal_Event_androidLogEntry = 19
|
||||
cereal_Event_androidLogEntry = 19,
|
||||
cereal_Event_gpsLocation = 20,
|
||||
cereal_Event_carState = 21
|
||||
};
|
||||
|
||||
struct cereal_Event {
|
||||
|
|
@ -504,6 +536,8 @@ struct cereal_Event {
|
|||
capn_text logMessage;
|
||||
cereal_LiveCalibrationData_ptr liveCalibration;
|
||||
cereal_AndroidLogEntry_ptr androidLogEntry;
|
||||
cereal_GpsLocationData_ptr gpsLocation;
|
||||
cereal_CarState_ptr carState;
|
||||
};
|
||||
};
|
||||
|
||||
|
|
@ -518,6 +552,7 @@ cereal_FrameData_ptr cereal_new_FrameData(struct capn_segment*);
|
|||
cereal_GPSNMEAData_ptr cereal_new_GPSNMEAData(struct capn_segment*);
|
||||
cereal_SensorEventData_ptr cereal_new_SensorEventData(struct capn_segment*);
|
||||
cereal_SensorEventData_SensorVec_ptr cereal_new_SensorEventData_SensorVec(struct capn_segment*);
|
||||
cereal_GpsLocationData_ptr cereal_new_GpsLocationData(struct capn_segment*);
|
||||
cereal_CanData_ptr cereal_new_CanData(struct capn_segment*);
|
||||
cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment*);
|
||||
cereal_HealthData_ptr cereal_new_HealthData(struct capn_segment*);
|
||||
|
|
@ -543,6 +578,7 @@ cereal_FrameData_list cereal_new_FrameData_list(struct capn_segment*, int len);
|
|||
cereal_GPSNMEAData_list cereal_new_GPSNMEAData_list(struct capn_segment*, int len);
|
||||
cereal_SensorEventData_list cereal_new_SensorEventData_list(struct capn_segment*, int len);
|
||||
cereal_SensorEventData_SensorVec_list cereal_new_SensorEventData_SensorVec_list(struct capn_segment*, int len);
|
||||
cereal_GpsLocationData_list cereal_new_GpsLocationData_list(struct capn_segment*, int len);
|
||||
cereal_CanData_list cereal_new_CanData_list(struct capn_segment*, int len);
|
||||
cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment*, int len);
|
||||
cereal_HealthData_list cereal_new_HealthData_list(struct capn_segment*, int len);
|
||||
|
|
@ -568,6 +604,7 @@ void cereal_read_FrameData(struct cereal_FrameData*, cereal_FrameData_ptr);
|
|||
void cereal_read_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
|
||||
void cereal_read_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
|
||||
void cereal_read_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
|
||||
void cereal_read_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_ptr);
|
||||
void cereal_read_CanData(struct cereal_CanData*, cereal_CanData_ptr);
|
||||
void cereal_read_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_ptr);
|
||||
void cereal_read_HealthData(struct cereal_HealthData*, cereal_HealthData_ptr);
|
||||
|
|
@ -593,6 +630,7 @@ void cereal_write_FrameData(const struct cereal_FrameData*, cereal_FrameData_ptr
|
|||
void cereal_write_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
|
||||
void cereal_write_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
|
||||
void cereal_write_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
|
||||
void cereal_write_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_ptr);
|
||||
void cereal_write_CanData(const struct cereal_CanData*, cereal_CanData_ptr);
|
||||
void cereal_write_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_ptr);
|
||||
void cereal_write_HealthData(const struct cereal_HealthData*, cereal_HealthData_ptr);
|
||||
|
|
@ -618,6 +656,7 @@ void cereal_get_FrameData(struct cereal_FrameData*, cereal_FrameData_list, int i
|
|||
void cereal_get_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
|
||||
void cereal_get_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
|
||||
void cereal_get_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
|
||||
void cereal_get_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_list, int i);
|
||||
void cereal_get_CanData(struct cereal_CanData*, cereal_CanData_list, int i);
|
||||
void cereal_get_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_list, int i);
|
||||
void cereal_get_HealthData(struct cereal_HealthData*, cereal_HealthData_list, int i);
|
||||
|
|
@ -643,6 +682,7 @@ void cereal_set_FrameData(const struct cereal_FrameData*, cereal_FrameData_list,
|
|||
void cereal_set_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
|
||||
void cereal_set_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
|
||||
void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
|
||||
void cereal_set_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_list, int i);
|
||||
void cereal_set_CanData(const struct cereal_CanData*, cereal_CanData_list, int i);
|
||||
void cereal_set_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_list, int i);
|
||||
void cereal_set_HealthData(const struct cereal_HealthData*, cereal_HealthData_list, int i);
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
|
|
@ -329,7 +329,7 @@ const ::capnp::_::RawSchema s_9d291d7813ba4a88 = {
|
|||
0, 3, i_9d291d7813ba4a88, nullptr, nullptr, { &s_9d291d7813ba4a88, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
|
||||
static const ::capnp::_::AlignedData<165> b_a2b29a69d44529a1 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
161, 41, 69, 212, 105, 154, 178, 162,
|
||||
10, 0, 0, 0, 1, 0, 3, 0,
|
||||
|
|
@ -337,77 +337,88 @@ static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
|
|||
1, 0, 7, 0, 0, 0, 4, 0,
|
||||
6, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 210, 0, 0, 0,
|
||||
33, 0, 0, 0, 23, 0, 0, 0,
|
||||
33, 0, 0, 0, 39, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 0, 0, 0, 199, 1, 0, 0,
|
||||
61, 0, 0, 0, 255, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
112, 58, 83, 101, 110, 115, 111, 114,
|
||||
69, 118, 101, 110, 116, 68, 97, 116,
|
||||
97, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 0, 0, 0, 1, 0, 1, 0,
|
||||
8, 0, 0, 0, 1, 0, 1, 0,
|
||||
252, 36, 252, 43, 189, 41, 52, 164,
|
||||
1, 0, 0, 0, 82, 0, 0, 0,
|
||||
9, 0, 0, 0, 82, 0, 0, 0,
|
||||
13, 141, 244, 247, 232, 60, 155, 228,
|
||||
9, 0, 0, 0, 106, 0, 0, 0,
|
||||
83, 101, 110, 115, 111, 114, 86, 101,
|
||||
99, 0, 0, 0, 0, 0, 0, 0,
|
||||
32, 0, 0, 0, 3, 0, 4, 0,
|
||||
83, 101, 110, 115, 111, 114, 83, 111,
|
||||
117, 114, 99, 101, 0, 0, 0, 0,
|
||||
36, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 0, 0, 0, 66, 0, 0, 0,
|
||||
237, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 0, 0, 0, 3, 0, 1, 0,
|
||||
216, 0, 0, 0, 2, 0, 1, 0,
|
||||
232, 0, 0, 0, 3, 0, 1, 0,
|
||||
244, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
208, 0, 0, 0, 3, 0, 1, 0,
|
||||
220, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
217, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
212, 0, 0, 0, 3, 0, 1, 0,
|
||||
224, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
221, 0, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
220, 0, 0, 0, 3, 0, 1, 0,
|
||||
232, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 255, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
229, 0, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
228, 0, 0, 0, 3, 0, 1, 0,
|
||||
240, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 254, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
237, 0, 0, 0, 74, 0, 0, 0,
|
||||
241, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
236, 0, 0, 0, 3, 0, 1, 0,
|
||||
248, 0, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 253, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
245, 0, 0, 0, 98, 0, 0, 0,
|
||||
245, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 252, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
240, 0, 0, 0, 3, 0, 1, 0,
|
||||
252, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
253, 0, 0, 0, 42, 0, 0, 0,
|
||||
249, 0, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
248, 0, 0, 0, 3, 0, 1, 0,
|
||||
4, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 255, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 1, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 1, 0, 0, 3, 0, 1, 0,
|
||||
12, 1, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 254, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 1, 0, 0, 3, 0, 1, 0,
|
||||
20, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 253, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 1, 0, 0, 3, 0, 1, 0,
|
||||
28, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 252, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 1, 0, 0, 3, 0, 1, 0,
|
||||
32, 1, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
24, 1, 0, 0, 3, 0, 1, 0,
|
||||
36, 1, 0, 0, 2, 0, 1, 0,
|
||||
118, 101, 114, 115, 105, 111, 110, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
|
|
@ -474,6 +485,14 @@ static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
|
|||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
115, 111, 117, 114, 99, 101, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 141, 244, 247, 232, 60, 155, 228,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
|
|
@ -481,12 +500,13 @@ static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
|
|||
#if !CAPNP_LITE
|
||||
static const ::capnp::_::RawSchema* const d_a2b29a69d44529a1[] = {
|
||||
&s_a43429bd2bfc24fc,
|
||||
&s_e49b3ce8f7f48d0d,
|
||||
};
|
||||
static const uint16_t m_a2b29a69d44529a1[] = {4, 7, 5, 6, 1, 3, 2, 0};
|
||||
static const uint16_t i_a2b29a69d44529a1[] = {4, 5, 6, 7, 0, 1, 2, 3};
|
||||
static const uint16_t m_a2b29a69d44529a1[] = {4, 7, 5, 6, 1, 8, 3, 2, 0};
|
||||
static const uint16_t i_a2b29a69d44529a1[] = {4, 5, 6, 7, 0, 1, 2, 3, 8};
|
||||
const ::capnp::_::RawSchema s_a2b29a69d44529a1 = {
|
||||
0xa2b29a69d44529a1, b_a2b29a69d44529a1.words, 146, d_a2b29a69d44529a1, m_a2b29a69d44529a1,
|
||||
1, 8, i_a2b29a69d44529a1, nullptr, nullptr, { &s_a2b29a69d44529a1, nullptr, nullptr, 0, 0, nullptr }
|
||||
0xa2b29a69d44529a1, b_a2b29a69d44529a1.words, 165, d_a2b29a69d44529a1, m_a2b29a69d44529a1,
|
||||
2, 9, i_a2b29a69d44529a1, nullptr, nullptr, { &s_a2b29a69d44529a1, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<53> b_a43429bd2bfc24fc = {
|
||||
|
|
@ -553,6 +573,207 @@ const ::capnp::_::RawSchema s_a43429bd2bfc24fc = {
|
|||
0, 2, i_a43429bd2bfc24fc, nullptr, nullptr, { &s_a43429bd2bfc24fc, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<36> b_e49b3ce8f7f48d0d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
13, 141, 244, 247, 232, 60, 155, 228,
|
||||
26, 0, 0, 0, 2, 0, 0, 0,
|
||||
161, 41, 69, 212, 105, 154, 178, 162,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 58, 1, 0, 0,
|
||||
37, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 0, 0, 0, 103, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
112, 58, 83, 101, 110, 115, 111, 114,
|
||||
69, 118, 101, 110, 116, 68, 97, 116,
|
||||
97, 46, 83, 101, 110, 115, 111, 114,
|
||||
83, 111, 117, 114, 99, 101, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
16, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 0, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 110, 100, 114, 111, 105, 100, 0,
|
||||
105, 79, 83, 0, 0, 0, 0, 0,
|
||||
102, 105, 98, 101, 114, 0, 0, 0,
|
||||
118, 101, 108, 111, 100, 121, 110, 101,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_e49b3ce8f7f48d0d = b_e49b3ce8f7f48d0d.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_e49b3ce8f7f48d0d[] = {0, 2, 1, 3};
|
||||
const ::capnp::_::RawSchema s_e49b3ce8f7f48d0d = {
|
||||
0xe49b3ce8f7f48d0d, b_e49b3ce8f7f48d0d.words, 36, nullptr, m_e49b3ce8f7f48d0d,
|
||||
0, 4, nullptr, nullptr, nullptr, { &s_e49b3ce8f7f48d0d, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(SensorSource_e49b3ce8f7f48d0d, e49b3ce8f7f48d0d);
|
||||
static const ::capnp::_::AlignedData<143> b_e946524859add50e = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
14, 213, 173, 89, 72, 82, 70, 233,
|
||||
10, 0, 0, 0, 1, 0, 6, 0,
|
||||
91, 40, 164, 37, 126, 241, 177, 243,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 210, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 0, 0, 0, 199, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
112, 58, 71, 112, 115, 76, 111, 99,
|
||||
97, 116, 105, 111, 110, 68, 97, 116,
|
||||
97, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
32, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 0, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 0, 0, 0, 3, 0, 1, 0,
|
||||
216, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
212, 0, 0, 0, 3, 0, 1, 0,
|
||||
224, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
221, 0, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
220, 0, 0, 0, 3, 0, 1, 0,
|
||||
232, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
229, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
228, 0, 0, 0, 3, 0, 1, 0,
|
||||
240, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
237, 0, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
232, 0, 0, 0, 3, 0, 1, 0,
|
||||
244, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 8, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
241, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
236, 0, 0, 0, 3, 0, 1, 0,
|
||||
248, 0, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
245, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
253, 0, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
252, 0, 0, 0, 3, 0, 1, 0,
|
||||
8, 1, 0, 0, 2, 0, 1, 0,
|
||||
102, 108, 97, 103, 115, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 97, 116, 105, 116, 117, 100, 101,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 110, 103, 105, 116, 117, 100,
|
||||
101, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 108, 116, 105, 116, 117, 100, 101,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
115, 112, 101, 101, 100, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
98, 101, 97, 114, 105, 110, 103, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 99, 99, 117, 114, 97, 99, 121,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
116, 105, 109, 101, 115, 116, 97, 109,
|
||||
112, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_e946524859add50e = b_e946524859add50e.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_e946524859add50e[] = {6, 3, 5, 0, 1, 2, 4, 7};
|
||||
static const uint16_t i_e946524859add50e[] = {0, 1, 2, 3, 4, 5, 6, 7};
|
||||
const ::capnp::_::RawSchema s_e946524859add50e = {
|
||||
0xe946524859add50e, b_e946524859add50e.words, 143, nullptr, m_e946524859add50e,
|
||||
0, 8, i_e946524859add50e, nullptr, nullptr, { &s_e946524859add50e, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<77> b_8785009a964c7c59 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
89, 124, 76, 150, 154, 0, 133, 135,
|
||||
|
|
@ -641,7 +862,7 @@ const ::capnp::_::RawSchema s_8785009a964c7c59 = {
|
|||
0, 4, i_8785009a964c7c59, nullptr, nullptr, { &s_8785009a964c7c59, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
|
||||
static const ::capnp::_::AlignedData<154> b_8d8231a40b7fe6e0 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
224, 230, 127, 11, 164, 49, 130, 141,
|
||||
10, 0, 0, 0, 1, 0, 3, 0,
|
||||
|
|
@ -651,70 +872,77 @@ static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
|
|||
21, 0, 0, 0, 178, 0, 0, 0,
|
||||
29, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 0, 0, 0, 199, 1, 0, 0,
|
||||
25, 0, 0, 0, 255, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
112, 58, 84, 104, 101, 114, 109, 97,
|
||||
108, 68, 97, 116, 97, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
32, 0, 0, 0, 3, 0, 4, 0,
|
||||
36, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 0, 0, 0, 42, 0, 0, 0,
|
||||
237, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 0, 0, 0, 3, 0, 1, 0,
|
||||
216, 0, 0, 0, 2, 0, 1, 0,
|
||||
232, 0, 0, 0, 3, 0, 1, 0,
|
||||
244, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
208, 0, 0, 0, 3, 0, 1, 0,
|
||||
220, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
217, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
212, 0, 0, 0, 3, 0, 1, 0,
|
||||
224, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
221, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
216, 0, 0, 0, 3, 0, 1, 0,
|
||||
228, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
225, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
220, 0, 0, 0, 3, 0, 1, 0,
|
||||
232, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
229, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
224, 0, 0, 0, 3, 0, 1, 0,
|
||||
236, 0, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
233, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
228, 0, 0, 0, 3, 0, 1, 0,
|
||||
240, 0, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
237, 0, 0, 0, 82, 0, 0, 0,
|
||||
241, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
236, 0, 0, 0, 3, 0, 1, 0,
|
||||
248, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
245, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
240, 0, 0, 0, 3, 0, 1, 0,
|
||||
252, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
249, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
253, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
248, 0, 0, 0, 3, 0, 1, 0,
|
||||
4, 1, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 1, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
252, 0, 0, 0, 3, 0, 1, 0,
|
||||
8, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 1, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 1, 0, 0, 3, 0, 1, 0,
|
||||
12, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 1, 0, 0, 3, 0, 1, 0,
|
||||
20, 1, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 1, 0, 0, 3, 0, 1, 0,
|
||||
28, 1, 0, 0, 2, 0, 1, 0,
|
||||
99, 112, 117, 48, 0, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
|
|
@ -778,16 +1006,25 @@ static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
|
|||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
98, 97, 116, 116, 101, 114, 121, 80,
|
||||
101, 114, 99, 101, 110, 116, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_8d8231a40b7fe6e0 = b_8d8231a40b7fe6e0.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_8d8231a40b7fe6e0[] = {6, 0, 1, 2, 3, 7, 5, 4};
|
||||
static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6, 7};
|
||||
static const uint16_t m_8d8231a40b7fe6e0[] = {6, 8, 0, 1, 2, 3, 7, 5, 4};
|
||||
static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
|
||||
const ::capnp::_::RawSchema s_8d8231a40b7fe6e0 = {
|
||||
0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 138, nullptr, m_8d8231a40b7fe6e0,
|
||||
0, 8, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
|
||||
0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 154, nullptr, m_8d8231a40b7fe6e0,
|
||||
0, 9, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<112> b_cfa2b0c2c82af1e4 = {
|
||||
|
|
@ -3102,170 +3339,184 @@ const ::capnp::_::RawSchema s_9811e1f38f62f2d1 = {
|
|||
0, 2, i_9811e1f38f62f2d1, nullptr, nullptr, { &s_9811e1f38f62f2d1, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<366> b_d314cfd957229c11 = {
|
||||
static const ::capnp::_::AlignedData<398> b_d314cfd957229c11 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
17, 156, 34, 87, 217, 207, 20, 211,
|
||||
10, 0, 0, 0, 1, 0, 2, 0,
|
||||
91, 40, 164, 37, 126, 241, 177, 243,
|
||||
1, 0, 7, 0, 0, 0, 20, 0,
|
||||
1, 0, 7, 0, 0, 0, 22, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 130, 0, 0, 0,
|
||||
25, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 159, 4, 0, 0,
|
||||
21, 0, 0, 0, 15, 5, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
112, 58, 69, 118, 101, 110, 116, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
84, 0, 0, 0, 3, 0, 4, 0,
|
||||
92, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
61, 2, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
60, 2, 0, 0, 3, 0, 1, 0,
|
||||
72, 2, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 255, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
69, 2, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
68, 2, 0, 0, 3, 0, 1, 0,
|
||||
80, 2, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 254, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
77, 2, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
72, 2, 0, 0, 3, 0, 1, 0,
|
||||
84, 2, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 253, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
81, 2, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
76, 2, 0, 0, 3, 0, 1, 0,
|
||||
88, 2, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 252, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
85, 2, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
88, 2, 0, 0, 3, 0, 1, 0,
|
||||
100, 2, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 251, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 2, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
92, 2, 0, 0, 3, 0, 1, 0,
|
||||
120, 2, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 250, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
117, 2, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
112, 2, 0, 0, 3, 0, 1, 0,
|
||||
124, 2, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 249, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 2, 0, 0, 66, 0, 0, 0,
|
||||
117, 2, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
116, 2, 0, 0, 3, 0, 1, 0,
|
||||
128, 2, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 255, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
125, 2, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
124, 2, 0, 0, 3, 0, 1, 0,
|
||||
136, 2, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 254, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
133, 2, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
128, 2, 0, 0, 3, 0, 1, 0,
|
||||
140, 2, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 253, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
137, 2, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
132, 2, 0, 0, 3, 0, 1, 0,
|
||||
144, 2, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 252, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
141, 2, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
144, 2, 0, 0, 3, 0, 1, 0,
|
||||
156, 2, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 251, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
153, 2, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
148, 2, 0, 0, 3, 0, 1, 0,
|
||||
176, 2, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 250, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
173, 2, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
168, 2, 0, 0, 3, 0, 1, 0,
|
||||
180, 2, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 249, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
177, 2, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
172, 2, 0, 0, 3, 0, 1, 0,
|
||||
184, 2, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 248, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
125, 2, 0, 0, 162, 0, 0, 0,
|
||||
181, 2, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
128, 2, 0, 0, 3, 0, 1, 0,
|
||||
156, 2, 0, 0, 2, 0, 1, 0,
|
||||
184, 2, 0, 0, 3, 0, 1, 0,
|
||||
212, 2, 0, 0, 2, 0, 1, 0,
|
||||
9, 0, 247, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
153, 2, 0, 0, 50, 0, 0, 0,
|
||||
209, 2, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
148, 2, 0, 0, 3, 0, 1, 0,
|
||||
160, 2, 0, 0, 2, 0, 1, 0,
|
||||
204, 2, 0, 0, 3, 0, 1, 0,
|
||||
216, 2, 0, 0, 2, 0, 1, 0,
|
||||
10, 0, 246, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
157, 2, 0, 0, 74, 0, 0, 0,
|
||||
213, 2, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
156, 2, 0, 0, 3, 0, 1, 0,
|
||||
168, 2, 0, 0, 2, 0, 1, 0,
|
||||
212, 2, 0, 0, 3, 0, 1, 0,
|
||||
224, 2, 0, 0, 2, 0, 1, 0,
|
||||
11, 0, 245, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 11, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
165, 2, 0, 0, 106, 0, 0, 0,
|
||||
221, 2, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
164, 2, 0, 0, 3, 0, 1, 0,
|
||||
192, 2, 0, 0, 2, 0, 1, 0,
|
||||
220, 2, 0, 0, 3, 0, 1, 0,
|
||||
248, 2, 0, 0, 2, 0, 1, 0,
|
||||
12, 0, 244, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 12, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
189, 2, 0, 0, 58, 0, 0, 0,
|
||||
245, 2, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
184, 2, 0, 0, 3, 0, 1, 0,
|
||||
196, 2, 0, 0, 2, 0, 1, 0,
|
||||
240, 2, 0, 0, 3, 0, 1, 0,
|
||||
252, 2, 0, 0, 2, 0, 1, 0,
|
||||
13, 0, 243, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 13, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 2, 0, 0, 58, 0, 0, 0,
|
||||
249, 2, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
188, 2, 0, 0, 3, 0, 1, 0,
|
||||
200, 2, 0, 0, 2, 0, 1, 0,
|
||||
244, 2, 0, 0, 3, 0, 1, 0,
|
||||
0, 3, 0, 0, 2, 0, 1, 0,
|
||||
14, 0, 242, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 14, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
197, 2, 0, 0, 138, 0, 0, 0,
|
||||
253, 2, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
200, 2, 0, 0, 3, 0, 1, 0,
|
||||
212, 2, 0, 0, 2, 0, 1, 0,
|
||||
0, 3, 0, 0, 3, 0, 1, 0,
|
||||
12, 3, 0, 0, 2, 0, 1, 0,
|
||||
15, 0, 241, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 15, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 2, 0, 0, 82, 0, 0, 0,
|
||||
9, 3, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
208, 2, 0, 0, 3, 0, 1, 0,
|
||||
220, 2, 0, 0, 2, 0, 1, 0,
|
||||
8, 3, 0, 0, 3, 0, 1, 0,
|
||||
20, 3, 0, 0, 2, 0, 1, 0,
|
||||
16, 0, 240, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 16, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
217, 2, 0, 0, 90, 0, 0, 0,
|
||||
17, 3, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
216, 2, 0, 0, 3, 0, 1, 0,
|
||||
244, 2, 0, 0, 2, 0, 1, 0,
|
||||
16, 3, 0, 0, 3, 0, 1, 0,
|
||||
44, 3, 0, 0, 2, 0, 1, 0,
|
||||
17, 0, 239, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 17, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
241, 2, 0, 0, 66, 0, 0, 0,
|
||||
41, 3, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
236, 2, 0, 0, 3, 0, 1, 0,
|
||||
8, 3, 0, 0, 2, 0, 1, 0,
|
||||
36, 3, 0, 0, 3, 0, 1, 0,
|
||||
64, 3, 0, 0, 2, 0, 1, 0,
|
||||
18, 0, 238, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 18, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 3, 0, 0, 90, 0, 0, 0,
|
||||
61, 3, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 3, 0, 0, 3, 0, 1, 0,
|
||||
16, 3, 0, 0, 2, 0, 1, 0,
|
||||
60, 3, 0, 0, 3, 0, 1, 0,
|
||||
72, 3, 0, 0, 2, 0, 1, 0,
|
||||
19, 0, 237, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 19, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 3, 0, 0, 130, 0, 0, 0,
|
||||
69, 3, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 3, 0, 0, 3, 0, 1, 0,
|
||||
24, 3, 0, 0, 2, 0, 1, 0,
|
||||
68, 3, 0, 0, 3, 0, 1, 0,
|
||||
80, 3, 0, 0, 2, 0, 1, 0,
|
||||
20, 0, 236, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 20, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 3, 0, 0, 130, 0, 0, 0,
|
||||
77, 3, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 3, 0, 0, 3, 0, 1, 0,
|
||||
32, 3, 0, 0, 2, 0, 1, 0,
|
||||
76, 3, 0, 0, 3, 0, 1, 0,
|
||||
88, 3, 0, 0, 2, 0, 1, 0,
|
||||
21, 0, 235, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 21, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
85, 3, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
84, 3, 0, 0, 3, 0, 1, 0,
|
||||
96, 3, 0, 0, 2, 0, 1, 0,
|
||||
22, 0, 234, 255, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 22, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
93, 3, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
92, 3, 0, 0, 3, 0, 1, 0,
|
||||
104, 3, 0, 0, 2, 0, 1, 0,
|
||||
108, 111, 103, 77, 111, 110, 111, 84,
|
||||
105, 109, 101, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
|
|
@ -3466,6 +3717,24 @@ static const ::capnp::_::AlignedData<366> b_d314cfd957229c11 = {
|
|||
133, 125, 79, 137, 161, 93, 9, 234,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
103, 112, 115, 76, 111, 99, 97, 116,
|
||||
105, 111, 110, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
14, 213, 173, 89, 72, 82, 70, 233,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 97, 114, 83, 116, 97, 116, 101,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
60, 144, 82, 224, 9, 250, 164, 157,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
|
|
@ -3483,19 +3752,21 @@ static const ::capnp::_::RawSchema* const d_d314cfd957229c11[] = {
|
|||
&s_97ff69c53601abf1,
|
||||
&s_9a185389d6fdd05f,
|
||||
&s_9d291d7813ba4a88,
|
||||
&s_9da4fa09e052903c,
|
||||
&s_a2b29a69d44529a1,
|
||||
&s_b8aad62cffef28a9,
|
||||
&s_c08240f996aefced,
|
||||
&s_cfa2b0c2c82af1e4,
|
||||
&s_e71008caeb3fb65c,
|
||||
&s_e946524859add50e,
|
||||
&s_ea0245f695ae0a33,
|
||||
&s_ea095da1894f7d85,
|
||||
};
|
||||
static const uint16_t m_d314cfd957229c11[] = {20, 5, 15, 10, 2, 3, 12, 1, 7, 13, 19, 8, 16, 14, 18, 0, 9, 17, 4, 11, 6};
|
||||
static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 0};
|
||||
static const uint16_t m_d314cfd957229c11[] = {20, 5, 22, 15, 10, 2, 21, 3, 12, 1, 7, 13, 19, 8, 16, 14, 18, 0, 9, 17, 4, 11, 6};
|
||||
static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 0};
|
||||
const ::capnp::_::RawSchema s_d314cfd957229c11 = {
|
||||
0xd314cfd957229c11, b_d314cfd957229c11.words, 366, d_d314cfd957229c11, m_d314cfd957229c11,
|
||||
17, 21, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }
|
||||
0xd314cfd957229c11, b_d314cfd957229c11.words, 398, d_d314cfd957229c11, m_d314cfd957229c11,
|
||||
19, 23, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
} // namespace schemas
|
||||
|
|
@ -3560,6 +3831,17 @@ constexpr ::capnp::_::RawSchema const* SensorEventData::SensorVec::_capnpPrivate
|
|||
constexpr ::capnp::_::RawBrandedSchema const* SensorEventData::SensorVec::_capnpPrivate::brand;
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// GpsLocationData
|
||||
#ifndef _MSC_VER
|
||||
constexpr uint16_t GpsLocationData::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t GpsLocationData::_capnpPrivate::pointerCount;
|
||||
#endif
|
||||
#if !CAPNP_LITE
|
||||
constexpr ::capnp::Kind GpsLocationData::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* GpsLocationData::_capnpPrivate::schema;
|
||||
constexpr ::capnp::_::RawBrandedSchema const* GpsLocationData::_capnpPrivate::brand;
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CanData
|
||||
#ifndef _MSC_VER
|
||||
constexpr uint16_t CanData::_capnpPrivate::dataWordSize;
|
||||
|
|
|
|||
|
|
@ -10,6 +10,7 @@
|
|||
#error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library."
|
||||
#endif
|
||||
|
||||
#include "car.capnp.h"
|
||||
|
||||
namespace capnp {
|
||||
namespace schemas {
|
||||
|
|
@ -20,6 +21,15 @@ CAPNP_DECLARE_SCHEMA(ea0245f695ae0a33);
|
|||
CAPNP_DECLARE_SCHEMA(9d291d7813ba4a88);
|
||||
CAPNP_DECLARE_SCHEMA(a2b29a69d44529a1);
|
||||
CAPNP_DECLARE_SCHEMA(a43429bd2bfc24fc);
|
||||
CAPNP_DECLARE_SCHEMA(e49b3ce8f7f48d0d);
|
||||
enum class SensorSource_e49b3ce8f7f48d0d: uint16_t {
|
||||
ANDROID,
|
||||
I_O_S,
|
||||
FIBER,
|
||||
VELODYNE,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(SensorSource, e49b3ce8f7f48d0d);
|
||||
CAPNP_DECLARE_SCHEMA(e946524859add50e);
|
||||
CAPNP_DECLARE_SCHEMA(8785009a964c7c59);
|
||||
CAPNP_DECLARE_SCHEMA(8d8231a40b7fe6e0);
|
||||
CAPNP_DECLARE_SCHEMA(cfa2b0c2c82af1e4);
|
||||
|
|
@ -111,6 +121,8 @@ struct SensorEventData {
|
|||
GYRO,
|
||||
};
|
||||
struct SensorVec;
|
||||
typedef ::capnp::schemas::SensorSource_e49b3ce8f7f48d0d SensorSource;
|
||||
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(a2b29a69d44529a1, 3, 1)
|
||||
|
|
@ -135,6 +147,21 @@ struct SensorEventData::SensorVec {
|
|||
};
|
||||
};
|
||||
|
||||
struct GpsLocationData {
|
||||
GpsLocationData() = delete;
|
||||
|
||||
class Reader;
|
||||
class Builder;
|
||||
class Pipeline;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(e946524859add50e, 6, 0)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
|
||||
#endif // !CAPNP_LITE
|
||||
};
|
||||
};
|
||||
|
||||
struct CanData {
|
||||
CanData() = delete;
|
||||
|
||||
|
|
@ -438,6 +465,8 @@ struct Event {
|
|||
LOG_MESSAGE,
|
||||
LIVE_CALIBRATION,
|
||||
ANDROID_LOG_ENTRY,
|
||||
GPS_LOCATION,
|
||||
CAR_STATE,
|
||||
};
|
||||
|
||||
struct _capnpPrivate {
|
||||
|
|
@ -796,6 +825,8 @@ public:
|
|||
inline bool hasGyro() const;
|
||||
inline ::cereal::SensorEventData::SensorVec::Reader getGyro() const;
|
||||
|
||||
inline ::cereal::SensorEventData::SensorSource getSource() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
|
|
@ -869,6 +900,9 @@ public:
|
|||
inline void adoptGyro(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownGyro();
|
||||
|
||||
inline ::cereal::SensorEventData::SensorSource getSource();
|
||||
inline void setSource( ::cereal::SensorEventData::SensorSource value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
|
|
@ -982,6 +1016,117 @@ private:
|
|||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class GpsLocationData::Reader {
|
||||
public:
|
||||
typedef GpsLocationData Reads;
|
||||
|
||||
Reader() = default;
|
||||
inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const {
|
||||
return _reader.totalSize().asPublic();
|
||||
}
|
||||
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const {
|
||||
return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline ::uint16_t getFlags() const;
|
||||
|
||||
inline double getLatitude() const;
|
||||
|
||||
inline double getLongitude() const;
|
||||
|
||||
inline double getAltitude() const;
|
||||
|
||||
inline float getSpeed() const;
|
||||
|
||||
inline float getBearing() const;
|
||||
|
||||
inline float getAccuracy() const;
|
||||
|
||||
inline ::int64_t getTimestamp() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::List;
|
||||
friend class ::capnp::MessageBuilder;
|
||||
friend class ::capnp::Orphanage;
|
||||
};
|
||||
|
||||
class GpsLocationData::Builder {
|
||||
public:
|
||||
typedef GpsLocationData Builds;
|
||||
|
||||
Builder() = delete; // Deleted to discourage incorrect usage.
|
||||
// You can explicitly initialize to nullptr instead.
|
||||
inline Builder(decltype(nullptr)) {}
|
||||
inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
|
||||
inline operator Reader() const { return Reader(_builder.asReader()); }
|
||||
inline Reader asReader() const { return *this; }
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const { return asReader().toString(); }
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline ::uint16_t getFlags();
|
||||
inline void setFlags( ::uint16_t value);
|
||||
|
||||
inline double getLatitude();
|
||||
inline void setLatitude(double value);
|
||||
|
||||
inline double getLongitude();
|
||||
inline void setLongitude(double value);
|
||||
|
||||
inline double getAltitude();
|
||||
inline void setAltitude(double value);
|
||||
|
||||
inline float getSpeed();
|
||||
inline void setSpeed(float value);
|
||||
|
||||
inline float getBearing();
|
||||
inline void setBearing(float value);
|
||||
|
||||
inline float getAccuracy();
|
||||
inline void setAccuracy(float value);
|
||||
|
||||
inline ::int64_t getTimestamp();
|
||||
inline void setTimestamp( ::int64_t value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
friend class ::capnp::Orphanage;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
};
|
||||
|
||||
#if !CAPNP_LITE
|
||||
class GpsLocationData::Pipeline {
|
||||
public:
|
||||
typedef GpsLocationData Pipelines;
|
||||
|
||||
inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
|
||||
inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
|
||||
: _typeless(kj::mv(typeless)) {}
|
||||
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class CanData::Reader {
|
||||
public:
|
||||
typedef CanData Reads;
|
||||
|
|
@ -1111,6 +1256,8 @@ public:
|
|||
|
||||
inline float getFreeSpace() const;
|
||||
|
||||
inline ::int16_t getBatteryPercent() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
|
|
@ -1163,6 +1310,9 @@ public:
|
|||
inline float getFreeSpace();
|
||||
inline void setFreeSpace(float value);
|
||||
|
||||
inline ::int16_t getBatteryPercent();
|
||||
inline void setBatteryPercent( ::int16_t value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
|
|
@ -3127,6 +3277,14 @@ public:
|
|||
inline bool hasAndroidLogEntry() const;
|
||||
inline ::cereal::AndroidLogEntry::Reader getAndroidLogEntry() const;
|
||||
|
||||
inline bool isGpsLocation() const;
|
||||
inline bool hasGpsLocation() const;
|
||||
inline ::cereal::GpsLocationData::Reader getGpsLocation() const;
|
||||
|
||||
inline bool isCarState() const;
|
||||
inline bool hasCarState() const;
|
||||
inline ::cereal::CarState::Reader getCarState() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
|
|
@ -3319,6 +3477,22 @@ public:
|
|||
inline void adoptAndroidLogEntry(::capnp::Orphan< ::cereal::AndroidLogEntry>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::AndroidLogEntry> disownAndroidLogEntry();
|
||||
|
||||
inline bool isGpsLocation();
|
||||
inline bool hasGpsLocation();
|
||||
inline ::cereal::GpsLocationData::Builder getGpsLocation();
|
||||
inline void setGpsLocation( ::cereal::GpsLocationData::Reader value);
|
||||
inline ::cereal::GpsLocationData::Builder initGpsLocation();
|
||||
inline void adoptGpsLocation(::capnp::Orphan< ::cereal::GpsLocationData>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::GpsLocationData> disownGpsLocation();
|
||||
|
||||
inline bool isCarState();
|
||||
inline bool hasCarState();
|
||||
inline ::cereal::CarState::Builder getCarState();
|
||||
inline void setCarState( ::cereal::CarState::Reader value);
|
||||
inline ::cereal::CarState::Builder initCarState();
|
||||
inline void adoptCarState(::capnp::Orphan< ::cereal::CarState>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::CarState> disownCarState();
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
|
|
@ -3894,6 +4068,20 @@ inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::B
|
|||
_builder.getPointerField(0 * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline ::cereal::SensorEventData::SensorSource SensorEventData::Reader::getSource() const {
|
||||
return _reader.getDataField< ::cereal::SensorEventData::SensorSource>(
|
||||
7 * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::cereal::SensorEventData::SensorSource SensorEventData::Builder::getSource() {
|
||||
return _builder.getDataField< ::cereal::SensorEventData::SensorSource>(
|
||||
7 * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void SensorEventData::Builder::setSource( ::cereal::SensorEventData::SensorSource value) {
|
||||
_builder.setDataField< ::cereal::SensorEventData::SensorSource>(
|
||||
7 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool SensorEventData::SensorVec::Reader::hasV() const {
|
||||
return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
|
|
@ -3944,6 +4132,118 @@ inline void SensorEventData::SensorVec::Builder::setStatus( ::int8_t value) {
|
|||
0 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::uint16_t GpsLocationData::Reader::getFlags() const {
|
||||
return _reader.getDataField< ::uint16_t>(
|
||||
0 * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::uint16_t GpsLocationData::Builder::getFlags() {
|
||||
return _builder.getDataField< ::uint16_t>(
|
||||
0 * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void GpsLocationData::Builder::setFlags( ::uint16_t value) {
|
||||
_builder.setDataField< ::uint16_t>(
|
||||
0 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline double GpsLocationData::Reader::getLatitude() const {
|
||||
return _reader.getDataField<double>(
|
||||
1 * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline double GpsLocationData::Builder::getLatitude() {
|
||||
return _builder.getDataField<double>(
|
||||
1 * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void GpsLocationData::Builder::setLatitude(double value) {
|
||||
_builder.setDataField<double>(
|
||||
1 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline double GpsLocationData::Reader::getLongitude() const {
|
||||
return _reader.getDataField<double>(
|
||||
2 * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline double GpsLocationData::Builder::getLongitude() {
|
||||
return _builder.getDataField<double>(
|
||||
2 * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void GpsLocationData::Builder::setLongitude(double value) {
|
||||
_builder.setDataField<double>(
|
||||
2 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline double GpsLocationData::Reader::getAltitude() const {
|
||||
return _reader.getDataField<double>(
|
||||
3 * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline double GpsLocationData::Builder::getAltitude() {
|
||||
return _builder.getDataField<double>(
|
||||
3 * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void GpsLocationData::Builder::setAltitude(double value) {
|
||||
_builder.setDataField<double>(
|
||||
3 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float GpsLocationData::Reader::getSpeed() const {
|
||||
return _reader.getDataField<float>(
|
||||
1 * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float GpsLocationData::Builder::getSpeed() {
|
||||
return _builder.getDataField<float>(
|
||||
1 * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void GpsLocationData::Builder::setSpeed(float value) {
|
||||
_builder.setDataField<float>(
|
||||
1 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float GpsLocationData::Reader::getBearing() const {
|
||||
return _reader.getDataField<float>(
|
||||
8 * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float GpsLocationData::Builder::getBearing() {
|
||||
return _builder.getDataField<float>(
|
||||
8 * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void GpsLocationData::Builder::setBearing(float value) {
|
||||
_builder.setDataField<float>(
|
||||
8 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float GpsLocationData::Reader::getAccuracy() const {
|
||||
return _reader.getDataField<float>(
|
||||
9 * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float GpsLocationData::Builder::getAccuracy() {
|
||||
return _builder.getDataField<float>(
|
||||
9 * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void GpsLocationData::Builder::setAccuracy(float value) {
|
||||
_builder.setDataField<float>(
|
||||
9 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::int64_t GpsLocationData::Reader::getTimestamp() const {
|
||||
return _reader.getDataField< ::int64_t>(
|
||||
5 * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::int64_t GpsLocationData::Builder::getTimestamp() {
|
||||
return _builder.getDataField< ::int64_t>(
|
||||
5 * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void GpsLocationData::Builder::setTimestamp( ::int64_t value) {
|
||||
_builder.setDataField< ::int64_t>(
|
||||
5 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::uint32_t CanData::Reader::getAddress() const {
|
||||
return _reader.getDataField< ::uint32_t>(
|
||||
0 * ::capnp::ELEMENTS);
|
||||
|
|
@ -4130,6 +4430,20 @@ inline void ThermalData::Builder::setFreeSpace(float value) {
|
|||
4 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::int16_t ThermalData::Reader::getBatteryPercent() const {
|
||||
return _reader.getDataField< ::int16_t>(
|
||||
10 * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::int16_t ThermalData::Builder::getBatteryPercent() {
|
||||
return _builder.getDataField< ::int16_t>(
|
||||
10 * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ThermalData::Builder::setBatteryPercent( ::int16_t value) {
|
||||
_builder.setDataField< ::int16_t>(
|
||||
10 * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::uint32_t HealthData::Reader::getVoltage() const {
|
||||
return _reader.getDataField< ::uint32_t>(
|
||||
0 * ::capnp::ELEMENTS);
|
||||
|
|
@ -7284,6 +7598,110 @@ inline ::capnp::Orphan< ::cereal::AndroidLogEntry> Event::Builder::disownAndroid
|
|||
_builder.getPointerField(0 * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool Event::Reader::isGpsLocation() const {
|
||||
return which() == Event::GPS_LOCATION;
|
||||
}
|
||||
inline bool Event::Builder::isGpsLocation() {
|
||||
return which() == Event::GPS_LOCATION;
|
||||
}
|
||||
inline bool Event::Reader::hasGpsLocation() const {
|
||||
if (which() != Event::GPS_LOCATION) return false;
|
||||
return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool Event::Builder::hasGpsLocation() {
|
||||
if (which() != Event::GPS_LOCATION) return false;
|
||||
return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::cereal::GpsLocationData::Reader Event::Reader::getGpsLocation() const {
|
||||
KJ_IREQUIRE(which() == Event::GPS_LOCATION,
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(
|
||||
_reader.getPointerField(0 * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::cereal::GpsLocationData::Builder Event::Builder::getGpsLocation() {
|
||||
KJ_IREQUIRE(which() == Event::GPS_LOCATION,
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(
|
||||
_builder.getPointerField(0 * ::capnp::POINTERS));
|
||||
}
|
||||
inline void Event::Builder::setGpsLocation( ::cereal::GpsLocationData::Reader value) {
|
||||
_builder.setDataField<Event::Which>(
|
||||
4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
|
||||
::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::set(
|
||||
_builder.getPointerField(0 * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::cereal::GpsLocationData::Builder Event::Builder::initGpsLocation() {
|
||||
_builder.setDataField<Event::Which>(
|
||||
4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
|
||||
return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::init(
|
||||
_builder.getPointerField(0 * ::capnp::POINTERS));
|
||||
}
|
||||
inline void Event::Builder::adoptGpsLocation(
|
||||
::capnp::Orphan< ::cereal::GpsLocationData>&& value) {
|
||||
_builder.setDataField<Event::Which>(
|
||||
4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
|
||||
::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::adopt(
|
||||
_builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::cereal::GpsLocationData> Event::Builder::disownGpsLocation() {
|
||||
KJ_IREQUIRE(which() == Event::GPS_LOCATION,
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::disown(
|
||||
_builder.getPointerField(0 * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool Event::Reader::isCarState() const {
|
||||
return which() == Event::CAR_STATE;
|
||||
}
|
||||
inline bool Event::Builder::isCarState() {
|
||||
return which() == Event::CAR_STATE;
|
||||
}
|
||||
inline bool Event::Reader::hasCarState() const {
|
||||
if (which() != Event::CAR_STATE) return false;
|
||||
return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool Event::Builder::hasCarState() {
|
||||
if (which() != Event::CAR_STATE) return false;
|
||||
return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::cereal::CarState::Reader Event::Reader::getCarState() const {
|
||||
KJ_IREQUIRE(which() == Event::CAR_STATE,
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CarState>::get(
|
||||
_reader.getPointerField(0 * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::cereal::CarState::Builder Event::Builder::getCarState() {
|
||||
KJ_IREQUIRE(which() == Event::CAR_STATE,
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CarState>::get(
|
||||
_builder.getPointerField(0 * ::capnp::POINTERS));
|
||||
}
|
||||
inline void Event::Builder::setCarState( ::cereal::CarState::Reader value) {
|
||||
_builder.setDataField<Event::Which>(
|
||||
4 * ::capnp::ELEMENTS, Event::CAR_STATE);
|
||||
::capnp::_::PointerHelpers< ::cereal::CarState>::set(
|
||||
_builder.getPointerField(0 * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::cereal::CarState::Builder Event::Builder::initCarState() {
|
||||
_builder.setDataField<Event::Which>(
|
||||
4 * ::capnp::ELEMENTS, Event::CAR_STATE);
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CarState>::init(
|
||||
_builder.getPointerField(0 * ::capnp::POINTERS));
|
||||
}
|
||||
inline void Event::Builder::adoptCarState(
|
||||
::capnp::Orphan< ::cereal::CarState>&& value) {
|
||||
_builder.setDataField<Event::Which>(
|
||||
4 * ::capnp::ELEMENTS, Event::CAR_STATE);
|
||||
::capnp::_::PointerHelpers< ::cereal::CarState>::adopt(
|
||||
_builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::cereal::CarState> Event::Builder::disownCarState() {
|
||||
KJ_IREQUIRE(which() == Event::CAR_STATE,
|
||||
"Must check which() before get()ing a union member.");
|
||||
return ::capnp::_::PointerHelpers< ::cereal::CarState>::disown(
|
||||
_builder.getPointerField(0 * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
#endif // CAPNP_INCLUDED_f3b1f17e25a4285b_
|
||||
|
|
|
|||
|
|
@ -1,6 +1,8 @@
|
|||
using Cxx = import "c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Car = import "car.capnp";
|
||||
|
||||
@0xf3b1f17e25a4285b;
|
||||
|
||||
const logVersion :Int32 = 1;
|
||||
|
|
@ -39,11 +41,47 @@ struct SensorEventData {
|
|||
orientation @6 :SensorVec;
|
||||
gyro @7 :SensorVec;
|
||||
}
|
||||
source @8 :SensorSource;
|
||||
|
||||
struct SensorVec {
|
||||
v @0 :List(Float32);
|
||||
status @1 :Int8;
|
||||
}
|
||||
|
||||
enum SensorSource {
|
||||
android @0;
|
||||
iOS @1;
|
||||
fiber @2;
|
||||
velodyne @3; # Velodyne IMU
|
||||
}
|
||||
}
|
||||
|
||||
# android struct GpsLocation
|
||||
struct GpsLocationData {
|
||||
# Contains GpsLocationFlags bits.
|
||||
flags @0 :UInt16;
|
||||
|
||||
# Represents latitude in degrees.
|
||||
latitude @1 :Float64;
|
||||
|
||||
# Represents longitude in degrees.
|
||||
longitude @2 :Float64;
|
||||
|
||||
# Represents altitude in meters above the WGS 84 reference ellipsoid.
|
||||
altitude @3 :Float64;
|
||||
|
||||
# Represents speed in meters per second.
|
||||
speed @4 :Float32;
|
||||
|
||||
# Represents heading in degrees.
|
||||
bearing @5 :Float32;
|
||||
|
||||
# Represents expected accuracy in meters.
|
||||
accuracy @6 :Float32;
|
||||
|
||||
# Timestamp for the location fix.
|
||||
# Milliseconds since January 1, 1970.
|
||||
timestamp @7 :Int64;
|
||||
}
|
||||
|
||||
struct CanData {
|
||||
|
|
@ -64,6 +102,7 @@ struct ThermalData {
|
|||
|
||||
# not thermal
|
||||
freeSpace @7 :Float32;
|
||||
batteryPercent @8 :Int16;
|
||||
}
|
||||
|
||||
struct HealthData {
|
||||
|
|
@ -272,5 +311,7 @@ struct Event {
|
|||
logMessage @18 :Text;
|
||||
liveCalibration @19 :LiveCalibrationData;
|
||||
androidLogEntry @20 :AndroidLogEntry;
|
||||
gpsLocation @21 :GpsLocationData;
|
||||
carState @22 :Car.CarState;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -33,6 +33,7 @@ service_list = {
|
|||
"logMessage": Service(8018, True),
|
||||
"liveCalibration": Service(8019, True),
|
||||
"androidLog": Service(8020, True),
|
||||
"carState": Service(8021, True),
|
||||
}
|
||||
|
||||
# manager -- base process to manage starting and stopping of all others
|
||||
|
|
@ -56,7 +57,7 @@ service_list = {
|
|||
|
||||
# controlsd -- actually drives the car
|
||||
# subscribes: can, thermal, model, live20
|
||||
# publishes: sendcan, live100
|
||||
# publishes: carState, sendcan, live100
|
||||
|
||||
# radard -- processes the radar data
|
||||
# subscribes: can, live100, model
|
||||
|
|
|
|||
|
|
@ -1,26 +0,0 @@
|
|||
#!/usr/bin/bash
|
||||
|
||||
# enable wifi access point for debugging only!
|
||||
#service call wifi 37 i32 0 i32 1 # WifiService.setWifiApEnabled(null, true)
|
||||
|
||||
# check out the openpilot repo
|
||||
if [ ! -d /data/openpilot ]; then
|
||||
cd /tmp
|
||||
git clone https://github.com/commaai/openpilot.git -b release
|
||||
mv /tmp/openpilot /data/openpilot
|
||||
fi
|
||||
|
||||
# enter openpilot directory
|
||||
cd /data/openpilot
|
||||
|
||||
# automatic update
|
||||
git pull
|
||||
|
||||
# start manager
|
||||
cd selfdrive
|
||||
mkdir -p /sdcard/realdata
|
||||
PYTHONPATH=/data/openpilot ./manager.py
|
||||
|
||||
# if broken, keep on screen error
|
||||
while true; do sleep 1; done
|
||||
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
#!/bin/bash
|
||||
set -e
|
||||
|
||||
# moving continue into place runs the continue script
|
||||
adb push files/continue.sh /tmp/continue.sh
|
||||
adb shell mv /tmp/continue.sh /data/data/com.termux/files/
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,117 @@
|
|||
/*
|
||||
Copyright (C) 2011 Joseph A. Adams (joeyadams3.14159@gmail.com)
|
||||
All rights reserved.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
*/
|
||||
|
||||
#ifndef CCAN_JSON_H
|
||||
#define CCAN_JSON_H
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stddef.h>
|
||||
|
||||
typedef enum {
|
||||
JSON_NULL,
|
||||
JSON_BOOL,
|
||||
JSON_STRING,
|
||||
JSON_NUMBER,
|
||||
JSON_ARRAY,
|
||||
JSON_OBJECT,
|
||||
} JsonTag;
|
||||
|
||||
typedef struct JsonNode JsonNode;
|
||||
|
||||
struct JsonNode
|
||||
{
|
||||
/* only if parent is an object or array (NULL otherwise) */
|
||||
JsonNode *parent;
|
||||
JsonNode *prev, *next;
|
||||
|
||||
/* only if parent is an object (NULL otherwise) */
|
||||
char *key; /* Must be valid UTF-8. */
|
||||
|
||||
JsonTag tag;
|
||||
union {
|
||||
/* JSON_BOOL */
|
||||
bool bool_;
|
||||
|
||||
/* JSON_STRING */
|
||||
char *string_; /* Must be valid UTF-8. */
|
||||
|
||||
/* JSON_NUMBER */
|
||||
double number_;
|
||||
|
||||
/* JSON_ARRAY */
|
||||
/* JSON_OBJECT */
|
||||
struct {
|
||||
JsonNode *head, *tail;
|
||||
} children;
|
||||
};
|
||||
};
|
||||
|
||||
/*** Encoding, decoding, and validation ***/
|
||||
|
||||
JsonNode *json_decode (const char *json);
|
||||
char *json_encode (const JsonNode *node);
|
||||
char *json_encode_string (const char *str);
|
||||
char *json_stringify (const JsonNode *node, const char *space);
|
||||
void json_delete (JsonNode *node);
|
||||
|
||||
bool json_validate (const char *json);
|
||||
|
||||
/*** Lookup and traversal ***/
|
||||
|
||||
JsonNode *json_find_element (JsonNode *array, int index);
|
||||
JsonNode *json_find_member (JsonNode *object, const char *key);
|
||||
|
||||
JsonNode *json_first_child (const JsonNode *node);
|
||||
|
||||
#define json_foreach(i, object_or_array) \
|
||||
for ((i) = json_first_child(object_or_array); \
|
||||
(i) != NULL; \
|
||||
(i) = (i)->next)
|
||||
|
||||
/*** Construction and manipulation ***/
|
||||
|
||||
JsonNode *json_mknull(void);
|
||||
JsonNode *json_mkbool(bool b);
|
||||
JsonNode *json_mkstring(const char *s);
|
||||
JsonNode *json_mknumber(double n);
|
||||
JsonNode *json_mkarray(void);
|
||||
JsonNode *json_mkobject(void);
|
||||
|
||||
void json_append_element(JsonNode *array, JsonNode *element);
|
||||
void json_prepend_element(JsonNode *array, JsonNode *element);
|
||||
void json_append_member(JsonNode *object, const char *key, JsonNode *value);
|
||||
void json_prepend_member(JsonNode *object, const char *key, JsonNode *value);
|
||||
|
||||
void json_remove_from_parent(JsonNode *node);
|
||||
|
||||
/*** Debugging ***/
|
||||
|
||||
/*
|
||||
* Look for structure and encoding problems in a JsonNode or its descendents.
|
||||
*
|
||||
* If a problem is detected, return false, writing a description of the problem
|
||||
* to errmsg (unless errmsg is NULL).
|
||||
*/
|
||||
bool json_check(const JsonNode *node, char errmsg[256]);
|
||||
|
||||
#endif
|
||||
|
|
@ -19,10 +19,7 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
|
|||
-l:libczmq.a -l:libzmq.a \
|
||||
-lgnustl_shared
|
||||
|
||||
CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
|
||||
CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
|
||||
-l:libcapnp.a -l:libkj.a
|
||||
CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
|
||||
JSON_FLAGS = -I$(PHONELIBS)/json/src
|
||||
|
||||
EXTRA_LIBS = -lusb
|
||||
|
||||
|
|
@ -34,14 +31,18 @@ CEREAL_LIBS = -L$(HOME)/drive/external/capnp/lib/ \
|
|||
EXTRA_LIBS = -lusb-1.0 -lpthread
|
||||
endif
|
||||
|
||||
.PHONY: all
|
||||
all: boardd
|
||||
|
||||
-include ../common/cereal.mk
|
||||
|
||||
OBJS = boardd.o \
|
||||
log.capnp.o
|
||||
../common/swaglog.o \
|
||||
$(PHONELIBS)/json/src/json.o \
|
||||
$(CEREAL_OBJS)
|
||||
|
||||
DEPS := $(OBJS:.o=.d)
|
||||
|
||||
all: boardd
|
||||
|
||||
boardd: $(OBJS)
|
||||
@echo "[ LINK ] $@"
|
||||
$(CXX) -fPIC -o '$@' $^ \
|
||||
|
|
@ -53,18 +54,20 @@ boardd.o: boardd.cc
|
|||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CXXFLAGS) \
|
||||
-I$(PHONELIBS)/android_system_core/include \
|
||||
$(CEREAL_FLAGS) \
|
||||
$(CEREAL_CFLAGS) \
|
||||
$(ZMQ_FLAGS) \
|
||||
-I../ \
|
||||
-I../../ \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
|
||||
log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
|
||||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
%.o: %.c
|
||||
@echo "[ CC ] $@"
|
||||
$(CC) $(CFLAGS) -MMD \
|
||||
-Iinclude -I.. -I../.. \
|
||||
$(CEREAL_CFLAGS) \
|
||||
$(ZMQ_FLAGS) \
|
||||
$(JSON_FLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
|
|
|
|||
|
|
@ -20,6 +20,7 @@
|
|||
#include <capnp/serialize.h>
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
|
||||
#include "common/swaglog.h"
|
||||
#include "common/timing.h"
|
||||
|
||||
int do_exit = 0;
|
||||
|
|
@ -29,18 +30,12 @@ libusb_device_handle *dev_handle;
|
|||
pthread_mutex_t usb_lock;
|
||||
|
||||
bool spoofing_started = false;
|
||||
bool fake_send = false;
|
||||
|
||||
// double the FIFO size
|
||||
#define RECV_SIZE (0x1000)
|
||||
#define TIMEOUT 0
|
||||
|
||||
#define DEBUG_BOARDD
|
||||
#ifdef DEBUG_BOARDD
|
||||
#define DPRINTF(fmt, ...) printf("boardd(%lu): " fmt, time(NULL), ## __VA_ARGS__)
|
||||
#else
|
||||
#define DPRINTF(fmt, ...)
|
||||
#endif
|
||||
|
||||
bool usb_connect() {
|
||||
int err;
|
||||
|
||||
|
|
@ -56,11 +51,17 @@ bool usb_connect() {
|
|||
return true;
|
||||
}
|
||||
|
||||
void usb_retry_connect() {
|
||||
LOG("attempting to connect");
|
||||
while (!usb_connect()) { usleep(100*1000); }
|
||||
LOGW("connected to board");
|
||||
}
|
||||
|
||||
void handle_usb_issue(int err, const char func[]) {
|
||||
DPRINTF("usb error %d \"%s\" in %s\n", err, libusb_strerror((enum libusb_error)err), func);
|
||||
LOGE("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
|
||||
if (err == -4) {
|
||||
while (!usb_connect()) { DPRINTF("attempting to connect\n"); usleep(100*1000); }
|
||||
LOGE("lost connection");
|
||||
usb_retry_connect();
|
||||
}
|
||||
// TODO: check other errors, is simply retrying okay?
|
||||
}
|
||||
|
|
@ -77,7 +78,7 @@ void can_recv(void *s) {
|
|||
do {
|
||||
err = libusb_bulk_transfer(dev_handle, 0x81, (uint8_t*)data, RECV_SIZE, &recv, TIMEOUT);
|
||||
if (err != 0) { handle_usb_issue(err, __func__); }
|
||||
if (err == -8) { DPRINTF("overflow got 0x%x\n", recv); };
|
||||
if (err == -8) { LOGE("overflow got 0x%x", recv); };
|
||||
|
||||
// timeout is okay to exit, recv still happened
|
||||
if (err == -7) { break; }
|
||||
|
|
@ -199,8 +200,6 @@ void can_send(void *s) {
|
|||
memcpy(&send[i*4+2], cmsg.getDat().begin(), cmsg.getDat().size());
|
||||
}
|
||||
|
||||
//DPRINTF("got send message: %d\n", msg_count);
|
||||
|
||||
// release msg
|
||||
zmq_msg_close(&msg);
|
||||
|
||||
|
|
@ -208,10 +207,12 @@ void can_send(void *s) {
|
|||
int sent;
|
||||
pthread_mutex_lock(&usb_lock);
|
||||
|
||||
do {
|
||||
err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
|
||||
if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
|
||||
} while(err != 0);
|
||||
if (!fake_send) {
|
||||
do {
|
||||
err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
|
||||
if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
|
||||
} while(err != 0);
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&usb_lock);
|
||||
|
||||
|
|
@ -223,7 +224,7 @@ void can_send(void *s) {
|
|||
// **** threads ****
|
||||
|
||||
void *can_send_thread(void *crap) {
|
||||
DPRINTF("start send thread\n");
|
||||
LOGD("start send thread");
|
||||
|
||||
// sendcan = 8017
|
||||
void *context = zmq_ctx_new();
|
||||
|
|
@ -239,7 +240,7 @@ void *can_send_thread(void *crap) {
|
|||
}
|
||||
|
||||
void *can_recv_thread(void *crap) {
|
||||
DPRINTF("start recv thread\n");
|
||||
LOGD("start recv thread");
|
||||
|
||||
// can = 8006
|
||||
void *context = zmq_ctx_new();
|
||||
|
|
@ -256,7 +257,7 @@ void *can_recv_thread(void *crap) {
|
|||
}
|
||||
|
||||
void *can_health_thread(void *crap) {
|
||||
DPRINTF("start health thread\n");
|
||||
LOGD("start health thread");
|
||||
|
||||
// health = 8011
|
||||
void *context = zmq_ctx_new();
|
||||
|
|
@ -281,35 +282,31 @@ int set_realtime_priority(int level) {
|
|||
|
||||
int main() {
|
||||
int err;
|
||||
DPRINTF("starting boardd\n");
|
||||
LOGW("starting boardd");
|
||||
|
||||
// set process priority
|
||||
err = set_realtime_priority(4);
|
||||
DPRINTF("setpriority returns %d\n", err);
|
||||
LOG("setpriority returns %d", err);
|
||||
|
||||
// check the environment
|
||||
if (getenv("STARTED")) {
|
||||
spoofing_started = true;
|
||||
}
|
||||
|
||||
// connect to the board
|
||||
if (getenv("FAKESEND")) {
|
||||
fake_send = true;
|
||||
}
|
||||
|
||||
// init libusb
|
||||
err = libusb_init(&ctx);
|
||||
assert(err == 0);
|
||||
libusb_set_debug(ctx, 3);
|
||||
|
||||
// TODO: duplicate code from error handling
|
||||
while (!usb_connect()) { DPRINTF("attempting to connect\n"); usleep(100*1000); }
|
||||
// connect to the board
|
||||
usb_retry_connect();
|
||||
|
||||
/*int config;
|
||||
err = libusb_get_configuration(dev_handle, &config);
|
||||
assert(err == 0);
|
||||
DPRINTF("configuration is %d\n", config);*/
|
||||
|
||||
/*err = libusb_set_interface_alt_setting(dev_handle, 0, 0);
|
||||
assert(err == 0);*/
|
||||
|
||||
// create threads
|
||||
|
||||
pthread_t can_health_thread_handle;
|
||||
err = pthread_create(&can_health_thread_handle, NULL,
|
||||
can_health_thread, NULL);
|
||||
|
|
|
|||
|
|
@ -1,6 +1,9 @@
|
|||
#!/usr/bin/env python
|
||||
from __future__ import print_function
|
||||
|
||||
import os
|
||||
import numpy as np
|
||||
import tempfile
|
||||
import zmq
|
||||
|
||||
from common.services import service_list
|
||||
|
|
@ -8,6 +11,7 @@ import selfdrive.messaging as messaging
|
|||
from selfdrive.config import ImageParams, VehicleParams
|
||||
from selfdrive.calibrationd.calibration import ViewCalibrator, CalibStatus
|
||||
|
||||
CALIBRATION_TMP_DIR = "/sdcard"
|
||||
CALIBRATION_FILE = "/sdcard/calibration_param"
|
||||
|
||||
def load_calibration(gctx):
|
||||
|
|
@ -32,28 +36,33 @@ def load_calibration(gctx):
|
|||
|
||||
# load calibration data
|
||||
if os.path.isfile(CALIBRATION_FILE):
|
||||
# if the calibration file exist, start from the last cal values
|
||||
with open(CALIBRATION_FILE, "r") as cal_file:
|
||||
data = [float(l.strip()) for l in cal_file.readlines()]
|
||||
calib = ViewCalibrator((I.X, I.Y),
|
||||
big_box_size,
|
||||
vp_img,
|
||||
warp_matrix_start,
|
||||
vp_f=[data[2], data[3]],
|
||||
cal_cycle=data[0],
|
||||
cal_status=data[1])
|
||||
try:
|
||||
# If the calibration file exist, start from the last cal values
|
||||
with open(CALIBRATION_FILE, "r") as cal_file:
|
||||
data = [float(l.strip()) for l in cal_file.readlines()]
|
||||
return ViewCalibrator(
|
||||
(I.X, I.Y),
|
||||
big_box_size,
|
||||
vp_img,
|
||||
warp_matrix_start,
|
||||
vp_f=[data[2], data[3]],
|
||||
cal_cycle=data[0],
|
||||
cal_status=data[1])
|
||||
except Exception as e:
|
||||
print("Could not load calibration file: {}".format(e))
|
||||
|
||||
if calib.cal_status == CalibStatus.INCOMPLETE:
|
||||
print "CALIBRATION IN PROGRESS", calib.cal_cycle
|
||||
else:
|
||||
print "NO CALIBRATION FILE"
|
||||
calib = ViewCalibrator((I.X, I.Y),
|
||||
big_box_size,
|
||||
vp_img,
|
||||
warp_matrix_start,
|
||||
vp_f=vp_guess)
|
||||
return ViewCalibrator(
|
||||
(I.X, I.Y), big_box_size, vp_img, warp_matrix_start, vp_f=vp_guess)
|
||||
|
||||
return calib
|
||||
def store_calibration(calib):
|
||||
# Tempfile needs to be on the same device as the calbration file.
|
||||
with tempfile.NamedTemporaryFile(delete=False, dir=CALIBRATION_TMP_DIR) as cal_file:
|
||||
print(calib.cal_cycle, file=cal_file)
|
||||
print(calib.cal_status, file=cal_file)
|
||||
print(calib.vp_f[0], file=cal_file)
|
||||
print(calib.vp_f[1], file=cal_file)
|
||||
cal_file_name = cal_file.name
|
||||
os.rename(cal_file_name, CALIBRATION_FILE)
|
||||
|
||||
def calibrationd_thread(gctx):
|
||||
context = zmq.Context()
|
||||
|
|
@ -69,7 +78,7 @@ def calibrationd_thread(gctx):
|
|||
v_ego = None
|
||||
|
||||
calib = load_calibration(gctx)
|
||||
last_cal_cycle = calib.cal_cycle
|
||||
last_write_cycle = calib.cal_cycle
|
||||
|
||||
while 1:
|
||||
# calibration at the end so it does not delay radar processing above
|
||||
|
|
@ -91,14 +100,10 @@ def calibrationd_thread(gctx):
|
|||
calib.calibration(p0, p1, st, v_ego, steer_angle, VP)
|
||||
|
||||
# write a new calibration every 100 cal cycle
|
||||
if calib.cal_cycle - last_cal_cycle >= 100:
|
||||
print "writing cal", calib.cal_cycle
|
||||
with open(CALIBRATION_FILE, "w") as cal_file:
|
||||
cal_file.write(str(calib.cal_cycle)+'\n')
|
||||
cal_file.write(str(calib.cal_status)+'\n')
|
||||
cal_file.write(str(calib.vp_f[0])+'\n')
|
||||
cal_file.write(str(calib.vp_f[1])+'\n')
|
||||
last_cal_cycle = calib.cal_cycle
|
||||
if calib.cal_cycle - last_write_cycle >= 100:
|
||||
print("writing cal", calib.cal_cycle)
|
||||
store_calibration(calib)
|
||||
last_write_cycle = calib.cal_cycle
|
||||
|
||||
warp_matrix = map(float, calib.warp_matrix.reshape(9).tolist())
|
||||
dat = messaging.new_message()
|
||||
|
|
|
|||
|
|
@ -0,0 +1,17 @@
|
|||
CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include
|
||||
CEREAL_CXXFLAGS = -I$(PHONELIBS)/capnp-cpp/include
|
||||
CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
|
||||
-L$(PHONELIBS)/capnp-c/aarch64/lib/ \
|
||||
-l:libcapn.a -l:libcapnp.a -l:libkj.a
|
||||
CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o
|
||||
|
||||
log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
|
||||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
car.capnp.o: ../../cereal/gen/cpp/car.capnp.c++
|
||||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
|
|
@ -53,6 +53,7 @@ extern "C" FramebufferState* framebuffer_init(
|
|||
assert(status == 0);
|
||||
|
||||
int orientation = 3; // rotate framebuffer 270 degrees
|
||||
//int orientation = 1; // rotate framebuffer 90 degrees
|
||||
if(orientation == 1 || orientation == 3) {
|
||||
int temp = s->dinfo.h;
|
||||
s->dinfo.h = s->dinfo.w;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,71 @@
|
|||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <GLES3/gl3.h>
|
||||
|
||||
#include "glutil.h"
|
||||
|
||||
GLuint load_shader(GLenum shaderType, const char *src) {
|
||||
GLint status = 0, len = 0;
|
||||
GLuint shader;
|
||||
|
||||
if (!(shader = glCreateShader(shaderType)))
|
||||
return 0;
|
||||
|
||||
glShaderSource(shader, 1, &src, NULL);
|
||||
glCompileShader(shader);
|
||||
glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
|
||||
|
||||
if (status)
|
||||
return shader;
|
||||
|
||||
glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
|
||||
if (len) {
|
||||
char *msg = (char*)malloc(len);
|
||||
if (msg) {
|
||||
glGetShaderInfoLog(shader, len, NULL, msg);
|
||||
msg[len-1] = 0;
|
||||
fprintf(stderr, "error compiling shader:\n%s\n", msg);
|
||||
free(msg);
|
||||
}
|
||||
}
|
||||
glDeleteShader(shader);
|
||||
return 0;
|
||||
}
|
||||
|
||||
GLuint load_program(const char *vert_src, const char *frag_src) {
|
||||
GLuint vert, frag, prog;
|
||||
GLint status = 0, len = 0;
|
||||
|
||||
if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
|
||||
return 0;
|
||||
if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
|
||||
goto fail_frag;
|
||||
if (!(prog = glCreateProgram()))
|
||||
goto fail_prog;
|
||||
|
||||
glAttachShader(prog, vert);
|
||||
glAttachShader(prog, frag);
|
||||
glLinkProgram(prog);
|
||||
|
||||
glGetProgramiv(prog, GL_LINK_STATUS, &status);
|
||||
if (status)
|
||||
return prog;
|
||||
|
||||
glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
|
||||
if (len) {
|
||||
char *buf = (char*) malloc(len);
|
||||
if (buf) {
|
||||
glGetProgramInfoLog(prog, len, NULL, buf);
|
||||
buf[len-1] = 0;
|
||||
fprintf(stderr, "error linking program:\n%s\n", buf);
|
||||
free(buf);
|
||||
}
|
||||
}
|
||||
glDeleteProgram(prog);
|
||||
fail_prog:
|
||||
glDeleteShader(frag);
|
||||
fail_frag:
|
||||
glDeleteShader(vert);
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
#ifndef COMMON_GLUTIL_H
|
||||
#define COMMON_GLUTIL_H
|
||||
|
||||
#include <GLES3/gl3.h>
|
||||
GLuint load_shader(GLenum shaderType, const char *src);
|
||||
GLuint load_program(const char *vert_src, const char *frag_src);
|
||||
|
||||
#endif
|
||||
|
|
@ -19,6 +19,7 @@ typedef struct LogState {
|
|||
JsonNode *ctx_j;
|
||||
void *zctx;
|
||||
void *sock;
|
||||
int print_level;
|
||||
} LogState;
|
||||
|
||||
static LogState s = {
|
||||
|
|
@ -31,6 +32,19 @@ static void cloudlog_init() {
|
|||
s.zctx = zmq_ctx_new();
|
||||
s.sock = zmq_socket(s.zctx, ZMQ_PUSH);
|
||||
zmq_connect(s.sock, "ipc:///tmp/logmessage");
|
||||
|
||||
s.print_level = CLOUDLOG_WARNING;
|
||||
const char* print_level = getenv("LOGPRINT");
|
||||
if (print_level) {
|
||||
if (strcmp(print_level, "debug") == 0) {
|
||||
s.print_level = CLOUDLOG_DEBUG;
|
||||
} else if (strcmp(print_level, "info") == 0) {
|
||||
s.print_level = CLOUDLOG_INFO;
|
||||
} else if (strcmp(print_level, "warning") == 0) {
|
||||
s.print_level = CLOUDLOG_WARNING;
|
||||
}
|
||||
}
|
||||
|
||||
s.inited = true;
|
||||
}
|
||||
|
||||
|
|
@ -50,7 +64,7 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
|
|||
return;
|
||||
}
|
||||
|
||||
if (levelnum >= CLOUDLOG_PRINT_LEVEL) {
|
||||
if (levelnum >= s.print_level) {
|
||||
printf("%s: %s\n", filename, msg_buf);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -7,13 +7,19 @@
|
|||
#define CLOUDLOG_ERROR 40
|
||||
#define CLOUDLOG_CRITICAL 50
|
||||
|
||||
#define CLOUDLOG_PRINT_LEVEL CLOUDLOG_WARNING
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, const char* srctime,
|
||||
const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
|
||||
|
||||
void cloudlog_bind(const char* k, const char* v);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
|
||||
__func__, __DATE__ " " __TIME__, \
|
||||
fmt, ## __VA_ARGS__)
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
const char *openpilot_version = "0.2.3";
|
||||
const char *openpilot_version = "0.2.4";
|
||||
|
|
|
|||
|
|
@ -38,6 +38,7 @@ def controlsd_thread(gctx, rate=100): #rate in Hz
|
|||
# *** log ***
|
||||
context = zmq.Context()
|
||||
live100 = messaging.pub_sock(context, service_list['live100'].port)
|
||||
carstate = messaging.pub_sock(context, service_list['carState'].port)
|
||||
|
||||
thermal = messaging.sub_sock(context, service_list['thermal'].port)
|
||||
live20 = messaging.sub_sock(context, service_list['live20'].port)
|
||||
|
|
@ -88,6 +89,12 @@ def controlsd_thread(gctx, rate=100): #rate in Hz
|
|||
# read CAN
|
||||
CS = CI.update()
|
||||
|
||||
# broadcast carState
|
||||
cs_send = messaging.new_message()
|
||||
cs_send.init('carState')
|
||||
cs_send.carState = CS # copy?
|
||||
carstate.send(cs_send.to_bytes())
|
||||
|
||||
prof.checkpoint("CarInterface")
|
||||
|
||||
# did it request to enable?
|
||||
|
|
|
|||
|
|
@ -57,10 +57,12 @@ class AlertManager(object):
|
|||
"wrongCarMode": alert("Comma Unavailable","Main Switch Off", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
|
||||
"outOfSpace": alert("Comma Unavailable","Out of Space", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
|
||||
"ethicalDilemma": alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
|
||||
"startup": alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
|
||||
}
|
||||
def __init__(self):
|
||||
self.activealerts = []
|
||||
self.current_alert = None
|
||||
self.add("startup", False)
|
||||
|
||||
def alertPresent(self):
|
||||
return len(self.activealerts) > 0
|
||||
|
|
|
|||
|
|
@ -219,7 +219,7 @@ class Cluster(object):
|
|||
ret += " vision_cnt: %6.0f" % self.vision_cnt
|
||||
return ret
|
||||
|
||||
def is_potential_lead(self, v_ego, enabled):
|
||||
def is_potential_lead(self, v_ego):
|
||||
# predict cut-ins by extrapolating lateral speed by a lookahead time
|
||||
# lookahead time depends on cut-in distance. more attentive for close cut-ins
|
||||
# also, above 50 meters the predicted path isn't very reliable
|
||||
|
|
@ -233,12 +233,11 @@ class Cluster(object):
|
|||
# average dist
|
||||
d_path = self.dPath
|
||||
|
||||
if enabled:
|
||||
t_lookahead = interp(self.dRel, t_lookahead_bp, t_lookahead_v)
|
||||
# correct d_path for lookahead time, considering only cut-ins and no more than 1m impact
|
||||
lat_corr = clip(t_lookahead * self.vLat, -1, 0)
|
||||
else:
|
||||
lat_corr = 0.
|
||||
# lat_corr used to be gated on enabled, now always running
|
||||
t_lookahead = interp(self.dRel, t_lookahead_bp, t_lookahead_v)
|
||||
# correct d_path for lookahead time, considering only cut-ins and no more than 1m impact
|
||||
lat_corr = clip(t_lookahead * self.vLat, -1, 0)
|
||||
|
||||
d_path = max(d_path + lat_corr, 0)
|
||||
|
||||
if d_path < 1.5 and not self.stationary and not self.oncoming:
|
||||
|
|
|
|||
|
|
@ -196,7 +196,7 @@ def radard_thread(gctx=None):
|
|||
|
||||
# *** extract the lead car ***
|
||||
lead_clusters = [c for c in clusters
|
||||
if c.is_potential_lead(v_ego, enabled)]
|
||||
if c.is_potential_lead(v_ego)]
|
||||
lead_clusters.sort(key=lambda x: x.dRel)
|
||||
lead_len = len(lead_clusters)
|
||||
|
||||
|
|
|
|||
|
|
@ -17,18 +17,16 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
|
|||
-l:libczmq.a -l:libzmq.a \
|
||||
-lgnustl_shared
|
||||
|
||||
CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
|
||||
CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
|
||||
-l:libcapnp.a -l:libkj.a
|
||||
CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
|
||||
.PHONY: all
|
||||
all: logcatd
|
||||
|
||||
-include ../common/cereal.mk
|
||||
|
||||
OBJS = logcatd.o \
|
||||
log.capnp.o
|
||||
$(CEREAL_OBJS)
|
||||
|
||||
DEPS := $(OBJS:.o=.d)
|
||||
|
||||
all: logcatd
|
||||
|
||||
logcatd: $(OBJS)
|
||||
@echo "[ LINK ] $@"
|
||||
$(CXX) -fPIC -o '$@' $^ \
|
||||
|
|
@ -40,17 +38,12 @@ logcatd: $(OBJS)
|
|||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CXXFLAGS) \
|
||||
-I$(PHONELIBS)/android_system_core/include \
|
||||
$(CEREAL_FLAGS) \
|
||||
$(CEREAL_CFLAGS) \
|
||||
$(ZMQ_FLAGS) \
|
||||
-I../ \
|
||||
-I../../ \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
|
||||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
rm -f logcatd $(OBJS) $(DEPS)
|
||||
|
|
|
|||
|
|
@ -194,6 +194,10 @@ def manager_thread():
|
|||
|
||||
count = 0
|
||||
|
||||
# set 5 second timeout on health socket
|
||||
# 5x slower than expected
|
||||
health_sock.RCVTIMEO = 5000
|
||||
|
||||
while 1:
|
||||
# get health of board, log this in "thermal"
|
||||
td = messaging.recv_sock(health_sock, wait=True)
|
||||
|
|
@ -208,6 +212,8 @@ def manager_thread():
|
|||
|
||||
# thermal message now also includes free space
|
||||
msg.thermal.freeSpace = avail
|
||||
with open("/sys/class/power_supply/battery/capacity") as f:
|
||||
msg.thermal.batteryPercent = int(f.read())
|
||||
thermal_sock.send(msg.to_bytes())
|
||||
print msg
|
||||
|
||||
|
|
@ -228,7 +234,7 @@ def manager_thread():
|
|||
# start constellation of processes when the car starts
|
||||
if not os.getenv("STARTALL"):
|
||||
# with 2% left, we killall, otherwise the phone is bricked
|
||||
if td.health.started and avail > 0.02:
|
||||
if td is not None and td.health.started and avail > 0.02:
|
||||
for p in car_started_processes:
|
||||
if p == "loggerd" and logger_dead:
|
||||
kill_managed_process(p)
|
||||
|
|
@ -246,7 +252,14 @@ def manager_thread():
|
|||
# report to server once per minute
|
||||
if (count%60) == 0:
|
||||
names, total_size = fake_uploader.get_data_stats()
|
||||
cloudlog.info({"names": names, "total_size": total_size, "running": running.keys(), "count": count, "health": td.to_dict(), "thermal": msg.to_dict(), "version": version, "nonce": "THIS_STATUS_PACKET"})
|
||||
cloudlog.event("STATUS_PACKET",
|
||||
names=names,
|
||||
total_size=total_size,
|
||||
running=running.keys(),
|
||||
count=count,
|
||||
health=(td.to_dict() if td else None),
|
||||
thermal=msg.to_dict(),
|
||||
version=version)
|
||||
|
||||
count += 1
|
||||
|
||||
|
|
@ -270,24 +283,6 @@ def manager_prepare():
|
|||
subprocess.check_call(["make", "clean"], cwd=proc[0])
|
||||
subprocess.check_call(["make", "-j4"], cwd=proc[0])
|
||||
|
||||
def manager_test():
|
||||
global managed_processes
|
||||
managed_processes = {}
|
||||
managed_processes["test1"] = ("test", ["./test.py"])
|
||||
managed_processes["test2"] = ("test", ["./test.py"])
|
||||
managed_processes["test3"] = "selfdrive.test.test"
|
||||
manager_prepare()
|
||||
start_managed_process("test1")
|
||||
start_managed_process("test2")
|
||||
start_managed_process("test3")
|
||||
print running
|
||||
time.sleep(3)
|
||||
kill_managed_process("test1")
|
||||
kill_managed_process("test2")
|
||||
kill_managed_process("test3")
|
||||
print running
|
||||
time.sleep(10)
|
||||
|
||||
def wait_for_device():
|
||||
while 1:
|
||||
try:
|
||||
|
|
@ -319,20 +314,23 @@ def main():
|
|||
del managed_processes['loggerd']
|
||||
del managed_processes['logmessaged']
|
||||
del managed_processes['logcatd']
|
||||
if os.getenv("NOCONTROL") is not None:
|
||||
del managed_processes['controlsd']
|
||||
del managed_processes['radard']
|
||||
|
||||
manager_init()
|
||||
manager_prepare()
|
||||
|
||||
if os.getenv("PREPAREONLY") is not None:
|
||||
sys.exit(0)
|
||||
|
||||
if len(sys.argv) > 1 and sys.argv[1] == "test":
|
||||
manager_test()
|
||||
else:
|
||||
manager_prepare()
|
||||
try:
|
||||
manager_thread()
|
||||
except Exception:
|
||||
traceback.print_exc()
|
||||
common.crash.capture_exception()
|
||||
finally:
|
||||
cleanup_all_processes(None, None)
|
||||
try:
|
||||
manager_thread()
|
||||
except Exception:
|
||||
traceback.print_exc()
|
||||
common.crash.capture_exception()
|
||||
finally:
|
||||
cleanup_all_processes(None, None)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
|
|
|||
|
|
@ -17,18 +17,16 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
|
|||
-l:libczmq.a -l:libzmq.a \
|
||||
-lgnustl_shared
|
||||
|
||||
CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
|
||||
CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
|
||||
-l:libcapnp.a -l:libkj.a
|
||||
CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
|
||||
.PHONY: all
|
||||
all: sensord
|
||||
|
||||
-include ../common/cereal.mk
|
||||
|
||||
OBJS = sensors.o \
|
||||
log.capnp.o
|
||||
$(CEREAL_OBJS)
|
||||
|
||||
DEPS := $(OBJS:.o=.d)
|
||||
|
||||
all: sensord
|
||||
|
||||
sensord: $(OBJS)
|
||||
@echo "[ LINK ] $@"
|
||||
$(CXX) -fPIC -o '$@' $^ \
|
||||
|
|
@ -40,19 +38,12 @@ sensors.o: sensors.cc
|
|||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CXXFLAGS) \
|
||||
-I$(PHONELIBS)/android_system_core/include \
|
||||
$(CEREAL_FLAGS) \
|
||||
$(CEREAL_CFLAGS) \
|
||||
$(ZMQ_FLAGS) \
|
||||
-I../ \
|
||||
-I../../ \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
|
||||
log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
|
||||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
rm -f sensord $(OBJS) $(DEPS)
|
||||
|
|
|
|||
|
|
@ -83,6 +83,7 @@ void sensor_loop() {
|
|||
|
||||
const sensors_event_t& data = buffer[i];
|
||||
|
||||
sensorEvents[i].setSource(cereal::SensorEventData::SensorSource::ANDROID);
|
||||
sensorEvents[i].setVersion(data.version);
|
||||
sensorEvents[i].setSensor(data.sensor);
|
||||
sensorEvents[i].setType(data.type);
|
||||
|
|
|
|||
|
|
@ -30,6 +30,7 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
|
|||
|
||||
OBJS = ui.o \
|
||||
touch.o \
|
||||
../common/glutil.o \
|
||||
../common/visionipc.o \
|
||||
../common/framebuffer.o \
|
||||
$(PHONELIBS)/nanovg/nanovg.o \
|
||||
|
|
|
|||
|
|
@ -1,15 +1,50 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdbool.h>
|
||||
#include <assert.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <assert.h>
|
||||
#include <dirent.h>
|
||||
#include <sys/poll.h>
|
||||
#include <linux/input.h>
|
||||
|
||||
#include "touch.h"
|
||||
|
||||
static int find_dev() {
|
||||
int err;
|
||||
|
||||
int ret = -1;
|
||||
|
||||
DIR *dir = opendir("/dev/input");
|
||||
assert(dir);
|
||||
struct dirent* de = NULL;
|
||||
while ((de = readdir(dir))) {
|
||||
if (strncmp(de->d_name, "event", 5)) continue;
|
||||
|
||||
int fd = openat(dirfd(dir), de->d_name, O_RDONLY);
|
||||
assert(fd >= 0);
|
||||
|
||||
char name[128] = {0};
|
||||
err = ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name);
|
||||
assert(err >= 0);
|
||||
|
||||
unsigned long ev_bits[8] = {0};
|
||||
err = ioctl(fd, EVIOCGBIT(0, sizeof(ev_bits)), ev_bits);
|
||||
assert(err >= 0);
|
||||
|
||||
if (strncmp(name, "synaptics", 9) == 0 && ev_bits[0] == 0xb) {
|
||||
ret = fd;
|
||||
break;
|
||||
}
|
||||
close(fd);
|
||||
}
|
||||
closedir(dir);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void touch_init(TouchState *s) {
|
||||
// synaptics touch screen on oneplus 3
|
||||
s->fd = open("/dev/input/event4", O_RDONLY);
|
||||
s->fd = find_dev();
|
||||
assert(s->fd >= 0);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -20,6 +20,7 @@
|
|||
#include "common/timing.h"
|
||||
#include "common/util.h"
|
||||
#include "common/mat.h"
|
||||
#include "common/glutil.h"
|
||||
|
||||
#include "common/framebuffer.h"
|
||||
#include "common/visionipc.h"
|
||||
|
|
@ -250,70 +251,6 @@ static const char line_fragment_shader[] =
|
|||
" gl_FragColor = vColor;\n"
|
||||
"}\n";
|
||||
|
||||
static GLuint load_shader(GLenum shaderType, const char *src) {
|
||||
GLint status = 0, len = 0;
|
||||
GLuint shader;
|
||||
|
||||
if (!(shader = glCreateShader(shaderType)))
|
||||
return 0;
|
||||
|
||||
glShaderSource(shader, 1, &src, NULL);
|
||||
glCompileShader(shader);
|
||||
glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
|
||||
|
||||
if (status)
|
||||
return shader;
|
||||
|
||||
glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
|
||||
if (len) {
|
||||
char *msg = malloc(len);
|
||||
if (msg) {
|
||||
glGetShaderInfoLog(shader, len, NULL, msg);
|
||||
msg[len-1] = 0;
|
||||
fprintf(stderr, "error compiling shader:\n%s\n", msg);
|
||||
free(msg);
|
||||
}
|
||||
}
|
||||
glDeleteShader(shader);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static GLuint load_program(const char *vert_src, const char *frag_src) {
|
||||
GLuint vert, frag, prog;
|
||||
GLint status = 0, len = 0;
|
||||
|
||||
if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
|
||||
return 0;
|
||||
if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
|
||||
goto fail_frag;
|
||||
if (!(prog = glCreateProgram()))
|
||||
goto fail_prog;
|
||||
|
||||
glAttachShader(prog, vert);
|
||||
glAttachShader(prog, frag);
|
||||
glLinkProgram(prog);
|
||||
|
||||
glGetProgramiv(prog, GL_LINK_STATUS, &status);
|
||||
if (status)
|
||||
return prog;
|
||||
|
||||
glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
|
||||
if (len) {
|
||||
char *buf = (char*) malloc(len);
|
||||
if (buf) {
|
||||
glGetProgramInfoLog(prog, len, NULL, buf);
|
||||
buf[len-1] = 0;
|
||||
fprintf(stderr, "error linking program:\n%s\n", buf);
|
||||
free(buf);
|
||||
}
|
||||
}
|
||||
glDeleteProgram(prog);
|
||||
fail_prog:
|
||||
glDeleteShader(frag);
|
||||
fail_frag:
|
||||
glDeleteShader(vert);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static const mat4 device_transform = {{
|
||||
1.0, 0.0, 0.0, 0.0,
|
||||
|
|
@ -760,9 +697,9 @@ static void ui_draw_vision(UIState *s) {
|
|||
draw_frame(s);
|
||||
|
||||
if (!scene->frontview) {
|
||||
draw_rgb_box(s, scene->big_box_x, s->rgb_height-scene->big_box_height-scene->big_box_y,
|
||||
/*draw_rgb_box(s, scene->big_box_x, s->rgb_height-scene->big_box_height-scene->big_box_y,
|
||||
scene->big_box_width, scene->big_box_height,
|
||||
0xFF0000FF);
|
||||
0xFF0000FF);*/
|
||||
|
||||
ui_draw_transformed_box(s, 0xFF00FF00);
|
||||
|
||||
|
|
@ -843,7 +780,7 @@ static void ui_draw_vision(UIState *s) {
|
|||
if (strlen(scene->alert_text2) > 0) {
|
||||
nvgFillColor(s->vg, nvgRGBA(255,255,255,255));
|
||||
nvgFontSize(s->vg, 100.0f);
|
||||
nvgText(s->vg, 100+1700/2, 200+500, scene->alert_text2, NULL);
|
||||
nvgText(s->vg, 100+1700/2, 200+550, scene->alert_text2, NULL);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1271,10 +1208,12 @@ static void ui_update(UIState *s) {
|
|||
|
||||
s->last_base_update = ts;
|
||||
|
||||
if (s->awake_timeout > 0) {
|
||||
s->awake_timeout--;
|
||||
} else {
|
||||
set_awake(s, false);
|
||||
if (!activity_running()) {
|
||||
if (s->awake_timeout > 0) {
|
||||
s->awake_timeout--;
|
||||
} else {
|
||||
set_awake(s, false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Binary file not shown.
Loading…
Reference in New Issue