commit e31cc875ad0132585994fd09d67a14f366130e4d Author: Dragonpilot Team Date: Fri Jul 29 03:49:20 2022 +0000 dragonpilot v2022.07.29 for EON/C2 diff --git a/.gitignore b/.gitignore new file mode 100644 index 000000000..406c23bac --- /dev/null +++ b/.gitignore @@ -0,0 +1,86 @@ +venv/ +.env +.clang-format +.DS_Store +.tags +.ipynb_checkpoints +.idea +.overlay_init +.overlay_consistent +.sconsign.dblite +.vscode* +model2.png +a.out +.hypothesis + +*.dylib +*.DSYM +*.d +*.pyc +*.pyo +.*.swp +.*.swo +.*.un~ +*.tmp +*.o +*.o-* +*.os +*.os-* +*.so +*.a +*.clb +*.class +*.pyxbldc +*.vcd +config.json +clcache +compile_commands.json + +persist +board/obj/ +selfdrive/boardd/boardd +selfdrive/logcatd/logcatd +selfdrive/mapd/default_speeds_by_region.json +system/proclogd/proclogd +selfdrive/ui/_ui +selfdrive/test/longitudinal_maneuvers/out +selfdrive/visiond/visiond +selfdrive/sensord/_gpsd +selfdrive/sensord/_sensord +system/camerad/camerad +system/camerad/test/ae_gray_test +selfdrive/modeld/_modeld +selfdrive/modeld/_dmonitoringmodeld +/src/ + +one +/body/ +openpilot +notebooks +xx +yy +hyperthneed +panda_jungle +provisioning + +.coverage* +coverage.xml +htmlcov +pandaextra + +.mypy_cache/ +flycheck_* + +cppcheck_report.txt +comma*.sh + +selfdrive/modeld/thneed/compile +selfdrive/modeld/models/*.thneed + +*.bz2 + +build/ + +!**/.gitkeep + +*.po~ diff --git a/CHANGELOGS.md b/CHANGELOGS.md new file mode 100644 index 000000000..6468b4842 --- /dev/null +++ b/CHANGELOGS.md @@ -0,0 +1,874 @@ +dragonpilot 2022.07.29 - EON/C2 Release +======================== +* NEW: Synced to openpilot 2022.07.27 commits. +* NEW: Included Mazda vehicles. +* TWEAK: Only show road name bar when it's not empty. +* TWEAK: Enlarged lead car distance text. +* TWEAK: TOYOTA - Updated lowest speed override feature. +* FIXED: Fixed Panda Flash/Recovery buttons. +* FIXED: Included dp_patcher.py execution. + +dragonpilot 2022.07.20 - EON/C2 Release +======================== +* FIXED: Included correct camera/path offset values for EON/C2. +* FIXED: Param bug in HKG. (Thanks to @sunnyhaibin). +* FIXED: Included fan controller for UNO (C2). +* TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection. +* TWEAK: Removed sounds unavailable warning. +* TWEAK: Removed unused loggers. +* TWEAK: Disabled IR controls completely. + +dragonpilot 2022.07.14 - EON/C2 Release +======================== +* FIXED: DM bug. +* FIXED: white / grey panda support. +* FIXED: Removed No GPS signal warning. + +dragonpilot 2022.07.12 - EON/C2 Release +======================== +* Synced up with dragonpilot 2022.06.25 C3 release +* Running on latest AI model. +* Steering monitor only. +* Works on EON/C2 + white/grey/black panda (tested only on Toyotas). +* Buggy! + +dragonpilot 2022.06.25 +======================== +* Synced with openpilot master 2022.07.26 commits. + +dragonpilot 2022.07.01 +======================== +* Synced with openpilot master 2022.06.29 commits. +* ADDED: MapD based off @move-fast. Thanks to @sunnyhaibin for mapbox as datapoint and ui refactor. (setting destination will use mapxbox speedlimit data which is more accurate. MapD priority: Mapbox(if nav active), OSM, RSA ) + +dragonpilot 2022.06.25 +======================== +* Synced with openpilot master 2022.06.25 commits. +* Updated zh-TW translation. +* ADDED: Dynamid follow @krkeegan version. (press the distance button) +* ADDED: dp ui vol. +* ADDED: dp ui brightness. +* ADDED: dp ui top/side bar. +* ADDED: dp display mode (0=off/normal, 1=turn off the screen when onroad). + +dragonpilot 2022.06.16 +======================== +* Synced with openpilot master 2022.06.16 commits. +* ADDED: Toyota SnG hack. +* ADDED: Accel Profile. +* FIXED: Car Selection. +* FLXED: ALCA Delay Setting UI. +* FIXED: Lane lines mode (w/ DLP built-in). + +dragonpilot 2022.06.11 +======================== +* Synced with openpilot master 2022.06.07 commits +* Migrating more features soon, stay tuned! + +dragonpilot 0.8.13-1 +======================== +* Based on openpilot 0.8.13 devel. +* ADDED: Support for SDSU. Can now control distance with the button on the steering wheel. (Thanks to @CT9212) +* FIXED: DLP fix. (Thank to @Hikari1023) +* Bug fixes. + +dragonpilot 0.8.12-3 +======================== +* Bug fixes. +* ADDED: Car Selector for C3. +* ADDED: ColorBlind mode eon only. (thanks to @ihsakashi) +* TUNNING: Toyota long improvement. +* Reimplement: Following Distance and added @krkeegan implementation (toyota only with sdsu/tss2). + +dragonpilot 0.8.12-2 +======================== +* Bug fixes. +* ADDED: FTP to easily manage storage. +* Readded: camera offset, path offset and autoshutdown. + +dragonpilot 0.8.12-1 +======================== +* Based on openpilot 0.8.12 devel. +* ADDED: Support for no gps (mr.one panda). +* Reimplement: camera offset, path offset, nav for c2 and autoshutdown. + +dragonpilot 0.8.10-4 +======================== +* FIXED: Allow gas press. (Thanks to @loveloveses) +* FIXED: Honda SnG. (Thanks to @loveloveses +* ADDED: Toyota: Display Blue Barriers When Engaged. (Thanks to @krkeegan) + +dragonpilot 0.8.10-3 +======================== +* NAV: Gaode/amap to use new key combination. (Thanks to @loveloveses) + +dragonpilot 0.8.10 +======================== +* Based on openpilot 0.8.10 devel. +* Reimplement: Following Distance. +* Better Subaru support. (Thanks to @martinl https://github.com/martinl/openpilot) +* NAV: Added use of Navigation tab to access home/work/recent dest. +* NAV: Added auto Day/Night Mode. +* NAV: Added customizable style. +* NAV: Added Gaode/amap Search. (Thanks to @loveloveses) +* FIXED: Device w/ battery no longer need to set auto shutdown to 1 min. +* FIXED: Auto shutdown while on bench (Thanks to @sunnyhaibin) +* REMOVED: Timebomb feature for VW. +* REMOVED: Support of running Android apps. + +dragonpilot 0.8.9-3 +======================== +* Bug fixes. +* Fixed up auto updater. +* Fixed Honda Jade dbc. (Thanks to @lijunhao731) +* ADDED: 0.8.10 model. +* ADDED: Nav for all device. +* ADDED: Support for Nvidia Xavier. + +dragonpilot 0.8.9-2 +======================== +* Bug fixes. +* Refactor UI related changes. +* Updated Simplified Chinese translation. (Thanks to @CCZ) +* WARNING: Due to recent OP change, Device w/ battery recommended setting autoshutdown to 1 min to prevent libusb error. +* Re-tuned acceleraton profile. (Thank to @wer5lcy) +* ADDED: Car port for Toyota Prius Alpha. (Thanks to @CT921) + +dragonpilot 0.8.9-1 +======================== +* Based on openpilot 0.8.8 devel. +* Re-introduce Follow Distance 4th profile (2.2s / 1.8s / 1.5s / 1.2s). +* ADDED: New softer sound for c3. +* ADDED: Dynamic Lane Profile. (Thanks to @sunnyhaibin) +* Bug Fixes. + +dragonpilot 0.8.8-2 +======================== +* ADDED: newer faster and modularized mapd and slow down for curve. (Thanks to @move-fast) +* ADDED: Street name on the bottom bar. +* ADDED: Now supports 1+3t / C2 / C3 / Jetson Xavier NX. +* ADDED: Smoother tune for PRIUS_TSS2. +* Bug fixes. + +dragonpilot 0.8.8-1 +======================== +** BETA TESTING ONLY ** +* Based on openpilot 0.8.8 devel. +* FIXED: dashcam issue. +* FIXED: some VW vehicles issue. (Thanks to @yayism) +* FIXED: white panda + j533 acc issue. (Thanks to @lirudy) +* ADDED: Auto fake black panda. +* ADDED: 2018 chinese camry hybrid fingerprint (Thanks to @stingshen) +* WIP: mapd. + +dragonpilot 0.8.7-4 +======================== +* 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731) +* Fixed toyota / honda brake light display. (Thanks to @loveloveses) +* Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻) +* Fixed VW resume/display issue. (Thanks to @SKY) +* Fixed CJK font installation issue. + +dragonpilot 0.8.7-3 +======================== +* Bug fixes. +* Fixed gpxd. +* Added some Chinese support. + +dragonpilot 0.8.7-2 +======================== +* Fixed sound issue. +* Changed gpx logs to OSM compatible format. +* HONDA: Added BSM support for CRV-Hybrid. +* HONDA: Added toggle to force displaying km/h in HUD. +* TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature. + +dragonpilot 0.8.7-1 +======================== +* Based on openpilot 0.8.7 devel. +* Support 1+3t / C2 / Jetson Xavier NX. +* Support White / Grey Panda. +* TOYOTA: Can now change Following Modes with physical button from the steering wheel. +* TOYOTA: Can now change Acceleration Modes with physical button if your car supports it. +* TOYOTA: Added Low speed override toggles. +* Dev UI now displays RPM reading. +* Added Prebuilt toggle for faster boot. +* Lexus RX high RPM fix. (Thanks to @crazysim). +* Added toggle to launch Language settings. +* Added toggle to launch Volume settings. +* Added toggle to launch date/time settings. +* Added toggle to flash panda. +* Added toggle to recover panda firmware. +* Added toggle to delete logging (/sdcard/realdata). +* Added GPS Logger. + +dragonpilot 0.8.6-1 +======================== +* Based on openpilot 0.8.6 devel. +* Support 1+3t / C2 / Jetson Xavier NX. +* Support White / Grey Panda. + +dragonpilot 0.8.5-4 +======================== +* Added multiple toggles. +* Code clean up. +* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md) +* Better support for VW MPQ (Thanks to @Saber) + +dragonpilot 0.8.5-3 +======================== +* Added Jetson support toggle. +* Added Steering Ratio controller. +* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s) +* Bug fixes. + +dragonpilot 0.8.5-2 +======================== +* Added black panda simulation toggle. +* Added No GPS toggle. +* Added No Battery Toggle. +* Bug fixes. + +dragonpilot 0.8.5-1 +======================== +* Based on openpilot 0.8.5 devel. +* 基於 openpilot 0.8.5 devel. +* Support 1+3t / C2 / Jetson Xavier NX. +* 支持 1+3t / C2 / Jetson Xavier NX. +* No White/Grey Panda Support. +* 不支持白灰熊. + +dragonpilot 0.8.4-3 +======================== +* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md) +* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md) +* 加回舊 ssh 登錄. +* Good old ssh key. +* 修復本田錯誤. (感謝 @loveloveses) +* Fixed Honda bug. (Thanks to @loveloveses) + +dragonpilot 0.8.4-2 +======================== +* 加回可調整加速/跟車設定. +* Added back Accel/Following Profile. +* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git) +* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git) +* 支持 1+3t (需額外安裝手續) +* Support 1+3t (Require additional install procedure) +* 支持白/灰熊 +* Support White/Grey Panda. + +dragonpilot 0.8.4-1 +======================== +* 基於 openpilot 0.8.4 devel. +* Based on openpilot 0.8.4 devel. + +dragonpilot 0.8.1 +======================== +* 基於最新 openpilot 0.8.1 devel. +* Based on latest openpilot 0.8.1 devel. +* 加入行車記錄按鈕。(感謝 @toyboxZ 提供) +* Added REC screen button. (Thanks to @toyboxZ) + +dragonpilot 0.8.0 +======================== +* 基於最新 openpilot 0.8.0 devel. +* Based on latest openpilot 0.8.0 devel. +* 加入 git 錯誤修正。(感謝 @toyboxZ 提供) +* Added git error fix. (Thanks to @toyboxZ) + +dragonpilot 0.7.10.1 +======================== +* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供) +* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe) +* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議) +* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) +* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供) +* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217) +* 使用 openpilot v0.8 的模型。(感謝 @eisenheim) +* Use openpilot v0.8 model. (Thanks to @eisenheim) +* 加入 0.8 測試版的部分優化。 +* Added optimizations from pre-0.8. +* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供) +* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369) +* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供) +* Fixed issue with white/grey panda support for VW (Thanks to @lirudy) +* GENESIS_G70 優化 (感謝 @sebastian4k 提供) +* GENESIS_G70 Optimisation (Thanks to @sebastian4k) +* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供) +* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe) +* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供) +* Added Dynamic Gas Lite. (Thanks to @toyboxZ) +* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供) +* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) +* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供) +* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ) + +dragonpilot 0.7.10.0 +======================== +* 基於最新 openpilot 0.7.10 devel. +* Based on latest openpilot 0.7.10 devel. +* 修正 Prius 特定情況下無法操控方向盤的問題。 +* Fixed unable to regain Prius steering control under certain condition. +* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本) +* Updated support of VW MQB. (scripts/vw.sh script required) +* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供) +* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung) +* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供) +* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa) +* 優化 nanovg。(感謝 @piggy 提供) +* Optomized nanovg. (Thanks to @piggy) +* 加入 complete_setup.sh (感謝 @深鲸希西 提供) +* Added complete_setup.sh (Thanks to @深鲸希西) +* Based on latest openpilot 0.7.10 devel. +* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報) +* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen) +* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供) +* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe) + +dragonpilot 0.7.8.3 +======================== +* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼) +* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd) + +dragonpilot 0.7.8.2 +======================== +* 修正在沒網路的情況下，開機超過五分鐘的問題。 +* Fixed 5+ minutes boot time issue when there is no internet connection. +* 錯誤回傳改使用 dp 的主機。 +* Used dp server for error reporting. +* 更新服務改使用 gitee 的 IP 檢查連線狀態。 +* updated service uses gitee IP address instead. + +dragonpilot 0.7.8.1 +======================== +* 加入 ko-KR 翻譯。 +* Added ko-KR translation. +* 加入 Honda Jade 支援。(感謝 @李俊灝) +* Added Honda Jade support. (Thanks to @lijunhao731) +* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供) +* Fixed ui.cc memory out of bound issue. (Thanks to @piggy) +* gpxd 記錄改自動存成 zip 格式。 +* gpxd now store in zip format. +* 強制關閉 panda 檢查 DOS 硬體。 +* Force disabled DOS hardware check in panda. + +dragonpilot 0.7.8.0 +======================== +* 基於最新 openpilot 0.7.8 devel. +* Based on latest openpilot 0.7.8 devel. +* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議) +* Added "Reset DP Settings" button. (Thanks to @LOVEChen) +* 將警示訊息更改為類似於概念 UI 的設計。 +* Alert messages changed to concept UI alike design. +* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。 +* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. + +dragonpilot 0.7.7.3 +======================== +* 修正方向盤監控。 +* Fixed steering monitor timer param. +* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報) +* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough) +* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議) +* Re-added Dev Mini UI. (Thanks to @Ninjaa) +* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim) +* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim) +* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough) +* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough) +* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1） +* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1) +* 使用德國的車道寬度估算值。 （感謝 @arne182） +* Used lane width estimate value from Germany. (Thanks to @arne182) + +dragonpilot 0.7.7.2 +======================== +* 加入 d_poly offset。 (感謝 @ShaneSmiskol) +* Added d_poly offset. (Thanks to @ShaneSmiskol) +* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試) +* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing) +* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼) +* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol) +* 加入 LQR 控制器開關進設定畫面。 +* Added LQR Controller toggle to settings. + +dragonpilot 0.7.7.1 +======================== +* 加入 C2 風扇靜音模式。(感謝 @dingliangxue) +* Added C2 quiet fan mode. (Thanks to @dingliangxue) +* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。 +* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings. +* 加入回調校介面。(感謝 @Kent) +* Re-added Dev UI. (Thanks to @Kent) +* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim) +* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) + +dragonpilot 0.7.7.0 +======================== +* 基於最新 openpilot 0.7.7 devel. +* Based on latest openpilot 0.7.7 devel. +* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue) +* When Manager failed, display IP address. (Thanks to @dingliangxue) +* 加回 sr learner 開關。 +* Re-added sr learner toggle. +* 加回 加速模式 開關。 +* Re-added Accel Profile toggle. +* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo) +* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo) +* 介面加入盲點偵測顯示。(感謝 @wabes) +* Added BSM indicator to UI. (Thanks to @wabes) +* 加回彎道減速功能。(感謝 @Mojo) +* re-added Slow On Curve functionality. (Thanks to @Mojo) + +dragonpilot 0.7.6.2 +======================== +* 修正無法正確關閉駕駛監控的問題。 +* Fixed unable to properly turn off driver monitor issue. + +dragonpilot 0.7.6.1 +======================== +* 基於最新 openpilot 0.7.6.1 devel. +* Based on latest openpilot 0.7.6.1 devel. +* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能) +* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings) +* 完全關閉 steer ratio learner。 +* Completely disabled steer ratio learner. +* 移除「加速模式」。 +* Removed Accel Profile. +* 加入本田皓影混電版指紋v1。(感謝 @劉駿) +* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿) +* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid) +* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid) + +dragonpilot 0.7.5.4 +======================== +* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試) +* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing) + +dragonpilot 0.7.5.3 +======================== +* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試) +* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing) +* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試) +* Optimize Lexus GSH steering. (Thanks to @簡銘佑) +* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議) +* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968) +* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報) +* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) +* 將剎車狀熊顯示於 dp 資訊欄。 +* Added brake indicator to dp infobar. +* 修正「溫度監控」燈示。 +* Fixed "Temp monitor" indicator. +* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議) +* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes) +* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供) +* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) + +dragonpilot 0.7.5.2 +======================== +* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植) +* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue) +* 修改成 3 小時後停止供電。(感謝 @Wei 建議) +* Updated to stop charging after 3 hrs. (Thanks to @Wei) +* 移除行車記錄下的「碰撞偵測」功能。 +* Removed Impact Detection in Dashcam. +* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報) +* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤) +* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報) +* Fixed alert issue in waze mode. (Thanks to @axandres) +* 修正無法顯示更新中圖示的問題。 +* Fixed unable to display "UPDATING" icon issue. +* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議) +* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤) +* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報) +* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei) +* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報) +* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang) + +dragonpilot 0.7.5.1 +======================== +* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。) +* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林) +* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議) +* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony) +* 更新 appd 使用 cnpmjs 來下載 APKs。 +* Updated appd to use cnpmjs to download APKs. +* 修正更新服務。(感謝 @Wei) +* Fixed Update Service. (Thanks to @Wei) +* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供) +* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰) +* 新增「通過移動網路上傳」開關 +* Added Upload Over Mobile Network toggle. +* 新增「通過熱點上傳」開關 +* Added Upload Over Hotspot toggle. +* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供) +* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰) +* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供) +* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji) + +dragonpilot 0.7.5.0 +======================== +* 基於最新 openpilot 0.7.5 devel-staging. +* Based on latest openpilot 0.7.5 devel-staging. +* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。 +* Updated dp logo, special thanks to @wabes for the design. +* 簡/繁中文版和 i18n 整合成為單一版本。 +* Merged zhs/zht/i18n versions into one. +* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾) +* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) +* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish) +* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish) +* 新增行駛時關閉畫面功能。 +* Added Screen off while driving feature. +* 新增倒車時關閉畫面功能。 +* Added Screen off while reversing feature. +* 新增駕駛介面加入「加速模式」切換鈕。 +* Added acceleration profile toggle onto driving UI. +* 新增自定車型功能，取代指紋暫存功能。 +* Replaced fingerprint cache with custom car model selector. +* 新增可調亮度。 +* Added Brightness changer. +* 新增部分德語支持。(特別感謝 @arne182 提供) +* Added partial de_DE language support (Thanks to @arne182) +* 新增停車碰撞偵測記錄功能。 +* Added off road impact detection to dashcam. + +2020-05-06 +======================== +* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。 +* 中文版整合進 i18n 版。 +* 刪除指紋暫存功能。 +* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾) +* 新增行駛時關閉畫面功能。 +* 新增倒車時關閉畫面功能。 +* 新增駕駛介面加入「加速模式」切換鈕。 +* 新增自定義車型。 + +2020-04-16 +======================== +* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai) +* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip) +* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip) +* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip) +* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助) + +2020-04-13 +======================== +* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR) +* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議) +* [DEVEL] 更新 update script。(感謝 深鯨希西 回報) + +2020-04-10 +======================== +* [DEVEL] 更新 panda 至最新的 comma:master 分支。 +* [DEVEL] 移除所有的第三方應用改為自動下載。 +* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。 + +2020-03-31 +======================== +* [DEVEL] 更新至 2020-03-31 testing 分支。 + +2020-03-27 +======================== +* [DEVEL] 更新至最新的 testing 分支: + * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供) + * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle) + * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。 + * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供) + * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供) + * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供) + * 加入韓文支持。(感謝 crwusiz 提供) + * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。 + +2020-03-22 +======================== +* [DEVEL] 更新至最新的 testing 分支。 + +2020-03-17 +======================== +* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。 +* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR) + +2020-03-14 +======================== +* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供) +* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議) +* [DEVEL] 調高 Toyota 扭力容錯值。 +* [DEVEL] 優化讀取 dp 設定值。 +* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供) +* [DEVEL] dp 功能加入對 Subaru 車系的支援。 + +2020-03-06 +======================== +* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供) +* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供) +* [DEVEL] 建立 devel-i18n 取代 devel-en。 +* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead. + +2020-03-04 +======================== +* [DEVEL] 加入顯示駕駛監控畫面。 +* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR) +* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報) + +2020-02-25 +======================== +* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。 + +2020-02-21 +======================== +* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。 + +2020-02-14 +======================== +* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。 +* [DEVEL] 修正錯誤。 + +2020-02-08 +======================== +* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。 +* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。 +* [DEVEL] 加入神盾測速照相自動啟動的開關。 +* [DEVEL] 更新高德地圖至 v4.5.0.600053。 +* [DEVEL] 使用 0.6.6 版的更新系統。 +* [DEVEL] 修正急剎問題。(感謝 kumar 提供) + +2020-01-31 +======================== +* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題) + +2020-01-29 +======================== +* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應) + +2020-01-23 +======================== +* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議) +* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議) +* [DEVEL] 優化 appd。 + +2020-01-19 +======================== +* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。 +* [DEVEL] 調整 appd 和 ALC 邏輯。 + +2020-01-14 +======================== +* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議) + +2020-01-08 +======================== +* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供) +* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供) + +2019-12-31 +======================== +* [DEVEL-ZHS] 加回第三方應用。 + +2019-12-29 +======================== +* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。 +* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay) +* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應) + +2019-12-18 +======================== +* [DEVEL] 修正自動換道邏輯。 +* [DEVEL] 更新 offroad 翻譯。 +* [DEVEL] 錯誤修正。 +* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突) + +2019-12-17 +======================== +* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。 +* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上) +* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上) +* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供) +* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供) +* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供) + +2019-12-10 +======================== +* [DEVEL] 加入位智車機模式。 (Waze Mode) + +2019-11-21 +======================== +* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報) +* [DEVEL] 調整前車靜止移動偵測參數。 +* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。 + +2019-11-18 +======================== +* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報) + +2019-11-18 +======================== +* [DEVEL] 修正 frame 翻譯。 + +2019-11-15 +======================== +* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應) + +2019-11-15 +======================== +* [DEVEL] 修正充電控制。 (感謝 KT 反應) +* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應) +* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。 + +2019-11-12 +======================== +* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線) +* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。 + +2019-11-12 +======================== +* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。 + +2019-11-11 +======================== +* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE +* [DEVEL] 更新 MiXplorer 至 v6.40.3 +* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。 +* [DEVEL] 前車靜止移動偵測加入偵測警示。 + +2019-11-07 +======================== +* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報) +* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供) + +2019-11-06 +======================== +* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報) +* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。 + +2019-11-05 +======================== +* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋) + +2019-11-01 +======================== +* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen) +* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh) + +2019-11-01 +======================== +* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。 +* [DEVEL] 更新 offroad 為多語言版 +* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 + +2019-10-29 +======================== +* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智) + +2019-10-28 +======================== +* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 +* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體) + +2019-10-18 +======================== +* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen) +* [DEVEL] 移除強迫網路連線提示。(感謝 Shell) +* [DEVEL] 修正 allow_gas 功能。 + +2019-10-18 +======================== +* [DEVEL] 加入彎道減速功能開關。 +* [DEVEL] 強迫使用 dp 版 Panda 韌體。 +* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 + +2019-10-17 +======================== +* [DEVEL] 加入「車型」顯示於 dp 設定畫面。 +* [DEVEL] 修正充電控制讀取預設值的錯誤。 +* [DEVEL] 修正無法顯示更新記錄的錯誤。 + +2019-10-16 +======================== +* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議) +* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。 +* [DEVEL] 更新高德地圖至 v4.3.0 +* [DEVEL] 刪除 bs (Branch Switcher) + +2019-10-14 +======================== +* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供) +* [DEVEL] 清除不再使用的 dp params。 +* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議) +* [DEVEL] 加入刷新 Panda 韌體按鈕。 + +2019-10-11 +======================== +* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 +* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供) + +2019-10-09 +======================== +* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。 + +2019-10-08 +======================== +* [DEVEL] 加回駕駛監控開關。 +* [DEVEL] 加入 bs (branch switcher) 程式。 + +2019-10-07 +======================== +* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供) + +2019-10-05 +======================== +* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。 +* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。 + +2019-09-30 +======================== +* [DEVEL] 更新 curvature learner 版本至 v4。 +* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor + +2019-09-27 +======================== +* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot) +* [DEVEL] 加入可開關駕駛監控的程式碼。 +* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。 +* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。 + +2019-09-26 +======================== +* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報) + +2019-09-24 +======================== +* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。 +* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot) + +2019-09-23 +======================== +* [DEVEL] 優化讀取 params 的次數。 +* [DEVEL] 加入可開關的車道偏移警示。 +* [DEVEL] 修正充電控制邏輯。 +* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供) + +2019-09-20 +======================== +* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議) + +2019-09-16 +======================== +* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供) +* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供) + +2019-09-13 +======================== +* [DEVEL] 行車介面加入可開關的「速度顯示」設定。 + +2019-09-09 +======================== +* [DEVEL] 加入 GreyPanda 模式。 + +2019-08-28 +======================== +* [DEVEL] 加入可調警示音量。 + +2019-08-27 +======================== +* [DEVEL] 自動關機改為可調時長。 diff --git a/LICENSE b/LICENSE new file mode 100644 index 000000000..7dafa9443 --- /dev/null +++ b/LICENSE @@ -0,0 +1,7 @@ +Copyright (c) 2018, Comma.ai, Inc. + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/README.md b/README.md new file mode 100755 index 000000000..94837575b --- /dev/null +++ b/README.md @@ -0,0 +1,149 @@ +![](https://i.imgur.com/b0ZyIx5.jpg) + +Table of Contents +======================= + +* [What is openpilot?](#what-is-openpilot) +* [Running in a car](#running-on-a-dedicated-device-in-a-car) +* [Running on PC](#running-on-pc) +* [Community and Contributing](#community-and-contributing) +* [User Data and comma Account](#user-data-and-comma-account) +* [Safety and Testing](#safety-and-testing) +* [Directory Structure](#directory-structure) +* [Licensing](#licensing) + +--- + +What is openpilot? +------ + +[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md). + + + + + + + + + + + + + + +
+ + +Running on a dedicated device in a car +------ + +To use openpilot in a car, you need four things +* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three). +* This software. The setup procedure of the comma three allows the user to enter a url for custom software. +The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork. +* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot. +* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car. + +We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup). + +Running on PC +------ + +All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data. + +With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information. + +You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU. + +A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness). + +Community and Contributing +------ + +openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md). + +Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki). + +You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel. + +Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/). + +And [follow us on Twitter](https://twitter.com/comma_ai). + +User Data and comma Account +------ + +By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone. + +openpilot is open source software: the user is free to disable data collection if they wish to do so. + +openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. +The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded. + +By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data. + +Safety and Testing +---- + +* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details. +* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit. +* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details. +* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety). +* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes. +* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile). +* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes. + +Directory Structure +------ + . + ├── cereal # The messaging spec and libs used for all logs + ├── common # Library like functionality we've developed here + ├── docs # Documentation + ├── opendbc # Files showing how to interpret data from cars + ├── panda # Code used to communicate on CAN + ├── third_party # External libraries + ├── pyextra # Extra python packages + └── system # Generic services + ├── camerad # Driver to capture images from the camera sensors + ├── clocksd # Broadcasts current time + ├── hardware # Hardware abstraction classes + ├── logcatd # systemd journal as a service + └── proclogd # Logs information from /proc + └── selfdrive # Code needed to drive the car + ├── assets # Fonts, images, and sounds for UI + ├── athena # Allows communication with the app + ├── boardd # Daemon to talk to the board + ├── car # Car specific code to read states and control actuators + ├── controls # Planning and controls + ├── debug # Tools to help you debug and do car ports + ├── locationd # Precise localization and vehicle parameter estimation + ├── loggerd # Logger and uploader of car data + ├── manager # Deamon that starts/stops all other daemons as needed + ├── modeld # Driving and monitoring model runners + ├── monitoring # Daemon to determine driver attention + ├── navd # Turn-by-turn navigation + ├── sensord # IMU interface code + ├── test # Unit tests, system tests, and a car simulator + └── ui # The UI + +Licensing +------ + +openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified. + +Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user. + +**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. +YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. +NO WARRANTY EXPRESSED OR IMPLIED.** + +--- + + + +[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions) +[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/) +[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python) +[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp) +[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot) diff --git a/RELEASES.md b/RELEASES.md new file mode 100644 index 000000000..b47a18a3d --- /dev/null +++ b/RELEASES.md @@ -0,0 +1,851 @@ +Version 0.8.16 (2022-XX-XX) +======================== + +Version 0.8.15 (2022-07-20) +======================== +* New driving model + * Path planning uses end-to-end output instead of lane lines at all times + * Reduced ping pong + * Improved lane centering +* New lateral controller based on physical wheel torque model + * Much smoother control that's consistent across the speed range + * Effective feedforward that uses road roll + * Simplified tuning, all car-specific parameters can be derived from data + * Used on select Toyota and Hyundai models at first + * Significantly improved control on TSS-P Prius +* New driver monitoring model + * Bigger model, covering full interior view from driver camera + * Works with a wider variety of mounting angles + * 3x more unique comma three training data than previous +* Navigation improvements + * Speed limits shown while navigating + * Faster position fix by using raw GPS measurements +* UI updates + * Multilanguage support for settings and home screen + * New font + * Refreshed max speed design + * More consistent camera view perspective across cars +* Reduced power usage: device runs cooler and fan spins less +* AGNOS 5 + * Support VSCode remote SSH target + * Support for delta updates to reduce data usage on future OS updates +* Chrysler ECU firmware fingerprinting thanks to realfast! +* Honda Civic 2022 support +* Hyundai Tucson 2021 support thanks to bluesforte! +* Kia EV6 2022 support +* Lexus NX Hybrid 2020 support thanks to AlexandreSato! +* Ram 1500 2019-21 support thanks to realfast! + +Version 0.8.14 (2022-06-01) +======================== + * New driving model + * Bigger model, using both of comma three's road-facing cameras + * Better at cut-in detection and tight turns + * New driver monitoring model + * Tweaked network structure to improve output resolution for DSP + * Fixed bug in quantization aware training to reduce quantizing errors + * Resulted in 7x less MSE and no more random biases at runtime + * Added toggle to disable disengaging on the accelerator pedal + * comma body support + * Audi RS3 support thanks to jyoung8607! + * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin! + * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin! + * Toyota Alphard Hybrid 2021 support + * Toyota Avalon Hybrid 2022 support + * Toyota RAV4 2022 support + * Toyota RAV4 Hybrid 2022 support + +Version 0.8.13 (2022-02-18) +======================== + * Improved driver monitoring + * Retuned driver pose learner for relaxed driving positions + * Added reliance on driving model to be more scene adaptive + * Matched strictness between comma two and comma three + * Improved performance in turns by compensating for the road bank angle + * Improved camera focus on the comma two + * AGNOS 4 + * ADB support + * improved cell auto configuration + * NEOS 19 + * package updates + * stability improvements + * Subaru ECU firmware fingerprinting thanks to martinl! + * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin! + * Mazda CX-5 2022 support thanks to Jafaral! + * Subaru Impreza 2020 support thanks to martinl! + * Toyota Avalon 2022 support thanks to sshane! + * Toyota Prius v 2017 support thanks to CT921! + * Volkswagen Caravelle 2020 support thanks to jyoung8607! + +Version 0.8.12 (2021-12-15) +======================== + * New driving model + * Improved behavior around exits + * Better pose accuracy at high speeds, allowing max speed of 90mph + * Fully incorporated comma three data into all parts of training stack + * Improved follow distance + * Better longitudinal policy, especially in low speed traffic + * New alert sounds + * AGNOS 3 + * Display burn in mitigation + * Improved audio amplifier configuration + * System reliability improvements + * Update Python to 3.8.10 + * Raw logs upload moved to connect.comma.ai + * Fixed HUD alerts on newer Honda Bosch thanks to csouers! + * Audi Q3 2020-21 support thanks to jyoung8607! + * Lexus RC 2020 support thanks to ErichMoraga! + +Version 0.8.11 (2021-11-29) +======================== + * Support for CAN FD on the red panda + * Support for an external panda on the comma three + * Navigation: Show more detailed instructions when approaching maneuver + * Fixed occasional steering faults on GM cars thanks to jyoung8607! + * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io! + * Cadillac Escalade ESV 2016 support thanks to Gibby! + * Genesis G70 2020 support thanks to tecandrew! + * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin! + * Mazda CX-9 2021 support thanks to Jacar! + * Volkswagen Polo 2020 support thanks to jyoung8607! + * Volkswagen T-Roc 2021 support thanks to jyoung8607! + +Version 0.8.10 (2021-11-01) +======================== + * New driving model + * Trained on one million minutes!!! + * Fixed lead training making lead predictions significantly more accurate + * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy + * New driver monitoring model + * Trained on latest data from both comma two and comma three + * Increased model field of view by 40% on comma three + * Improved model stability on masked users + * Improved pose prediction with reworked ground-truth stack + * Lateral and longitudinal planning MPCs now in ACADOS + * Combined longitudinal MPCs + * All longitudinal planning now happens in a single MPC system + * Fixed instability in MPC problem to prevent sporadic CPU usage + * AGNOS 2: minor stability improvements and builder repo open sourced + * tools: new and improved replay thanks to deanlee! + * Moved community-supported cars outside of the Community Features toggle + * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis + * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch + * Audi S3 2015 support thanks to jyoung8607! + * Honda Freed 2020 support thanks to belm0! + * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin! + * Hyundai Santa Fe 2022 support thanks to sunnyhaibin! + * Kia K5 2021 support thanks to sunnyhaibin! + * Škoda Kamiq 2021 support thanks to jyoung8607! + * Škoda Karoq 2019 support thanks to jyoung8607! + * Volkswagen Arteon 2021 support thanks to jyoung8607! + * Volkswagen California 2021 support thanks to jyoung8607! + * Volkswagen Taos 2022 support thanks to jyoung8607! + +Version 0.8.9 (2021-09-14) +======================== + * Improved fan control on comma three + * AGNOS 1.5: improved stability + * Honda e 2020 support + +Version 0.8.8 (2021-08-27) +======================== + * New driving model with improved laneless performance + * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries + * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode + * All new desire ground-truthing stack makes the model better at lane changes + * New driver monitoring model: improved performance on comma three + * NEOS 18 for comma two: update packages + * AGNOS 1.3 for comma three: fix display init at high temperatures + * Improved auto-exposure on comma three + * Improved longitudinal control on Honda Nidec cars + * Hyundai Kona Hybrid 2020 support thanks to haram-KONA! + * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn! + * Kia Niro Hybrid 2021 support thanks to tetious! + +Version 0.8.7 (2021-07-31) +======================== + * comma three support! + * Navigation alpha for the comma three! + * Volkswagen T-Cross 2021 support thanks to jyoung8607! + +Version 0.8.6 (2021-07-21) +======================== + * Revamp lateral and longitudinal planners + * Refactor planner output API to be more readable and verbose + * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate + * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother + * Remove "CHECK DRIVER FACE VISIBILITY" warning + * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas + * Hyundai Elantra Hybrid 2021 support thanks to tecandrew! + * Hyundai Ioniq PHEV 2020 support thanks to YawWashout! + * Kia Niro Hybrid 2019 support thanks to jyoung8607! + * Škoda Octavia RS 2016 support thanks to jyoung8607! + * Toyota Alphard 2020 support thanks to belm0! + * Volkswagen Golf SportWagen 2015 support thanks to jona96! + * Volkswagen Touran 2017 support thanks to jyoung8607! + +Version 0.8.5 (2021-06-11) +======================== + * NEOS update: improved reliability and stability with better voltage regulator configuration + * Smart model-based Forward Collision Warning + * CAN-based fingerprinting moved behind community features toggle + * Improved longitudinal control on Toyotas with a comma pedal + * Improved auto-brightness using road-facing camera + * Added "Software" settings page with updater controls + * Audi Q2 2018 support thanks to jyoung8607! + * Hyundai Elantra 2021 support thanks to CruiseBrantley! + * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2! + * Toyota Avalon Hybrid 2019 support thanks to jbates9011! + * SEAT Leon 2017 & 2020 support thanks to jyoung8607! + * Škoda Octavia 2015 & 2019 support thanks to jyoung8607! + +Version 0.8.4 (2021-05-17) +======================== + * Delay controls start until system is ready + * Fuzzy car identification, enabled with Community Features toggle + * Localizer optimized for increased precision and less CPU usage + * Retuned lateral control to be more aggressive when model is confident + * Toyota Mirai 2021 support + * Lexus NX 300 2020 support thanks to goesreallyfast! + * Volkswagen Atlas 2018-19 support thanks to jyoung8607! + +Version 0.8.3 (2021-04-01) +======================== + * New model + * Trained on new diverse dataset from 2000+ users from 30+ countries + * Trained with improved segnet from the comma-pencil community project + * 🥬 Dramatically improved end-to-end lateral performance 🥬 + * Toggle added to disable the use of lanelines + * NEOS update: update packages and support for new UI + * New offroad UI based on Qt + * Default SSH key only used for setup + * Kia Ceed 2019 support thanks to ZanZaD13! + * Kia Seltos 2021 support thanks to speedking456! + * Added support for many Volkswagen and Škoda models thanks to jyoung8607! + +Version 0.8.2 (2021-02-26) +======================== + * Use model points directly in MPC (no more polyfits), making lateral planning more accurate + * Use model heading prediction for smoother lateral control + * Smarter actuator delay compensation + * Improve qcamera resolution for improved video in explorer and connect + * Adjust maximum engagement speed to better fit the model's training distribution + * New driver monitoring model trained with 3x more diverse data + * Improved face detection with masks + * More predictable DM alerts when visibility is bad + * Rewritten video streaming between openpilot processes + * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit! + * Audi A3 2015 and 2017 support thanks to keeleysam! + * Nissan Altima 2020 support thanks to avolmensky! + * Lexus ES Hybrid 2018 support thanks to TheInventorMan! + * Toyota Camry Hybrid 2021 support thanks to alancyau! + +Version 0.8.1 (2020-12-21) +======================== + * Original EON is deprecated, upgrade to comma two + * Better model performance in heavy rain + * Better lane positioning in turns + * Fixed bug where model would cut turns on empty roads at night + * Fixed issue where some Toyotas would not completely stop thanks to briskspirit! + * Toyota Camry 2021 with TSS2.5 support + * Hyundai Ioniq Electric 2020 support thanks to baldwalker! + +Version 0.8.0 (2020-11-30) +======================== + * New driving model: fully 3D and improved cut-in detection + * UI draws 2 road edges, 4 lanelines and paths in 3D + * Major fixes to cut-in detection for openpilot longitudinal + * Grey panda is no longer supported, upgrade to comma two or black panda + * Lexus NX 2018 support thanks to matt12eagles! + * Kia Niro EV 2020 support thanks to nickn17! + * Toyota Prius 2021 support thanks to rav4kumar! + * Improved lane positioning with uncertain lanelines, wide lanes and exits + * Improved lateral control for Prius and Subaru + +Version 0.7.10 (2020-10-29) +======================== + * Grey panda is deprecated, upgrade to comma two or black panda + * NEOS update: update to Python 3.8.2 and lower CPU frequency + * Improved thermals due to reduced CPU frequency + * Update SNPE to 1.41.0 + * Reduced offroad power consumption + * Various system stability improvements + * Acura RDX 2020 support thanks to csouers! + +Version 0.7.9 (2020-10-09) +======================== + * Improved car battery power management + * Improved updater robustness + * Improved realtime performance + * Reduced UI and modeld lags + * Increased torque on 2020 Hyundai Sonata and Palisade + +Version 0.7.8 (2020-08-19) +======================== + * New driver monitoring model: improved face detection and better compatibility with sunglasses + * Download NEOS operating system updates in the background + * Improved updater reliability and responsiveness + * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis! + +Version 0.7.7 (2020-07-20) +======================== + * White panda is no longer supported, upgrade to comma two or black panda + * Improved vehicle model estimation using high precision localizer + * Improved thermal management on comma two + * Improved autofocus for road-facing camera + * Improved noise performance for driver-facing camera + * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru + * Fix GM ignition detection + * Code cleanup and smaller release sizes + * Hyundai Sonata 2020 promoted to officially supported car + * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker! + * Subaru Forester 2019 and Ascent 2019 support thanks to martinl! + +Version 0.7.6.1 (2020-06-16) +======================== + * Hotfix: update kernel on some comma twos (orders #8570-#8680) + +Version 0.7.6 (2020-06-05) +======================== + * White panda is deprecated, upgrade to comma two or black panda + * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky! + * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral! + * Huge CPU savings in modeld by using thneed! + * Lots of code cleanup and refactors + +Version 0.7.5 (2020-05-13) +======================== + * Right-Hand Drive support for both driving and driver monitoring! + * New driving model: improved at sharp turns and lead speed estimation + * New driver monitoring model: overall improvement on comma two + * Driver camera preview in settings to improve mounting position + * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx! + * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid) + +Version 0.7.4 (2020-03-20) +======================== + * New driving model: improved lane changes and lead car detection + * Improved driver monitoring model: improve eye detection + * Improved calibration stability + * Improved lateral control on some 2019 and 2020 Toyota Prius + * Improved lateral control on VW Golf: 20% more steering torque + * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor + * Support for Honda Insight thanks to theantihero! + * Code cleanup in car abstraction layers and ui + +Version 0.7.3 (2020-02-21) +======================== + * Support for 2020 Highlander thanks to che220! + * Support for 2018 Lexus NX 300h thanks to kengggg! + * Speed up ECU firmware query + * Fix bug where manager would sometimes hang after shutting down the car + +Version 0.7.2 (2020-02-07) +======================== + * ECU firmware version based fingerprinting for Honda & Toyota + * New driving model: improved path prediction during turns and lane changes and better lead speed tracking + * Improve driver monitoring under extreme lighting and add low accuracy alert + * Support for 2019 Rav4 Hybrid thanks to illumiN8i! + * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i! + * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz! + +Version 0.7.1 (2020-01-20) +======================== + * comma two support! + * Lane Change Assist above 45 mph! + * Replace zmq with custom messaging library, msgq! + * Supercombo model: calibration and driving models are combined for better lead estimate + * More robust updater thanks to jyoung8607! Requires NEOS update + * Improve low speed ACC tuning + +Version 0.7 (2019-12-13) +======================== + * Move to SCons build system! + * Add Lane Departure Warning (LDW) for all supported vehicles! + * NEOS update: increase wifi speed thanks to jyoung8607! + * Adaptive driver monitoring based on scene + * New driving model trained end-to-end: improve lane lines and lead detection + * Smarter torque limit alerts for all cars + * Improve GM longitudinal control: proper computations for 15Hz radar + * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required + * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi + * Refactor Panda code towards ISO26262 and SIL2 compliancy + * Forward stock FCW for Honda Nidec + * Volkswagen port now standard: comma Harness intercepts stock camera + +Version 0.6.6 (2019-11-05) +======================== + * Volkswagen support thanks to jyoung8607! + * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049! + * Lexus ES with TSS 2.0 support thanks to energee! + * Fix GM ignition detection and lock safety mode not required anymore + * Log panda firmware and dongle ID thanks to martinl! + * New driving model: improve path prediction and lead detection + * New driver monitoring model, 4x smaller and running on DSP + * Display an alert and don't start openpilot if panda has wrong firmware + * Fix bug preventing EON from terminating processes after a drive + * Remove support for Toyota giraffe without the 120Ohm resistor + +Version 0.6.5 (2019-10-07) +======================== + * NEOS update: upgrade to Python3 and new installer! + * comma Harness support! + * New driving model: improve path prediction + * New driver monitoring model: more accurate face and eye detection + * Redesign offroad screen to display updates and alerts + * Increase maximum allowed acceleration + * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive + * Lexus CT Hybrid support thanks to thomaspich! + * Louder chime for critical alerts + * Add toggle to switch to dashcam mode + * Fix "invalid vehicle params" error on DSU-less Toyota + +Version 0.6.4 (2019-09-08) +======================== + * Forward stock AEB for Honda Nidec + * Improve lane centering on banked roads + * Always-on forward collision warning + * Always-on driver monitoring, except for right hand drive countries + * Driver monitoring learns the user's normal driving position + * Honda Fit support thanks to energee! + * Lexus IS support + +Version 0.6.3 (2019-08-12) +======================== + * Alert sounds from EON: requires NEOS update + * Improve driver monitoring: eye tracking and improved awareness logic + * Improve path prediction with new driving model + * Improve lane positioning with wide lanes and exits + * Improve lateral control on RAV4 + * Slow down for turns using model + * Open sourced regression test to verify outputs against reference logs + * Open sourced regression test to sanity check all car models + +Version 0.6.2 (2019-07-29) +======================== + * New driving model! + * Improve lane tracking with double lines + * Strongly improve stationary vehicle detection + * Strongly reduce cases of braking due to false leads + * Better lead tracking around turns + * Improve cut-in prediction by using neural network + * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte! + * Fix unintended openpilot disengagements on Jeep thanks to adhintz! + * Fix delayed transition to offroad when car is turned off + +Version 0.6.1 (2019-07-21) +======================== + * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai) + * Panda code Misra-c2012 compliance, tested against cppcheck coverage + * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive + * Toyota Sienna support thanks to wocsor! + +Version 0.6 (2019-07-01) +======================== + * New model, with double the pixels and ten times the temporal context! + * Car should not take exits when in the right lane + * openpilot uses only ~65% of the CPU (down from 75%) + * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs) + * loggerd and sensord are open source, every line of openpilot is now open + * Panda safety code is MISRA compliant and ships with a signed version on release2 + * New NEOS is 500MB smaller and has a reproducible usr/pipenv + * Lexus ES Hybrid support thanks to wocsor! + * Improve tuning for supported Toyota with TSS 2.0 + * Various other stability improvements + +Version 0.5.13 (2019-05-31) +========================== + * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM) + * Reduce EON power consumption by 40%, down to 1100mW, when car is off + * Reduce CPU utilization by 20% and improve stability + * Temporarily remove mapd functionalities to improve stability + * Add openpilot record-only mode for unsupported cars + * Synchronize controlsd to boardd to reduce latency + * Remove panda support for Subaru giraffe + +Version 0.5.12 (2019-05-16) +========================== + * Improve lateral control for the Prius and Prius Prime + * Compress logs before writing to disk + * Remove old driving data when storage reaches 90% full + * Fix small offset in following distance + * Various small CPU optimizations + * Improve offroad power consumption: require NEOS Update + * Add default speed limits for Estonia thanks to martinl! + * Subaru Crosstrek support thanks to martinl! + * Toyota Avalon support thanks to njbrown09! + * Toyota Rav4 with TSS 2.0 support thanks to wocsor! + * Toyota Corolla with TSS 2.0 support thanks to wocsor! + +Version 0.5.11 (2019-04-17) +======================== + * Add support for Subaru + * Reduce panda power consumption by 60% when car is off + * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements + * Fix bug in controls with new angle-offset learner in MPC + * Reduce cpu consumption of ubloxd by rewriting it in C++ + * Improve driver monitoring model and face detection + * Improve performance of visiond and ui + * Honda Passport 2019 support + * Lexus RX Hybrid 2019 support thanks to schomems! + * Improve road selection heuristic in mapd + * Add Lane Departure Warning to dashboard for Toyota thanks to arne182 + +Version 0.5.10 (2019-03-19) +======================== + * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio + * Improve longitudinal control at low speed when lead vehicle harshly decelerates + * Fix panda bug going unexpectedly in DCP mode when EON is connected + * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI + * New Driver Monitoring Model + * Support QR codes for login using comma connect + * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required. + Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal. + * Additional speed limit rules for Germany thanks to arne182 + * Allow negative speed limit offsets + +Version 0.5.9 (2019-02-10) +======================== + * Improve calibration using a dedicated neural network + * Abstract planner in its own process to remove lags in controls process + * Improve speed limits with country/region defaults by road type + * Reduce mapd data usage with gzip thanks to eFiniLan + * Zip log files in the background to reduce disk usage + * Kia Optima support thanks to emmertex! + * Buick Regal 2018 support thanks to HOYS! + * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma + * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz! + +Version 0.5.8 (2019-01-17) +======================== + * Open sourced visiond + * Auto-slowdown for upcoming turns + * Chrysler/Jeep/Fiat support thanks to adhintz! + * Honda Civic 2019 support thanks to csouers! + * Improve use of car display in Toyota thanks to arne182! + * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off + * EON stops charging when 12V battery drops below 11.8V + +Version 0.5.7 (2018-12-06) +======================== + * Speed limit from OpenStreetMap added to UI + * Highlight speed limit when speed exceeds road speed limit plus a delta + * Option to limit openpilot max speed to road speed limit plus a delta + * Cadillac ATS support thanks to vntarasov! + * GMC Acadia support thanks to CryptoKylan! + * Decrease GPU power consumption + * NEOSv8 autoupdate + +Version 0.5.6 (2018-11-16) +======================== + * Refresh settings layout and add feature descriptions + * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111! + * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe. + * Improve camera calibration stability + * More tuning to Honda positive accelerations + * Reduce brake pump use on Hondas + * Chevrolet Malibu support thanks to tylergets! + * Holden Astra support thanks to AlexHill! + +Version 0.5.5 (2018-10-20) +======================== + * Increase allowed Honda positive accelerations + * Fix sporadic unexpected braking when passing semi-trucks in Toyota + * Fix gear reading bug in Hyundai Elantra thanks to emmertex! + +Version 0.5.4 (2018-09-25) +======================== + * New Driving Model + * New Driver Monitoring Model + * Improve longitudinal mpc in mid-low speed braking + * Honda Accord hybrid support thanks to energee! + * Ship mpc binaries and sensibly reduce build time + * Calibration more stable + * More Hyundai and Kia cars supported thanks to emmertex! + * Various GM Volt improvements thanks to vntarasov! + +Version 0.5.3 (2018-09-03) +======================== + * Hyundai Santa Fe support! + * Honda Pilot 2019 support thanks to energee! + * Toyota Highlander support thanks to daehahn! + * Improve steering tuning for Honda Odyssey + +Version 0.5.2 (2018-08-16) +======================== + * New calibration: more accurate, a lot faster, open source! + * Enable orbd + * Add little endian support to CAN packer + * Fix fingerprint for Honda Accord 1.5T + * Improve driver monitoring model + +Version 0.5.1 (2018-08-01) +======================== + * Fix radar error on Civic sedan 2018 + * Improve thermal management logic + * Alpha Toyota C-HR and Camry support! + * Auto-switch Driver Monitoring to 3 min counter when inaccurate + +Version 0.5 (2018-07-11) +======================== + * Driver Monitoring (beta) option in settings! + * Make visiond, loggerd and UI use less resources + * 60 FPS UI + * Better car parameters for most cars + * New sidebar with stats + * Remove Waze and Spotify to free up system resources + * Remove rear view mirror option + * Calibration 3x faster + +Version 0.4.7.2 (2018-06-25) +========================== + * Fix loggerd lag issue + * No longer prompt for updates + * Mitigate right lane hugging for properly mounted EON (procedure on wiki) + +Version 0.4.7.1 (2018-06-18) +========================== + * Fix Acura ILX steer faults + * Fix bug in mock car + +Version 0.4.7 (2018-06-15) +========================== + * New model! + * GM Volt (and CT6 lateral) support! + * Honda Bosch lateral support! + * Improve actuator modeling to reduce lateral wobble + * Minor refactor of car abstraction layer + * Hack around orbd startup issue + +Version 0.4.6 (2018-05-18) +========================== + * NEOSv6 required! Will autoupdate + * Stability improvements + * Fix all memory leaks + * Update C++ compiler to clang6 + * Improve front camera exposure + +Version 0.4.5 (2018-04-27) +========================== + * Release notes added to the update popup + * Improve auto shut-off logic to disallow empty battery + * Added onboarding instructions + * Include orbd, the first piece of new calibration algorithm + * Show remaining upload data instead of file numbers + * Fix UI bugs + * Fix memory leaks + +Version 0.4.4 (2018-04-13) +========================== + * EON are flipped! Flip your EON's mount! + * Alpha Honda Ridgeline support thanks to energee! + * Support optional front camera recording + * Upload over cellular toggle now applies to all files, not just video + * Increase acceleration when closing lead gap + * User now prompted for future updates + * NEO no longer supported :( + +Version 0.4.3.2 (2018-03-29) +============================ + * Improve autofocus + * Improve driving when only one lane line is detected + * Added fingerprint for Toyota Corolla LE + * Fixed Toyota Corolla steer error + * Full-screen driving UI + * Improved path drawing + +Version 0.4.3.1 (2018-03-19) +============================ + * Improve autofocus + * Add check for MPC solution error + * Make first distracted warning visual only + +Version 0.4.3 (2018-03-13) +========================== + * Add HDR and autofocus + * Update UI aesthetic + * Grey panda works in Waze + * Add alpha support for 2017 Honda Pilot + * Slight increase in acceleration response from stop + * Switch CAN sending to use CANPacker + * Fix pulsing acceleration regression on Honda + * Fix openpilot bugs when stock system is in use + * Change starting logic for chffrplus to use battery voltage + +Version 0.4.2 (2018-02-05) +========================== + * Add alpha support for 2017 Lexus RX Hybrid + * Add alpha support for 2018 ACURA RDX + * Updated fingerprint to include Toyota Rav4 SE and Prius Prime + * Bugfixes for Acura ILX and Honda Odyssey + +Version 0.4.1 (2018-01-30) +========================== + * Add alpha support for 2017 Toyota Corolla + * Add alpha support for 2018 Honda Odyssey with Honda Sensing + * Add alpha support for Grey Panda + * Refactored car abstraction layer to make car ports easier + * Increased steering torque limit on Honda CR-V by 30% + +Version 0.4.0.2 (2018-01-18) +========================== + * Add focus adjustment slider + * Minor bugfixes + +Version 0.4.0.1 (2017-12-21) +========================== + * New UI to match chffrplus + * Improved lateral control tuning to fix oscillations on Civic + * Add alpha support for 2017 Toyota Rav4 Hybrid + * Reduced CPU usage + * Removed unnecessary utilization of fan at max speed + * Minor bug fixes + +Version 0.3.9 (2017-11-21) +========================== + * Add alpha support for 2017 Toyota Prius + * Improved longitudinal control using model predictive control + * Enable Forward Collision Warning + * Acura ILX now maintains openpilot engaged at standstill when brakes are applied + +Version 0.3.8.2 (2017-10-30) +========================== + * Add alpha support for 2017 Toyota RAV4 + * Smoother lateral control + * Stay silent if stock system is connected through giraffe + * Minor bug fixes + +Version 0.3.7 (2017-09-30) +========================== + * Improved lateral control using model predictive control + * Improved lane centering + * Improved GPS + * Reduced tendency of path deviation near right side exits + * Enable engagement while the accelerator pedal is pressed + * Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m + * Disable engagement when park brake or brake hold are active + * Fixed sporadic longitudinal pulsing in Civic + * Cleanups to vehicle interface + +Version 0.3.6.1 (2017-08-15) +============================ + * Mitigate low speed steering oscillations on some vehicles + * Include board steering check for CR-V + +Version 0.3.6 (2017-08-08) +========================== + * Fix alpha CR-V support + * Improved GPS + * Fix display of target speed not always matching HUD + * Increased acceleration after stop + * Mitigated some vehicles driving too close to the right line + +Version 0.3.5 (2017-07-30) +========================== + * Fix bug where new devices would not begin calibration + * Minor robustness improvements + +Version 0.3.4 (2017-07-28) +========================== + * Improved model trained on more data + * Much improved controls tuning + * Performance improvements + * Bugfixes and improvements to calibration + * Driving log can play back video + * Acura only: system now stays engaged below 25mph as long as brakes are applied + +Version 0.3.3 (2017-06-28) +=========================== + * Improved model trained on more data + * Alpha CR-V support thanks to energee and johnnwvs! + * Using the opendbc project for DBC files + * Minor performance improvements + * UI update thanks to pjlao307 + * Power off button + * 6% more torque on the Civic + +Version 0.3.2 (2017-05-22) +=========================== + * Minor stability bugfixes + * Added metrics and rear view mirror disable to settings + * Update model with more crowdsourced data + +Version 0.3.1 (2017-05-17) +=========================== + * visiond stability bugfix + * Add logging for angle and flashing + +Version 0.3.0 (2017-05-12) +=========================== + * Add CarParams struct to improve the abstraction layer + * Refactor visiond IPC to support multiple clients + * Add raw GPS and beginning support for navigation + * Improve model in visiond using crowdsourced data + * Add improved system logging to diagnose instability + * Rewrite baseui in React Native + * Moved calibration to the cloud + +Version 0.2.9 (2017-03-01) +=========================== + * Retain compatibility with NEOS v1 + +Version 0.2.8 (2017-02-27) +=========================== + * Fix bug where frames were being dropped in minute 71 + +Version 0.2.7 (2017-02-08) +=========================== + * Better performance and pictures at night + * Fix ptr alignment issue in boardd + * Fix brake error light, fix crash if too cold + +Version 0.2.6 (2017-01-31) +=========================== + * Fix bug in visiond model execution + +Version 0.2.5 (2017-01-30) +=========================== + * Fix race condition in manager + +Version 0.2.4 (2017-01-27) +=========================== + * OnePlus 3T support + * Enable installation as NEOS app + * Various minor bugfixes + +Version 0.2.3 (2017-01-11) +=========================== + * Reduce space usage by 80% + * Add better logging + * Add Travis CI + +Version 0.2.2 (2017-01-10) +=========================== + * Board triggers started signal on CAN messages + * Improved autoexposure + * Handle out of space, improve upload status + +Version 0.2.1 (2016-12-14) +=========================== + * Performance improvements, removal of more numpy + * Fix boardd process priority + * Make counter timer reset on use of steering wheel + +Version 0.2 (2016-12-12) +========================= + * Car/Radar abstraction layers have shipped, see cereal/car.capnp + * controlsd has been refactored + * Shipped plant model and testing maneuvers + * visiond exits more gracefully now + * Hardware encoder in visiond should always init + * ui now turns off the screen after 30 seconds + * Switch to openpilot release branch for future releases + * Added preliminary Docker container to run tests on PC + +Version 0.1 (2016-11-29) +========================= + * Initial release of openpilot + * Adaptive cruise control is working + * Lane keep assist is working + * Support for Acura ILX 2016 with AcuraWatch Plus + * Support for Honda Civic 2016 Touring Edition diff --git a/cereal/Dockerfile b/cereal/Dockerfile new file mode 100644 index 000000000..21902d197 --- /dev/null +++ b/cereal/Dockerfile @@ -0,0 +1,56 @@ +FROM ubuntu:20.04 + +ENV DEBIAN_FRONTEND=noninteractive +RUN apt-get update && apt-get install -y --no-install-recommends \ + autoconf \ + build-essential \ + ca-certificates \ + capnproto \ + clang \ + cppcheck \ + curl \ + git \ + libbz2-dev \ + libcapnp-dev \ + libffi-dev \ + liblzma-dev \ + libncurses5-dev \ + libncursesw5-dev \ + libreadline-dev \ + libsqlite3-dev \ + libssl-dev \ + libtool \ + libzmq3-dev \ + llvm \ + make \ + ocl-icd-opencl-dev \ + opencl-headers \ + python-openssl \ + tk-dev \ + wget \ + xz-utils \ + zlib1g-dev \ + && rm -rf /var/lib/apt/lists/* + +RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash +ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}" +RUN pyenv install 3.8.10 && \ + pyenv global 3.8.10 && \ + pyenv rehash && \ + pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1 + +WORKDIR /project/cereal/messaging +RUN git clone https://github.com/catchorg/Catch2.git && \ + cd Catch2 && \ + git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \ + mv single_include/catch2 ../catch2 && \ + cd .. \ + rm -rf Catch2 + +WORKDIR /project/cereal + +ENV PYTHONPATH=/project + +COPY . . +RUN rm -rf .git && \ + scons -c && scons -j$(nproc) diff --git a/cereal/LICENSE b/cereal/LICENSE new file mode 100644 index 000000000..f1fd199c6 --- /dev/null +++ b/cereal/LICENSE @@ -0,0 +1,7 @@ +Copyright (c) 2020, Comma.ai, Inc. + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/cereal/README.md b/cereal/README.md new file mode 100644 index 000000000..cc9cd9145 --- /dev/null +++ b/cereal/README.md @@ -0,0 +1,55 @@ +What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/Tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal) +---- + +cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers. + +Imagine this use case: +* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet +* A calibration process subscribes to the `sensorEvents` packet to use the IMU +* A localization process subscribes to the `sensorEvents` packet to use the IMU also + + +Messaging Spec +---- + +You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event. + +All Events have a `logMonoTime` and a `valid`. Then a big union defines the packet type. + + +Message definition Best Practices +---- + +- **All fields must describe quantities in SI units**, unless otherwise specified in the field name. + +- In the context of the message they are in, field names should be completely unambiguous. + +- All values should be easy to plot and be human-readable with minimal parsing. + + + +Pub Sub Backends +---- + +cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel. + +Example +--- +```python +import cereal.messaging as messaging + +# in subscriber +sm = messaging.SubMaster(['sensorEvents']) +while 1: + sm.update() + print(sm['sensorEvents']) + +``` + +```python +# in publisher +pm = messaging.PubMaster(['sensorEvents']) +dat = messaging.new_message('sensorEvents', size=1) +dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}} +pm.send('sensorEvents', dat) +``` diff --git a/cereal/__init__.py b/cereal/__init__.py new file mode 100644 index 000000000..88a181cbc --- /dev/null +++ b/cereal/__init__.py @@ -0,0 +1,9 @@ +# pylint: skip-file +import os +import capnp + +CEREAL_PATH = os.path.dirname(os.path.abspath(__file__)) +capnp.remove_import_hook() + +log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp")) +car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp")) diff --git a/cereal/car.capnp b/cereal/car.capnp new file mode 100644 index 000000000..85cefbb69 --- /dev/null +++ b/cereal/car.capnp @@ -0,0 +1,665 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0x8e2af1e708af8b8d; + +# ******* events causing controls state machine transition ******* + +struct CarEvent @0x9b1657f34caf3ad3 { + name @0 :EventName; + + # event types + enable @1 :Bool; + noEntry @2 :Bool; + warning @3 :Bool; # alerts presented only when enabled or soft disabling + userDisable @4 :Bool; + softDisable @5 :Bool; + immediateDisable @6 :Bool; + preEnable @7 :Bool; + permanent @8 :Bool; # alerts presented regardless of openpilot state + override @9 :Bool; + + enum EventName @0xbaa8c5d505f727de { + canError @0; + steerUnavailable @1; + brakeUnavailable @2; + wrongGear @4; + doorOpen @5; + seatbeltNotLatched @6; + espDisabled @7; + wrongCarMode @8; + steerTempUnavailable @9; + reverseGear @10; + buttonCancel @11; + buttonEnable @12; + pedalPressed @13; # exits active state + pedalPressedPreEnable @73; # added during pre-enable state for either pedal + gasPressedOverride @108; # added when user is pressing gas with no disengage on gas + cruiseDisabled @14; + speedTooLow @17; + outOfSpace @18; + overheat @19; + calibrationIncomplete @20; + calibrationInvalid @21; + controlsMismatch @22; + pcmEnable @23; + pcmDisable @24; + noTarget @25; + radarFault @26; + brakeHold @28; + parkBrake @29; + manualRestart @30; + lowSpeedLockout @31; + plannerError @32; + joystickDebug @34; + steerTempUnavailableSilent @35; + resumeRequired @36; + preDriverDistracted @37; + promptDriverDistracted @38; + driverDistracted @39; + preDriverUnresponsive @43; + promptDriverUnresponsive @44; + driverUnresponsive @45; + belowSteerSpeed @46; + lowBattery @48; + vehicleModelInvalid @50; + accFaulted @51; + sensorDataInvalid @52; + commIssue @53; + commIssueAvgFreq @109; + tooDistracted @54; + posenetInvalid @55; + soundsUnavailable @56; + preLaneChangeLeft @57; + preLaneChangeRight @58; + laneChange @59; + lowMemory @63; + stockAeb @64; + ldw @65; + carUnrecognized @66; + invalidLkasSetting @69; + speedTooHigh @70; + laneChangeBlocked @71; + relayMalfunction @72; + stockFcw @74; + startup @75; + startupNoCar @76; + startupNoControl @77; + startupMaster @78; + startupNoFw @104; + fcw @79; + steerSaturated @80; + belowEngageSpeed @84; + noGps @85; + wrongCruiseMode @87; + modeldLagging @89; + deviceFalling @90; + fanMalfunction @91; + cameraMalfunction @92; + cameraFrameRate @110; + gpsMalfunction @94; + processNotRunning @95; + dashcamMode @96; + controlsInitializing @98; + usbError @99; + roadCameraError @100; + driverCameraError @101; + wideRoadCameraError @102; + localizerMalfunction @103; + highCpuUsage @105; + cruiseMismatch @106; + lkasDisabled @107; + canBusMissing @111; + controlsdLagging @112; + + #dp + speedLimitActive @113; + speedLimitValueChange @114; + + radarCanErrorDEPRECATED @15; + communityFeatureDisallowedDEPRECATED @62; + radarCommIssueDEPRECATED @67; + driverMonitorLowAccDEPRECATED @68; + gasUnavailableDEPRECATED @3; + dataNeededDEPRECATED @16; + modelCommIssueDEPRECATED @27; + ipasOverrideDEPRECATED @33; + geofenceDEPRECATED @40; + driverMonitorOnDEPRECATED @41; + driverMonitorOffDEPRECATED @42; + calibrationProgressDEPRECATED @47; + invalidGiraffeHondaDEPRECATED @49; + invalidGiraffeToyotaDEPRECATED @60; + internetConnectivityNeededDEPRECATED @61; + whitePandaUnsupportedDEPRECATED @81; + commIssueWarningDEPRECATED @83; + focusRecoverActiveDEPRECATED @86; + neosUpdateRequiredDEPRECATED @88; + modelLagWarningDEPRECATED @93; + startupOneplusDEPRECATED @82; + startupFuzzyFingerprintDEPRECATED @97; + } +} + +# ******* main car state @ 100hz ******* +# all speeds in m/s + +struct CarState { + events @13 :List(CarEvent); + + # CAN health + canValid @26 :Bool; # invalid counter/checksums + canTimeout @40 :Bool; # CAN bus dropped out + + # car speed + vEgo @1 :Float32; # best estimate of speed + aEgo @16 :Float32; # best estimate of acceleration + vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors + vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI + + yawRate @22 :Float32; # best estimate of yaw rate + standstill @18 :Bool; + wheelSpeeds @2 :WheelSpeeds; + + # gas pedal, 0.0-1.0 + gas @3 :Float32; # this is user pedal only + gasPressed @4 :Bool; # this is user pedal only + + # brake pedal, 0.0-1.0 + brake @5 :Float32; # this is user pedal only + brakePressed @6 :Bool; # this is user pedal only + parkingBrake @39 :Bool; + brakeHoldActive @38 :Bool; + + # steering wheel + steeringAngleDeg @7 :Float32; + steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple + steeringRateDeg @15 :Float32; + steeringTorque @8 :Float32; # TODO: standardize units + steeringTorqueEps @27 :Float32; # TODO: standardize units + steeringPressed @9 :Bool; # if the user is using the steering wheel + steerFaultTemporary @35 :Bool; # temporary EPS fault + steerFaultPermanent @36 :Bool; # permanent EPS fault + stockAeb @30 :Bool; + stockFcw @31 :Bool; + espDisabled @32 :Bool; + accFaulted @42 :Bool; + + # cruise state + cruiseState @10 :CruiseState; + + # gear + gearShifter @14 :GearShifter; + + # button presses + buttonEvents @11 :List(ButtonEvent); + leftBlinker @20 :Bool; + rightBlinker @21 :Bool; + genericToggle @23 :Bool; + + # lock info + doorOpen @24 :Bool; + seatbeltUnlatched @25 :Bool; + + # clutch (manual transmission only) + clutchPressed @28 :Bool; + + # which packets this state came from + canMonoTimes @12: List(UInt64); + + # blindspot sensors + leftBlindspot @33 :Bool; # Is there something blocking the left lane change + rightBlindspot @34 :Bool; # Is there something blocking the right lane change + + fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0 + charging @43 :Bool; + + # dp + cruiseActualEnabled @45 :Bool; + engineRPM @46 :Float32; + distanceLines @47:UInt8; + + struct WheelSpeeds { + # optional wheel speeds + fl @0 :Float32; + fr @1 :Float32; + rl @2 :Float32; + rr @3 :Float32; + } + + struct CruiseState { + enabled @0 :Bool; + speed @1 :Float32; + speedCluster @6 :Float32; # Set speed as shown on instrument cluster + available @2 :Bool; + speedOffset @3 :Float32; + standstill @4 :Bool; + nonAdaptive @5 :Bool; + speedLimit @7 :Float32; + } + + enum GearShifter { + unknown @0; + park @1; + drive @2; + neutral @3; + reverse @4; + sport @5; + low @6; + brake @7; + eco @8; + manumatic @9; + } + + # send on change + struct ButtonEvent { + pressed @0 :Bool; + type @1 :Type; + + enum Type { + unknown @0; + leftBlinker @1; + rightBlinker @2; + accelCruise @3; + decelCruise @4; + cancel @5; + altButton1 @6; + altButton2 @7; + altButton3 @8; + setCruise @9; + resumeCruise @10; + gapAdjustCruise @11; + } + } + + errorsDEPRECATED @0 :List(CarEvent.EventName); + brakeLightsDEPRECATED @19 :Bool; + steeringRateLimitedDEPRECATED @29 :Bool; +} + +# ******* radar state @ 20hz ******* + +struct RadarData @0x888ad6581cf0aacb { + errors @0 :List(Error); + points @1 :List(RadarPoint); + + # which packets this state came from + canMonoTimes @2 :List(UInt64); + + enum Error { + canError @0; + fault @1; + wrongConfig @2; + } + + # similar to LiveTracks + # is one timestamp valid for all? I think so + struct RadarPoint { + trackId @0 :UInt64; # no trackId reuse + + # these 3 are the minimum required + dRel @1 :Float32; # m from the front bumper of the car + yRel @2 :Float32; # m + vRel @3 :Float32; # m/s + + # these are optional and valid if they are not NaN + aRel @4 :Float32; # m/s^2 + yvRel @5 :Float32; # m/s + + # some radars flag measurements VS estimates + measured @6 :Bool; + } +} + +# ******* car controls @ 100hz ******* + +struct CarControl { + # must be true for any actuator commands to work + enabled @0 :Bool; + latActive @11: Bool; + longActive @12: Bool; + + # Actuator commands as computed by controlsd + actuators @6 :Actuators; + + # Any car specific rate limits or quirks applied by + # the CarController are reflected in actuatorsOutput + # and matches what is sent to the car + actuatorsOutput @10 :Actuators; + + orientationNED @13 :List(Float32); + angularVelocity @14 :List(Float32); + + cruiseControl @4 :CruiseControl; + hudControl @5 :HUDControl; + + struct Actuators { + # range from 0.0 - 1.0 + gas @0: Float32; + brake @1: Float32; + # range from -1.0 - 1.0 + steer @2: Float32; + steeringAngleDeg @3: Float32; + + speed @6: Float32; # m/s + accel @4: Float32; # m/s^2 + longControlState @5: LongControlState; + + enum LongControlState @0xe40f3a917d908282{ + off @0; + pid @1; + stopping @2; + + startingDEPRECATED @3; + } + + } + + struct CruiseControl { + cancel @0: Bool; + resume @1: Bool; + speedOverrideDEPRECATED @2: Float32; + accelOverrideDEPRECATED @3: Float32; + } + + struct HUDControl { + speedVisible @0: Bool; + setSpeed @1: Float32; + lanesVisible @2: Bool; + leadVisible @3: Bool; + visualAlert @4: VisualAlert; + audibleAlert @5: AudibleAlert; + rightLaneVisible @6: Bool; + leftLaneVisible @7: Bool; + rightLaneDepart @8: Bool; + leftLaneDepart @9: Bool; + + enum VisualAlert { + # these are the choices from the Honda + # map as good as you can for your car + none @0; + fcw @1; + steerRequired @2; + brakePressed @3; + wrongGear @4; + seatbeltUnbuckled @5; + speedTooHigh @6; + ldw @7; + } + + enum AudibleAlert { + none @0; + + engage @1; + disengage @2; + refuse @3; + + warningSoft @4; + warningImmediate @5; + + prompt @6; + promptRepeat @7; + promptDistracted @8; + } + } + + gasDEPRECATED @1 :Float32; + brakeDEPRECATED @2 :Float32; + steeringTorqueDEPRECATED @3 :Float32; + activeDEPRECATED @7 :Bool; + rollDEPRECATED @8 :Float32; + pitchDEPRECATED @9 :Float32; +} + +# ****** car param ****** + +struct CarParams { + carName @0 :Text; + carFingerprint @1 :Text; + fuzzyFingerprint @55 :Bool; + + notCar @66 :Bool; # flag for non-car robotics platforms + + enableGasInterceptor @2 :Bool; + pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state? + enableDsu @5 :Bool; # driving support unit + enableApgs @6 :Bool; # advanced parking guidance system + enableBsm @56 :Bool; # blind spot monitoring + flags @64 :UInt32; # flags for car specific quirks + + minEnableSpeed @7 :Float32; + minSteerSpeed @8 :Float32; + maxSteeringAngleDeg @54 :Float32; + safetyConfigs @62 :List(SafetyConfig); + alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas + maxLateralAccel @68 :Float32; + + steerMaxBPDEPRECATED @11 :List(Float32); + steerMaxVDEPRECATED @12 :List(Float32); + gasMaxBPDEPRECATED @13 :List(Float32); + gasMaxVDEPRECATED @14 :List(Float32); + brakeMaxBPDEPRECATED @15 :List(Float32); + brakeMaxVDEPRECATED @16 :List(Float32); + + # things about the car in the manual + mass @17 :Float32; # [kg] curb weight: all fluids no cargo + wheelbase @18 :Float32; # [m] distance from rear axle to front axle + centerToFront @19 :Float32; # [m] distance from center of mass to front axle + steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle + steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0) + + # things we can derive + rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia + tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff + tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff + + longitudinalTuning @25 :LongitudinalPIDTuning; + lateralParams @48 :LateralParams; + lateralTuning :union { + pid @26 :LateralPIDTuning; + indi @27 :LateralINDITuning; + lqr @40 :LateralLQRTuning; + torque @67 :LateralTorqueTuning; + } + + steerLimitAlert @28 :Bool; + steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued + + vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state + vEgoStarting @59 :Float32; # Speed at which the car goes into starting state + directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake + stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping + stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary + steerControlType @34 :SteerControlType; + radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN + stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop + + steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds + longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound + longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound + openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control? + carVin @38 :Text; # VIN number queried during fingerprinting + dashcamOnly @41: Bool; + transmissionType @43 :TransmissionType; + carFw @44 :List(CarFw); + + radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard + fingerprintSource @49: FingerprintSource; + networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network + + wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds + + struct SafetyConfig { + safetyModel @0 :SafetyModel; + safetyParam @3 :UInt16; + safetyParamDEPRECATED @1 :Int16; + safetyParam2DEPRECATED @2 :UInt32; + } + + struct LateralParams { + torqueBP @0 :List(Int32); + torqueV @1 :List(Int32); + } + + struct LateralPIDTuning { + kpBP @0 :List(Float32); + kpV @1 :List(Float32); + kiBP @2 :List(Float32); + kiV @3 :List(Float32); + kf @4 :Float32; + } + + struct LateralTorqueTuning { + useSteeringAngle @0 :Bool; + kp @1 :Float32; + ki @2 :Float32; + friction @3 :Float32; + kf @4 :Float32; + steeringAngleDeadzoneDeg @5 :Float32; + } + + struct LongitudinalPIDTuning { + kpBP @0 :List(Float32); + kpV @1 :List(Float32); + kiBP @2 :List(Float32); + kiV @3 :List(Float32); + kf @6 :Float32; + deadzoneBP @4 :List(Float32); + deadzoneV @5 :List(Float32); + } + + struct LateralINDITuning { + outerLoopGainBP @4 :List(Float32); + outerLoopGainV @5 :List(Float32); + innerLoopGainBP @6 :List(Float32); + innerLoopGainV @7 :List(Float32); + timeConstantBP @8 :List(Float32); + timeConstantV @9 :List(Float32); + actuatorEffectivenessBP @10 :List(Float32); + actuatorEffectivenessV @11 :List(Float32); + + outerLoopGainDEPRECATED @0 :Float32; + innerLoopGainDEPRECATED @1 :Float32; + timeConstantDEPRECATED @2 :Float32; + actuatorEffectivenessDEPRECATED @3 :Float32; + } + + struct LateralLQRTuning { + scale @0 :Float32; + ki @1 :Float32; + dcGain @2 :Float32; + + # State space system + a @3 :List(Float32); + b @4 :List(Float32); + c @5 :List(Float32); + + k @6 :List(Float32); # LQR gain + l @7 :List(Float32); # Kalman gain + } + + enum SafetyModel { + silent @0; + hondaNidec @1; + toyota @2; + elm327 @3; + gm @4; + hondaBoschGiraffe @5; + ford @6; + cadillac @7; + hyundai @8; + chrysler @9; + tesla @10; + subaru @11; + gmPassive @12; + mazda @13; + nissan @14; + volkswagen @15; + toyotaIpas @16; + allOutput @17; + gmAscm @18; + noOutput @19; # like silent but without silent CAN TXs + hondaBosch @20; + volkswagenPq @21; + subaruLegacy @22; # pre-Global platform + hyundaiLegacy @23; + hyundaiCommunity @24; + stellantis @25; + faw @26; + body @27; + hyundaiHDA2 @28; + } + + enum SteerControlType { + torque @0; + angle @1; + } + + enum TransmissionType { + unknown @0; + automatic @1; # Traditional auto, including DSG + manual @2; # True "stick shift" only + direct @3; # Electric vehicle or other direct drive + cvt @4; + } + + struct CarFw { + ecu @0 :Ecu; + fwVersion @1 :Data; + address @2 :UInt32; + subAddress @3 :UInt8; + responseAddress @4 :UInt32; + request @5 :List(Data); + brand @6 :Text; + bus @7 :UInt8; + } + + enum Ecu { + eps @0; + esp @1; + fwdRadar @2; + fwdCamera @3; + engine @4; + unknown @5; + transmission @8; # Transmission Control Module + srs @9; # airbag + gateway @10; # can gateway + hud @11; # heads up display + combinationMeter @12; # instrument cluster + + # Toyota only + dsu @6; + apgs @7; + + # Honda only + vsa @13; # Vehicle Stability Assist + programmedFuelInjection @14; + electricBrakeBooster @15; + shiftByWire @16; + + debug @17; + } + + enum FingerprintSource { + can @0; + fw @1; + fixed @2; + } + + enum NetworkLocation { + fwdCamera @0; # Standard/default integration at LKAS camera + gateway @1; # Integration at vehicle's CAN gateway + } + + enableCameraDEPRECATED @4 :Bool; + steerRateCostDEPRECATED @33 :Float32; + isPandaBlackDEPRECATED @39 :Bool; + hasStockCameraDEPRECATED @57 :Bool; + safetyParamDEPRECATED @10 :Int16; + safetyModelDEPRECATED @9 :SafetyModel; + safetyModelPassiveDEPRECATED @42 :SafetyModel = silent; + minSpeedCanDEPRECATED @51 :Float32; + startAccelDEPRECATED @32 :Float32; + communityFeatureDEPRECATED @46: Bool; + startingAccelRateDEPRECATED @53 :Float32; +} diff --git a/cereal/codecov.yml b/cereal/codecov.yml new file mode 100644 index 000000000..83427c3ee --- /dev/null +++ b/cereal/codecov.yml @@ -0,0 +1,8 @@ +comment: false +coverage: + status: + project: + default: + informational: true + patch: off + diff --git a/cereal/dp.capnp b/cereal/dp.capnp new file mode 100644 index 000000000..bf14302b4 --- /dev/null +++ b/cereal/dp.capnp @@ -0,0 +1,26 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0xbfa7e645486440c7; + +# dp +struct DragonConf { + dpAtl @0 :UInt8; + dpLocale @1 :Text; + dpLateralMode @2 :UInt8; + dpLcMinMph @3 :UInt8; + dpLcAutoMinMph @4 :UInt8; + dpLcAutoDelay @5 :Float32; + dpIpAddr @6 :Text; + dpUiTop @7 :Bool; + dpUiSide @8 :Bool; + dpUiVolume @9 :Int8; + dpUiBrightness @10 :UInt8; + dpUiDisplayMode @11 :UInt8; + dpToyotaSng @12 :Bool; + dpAccelProfileCtrl @13 :Bool; + dpAccelProfile @14 :UInt8; + dpToyotaCruiseOverride @15 :Bool; + dpUseLanelines @16 :Bool; + dpMapd @17 :Bool; +} diff --git a/cereal/generate_javascript.sh b/cereal/generate_javascript.sh new file mode 100755 index 000000000..d6525a64d --- /dev/null +++ b/cereal/generate_javascript.sh @@ -0,0 +1,26 @@ +#!/bin/bash + +rm -r gen/ts +rm -r gen/js + +mkdir gen/ts +mkdir gen/js + +echo "Installing needed npm modules" +npm i capnpc-ts capnp-ts + +capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp +capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp + +cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line +do + TOKEN=`echo $line | sed 's/\./_/g'` + ROOT=`echo $line | sed 's/\..*$//g'` + cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN} + if [[ "$?" == "1" ]] + then + sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts + fi +done + +tsc ./gen/ts/* --lib es2015 --outDir ./gen/js diff --git a/cereal/include/c++.capnp b/cereal/include/c++.capnp new file mode 100644 index 000000000..2bda54717 --- /dev/null +++ b/cereal/include/c++.capnp @@ -0,0 +1,26 @@ +# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors +# Licensed under the MIT License: +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +@0xbdf87d7bb8304e81; +$namespace("capnp::annotations"); + +annotation namespace(file): Text; +annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text; diff --git a/cereal/legacy.capnp b/cereal/legacy.capnp new file mode 100644 index 000000000..a8fa5e4a1 --- /dev/null +++ b/cereal/legacy.capnp @@ -0,0 +1,574 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0x80ef1ec4889c2a63; + +# legacy.capnp: a home for deprecated structs + +struct LogRotate @0x9811e1f38f62f2d1 { + segmentNum @0 :Int32; + path @1 :Text; +} + +struct LiveUI @0xc08240f996aefced { + rearViewCam @0 :Bool; + alertText1 @1 :Text; + alertText2 @2 :Text; + awarenessStatus @3 :Float32; +} + +struct UiLayoutState @0x88dcce08ad29dda0 { + activeApp @0 :App; + sidebarCollapsed @1 :Bool; + mapEnabled @2 :Bool; + mockEngaged @3 :Bool; + + enum App @0x9917470acf94d285 { + home @0; + music @1; + nav @2; + settings @3; + none @4; + } +} + +struct OrbslamCorrection @0x8afd33dc9b35e1aa { + correctionMonoTime @0 :UInt64; + prePositionECEF @1 :List(Float64); + postPositionECEF @2 :List(Float64); + prePoseQuatECEF @3 :List(Float32); + postPoseQuatECEF @4 :List(Float32); + numInliers @5 :UInt32; +} + +struct EthernetPacket @0xa99a9d5b33cf5859 { + pkt @0 :Data; + ts @1 :Float32; +} + +struct CellInfo @0xcff7566681c277ce { + timestamp @0 :UInt64; + repr @1 :Text; # android toString() for now +} + +struct WifiScan @0xd4df5a192382ba0b { + bssid @0 :Text; + ssid @1 :Text; + capabilities @2 :Text; + frequency @3 :Int32; + level @4 :Int32; + timestamp @5 :Int64; + + centerFreq0 @6 :Int32; + centerFreq1 @7 :Int32; + channelWidth @8 :ChannelWidth; + operatorFriendlyName @9 :Text; + venueName @10 :Text; + is80211mcResponder @11 :Bool; + passpoint @12 :Bool; + + distanceCm @13 :Int32; + distanceSdCm @14 :Int32; + + enum ChannelWidth @0xcb6a279f015f6b51 { + w20Mhz @0; + w40Mhz @1; + w80Mhz @2; + w160Mhz @3; + w80Plus80Mhz @4; + } +} + +struct LiveEventData @0x94b7baa90c5c321e { + name @0 :Text; + value @1 :Int32; +} + +struct ModelData @0xb8aad62cffef28a9 { + frameId @0 :UInt32; + frameAge @12 :UInt32; + frameDropPerc @13 :Float32; + timestampEof @9 :UInt64; + modelExecutionTime @14 :Float32; + gpuExecutionTime @16 :Float32; + rawPred @15 :Data; + + path @1 :PathData; + leftLane @2 :PathData; + rightLane @3 :PathData; + lead @4 :LeadData; + freePath @6 :List(Float32); + + settings @5 :ModelSettings; + leadFuture @7 :LeadData; + speed @8 :List(Float32); + meta @10 :MetaData; + longitudinal @11 :LongitudinalData; + + struct PathData @0x8817eeea389e9f08 { + points @0 :List(Float32); + prob @1 :Float32; + std @2 :Float32; + stds @3 :List(Float32); + poly @4 :List(Float32); + validLen @5 :Float32; + } + + struct LeadData @0xd1c9bef96d26fa91 { + dist @0 :Float32; + prob @1 :Float32; + std @2 :Float32; + relVel @3 :Float32; + relVelStd @4 :Float32; + relY @5 :Float32; + relYStd @6 :Float32; + relA @7 :Float32; + relAStd @8 :Float32; + } + + struct ModelSettings @0xa26e3710efd3e914 { + bigBoxX @0 :UInt16; + bigBoxY @1 :UInt16; + bigBoxWidth @2 :UInt16; + bigBoxHeight @3 :UInt16; + boxProjection @4 :List(Float32); + yuvCorrection @5 :List(Float32); + inputTransform @6 :List(Float32); + } + + struct MetaData @0x9744f25fb60f2bf8 { + engagedProb @0 :Float32; + desirePrediction @1 :List(Float32); + brakeDisengageProb @2 :Float32; + gasDisengageProb @3 :Float32; + steerOverrideProb @4 :Float32; + desireState @5 :List(Float32); + } + + struct LongitudinalData @0xf98f999c6a071122 { + distances @2 :List(Float32); + speeds @0 :List(Float32); + accelerations @1 :List(Float32); + } +} + +struct ECEFPoint @0xc25bbbd524983447 { + x @0 :Float64; + y @1 :Float64; + z @2 :Float64; +} + +struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 { + x @0 :Float32; + y @1 :Float32; + z @2 :Float32; +} + +struct GPSPlannerPoints @0xab54c59699f8f9f3 { + curPosDEPRECATED @0 :ECEFPointDEPRECATED; + pointsDEPRECATED @1 :List(ECEFPointDEPRECATED); + curPos @6 :ECEFPoint; + points @7 :List(ECEFPoint); + valid @2 :Bool; + trackName @3 :Text; + speedLimit @4 :Float32; + accelTarget @5 :Float32; +} + +struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b { + valid @0 :Bool; + poly @1 :List(Float32); + trackName @2 :Text; + speed @3 :Float32; + acceleration @4 :Float32; + pointsDEPRECATED @5 :List(ECEFPointDEPRECATED); + points @6 :List(ECEFPoint); + xLookahead @7 :Float32; +} + +struct UiNavigationEvent @0x90c8426c3eaddd3b { + type @0: Type; + status @1: Status; + distanceTo @2: Float32; + endRoadPointDEPRECATED @3: ECEFPointDEPRECATED; + endRoadPoint @4: ECEFPoint; + + enum Type @0xe8db07dcf8fcea05 { + none @0; + laneChangeLeft @1; + laneChangeRight @2; + mergeLeft @3; + mergeRight @4; + turnLeft @5; + turnRight @6; + } + + enum Status @0xb9aa88c75ef99a1f { + none @0; + passive @1; + approaching @2; + active @3; + } +} + +struct LiveLocationData @0xb99b2bc7a57e8128 { + status @0 :UInt8; + + # 3D fix + lat @1 :Float64; + lon @2 :Float64; + alt @3 :Float32; # m + + # speed + speed @4 :Float32; # m/s + + # NED velocity components + vNED @5 :List(Float32); + + # roll, pitch, heading (x,y,z) + roll @6 :Float32; # WRT to center of earth? + pitch @7 :Float32; # WRT to center of earth? + heading @8 :Float32; # WRT to north? + + # what are these? + wanderAngle @9 :Float32; + trackAngle @10 :Float32; + + # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png + + # gyro, in car frame, deg/s + gyro @11 :List(Float32); + + # accel, in car frame, m/s^2 + accel @12 :List(Float32); + + accuracy @13 :Accuracy; + + source @14 :SensorSource; + # if we are fixing a location in the past + fixMonoTime @15 :UInt64; + + gpsWeek @16 :Int32; + timeOfWeek @17 :Float64; + + positionECEF @18 :List(Float64); + poseQuatECEF @19 :List(Float32); + pitchCalibration @20 :Float32; + yawCalibration @21 :Float32; + imuFrame @22 :List(Float32); + + struct Accuracy @0x943dc4625473b03f { + pNEDError @0 :List(Float32); + vNEDError @1 :List(Float32); + rollError @2 :Float32; + pitchError @3 :Float32; + headingError @4 :Float32; + ellipsoidSemiMajorError @5 :Float32; + ellipsoidSemiMinorError @6 :Float32; + ellipsoidOrientationError @7 :Float32; + } + + enum SensorSource @0xc871d3cc252af657 { + applanix @0; + kalman @1; + orbslam @2; + timing @3; + dummy @4; + } +} + +struct OrbOdometry @0xd7700859ed1f5b76 { + # timing first + startMonoTime @0 :UInt64; + endMonoTime @1 :UInt64; + + # fundamental matrix and error + f @2: List(Float64); + err @3: Float64; + + # number of inlier points + inliers @4: Int32; + + # for debug only + # indexed by endMonoTime features + # value is startMonoTime feature match + # -1 if no match + matches @5: List(Int16); +} + +struct OrbFeatures @0xcd60164a8a0159ef { + timestampEof @0 :UInt64; + # transposed arrays of normalized image coordinates + # len(xs) == len(ys) == len(descriptors) * 32 + xs @1 :List(Float32); + ys @2 :List(Float32); + descriptors @3 :Data; + octaves @4 :List(Int8); + + # match index to last OrbFeatures + # -1 if no match + timestampLastEof @5 :UInt64; + matches @6: List(Int16); +} + +struct OrbFeaturesSummary @0xd500d30c5803fa4f { + timestampEof @0 :UInt64; + timestampLastEof @1 :UInt64; + + featureCount @2 :UInt16; + matchCount @3 :UInt16; + computeNs @4 :UInt64; +} + +struct OrbKeyFrame @0xc8233c0345e27e24 { + # this is a globally unique id for the KeyFrame + id @0: UInt64; + + # this is the location of the KeyFrame + pos @1: ECEFPoint; + + # these are the features in the world + # len(dpos) == len(descriptors) * 32 + dpos @2 :List(ECEFPoint); + descriptors @3 :Data; +} + +struct KalmanOdometry @0x92e21bb7ea38793a { + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame +} + +struct OrbObservation @0x9b326d4e436afec7 { + observationMonoTime @0 :UInt64; + normalizedCoordinates @1 :List(Float32); + locationECEF @2 :List(Float64); + matchDistance @3: UInt32; +} + +struct CalibrationFeatures @0x8fdfadb254ea867a { + frameId @0 :UInt32; + + p0 @1 :List(Float32); + p1 @2 :List(Float32); + status @3 :List(Int8); +} + +struct NavStatus @0xbd8822120928120c { + isNavigating @0 :Bool; + currentAddress @1 :Address; + + struct Address @0xce7cd672cacc7814 { + title @0 :Text; + lat @1 :Float64; + lng @2 :Float64; + house @3 :Text; + address @4 :Text; + street @5 :Text; + city @6 :Text; + state @7 :Text; + country @8 :Text; + } +} + +struct NavUpdate @0xdb98be6565516acb { + isNavigating @0 :Bool; + curSegment @1 :Int32; + segments @2 :List(Segment); + + struct LatLng @0x9eaef9187cadbb9b { + lat @0 :Float64; + lng @1 :Float64; + } + + struct Segment @0xa5b39b4fc4d7da3f { + from @0 :LatLng; + to @1 :LatLng; + updateTime @2 :Int32; + distance @3 :Int32; + crossTime @4 :Int32; + exitNo @5 :Int32; + instruction @6 :Instruction; + + parts @7 :List(LatLng); + + enum Instruction @0xc5417a637451246f { + turnLeft @0; + turnRight @1; + keepLeft @2; + keepRight @3; + straight @4; + roundaboutExitNumber @5; + roundaboutExit @6; + roundaboutTurnLeft @7; + unkn8 @8; + roundaboutStraight @9; + unkn10 @10; + roundaboutTurnRight @11; + unkn12 @12; + roundaboutUturn @13; + unkn14 @14; + arrive @15; + exitLeft @16; + exitRight @17; + unkn18 @18; + uturn @19; + # ... + } + } +} + +struct TrafficEvent @0xacfa74a094e62626 { + type @0 :Type; + distance @1 :Float32; + action @2 :Action; + resuming @3 :Bool; + + enum Type @0xd85d75253435bf4b { + stopSign @0; + lightRed @1; + lightYellow @2; + lightGreen @3; + stopLight @4; + } + + enum Action @0xa6f6ce72165ccb49 { + none @0; + yield @1; + stop @2; + resumeReady @3; + } + +} + + +struct AndroidGnss @0xdfdf30d03fc485bd { + union { + measurements @0 :Measurements; + navigationMessage @1 :NavigationMessage; + } + + struct Measurements @0xa20710d4f428d6cd { + clock @0 :Clock; + measurements @1 :List(Measurement); + + struct Clock @0xa0e27b453a38f450 { + timeNanos @0 :Int64; + hardwareClockDiscontinuityCount @1 :Int32; + + hasTimeUncertaintyNanos @2 :Bool; + timeUncertaintyNanos @3 :Float64; + + hasLeapSecond @4 :Bool; + leapSecond @5 :Int32; + + hasFullBiasNanos @6 :Bool; + fullBiasNanos @7 :Int64; + + hasBiasNanos @8 :Bool; + biasNanos @9 :Float64; + + hasBiasUncertaintyNanos @10 :Bool; + biasUncertaintyNanos @11 :Float64; + + hasDriftNanosPerSecond @12 :Bool; + driftNanosPerSecond @13 :Float64; + + hasDriftUncertaintyNanosPerSecond @14 :Bool; + driftUncertaintyNanosPerSecond @15 :Float64; + } + + struct Measurement @0xd949bf717d77614d { + svId @0 :Int32; + constellation @1 :Constellation; + + timeOffsetNanos @2 :Float64; + state @3 :Int32; + receivedSvTimeNanos @4 :Int64; + receivedSvTimeUncertaintyNanos @5 :Int64; + cn0DbHz @6 :Float64; + pseudorangeRateMetersPerSecond @7 :Float64; + pseudorangeRateUncertaintyMetersPerSecond @8 :Float64; + accumulatedDeltaRangeState @9 :Int32; + accumulatedDeltaRangeMeters @10 :Float64; + accumulatedDeltaRangeUncertaintyMeters @11 :Float64; + + hasCarrierFrequencyHz @12 :Bool; + carrierFrequencyHz @13 :Float32; + hasCarrierCycles @14 :Bool; + carrierCycles @15 :Int64; + hasCarrierPhase @16 :Bool; + carrierPhase @17 :Float64; + hasCarrierPhaseUncertainty @18 :Bool; + carrierPhaseUncertainty @19 :Float64; + hasSnrInDb @20 :Bool; + snrInDb @21 :Float64; + + multipathIndicator @22 :MultipathIndicator; + + enum Constellation @0x9ef1f3ff0deb5ffb { + unknown @0; + gps @1; + sbas @2; + glonass @3; + qzss @4; + beidou @5; + galileo @6; + } + + enum State @0xcbb9490adce12d72 { + unknown @0; + codeLock @1; + bitSync @2; + subframeSync @3; + towDecoded @4; + msecAmbiguous @5; + symbolSync @6; + gloStringSync @7; + gloTodDecoded @8; + bdsD2BitSync @9; + bdsD2SubframeSync @10; + galE1bcCodeLock @11; + galE1c2ndCodeLock @12; + galE1bPageSync @13; + sbasSync @14; + } + + enum MultipathIndicator @0xc04e7b6231d4caa8 { + unknown @0; + detected @1; + notDetected @2; + } + } + } + + struct NavigationMessage @0xe2517b083095fd4e { + type @0 :Int32; + svId @1 :Int32; + messageId @2 :Int32; + submessageId @3 :Int32; + data @4 :Data; + status @5 :Status; + + enum Status @0xec1ff7996b35366f { + unknown @0; + parityPassed @1; + parityRebuilt @2; + } + } +} + +struct LidarPts @0xe3d6685d4e9d8f7a { + r @0 :List(UInt16); # uint16 m*500.0 + theta @1 :List(UInt16); # uint16 deg*100.0 + reflect @2 :List(UInt8); # uint8 0-255 + + # For storing out of file. + idx @3 :UInt64; + + # For storing in file + pkt @4 :Data; +} + + diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so new file mode 100755 index 000000000..9f5a406c6 Binary files /dev/null and b/cereal/libcereal_shared.so differ diff --git a/cereal/log.capnp b/cereal/log.capnp new file mode 100644 index 000000000..37f0fb9b0 --- /dev/null +++ b/cereal/log.capnp @@ -0,0 +1,2042 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +using Car = import "car.capnp"; +using Legacy = import "legacy.capnp"; +using Dp = import "dp.capnp"; + +@0xf3b1f17e25a4285b; + +const logVersion :Int32 = 1; + +struct Map(Key, Value) { + entries @0 :List(Entry); + struct Entry { + key @0 :Key; + value @1 :Value; + } +} + +struct InitData { + kernelArgs @0 :List(Text); + kernelVersion @15 :Text; + osVersion @18 :Text; + + dongleId @2 :Text; + + deviceType @3 :DeviceType; + version @4 :Text; + gitCommit @10 :Text; + gitBranch @11 :Text; + gitRemote @13 :Text; + + androidProperties @16 :Map(Text, Text); + + pandaInfo @8 :PandaInfo; + + dirty @9 :Bool; + passive @12 :Bool; + params @17 :Map(Text, Data); + + enum DeviceType { + unknown @0; + neo @1; + chffrAndroid @2; + chffrIos @3; + tici @4; + pc @5; + } + + struct PandaInfo { + hasPanda @0 :Bool; + dongleId @1 :Text; + stVersion @2 :Text; + espVersion @3 :Text; + } + + # ***** deprecated stuff ***** + gctxDEPRECATED @1 :Text; + androidBuildInfo @5 :AndroidBuildInfo; + androidSensorsDEPRECATED @6 :List(AndroidSensor); + chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra; + iosBuildInfoDEPRECATED @14 :IosBuildInfo; + + struct AndroidBuildInfo { + board @0 :Text; + bootloader @1 :Text; + brand @2 :Text; + device @3 :Text; + display @4 :Text; + fingerprint @5 :Text; + hardware @6 :Text; + host @7 :Text; + id @8 :Text; + manufacturer @9 :Text; + model @10 :Text; + product @11 :Text; + radioVersion @12 :Text; + serial @13 :Text; + supportedAbis @14 :List(Text); + tags @15 :Text; + time @16 :Int64; + type @17 :Text; + user @18 :Text; + + versionCodename @19 :Text; + versionRelease @20 :Text; + versionSdk @21 :Int32; + versionSecurityPatch @22 :Text; + } + + struct AndroidSensor { + id @0 :Int32; + name @1 :Text; + vendor @2 :Text; + version @3 :Int32; + handle @4 :Int32; + type @5 :Int32; + maxRange @6 :Float32; + resolution @7 :Float32; + power @8 :Float32; + minDelay @9 :Int32; + fifoReservedEventCount @10 :UInt32; + fifoMaxEventCount @11 :UInt32; + stringType @12 :Text; + maxDelay @13 :Int32; + } + + struct ChffrAndroidExtra { + allCameraCharacteristics @0 :Map(Text, Text); + } + + struct IosBuildInfo { + appVersion @0 :Text; + appBuild @1 :UInt32; + osVersion @2 :Text; + deviceModel @3 :Text; + } +} + +struct FrameData { + frameId @0 :UInt32; + encodeId @1 :UInt32; # DEPRECATED + frameIdSensor @25 :UInt32; + + frameType @7 :FrameType; + frameLength @3 :Int32; + + # Timestamps + timestampEof @2 :UInt64; + timestampSof @8 :UInt64; + processingTime @23 :Float32; + + # Exposure + integLines @4 :Int32; + highConversionGain @20 :Bool; + gain @15 :Float32; # This includes highConversionGain if enabled + measuredGreyFraction @21 :Float32; + targetGreyFraction @22 :Float32; + + # Focus + lensPos @11 :Int32; + lensSag @12 :Float32; + lensErr @13 :Float32; + lensTruePos @14 :Float32; + focusVal @16 :List(Int16); + focusConf @17 :List(UInt8); + sharpnessScore @18 :List(UInt16); + recoverState @19 :Int32; + + transform @10 :List(Float32); + + androidCaptureResult @9 :AndroidCaptureResult; + + image @6 :Data; + globalGainDEPRECATED @5 :Int32; + + temperaturesC @24 :List(Float32); + + enum FrameType { + unknown @0; + neo @1; + chffrAndroid @2; + front @3; + } + + struct AndroidCaptureResult { + sensitivity @0 :Int32; + frameDuration @1 :Int64; + exposureTime @2 :Int64; + rollingShutterSkew @3 :UInt64; + colorCorrectionTransform @4 :List(Int32); + colorCorrectionGains @5 :List(Float32); + displayRotation @6 :Int8; + } +} + +struct Thumbnail { + frameId @0 :UInt32; + timestampEof @1 :UInt64; + thumbnail @2 :Data; +} + +struct GPSNMEAData { + timestamp @0 :Int64; + localWallTime @1 :UInt64; + nmea @2 :Text; +} + +# android sensor_event_t +struct SensorEventData { + version @0 :Int32; + sensor @1 :Int32; + type @2 :Int32; + timestamp @3 :Int64; + uncalibratedDEPRECATED @10 :Bool; + + union { + acceleration @4 :SensorVec; + magnetic @5 :SensorVec; + orientation @6 :SensorVec; + gyro @7 :SensorVec; + pressure @9 :SensorVec; + magneticUncalibrated @11 :SensorVec; + gyroUncalibrated @12 :SensorVec; + proximity @13: Float32; + light @14: Float32; + temperature @15: Float32; + } + source @8 :SensorSource; + + struct SensorVec { + v @0 :List(Float32); + status @1 :Int8; + } + + enum SensorSource { + android @0; + iOS @1; + fiber @2; + velodyne @3; # Velodyne IMU + bno055 @4; # Bosch accelerometer + lsm6ds3 @5; # accelerometer (c2) + bmp280 @6; # barometer (c2) + mmc3416x @7; # magnetometer (c2) + bmx055 @8; + rpr0521 @9; + lsm6ds3trc @10; + mmc5603nj @11; + } +} + +# android struct GpsLocation +struct GpsLocationData { + # Contains GpsLocationFlags bits. + flags @0 :UInt16; + + # Represents latitude in degrees. + latitude @1 :Float64; + + # Represents longitude in degrees. + longitude @2 :Float64; + + # Represents altitude in meters above the WGS 84 reference ellipsoid. + altitude @3 :Float64; + + # Represents speed in meters per second. + speed @4 :Float32; + + # Represents heading in degrees. + bearingDeg @5 :Float32; + + # Represents expected accuracy in meters. (presumably 1 sigma?) + accuracy @6 :Float32; + + # Timestamp for the location fix. + # Milliseconds since January 1, 1970. + timestamp @7 :Int64; + + source @8 :SensorSource; + + # Represents NED velocity in m/s. + vNED @9 :List(Float32); + + # Represents expected vertical accuracy in meters. (presumably 1 sigma?) + verticalAccuracy @10 :Float32; + + # Represents bearing accuracy in degrees. (presumably 1 sigma?) + bearingAccuracyDeg @11 :Float32; + + # Represents velocity accuracy in m/s. (presumably 1 sigma?) + speedAccuracy @12 :Float32; + + enum SensorSource { + android @0; + iOS @1; + car @2; + velodyne @3; # Velodyne IMU + fusion @4; + external @5; + ublox @6; + trimble @7; + qcomdiag @8; + } +} + +struct CanData { + address @0 :UInt32; + busTime @1 :UInt16; + dat @2 :Data; + src @3 :UInt8; +} + +struct DeviceState @0xa4d8b5af2aa492eb { + usbOnline @12 :Bool; + networkType @22 :NetworkType; + networkInfo @31 :NetworkInfo; + networkStrength @24 :NetworkStrength; + networkMetered @41 :Bool; + lastAthenaPingTime @32 :UInt64; + + started @11 :Bool; + startedMonoTime @13 :UInt64; + + # system utilization + freeSpacePercent @7 :Float32; + memoryUsagePercent @19 :Int8; + gpuUsagePercent @33 :Int8; + cpuUsagePercent @34 :List(Int8); # per-core cpu usage + + # power + batteryPercent @8 :Int16; + batteryCurrent @15 :Int32; + chargingError @17 :Bool; + chargingDisabled @18 :Bool; + offroadPowerUsageUwh @23 :UInt32; + carBatteryCapacityUwh @25 :UInt32; + powerDrawW @40 :Float32; + somPowerDrawW @42 :Float32; + + # device thermals + cpuTempC @26 :List(Float32); + gpuTempC @27 :List(Float32); + memoryTempC @28 :Float32; + ambientTempC @30 :Float32; + nvmeTempC @35 :List(Float32); + modemTempC @36 :List(Float32); + pmicTempC @39 :List(Float32); + thermalZones @38 :List(ThermalZone); + thermalStatus @14 :ThermalStatus; + + fanSpeedPercentDesired @10 :UInt16; + screenBrightnessPercent @37 :Int8; + + struct ThermalZone { + name @0 :Text; + temp @1 :Float32; + } + + enum ThermalStatus { + green @0; + yellow @1; + red @2; + danger @3; + } + + enum NetworkType { + none @0; + wifi @1; + cell2G @2; + cell3G @3; + cell4G @4; + cell5G @5; + ethernet @6; + } + + enum NetworkStrength { + unknown @0; + poor @1; + moderate @2; + good @3; + great @4; + } + + struct NetworkInfo { + technology @0 :Text; + operator @1 :Text; + band @2 :Text; + channel @3 :UInt16; + extra @4 :Text; + state @5 :Text; + } + + # deprecated + cpu0DEPRECATED @0 :UInt16; + cpu1DEPRECATED @1 :UInt16; + cpu2DEPRECATED @2 :UInt16; + cpu3DEPRECATED @3 :UInt16; + memDEPRECATED @4 :UInt16; + gpuDEPRECATED @5 :UInt16; + batDEPRECATED @6 :UInt32; + pa0DEPRECATED @21 :UInt16; + cpuUsagePercentDEPRECATED @20 :Int8; + batteryStatusDEPRECATED @9 :Text; + batteryVoltageDEPRECATED @16 :Int32; + batteryTempCDEPRECATED @29 :Float32; +} + +struct PandaState @0xa7649e2575e4591e { + ignitionLine @2 :Bool; + controlsAllowed @3 :Bool; + gasInterceptorDetected @4 :Bool; + canSendErrs @7 :UInt32; + canFwdErrs @8 :UInt32; + canRxErrs @19 :UInt32; + gmlanSendErrs @9 :UInt32; + pandaType @10 :PandaType; + ignitionCan @13 :Bool; + safetyModel @14 :Car.CarParams.SafetyModel; + safetyParam @27 :UInt16; + alternativeExperience @23 :Int16; + faultStatus @15 :FaultStatus; + powerSaveEnabled @16 :Bool; + uptime @17 :UInt32; + faults @18 :List(FaultType); + harnessStatus @21 :HarnessStatus; + heartbeatLost @22 :Bool; + blockedCnt @24 :UInt32; + interruptLoad @25 :Float32; + + enum FaultStatus { + none @0; + faultTemp @1; + faultPerm @2; + } + + enum FaultType { + relayMalfunction @0; + unusedInterruptHandled @1; + interruptRateCan1 @2; + interruptRateCan2 @3; + interruptRateCan3 @4; + interruptRateTach @5; + interruptRateGmlan @6; + interruptRateInterrupts @7; + interruptRateSpiDma @8; + interruptRateSpiCs @9; + interruptRateUart1 @10; + interruptRateUart2 @11; + interruptRateUart3 @12; + interruptRateUart5 @13; + interruptRateUartDma @14; + interruptRateUsb @15; + interruptRateTim1 @16; + interruptRateTim3 @17; + registerDivergent @18; + interruptRateKlineInit @19; + interruptRateClockSource @20; + interruptRateTick @21; + interruptRateExti @22; + # Update max fault type in boardd when adding faults + } + + enum PandaType @0x8a58adf93e5b3751 { + unknown @0; + whitePanda @1; + greyPanda @2; + blackPanda @3; + pedal @4; + uno @5; + dos @6; + redPanda @7; + } + + enum HarnessStatus { + notConnected @0; + normal @1; + flipped @2; + } + + startedSignalDetectedDEPRECATED @5 :Bool; + voltageDEPRECATED @0 :UInt32; + currentDEPRECATED @1 :UInt32; + hasGpsDEPRECATED @6 :Bool; + fanSpeedRpmDEPRECATED @11 :UInt16; + usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerMode; + safetyParamDEPRECATED @20 :Int16; + safetyParam2DEPRECATED @26 :UInt32; +} + +struct PeripheralState { + pandaType @0 :PandaState.PandaType; + voltage @1 :UInt32; + current @2 :UInt32; + fanSpeedRpm @3 :UInt16; + usbPowerMode @4 :UsbPowerMode; + + enum UsbPowerMode @0xa8883583b32c9877 { + none @0; + client @1; + cdp @2; + dcp @3; + } +} + +struct RadarState @0x9a185389d6fdd05f { + canMonoTimes @10 :List(UInt64); + mdMonoTime @6 :UInt64; + carStateMonoTime @11 :UInt64; + radarErrors @12 :List(Car.RadarData.Error); + + leadOne @3 :LeadData; + leadTwo @4 :LeadData; + cumLagMs @5 :Float32; + + struct LeadData { + dRel @0 :Float32; + yRel @1 :Float32; + vRel @2 :Float32; + aRel @3 :Float32; + vLead @4 :Float32; + dPath @6 :Float32; + vLat @7 :Float32; + vLeadK @8 :Float32; + aLeadK @9 :Float32; + fcw @10 :Bool; + status @11 :Bool; + aLeadTau @12 :Float32; + modelProb @13 :Float32; + radar @14 :Bool; + + aLeadDEPRECATED @5 :Float32; + } + + # deprecated + ftMonoTimeDEPRECATED @7 :UInt64; + warpMatrixDEPRECATED @0 :List(Float32); + angleOffsetDEPRECATED @1 :Float32; + calStatusDEPRECATED @2 :Int8; + calCycleDEPRECATED @8 :Int32; + calPercDEPRECATED @9 :Int8; +} + +struct LiveCalibrationData { + calStatus @1 :Int8; + calCycle @2 :Int32; + calPerc @3 :Int8; + validBlocks @9 :Int32; + + # view_frame_from_road_frame + # ui's is inversed needs new + extrinsicMatrix @4 :List(Float32); + # the direction of travel vector in device frame + rpyCalib @7 :List(Float32); + rpyCalibSpread @8 :List(Float32); + + warpMatrixDEPRECATED @0 :List(Float32); + warpMatrix2DEPRECATED @5 :List(Float32); + warpMatrixBigDEPRECATED @6 :List(Float32); +} + +struct LiveTracks { + trackId @0 :Int32; + dRel @1 :Float32; + yRel @2 :Float32; + vRel @3 :Float32; + aRel @4 :Float32; + timeStamp @5 :Float32; + status @6 :Float32; + currentTime @7 :Float32; + stationary @8 :Bool; + oncoming @9 :Bool; +} + +struct ControlsState @0x97ff69c53601abf1 { + startMonoTime @48 :UInt64; + canMonoTimes @21 :List(UInt64); + longitudinalPlanMonoTime @28 :UInt64; + lateralPlanMonoTime @50 :UInt64; + + state @31 :OpenpilotState; + enabled @19 :Bool; + active @36 :Bool; + + longControlState @30 :Car.CarControl.Actuators.LongControlState; + vPid @2 :Float32; + vTargetLead @3 :Float32; + vCruise @22 :Float32; # actual set speed + vCruiseCluster @63 :Float32; # set speed to display in the UI + upAccelCmd @4 :Float32; + uiAccelCmd @5 :Float32; + ufAccelCmd @33 :Float32; + aTarget @35 :Float32; + curvature @37 :Float32; # path curvature from vehicle model + desiredCurvature @61 :Float32; # lag adjusted curvatures used by lateral controllers + desiredCurvatureRate @62 :Float32; + forceDecel @51 :Bool; + + # UI alerts + alertText1 @24 :Text; + alertText2 @25 :Text; + alertStatus @38 :AlertStatus; + alertSize @39 :AlertSize; + alertBlinkingRate @42 :Float32; + alertType @44 :Text; + alertSound @56 :Car.CarControl.HUDControl.AudibleAlert; + engageable @41 :Bool; # can OP be engaged? + + cumLagMs @15 :Float32; + canErrorCounter @57 :UInt32; + + lateralControlState :union { + indiState @52 :LateralINDIState; + pidState @53 :LateralPIDState; + lqrState @55 :LateralLQRState; + angleState @58 :LateralAngleState; + debugState @59 :LateralDebugState; + torqueState @60 :LateralTorqueState; + } + + enum OpenpilotState @0xdbe58b96d2d1ac61 { + disabled @0; + preEnabled @1; + enabled @2; + softDisabling @3; + overriding @4; + } + + enum AlertStatus { + normal @0; # low priority alert for user's convenience + userPrompt @1; # mid priority alert that might require user intervention + critical @2; # high priority alert that needs immediate user intervention + } + + enum AlertSize { + none @0; # don't display the alert + small @1; # small box + mid @2; # mid screen + full @3; # full screen + } + + struct LateralINDIState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + steeringRateDeg @2 :Float32; + steeringAccelDeg @3 :Float32; + rateSetPoint @4 :Float32; + accelSetPoint @5 :Float32; + accelError @6 :Float32; + delayedOutput @7 :Float32; + delta @8 :Float32; + output @9 :Float32; + saturated @10 :Bool; + steeringAngleDesiredDeg @11 :Float32; + steeringRateDesiredDeg @12 :Float32; + } + + struct LateralPIDState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + steeringRateDeg @2 :Float32; + angleError @3 :Float32; + p @4 :Float32; + i @5 :Float32; + f @6 :Float32; + output @7 :Float32; + saturated @8 :Bool; + steeringAngleDesiredDeg @9 :Float32; + } + + struct LateralTorqueState { + active @0 :Bool; + error @1 :Float32; + errorRate @8 :Float32; + p @2 :Float32; + i @3 :Float32; + d @4 :Float32; + f @5 :Float32; + output @6 :Float32; + saturated @7 :Bool; + actualLateralAccel @9 :Float32; + desiredLateralAccel @10 :Float32; + } + + struct LateralLQRState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + i @2 :Float32; + output @3 :Float32; + lqrOutput @4 :Float32; + saturated @5 :Bool; + steeringAngleDesiredDeg @6 :Float32; + } + + struct LateralAngleState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + output @2 :Float32; + saturated @3 :Bool; + steeringAngleDesiredDeg @4 :Float32; + } + + struct LateralDebugState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + output @2 :Float32; + saturated @3 :Bool; + } + + # deprecated + vEgoDEPRECATED @0 :Float32; + vEgoRawDEPRECATED @32 :Float32; + aEgoDEPRECATED @1 :Float32; + canMonoTimeDEPRECATED @16 :UInt64; + radarStateMonoTimeDEPRECATED @17 :UInt64; + mdMonoTimeDEPRECATED @18 :UInt64; + yActualDEPRECATED @6 :Float32; + yDesDEPRECATED @7 :Float32; + upSteerDEPRECATED @8 :Float32; + uiSteerDEPRECATED @9 :Float32; + ufSteerDEPRECATED @34 :Float32; + aTargetMinDEPRECATED @10 :Float32; + aTargetMaxDEPRECATED @11 :Float32; + rearViewCamDEPRECATED @23 :Bool; + driverMonitoringOnDEPRECATED @43 :Bool; + hudLeadDEPRECATED @14 :Int32; + alertSoundDEPRECATED @45 :Text; + angleModelBiasDEPRECATED @27 :Float32; + gpsPlannerActiveDEPRECATED @40 :Bool; + decelForTurnDEPRECATED @47 :Bool; + decelForModelDEPRECATED @54 :Bool; + awarenessStatusDEPRECATED @26 :Float32; + angleSteersDEPRECATED @13 :Float32; + vCurvatureDEPRECATED @46 :Float32; + mapValidDEPRECATED @49 :Bool; + jerkFactorDEPRECATED @12 :Float32; + steerOverrideDEPRECATED @20 :Bool; + steeringAngleDesiredDegDEPRECATED @29 :Float32; +} + +struct ModelDataV2 { + frameId @0 :UInt32; + frameIdExtra @20 :UInt32; + frameAge @1 :UInt32; + frameDropPerc @2 :Float32; + timestampEof @3 :UInt64; + modelExecutionTime @15 :Float32; + gpuExecutionTime @17 :Float32; + rawPredictions @16 :Data; + + # predicted future position, orientation, etc.. + position @4 :XYZTData; + orientation @5 :XYZTData; + velocity @6 :XYZTData; + orientationRate @7 :XYZTData; + acceleration @19 :XYZTData; + + # prediction lanelines and road edges + laneLines @8 :List(XYZTData); + laneLineProbs @9 :List(Float32); + laneLineStds @13 :List(Float32); + roadEdges @10 :List(XYZTData); + roadEdgeStds @14 :List(Float32); + + # predicted lead cars + leads @11 :List(LeadDataV2); + leadsV3 @18 :List(LeadDataV3); + + meta @12 :MetaData; + + # All SI units and in device frame + struct XYZTData { + x @0 :List(Float32); + y @1 :List(Float32); + z @2 :List(Float32); + t @3 :List(Float32); + xStd @4 :List(Float32); + yStd @5 :List(Float32); + zStd @6 :List(Float32); + } + + struct LeadDataV2 { + prob @0 :Float32; # probability that car is your lead at time t + t @1 :Float32; + + # x and y are relative position in device frame + # v is norm relative speed + # a is norm relative acceleration + xyva @2 :List(Float32); + xyvaStd @3 :List(Float32); + } + + struct LeadDataV3 { + prob @0 :Float32; # probability that car is your lead at time t + probTime @1 :Float32; + t @2 :List(Float32); + + # x and y are relative position in device frame + # v absolute norm speed + # a is derivative of v + x @3 :List(Float32); + xStd @4 :List(Float32); + y @5 :List(Float32); + yStd @6 :List(Float32); + v @7 :List(Float32); + vStd @8 :List(Float32); + a @9 :List(Float32); + aStd @10 :List(Float32); + } + + + struct MetaData { + engagedProb @0 :Float32; + desirePrediction @1 :List(Float32); + desireState @5 :List(Float32); + disengagePredictions @6 :DisengagePredictions; + hardBrakePredicted @7 :Bool; + + # deprecated + brakeDisengageProbDEPRECATED @2 :Float32; + gasDisengageProbDEPRECATED @3 :Float32; + steerOverrideProbDEPRECATED @4 :Float32; + } + + struct DisengagePredictions { + t @0 :List(Float32); + brakeDisengageProbs @1 :List(Float32); + gasDisengageProbs @2 :List(Float32); + steerOverrideProbs @3 :List(Float32); + brake3MetersPerSecondSquaredProbs @4 :List(Float32); + brake4MetersPerSecondSquaredProbs @5 :List(Float32); + brake5MetersPerSecondSquaredProbs @6 :List(Float32); + } +} + +struct EncodeIndex { + # picture from camera + frameId @0 :UInt32; + type @1 :Type; + # index of encoder from start of route + encodeId @2 :UInt32; + # minute long segment this frame is in + segmentNum @3 :Int32; + # index into camera file in segment in presentation order + segmentId @4 :UInt32; + # index into camera file in segment in encode order + segmentIdEncode @5 :UInt32; + timestampSof @6 :UInt64; + timestampEof @7 :UInt64; + + # encoder metadata + flags @8 :UInt32; + len @9 :UInt32; + + enum Type { + bigBoxLossless @0; # rcamera.mkv + fullHEVC @1; # fcamera.hevc + bigBoxHEVC @2; # bcamera.hevc + chffrAndroidH264 @3; # acamera + fullLosslessClip @4; # prcamera.mkv + front @5; # dcamera.hevc + qcameraH264 @6; # qcamera.ts + } +} + +struct AndroidLogEntry { + id @0 :UInt8; + ts @1 :UInt64; + priority @2 :UInt8; + pid @3 :Int32; + tid @4 :Int32; + tag @5 :Text; + message @6 :Text; +} + +struct LongitudinalPlan @0xe00b5b3eba12876c { + modelMonoTime @9 :UInt64; + hasLead @7 :Bool; + fcw @8 :Bool; + longitudinalPlanSource @15 :LongitudinalPlanSource; + processingDelay @29 :Float32; + + # desired speed/accel/jerk over next 2.5s + accels @32 :List(Float32); + speeds @33 :List(Float32); + jerks @34 :List(Float32); + + solverExecutionTime @35 :Float32; + + #dp + visionTurnControllerState @36 :VisionTurnControllerState; + visionTurnSpeed @37 :Float32; + speedLimitControlState @38 :SpeedLimitControlState; + speedLimit @39 :Float32; + speedLimitOffset @40 :Float32; + distToSpeedLimit @41 :Float32; + isMapSpeedLimit @42 :Bool; + speedLimitPercOffset @47 :Bool; + speedLimitValueOffset @48 :Float32; + + distToTurn @43 :Float32; + turnSpeed @44 :Float32; + turnSpeedControlState @45 :SpeedLimitControlState; + turnSign @46 :Int16; + + enum LongitudinalPlanSource { + cruise @0; + lead0 @1; + lead1 @2; + lead2 @3; + e2e @4; + #dp + turn @5; + limit @6; + turnlimit @7; + } + + # deprecated + vCruiseDEPRECATED @16 :Float32; + aCruiseDEPRECATED @17 :Float32; + vTargetDEPRECATED @3 :Float32; + vTargetFutureDEPRECATED @14 :Float32; + aTargetDEPRECATED @18 :Float32; + vStartDEPRECATED @26 :Float32; + aStartDEPRECATED @27 :Float32; + vMaxDEPRECATED @20 :Float32; + radarStateMonoTimeDEPRECATED @10 :UInt64; + jerkFactorDEPRECATED @6 :Float32; + hasLeftLaneDEPRECATED @23 :Bool; + hasRightLaneDEPRECATED @24 :Bool; + aTargetMinDEPRECATED @4 :Float32; + aTargetMaxDEPRECATED @5 :Float32; + lateralValidDEPRECATED @0 :Bool; + longitudinalValidDEPRECATED @2 :Bool; + dPolyDEPRECATED @1 :List(Float32); + laneWidthDEPRECATED @11 :Float32; + vCurvatureDEPRECATED @21 :Float32; + decelForTurnDEPRECATED @22 :Bool; + mapValidDEPRECATED @25 :Bool; + radarValidDEPRECATED @28 :Bool; + radarCanErrorDEPRECATED @30 :Bool; + commIssueDEPRECATED @31 :Bool; + eventsDEPRECATED @13 :List(Car.CarEvent); + gpsTrajectoryDEPRECATED @12 :GpsTrajectory; + gpsPlannerActiveDEPRECATED @19 :Bool; + + struct GpsTrajectory { + x @0 :List(Float32); + y @1 :List(Float32); + } + + #dp + enum SpeedLimitControlState { + inactive @0; # No speed limit set or not enabled by parameter. + tempInactive @1; # User wants to ignore speed limit until it changes. + adapting @2; # Reducing speed to match new speed limit. + active @3; # Cruising at speed limit. + } + + enum VisionTurnControllerState { + disabled @0; # No predicted substancial turn on vision range or feature disabled. + entering @1; # A subsantial turn is predicted ahead, adapting speed to turn confort levels. + turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling. + leaving @3; # Road ahead straightens. Start to allow positive acceleration. + } +} + +struct LateralPlan @0xe1e9318e2ae8b51e { + modelMonoTime @31 :UInt64; + laneWidth @0 :Float32; + lProb @5 :Float32; + rProb @7 :Float32; + dPathPoints @20 :List(Float32); + dProb @21 :Float32; + + #dp + dPathWLinesX @32 :List(Float32); + dPathWLinesY @33 :List(Float32); + + mpcSolutionValid @9 :Bool; + desire @17 :Desire; + laneChangeState @18 :LaneChangeState; + laneChangeDirection @19 :LaneChangeDirection; + useLaneLines @29 :Bool; + + # desired curvatures over next 2.5s in rad/m + psis @26 :List(Float32); + curvatures @27 :List(Float32); + curvatureRates @28 :List(Float32); + + solverExecutionTime @30 :Float32; + + enum Desire { + none @0; + turnLeft @1; + turnRight @2; + laneChangeLeft @3; + laneChangeRight @4; + keepLeft @5; + keepRight @6; + } + + enum LaneChangeState { + off @0; + preLaneChange @1; + laneChangeStarting @2; + laneChangeFinishing @3; + } + + enum LaneChangeDirection { + none @0; + left @1; + right @2; + } + + # deprecated + curvatureDEPRECATED @22 :Float32; + curvatureRateDEPRECATED @23 :Float32; + rawCurvatureDEPRECATED @24 :Float32; + rawCurvatureRateDEPRECATED @25 :Float32; + cProbDEPRECATED @3 :Float32; + dPolyDEPRECATED @1 :List(Float32); + cPolyDEPRECATED @2 :List(Float32); + lPolyDEPRECATED @4 :List(Float32); + rPolyDEPRECATED @6 :List(Float32); + modelValidDEPRECATED @12 :Bool; + commIssueDEPRECATED @15 :Bool; + posenetValidDEPRECATED @16 :Bool; + sensorValidDEPRECATED @14 :Bool; + paramsValidDEPRECATED @10 :Bool; + steeringAngleDegDEPRECATED @8 :Float32; # deg + steeringRateDegDEPRECATED @13 :Float32; # deg/s + angleOffsetDegDEPRECATED @11 :Float32; +} + +struct LiveLocationKalman { + + # More info on reference frames: + # https://github.com/commaai/openpilot/tree/master/common/transformations + + positionECEF @0 : Measurement; + positionGeodetic @1 : Measurement; + velocityECEF @2 : Measurement; + velocityNED @3 : Measurement; + velocityDevice @4 : Measurement; + accelerationDevice @5: Measurement; + + + # These angles are all eulers and roll, pitch, yaw + # orientationECEF transforms to rot matrix: ecef_from_device + orientationECEF @6 : Measurement; + calibratedOrientationECEF @20 : Measurement; + orientationNED @7 : Measurement; + angularVelocityDevice @8 : Measurement; + + # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated + calibratedOrientationNED @9 : Measurement; + + # Calibrated frame is simply device frame + # aligned with the vehicle + velocityCalibrated @10 : Measurement; + accelerationCalibrated @11 : Measurement; + angularVelocityCalibrated @12 : Measurement; + + gpsWeek @13 :Int32; + gpsTimeOfWeek @14 :Float64; + status @15 :Status; + unixTimestampMillis @16 :Int64; + inputsOK @17 :Bool = true; + posenetOK @18 :Bool = true; + gpsOK @19 :Bool = true; + sensorsOK @21 :Bool = true; + deviceStable @22 :Bool = true; + timeSinceReset @23 :Float64; + excessiveResets @24 :Bool; + + enum Status { + uninitialized @0; + uncalibrated @1; + valid @2; + } + + struct Measurement { + value @0 : List(Float64); + std @1 : List(Float64); + valid @2 : Bool; + } +} + +struct ProcLog { + cpuTimes @0 :List(CPUTimes); + mem @1 :Mem; + procs @2 :List(Process); + + struct Process { + pid @0 :Int32; + name @1 :Text; + state @2 :UInt8; + ppid @3 :Int32; + + cpuUser @4 :Float32; + cpuSystem @5 :Float32; + cpuChildrenUser @6 :Float32; + cpuChildrenSystem @7 :Float32; + priority @8 :Int64; + nice @9 :Int32; + numThreads @10 :Int32; + startTime @11 :Float64; + + memVms @12 :UInt64; + memRss @13 :UInt64; + + processor @14 :Int32; + + cmdline @15 :List(Text); + exe @16 :Text; + } + + struct CPUTimes { + cpuNum @0 :Int64; + user @1 :Float32; + nice @2 :Float32; + system @3 :Float32; + idle @4 :Float32; + iowait @5 :Float32; + irq @6 :Float32; + softirq @7 :Float32; + } + + struct Mem { + total @0 :UInt64; + free @1 :UInt64; + available @2 :UInt64; + buffers @3 :UInt64; + cached @4 :UInt64; + active @5 :UInt64; + inactive @6 :UInt64; + shared @7 :UInt64; + } +} + +struct GnssMeasurements { + ubloxMonoTime @0 :UInt64; + gpsWeek @1 :Int16; + gpsTimeOfWeek @2 :Float64; + + correctedMeasurements @3 :List(CorrectedMeasurement); + + positionECEF @4 :LiveLocationKalman.Measurement; + velocityECEF @5 :LiveLocationKalman.Measurement; + # Used for debugging: + positionFixECEF @6 :LiveLocationKalman.Measurement; + # Todo sync this with timing pulse of ublox + + struct CorrectedMeasurement { + constellationId @0 :ConstellationId; + svId @1 :UInt8; + # Is 0 when not Glonass constellation. + glonassFrequency @2 :Int8; + pseudorange @3 :Float64; + pseudorangeStd @4 :Float64; + pseudorangeRate @5 :Float64; + pseudorangeRateStd @6 :Float64; + # Satellite position and velocity [x,y,z] + satPos @7 :List(Float64); + satVel @8 :List(Float64); + ephemerisSource @9 :EphemerisSource; + } + + struct EphemerisSource { + type @0 :EphemerisSourceType; + # first epoch in file: + gpsWeek @1 :Int16; # -1 if Nav + gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs. + } + + enum ConstellationId { + # Satellite Constellation using the Ublox gnssid as index + gps @0; + sbas @1; + galileo @2; + beidou @3; + imes @4; + qznss @5; + glonass @6; + } + + enum EphemerisSourceType { + nav @0; + # Different ultra-rapid files: + nasaUltraRapid @1; + glonassIacUltraRapid @2; + } +} + +struct UbloxGnss { + union { + measurementReport @0 :MeasurementReport; + ephemeris @1 :Ephemeris; + ionoData @2 :IonoData; + hwStatus @3 :HwStatus; + hwStatus2 @4 :HwStatus2; + } + + struct MeasurementReport { + #received time of week in gps time in seconds and gps week + rcvTow @0 :Float64; + gpsWeek @1 :UInt16; + # leap seconds in seconds + leapSeconds @2 :UInt16; + # receiver status + receiverStatus @3 :ReceiverStatus; + # num of measurements to follow + numMeas @4 :UInt8; + measurements @5 :List(Measurement); + + struct ReceiverStatus { + # leap seconds have been determined + leapSecValid @0 :Bool; + # Clock reset applied + clkReset @1 :Bool; + } + + struct Measurement { + svId @0 :UInt8; + trackingStatus @1 :TrackingStatus; + # pseudorange in meters + pseudorange @2 :Float64; + # carrier phase measurement in cycles + carrierCycles @3 :Float64; + # doppler measurement in Hz + doppler @4 :Float32; + # GNSS id, 0 is gps + gnssId @5 :UInt8; + glonassFrequencyIndex @6 :UInt8; + # carrier phase locktime counter in ms + locktime @7 :UInt16; + # Carrier-to-noise density ratio (signal strength) in dBHz + cno @8 :UInt8; + # pseudorange standard deviation in meters + pseudorangeStdev @9 :Float32; + # carrier phase standard deviation in cycles + carrierPhaseStdev @10 :Float32; + # doppler standard deviation in Hz + dopplerStdev @11 :Float32; + sigId @12 :UInt8; + + struct TrackingStatus { + # pseudorange valid + pseudorangeValid @0 :Bool; + # carrier phase valid + carrierPhaseValid @1 :Bool; + # half cycle valid + halfCycleValid @2 :Bool; + # half sycle subtracted from phase + halfCycleSubtracted @3 :Bool; + } + } + } + + struct Ephemeris { + # This is according to the rinex (2?) format + svId @0 :UInt16; + year @1 :UInt16; + month @2 :UInt16; + day @3 :UInt16; + hour @4 :UInt16; + minute @5 :UInt16; + second @6 :Float32; + af0 @7 :Float64; + af1 @8 :Float64; + af2 @9 :Float64; + + iode @10 :Float64; + crs @11 :Float64; + deltaN @12 :Float64; + m0 @13 :Float64; + + cuc @14 :Float64; + ecc @15 :Float64; + cus @16 :Float64; + a @17 :Float64; # note that this is not the root!! + + toe @18 :Float64; + cic @19 :Float64; + omega0 @20 :Float64; + cis @21 :Float64; + + i0 @22 :Float64; + crc @23 :Float64; + omega @24 :Float64; + omegaDot @25 :Float64; + + iDot @26 :Float64; + codesL2 @27 :Float64; + gpsWeek @28 :Float64; + l2 @29 :Float64; + + svAcc @30 :Float64; + svHealth @31 :Float64; + tgd @32 :Float64; + iodc @33 :Float64; + + transmissionTime @34 :Float64; + fitInterval @35 :Float64; + + toc @36 :Float64; + + ionoCoeffsValid @37 :Bool; + ionoAlpha @38 :List(Float64); + ionoBeta @39 :List(Float64); + + } + + struct IonoData { + svHealth @0 :UInt32; + tow @1 :Float64; + gpsWeek @2 :Float64; + + ionoAlpha @3 :List(Float64); + ionoBeta @4 :List(Float64); + + healthValid @5 :Bool; + ionoCoeffsValid @6 :Bool; + } + + struct HwStatus { + noisePerMS @0 :UInt16; + agcCnt @1 :UInt16; + aStatus @2 :AntennaSupervisorState; + aPower @3 :AntennaPowerStatus; + jamInd @4 :UInt8; + flags @5 :UInt8; + + enum AntennaSupervisorState { + init @0; + dontknow @1; + ok @2; + short @3; + open @4; + } + + enum AntennaPowerStatus { + off @0; + on @1; + dontknow @2; + } + } + + struct HwStatus2 { + ofsI @0 :Int8; + magI @1 :UInt8; + ofsQ @2 :Int8; + magQ @3 :UInt8; + cfgSource @4 :ConfigSource; + lowLevCfg @5 :UInt32; + postStatus @6 :UInt32; + + enum ConfigSource { + undefined @0; + rom @1; + otp @2; + configpins @3; + flash @4; + } + } +} + +struct QcomGnss @0xde94674b07ae51c1 { + logTs @0 :UInt64; + union { + measurementReport @1 :MeasurementReport; + clockReport @2 :ClockReport; + drMeasurementReport @3 :DrMeasurementReport; + drSvPoly @4 :DrSvPolyReport; + rawLog @5 :Data; + } + + enum MeasurementSource @0xd71a12b6faada7ee { + gps @0; + glonass @1; + beidou @2; + unknown3 @3; + unknown4 @4; + unknown5 @5; + unknown6 @6; + } + + enum SVObservationState @0xe81e829a0d6c83e9 { + idle @0; + search @1; + searchVerify @2; + bitEdge @3; + trackVerify @4; + track @5; + restart @6; + dpo @7; + glo10msBe @8; + glo10msAt @9; + } + + struct MeasurementStatus @0xe501010e1bcae83b { + subMillisecondIsValid @0 :Bool; + subBitTimeIsKnown @1 :Bool; + satelliteTimeIsKnown @2 :Bool; + bitEdgeConfirmedFromSignal @3 :Bool; + measuredVelocity @4 :Bool; + fineOrCoarseVelocity @5 :Bool; + lockPointValid @6 :Bool; + lockPointPositive @7 :Bool; + lastUpdateFromDifference @8 :Bool; + lastUpdateFromVelocityDifference @9 :Bool; + strongIndicationOfCrossCorelation @10 :Bool; + tentativeMeasurement @11 :Bool; + measurementNotUsable @12 :Bool; + sirCheckIsNeeded @13 :Bool; + probationMode @14 :Bool; + + glonassMeanderBitEdgeValid @15 :Bool; + glonassTimeMarkValid @16 :Bool; + + gpsRoundRobinRxDiversity @17 :Bool; + gpsRxDiversity @18 :Bool; + gpsLowBandwidthRxDiversityCombined @19 :Bool; + gpsHighBandwidthNu4 @20 :Bool; + gpsHighBandwidthNu8 @21 :Bool; + gpsHighBandwidthUniform @22 :Bool; + multipathIndicator @23 :Bool; + + imdJammingIndicator @24 :Bool; + lteB13TxJammingIndicator @25 :Bool; + freshMeasurementIndicator @26 :Bool; + + multipathEstimateIsValid @27 :Bool; + directionIsValid @28 :Bool; + } + + struct MeasurementReport @0xf580d7d86b7b8692 { + source @0 :MeasurementSource; + + fCount @1 :UInt32; + + gpsWeek @2 :UInt16; + glonassCycleNumber @3 :UInt8; + glonassNumberOfDays @4 :UInt16; + + milliseconds @5 :UInt32; + timeBias @6 :Float32; + clockTimeUncertainty @7 :Float32; + clockFrequencyBias @8 :Float32; + clockFrequencyUncertainty @9 :Float32; + + sv @10 :List(SV); + + struct SV @0xf10c595ae7bb2c27 { + svId @0 :UInt8; + observationState @2 :SVObservationState; + observations @3 :UInt8; + goodObservations @4 :UInt8; + gpsParityErrorCount @5 :UInt16; + glonassFrequencyIndex @1 :Int8; + glonassHemmingErrorCount @6 :UInt8; + filterStages @7 :UInt8; + carrierNoise @8 :UInt16; + latency @9 :Int16; + predetectInterval @10 :UInt8; + postdetections @11 :UInt16; + + unfilteredMeasurementIntegral @12 :UInt32; + unfilteredMeasurementFraction @13 :Float32; + unfilteredTimeUncertainty @14 :Float32; + unfilteredSpeed @15 :Float32; + unfilteredSpeedUncertainty @16 :Float32; + measurementStatus @17 :MeasurementStatus; + multipathEstimate @18 :UInt32; + azimuth @19 :Float32; + elevation @20 :Float32; + carrierPhaseCyclesIntegral @21 :Int32; + carrierPhaseCyclesFraction @22 :UInt16; + fineSpeed @23 :Float32; + fineSpeedUncertainty @24 :Float32; + cycleSlipCount @25 :UInt8; + } + + } + + struct ClockReport @0xca965e4add8f4f0b { + hasFCount @0 :Bool; + fCount @1 :UInt32; + + hasGpsWeek @2 :Bool; + gpsWeek @3 :UInt16; + hasGpsMilliseconds @4 :Bool; + gpsMilliseconds @5 :UInt32; + gpsTimeBias @6 :Float32; + gpsClockTimeUncertainty @7 :Float32; + gpsClockSource @8 :UInt8; + + hasGlonassYear @9 :Bool; + glonassYear @10 :UInt8; + hasGlonassDay @11 :Bool; + glonassDay @12 :UInt16; + hasGlonassMilliseconds @13 :Bool; + glonassMilliseconds @14 :UInt32; + glonassTimeBias @15 :Float32; + glonassClockTimeUncertainty @16 :Float32; + glonassClockSource @17 :UInt8; + + bdsWeek @18 :UInt16; + bdsMilliseconds @19 :UInt32; + bdsTimeBias @20 :Float32; + bdsClockTimeUncertainty @21 :Float32; + bdsClockSource @22 :UInt8; + + galWeek @23 :UInt16; + galMilliseconds @24 :UInt32; + galTimeBias @25 :Float32; + galClockTimeUncertainty @26 :Float32; + galClockSource @27 :UInt8; + + clockFrequencyBias @28 :Float32; + clockFrequencyUncertainty @29 :Float32; + frequencySource @30 :UInt8; + gpsLeapSeconds @31 :UInt8; + gpsLeapSecondsUncertainty @32 :UInt8; + gpsLeapSecondsSource @33 :UInt8; + + gpsToGlonassTimeBiasMilliseconds @34 :Float32; + gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32; + gpsToBdsTimeBiasMilliseconds @36 :Float32; + gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32; + bdsToGloTimeBiasMilliseconds @38 :Float32; + bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32; + gpsToGalTimeBiasMilliseconds @40 :Float32; + gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32; + galToGloTimeBiasMilliseconds @42 :Float32; + galToGloTimeBiasMillisecondsUncertainty @43 :Float32; + galToBdsTimeBiasMilliseconds @44 :Float32; + galToBdsTimeBiasMillisecondsUncertainty @45 :Float32; + + hasRtcTime @46 :Bool; + systemRtcTime @47 :UInt32; + fCountOffset @48 :UInt32; + lpmRtcCount @49 :UInt32; + clockResets @50 :UInt32; + } + + struct DrMeasurementReport @0x8053c39445c6c75c { + + reason @0 :UInt8; + seqNum @1 :UInt8; + seqMax @2 :UInt8; + rfLoss @3 :UInt16; + + systemRtcValid @4 :Bool; + fCount @5 :UInt32; + clockResets @6 :UInt32; + systemRtcTime @7 :UInt64; + + gpsLeapSeconds @8 :UInt8; + gpsLeapSecondsUncertainty @9 :UInt8; + gpsToGlonassTimeBiasMilliseconds @10 :Float32; + gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32; + + gpsWeek @12 :UInt16; + gpsMilliseconds @13 :UInt32; + gpsTimeBiasMs @14 :UInt32; + gpsClockTimeUncertaintyMs @15 :UInt32; + gpsClockSource @16 :UInt8; + + glonassClockSource @17 :UInt8; + glonassYear @18 :UInt8; + glonassDay @19 :UInt16; + glonassMilliseconds @20 :UInt32; + glonassTimeBias @21 :Float32; + glonassClockTimeUncertainty @22 :Float32; + + clockFrequencyBias @23 :Float32; + clockFrequencyUncertainty @24 :Float32; + frequencySource @25 :UInt8; + + source @26 :MeasurementSource; + + sv @27 :List(SV); + + struct SV @0xf08b81df8cbf459c { + svId @0 :UInt8; + glonassFrequencyIndex @1 :Int8; + observationState @2 :SVObservationState; + observations @3 :UInt8; + goodObservations @4 :UInt8; + filterStages @5 :UInt8; + predetectInterval @6 :UInt8; + cycleSlipCount @7 :UInt8; + postdetections @8 :UInt16; + + measurementStatus @9 :MeasurementStatus; + + carrierNoise @10 :UInt16; + rfLoss @11 :UInt16; + latency @12 :Int16; + + filteredMeasurementFraction @13 :Float32; + filteredMeasurementIntegral @14 :UInt32; + filteredTimeUncertainty @15 :Float32; + filteredSpeed @16 :Float32; + filteredSpeedUncertainty @17 :Float32; + + unfilteredMeasurementFraction @18 :Float32; + unfilteredMeasurementIntegral @19 :UInt32; + unfilteredTimeUncertainty @20 :Float32; + unfilteredSpeed @21 :Float32; + unfilteredSpeedUncertainty @22 :Float32; + + multipathEstimate @23 :UInt32; + azimuth @24 :Float32; + elevation @25 :Float32; + dopplerAcceleration @26 :Float32; + fineSpeed @27 :Float32; + fineSpeedUncertainty @28 :Float32; + + carrierPhase @29 :Float64; + fCount @30 :UInt32; + + parityErrorCount @31 :UInt16; + goodParity @32 :Bool; + } + } + + struct DrSvPolyReport @0xb1fb80811a673270 { + svId @0 :UInt16; + frequencyIndex @1 :Int8; + + hasPosition @2 :Bool; + hasIono @3 :Bool; + hasTropo @4 :Bool; + hasElevation @5 :Bool; + polyFromXtra @6 :Bool; + hasSbasIono @7 :Bool; + + iode @8 :UInt16; + t0 @9 :Float64; + xyz0 @10 :List(Float64); + xyzN @11 :List(Float64); + other @12 :List(Float32); + + positionUncertainty @13 :Float32; + ionoDelay @14 :Float32; + ionoDot @15 :Float32; + sbasIonoDelay @16 :Float32; + sbasIonoDot @17 :Float32; + tropoDelay @18 :Float32; + elevation @19 :Float32; + elevationDot @20 :Float32; + elevationUncertainty @21 :Float32; + velocityCoeff @22 :List(Float64); + } +} + +struct Clocks { + bootTimeNanos @0 :UInt64; + monotonicNanos @1 :UInt64; + monotonicRawNanos @2 :UInt64; + wallTimeNanos @3 :UInt64; + modemUptimeMillis @4 :UInt64; +} + +struct LiveMpcData { + x @0 :List(Float32); + y @1 :List(Float32); + psi @2 :List(Float32); + curvature @3 :List(Float32); + qpIterations @4 :UInt32; + calculationTime @5 :UInt64; + cost @6 :Float64; +} + +struct LiveLongitudinalMpcData { + xEgo @0 :List(Float32); + vEgo @1 :List(Float32); + aEgo @2 :List(Float32); + xLead @3 :List(Float32); + vLead @4 :List(Float32); + aLead @5 :List(Float32); + aLeadTau @6 :Float32; # lead accel time constant + qpIterations @7 :UInt32; + mpcId @8 :UInt32; + calculationTime @9 :UInt64; + cost @10 :Float64; +} + +struct Joystick { + # convenient for debug and live tuning + axes @0: List(Float32); + buttons @1: List(Bool); +} + +struct DriverStateV2 { + frameId @0 :UInt32; + modelExecutionTime @1 :Float32; + dspExecutionTime @2 :Float32; + rawPredictions @3 :Data; + + poorVisionProb @4 :Float32; + wheelOnRightProb @5 :Float32; + + leftDriverData @6 :DriverData; + rightDriverData @7 :DriverData; + + struct DriverData { + faceOrientation @0 :List(Float32); + faceOrientationStd @1 :List(Float32); + facePosition @2 :List(Float32); + facePositionStd @3 :List(Float32); + faceProb @4 :Float32; + leftEyeProb @5 :Float32; + rightEyeProb @6 :Float32; + leftBlinkProb @7 :Float32; + rightBlinkProb @8 :Float32; + sunglassesProb @9 :Float32; + occludedProb @10 :Float32; + readyProb @11 :List(Float32); + notReadyProb @12 :List(Float32); + } +} + +struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 { + frameId @0 :UInt32; + modelExecutionTime @14 :Float32; + dspExecutionTime @16 :Float32; + rawPredictions @15 :Data; + + faceOrientation @3 :List(Float32); + facePosition @4 :List(Float32); + faceProb @5 :Float32; + leftEyeProb @6 :Float32; + rightEyeProb @7 :Float32; + leftBlinkProb @8 :Float32; + rightBlinkProb @9 :Float32; + faceOrientationStd @11 :List(Float32); + facePositionStd @12 :List(Float32); + sunglassesProb @13 :Float32; + poorVision @17 :Float32; + partialFace @18 :Float32; + distractedPose @19 :Float32; + distractedEyes @20 :Float32; + eyesOnRoad @21 :Float32; + phoneUse @22 :Float32; + occludedProb @23 :Float32; + + readyProb @24 :List(Float32); + notReadyProb @25 :List(Float32); + + irPwrDEPRECATED @10 :Float32; + descriptorDEPRECATED @1 :List(Float32); + stdDEPRECATED @2 :Float32; +} + +struct DriverMonitoringState @0xb83cda094a1da284 { + events @0 :List(Car.CarEvent); + faceDetected @1 :Bool; + isDistracted @2 :Bool; + distractedType @17 :UInt32; + awarenessStatus @3 :Float32; + posePitchOffset @6 :Float32; + posePitchValidCount @7 :UInt32; + poseYawOffset @8 :Float32; + poseYawValidCount @9 :UInt32; + stepChange @10 :Float32; + awarenessActive @11 :Float32; + awarenessPassive @12 :Float32; + isLowStd @13 :Bool; + hiStdCount @14 :UInt32; + isActiveMode @16 :Bool; + isRHD @4 :Bool; + + isPreviewDEPRECATED @15 :Bool; + rhdCheckedDEPRECATED @5 :Bool; +} + +struct Boot { + wallTimeNanos @0 :UInt64; + pstore @4 :Map(Text, Data); + commands @5 :Map(Text, Data); + launchLog @3 :Text; + + lastKmsgDEPRECATED @1 :Data; + lastPmsgDEPRECATED @2 :Data; +} + +struct LiveParametersData { + valid @0 :Bool; + gyroBias @1 :Float32; + angleOffsetDeg @2 :Float32; + angleOffsetAverageDeg @3 :Float32; + stiffnessFactor @4 :Float32; + steerRatio @5 :Float32; + sensorValid @6 :Bool; + yawRate @7 :Float32; + posenetSpeed @8 :Float32; + posenetValid @9 :Bool; + angleOffsetFastStd @10 :Float32; + angleOffsetAverageStd @11 :Float32; + stiffnessFactorStd @12 :Float32; + steerRatioStd @13 :Float32; + roll @14 :Float32; +} + +struct LiveMapDataDEPRECATED { + speedLimitValid @0 :Bool; + speedLimit @1 :Float32; + speedAdvisoryValid @12 :Bool; + speedAdvisory @13 :Float32; + speedLimitAheadValid @14 :Bool; + speedLimitAhead @15 :Float32; + speedLimitAheadDistance @16 :Float32; + curvatureValid @2 :Bool; + curvature @3 :Float32; + wayId @4 :UInt64; + roadX @5 :List(Float32); + roadY @6 :List(Float32); + lastGps @7: GpsLocationData; + roadCurvatureX @8 :List(Float32); + roadCurvature @9 :List(Float32); + distToTurn @10 :Float32; + mapValid @11 :Bool; +} + +struct CameraOdometry { + frameId @4 :UInt32; + timestampEof @5 :UInt64; + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame +} + +struct LiveMapData { + speedLimitValid @0 :Bool; + speedLimit @1 :Float32; + speedLimitAheadValid @2 :Bool; + speedLimitAhead @3 :Float32; + speedLimitAheadDistance @4 :Float32; + turnSpeedLimitValid @5 :Bool; + turnSpeedLimit @6 :Float32; + turnSpeedLimitEndDistance @7 :Float32; + turnSpeedLimitSign @8 :Int16; + turnSpeedLimitsAhead @9 :List(Float32); + turnSpeedLimitsAheadDistances @10 :List(Float32); + turnSpeedLimitsAheadSigns @11 :List(Int16); + lastGpsTimestamp @12 :Int64; # Milliseconds since January 1, 1970. + currentRoadName @13 :Text; + lastGpsLatitude @14 :Float64; + lastGpsLongitude @15 :Float64; + lastGpsSpeed @16 :Float32; + lastGpsBearingDeg @17 :Float32; + lastGpsAccuracy @18 :Float32; + lastGpsBearingAccuracyDeg @19 :Float32; +} + +struct Sentinel { + enum SentinelType { + endOfSegment @0; + endOfRoute @1; + startOfSegment @2; + startOfRoute @3; + } + type @0 :SentinelType; + signal @1 :Int32; +} + +struct ManagerState { + processes @0 :List(ProcessState); + + struct ProcessState { + name @0 :Text; + pid @1 :Int32; + running @2 :Bool; + shouldBeRunning @4 :Bool; + exitCode @3 :Int32; + } +} + +struct UploaderState { + immediateQueueSize @0 :UInt32; + immediateQueueCount @1 :UInt32; + rawQueueSize @2 :UInt32; + rawQueueCount @3 :UInt32; + + # stats for last successfully uploaded file + lastTime @4 :Float32; # s + lastSpeed @5 :Float32; # MB/s + lastFilename @6 :Text; +} + +struct NavInstruction { + maneuverPrimaryText @0 :Text; + maneuverSecondaryText @1 :Text; + maneuverDistance @2 :Float32; # m + maneuverType @3 :Text; # TODO: Make Enum + maneuverModifier @4 :Text; # TODO: Make Enum + + distanceRemaining @5 :Float32; # m + timeRemaining @6 :Float32; # s + timeRemainingTypical @7 :Float32; # s + + lanes @8 :List(Lane); + showFull @9 :Bool; + + speedLimit @10 :Float32; # m/s + speedLimitSign @11 :SpeedLimitSign; + + struct Lane { + directions @0 :List(Direction); + active @1 :Bool; + activeDirection @2 :Direction; + } + + enum Direction { + none @0; + left @1; + right @2; + straight @3; + } + + enum SpeedLimitSign { + mutcd @0; # US Style + vienna @1; # EU Style + } +} + +struct NavRoute { + coordinates @0 :List(Coordinate); + + struct Coordinate { + latitude @0 :Float32; + longitude @1 :Float32; + } +} + +struct EncodeData { + idx @0 :EncodeIndex; + data @1 :Data; + header @2 :Data; + unixTimestampNanos @3 :UInt64; +} + +struct Event { + logMonoTime @0 :UInt64; # nanoseconds + valid @67 :Bool = true; + + union { + # *********** log metadata *********** + initData @1 :InitData; + sentinel @73 :Sentinel; + + # *********** bootlog *********** + boot @60 :Boot; + + # ********** openpilot daemon msgs ********** + gpsNMEA @3 :GPSNMEAData; + can @5 :List(CanData); + controlsState @7 :ControlsState; + sensorEvents @11 :List(SensorEventData); + pandaStates @81 :List(PandaState); + peripheralState @80 :PeripheralState; + radarState @13 :RadarState; + liveTracks @16 :List(LiveTracks); + sendcan @17 :List(CanData); + liveCalibration @19 :LiveCalibrationData; + carState @22 :Car.CarState; + carControl @23 :Car.CarControl; + longitudinalPlan @24 :LongitudinalPlan; + lateralPlan @64 :LateralPlan; + ubloxGnss @34 :UbloxGnss; + ubloxRaw @39 :Data; + qcomGnss @31 :QcomGnss; + gpsLocationExternal @48 :GpsLocationData; + gnssMeasurements @91 :GnssMeasurements; + liveParameters @61 :LiveParametersData; + cameraOdometry @63 :CameraOdometry; + thumbnail @66: Thumbnail; + carEvents @68: List(Car.CarEvent); + carParams @69: Car.CarParams; + driverMonitoringState @71: DriverMonitoringState; + liveLocationKalman @72 :LiveLocationKalman; + modelV2 @75 :ModelDataV2; + driverStateV2 @92 :DriverStateV2; + + # camera stuff, each camera state has a matching encode idx + roadCameraState @2 :FrameData; + driverCameraState @70: FrameData; + wideRoadCameraState @74: FrameData; + roadEncodeIdx @15 :EncodeIndex; + driverEncodeIdx @76 :EncodeIndex; + wideRoadEncodeIdx @77 :EncodeIndex; + qRoadEncodeIdx @90 :EncodeIndex; + + # systems stuff + androidLog @20 :AndroidLogEntry; + managerState @78 :ManagerState; + uploaderState @79 :UploaderState; + procLog @33 :ProcLog; + clocks @35 :Clocks; + deviceState @6 :DeviceState; + logMessage @18 :Text; + errorLogMessage @85 :Text; + + # navigation + navInstruction @82 :NavInstruction; + navRoute @83 :NavRoute; + navThumbnail @84: Thumbnail; + + # *********** debug *********** + testJoystick @52 :Joystick; + roadEncodeData @86 :EncodeData; + driverEncodeData @87 :EncodeData; + wideRoadEncodeData @88 :EncodeData; + qRoadEncodeData @89 :EncodeData; + + dragonConf @93 :Dp.DragonConf; + liveMapData @94: LiveMapData; + + # *********** legacy + deprecated *********** + model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated + liveMpcDEPRECATED @36 :LiveMpcData; + liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData; + liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData; + orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection; + liveUIDEPRECATED @14 :Legacy.LiveUI; + sensorEventDEPRECATED @4 :SensorEventData; + liveEventDEPRECATED @8 :List(Legacy.LiveEventData); + liveLocationDEPRECATED @25 :Legacy.LiveLocationData; + ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket); + cellInfoDEPRECATED @28 :List(Legacy.CellInfo); + wifiScanDEPRECATED @29 :List(Legacy.WifiScan); + uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent; + liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED; + gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints; + gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan; + applanixRawDEPRECATED @42 :Data; + androidGnssDEPRECATED @30 :Legacy.AndroidGnss; + lidarPtsDEPRECATED @32 :Legacy.LidarPts; + navStatusDEPRECATED @38 :Legacy.NavStatus; + trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent); + liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData; + liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData; + navUpdateDEPRECATED @27 :Legacy.NavUpdate; + orbObservationDEPRECATED @47 :List(Legacy.OrbObservation); + locationDEPRECATED @49 :Legacy.LiveLocationData; + orbOdometryDEPRECATED @53 :Legacy.OrbOdometry; + orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures; + applanixLocationDEPRECATED @55 :Legacy.LiveLocationData; + orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame; + orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary; + featuresDEPRECATED @10 :Legacy.CalibrationFeatures; + kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry; + gpsLocationDEPRECATED @21 :GpsLocationData; + uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState; + pandaStateDEPRECATED @12 :PandaState; + driverStateDEPRECATED @59 :DriverStateDEPRECATED; + } +} diff --git a/cereal/logger/logger.h b/cereal/logger/logger.h new file mode 100644 index 000000000..03336f8ff --- /dev/null +++ b/cereal/logger/logger.h @@ -0,0 +1,21 @@ +#pragma once + +#ifdef SWAGLOG +// cppcheck-suppress preprocessorErrorDirective +#include SWAGLOG +#else + +#define CLOUDLOG_DEBUG 10 +#define CLOUDLOG_INFO 20 +#define CLOUDLOG_WARNING 30 +#define CLOUDLOG_ERROR 40 +#define CLOUDLOG_CRITICAL 50 + +#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__) + +#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) +#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) +#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) +#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) + +#endif diff --git a/cereal/maptile.capnp b/cereal/maptile.capnp new file mode 100644 index 000000000..c8a23a182 --- /dev/null +++ b/cereal/maptile.capnp @@ -0,0 +1,49 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0xa086df597ef5d7a0; + +# Geometry +struct Point { + x @0: Float64; + y @1: Float64; + z @2: Float64; +} + +struct PolyLine { + points @0: List(Point); +} + +# Map features +struct Lane { + id @0 :Text; + + leftBoundary @1 :LaneBoundary; + rightBoundary @2 :LaneBoundary; + + leftAdjacentId @3 :Text; + rightAdjacentId @4 :Text; + + inboundIds @5 :List(Text); + outboundIds @6 :List(Text); + + struct LaneBoundary { + polyLine @0 :PolyLine; + startHeading @1 :Float32; # WRT north + } +} + +# Map tiles +struct TileSummary { + version @0 :Text; + updatedAt @1 :UInt64; # Millis since epoch + + level @2 :UInt8; + x @3 :UInt16; + y @4 :UInt16; +} + +struct MapTile { + summary @0 :TileSummary; + lanes @1 :List(Lane); +} diff --git a/cereal/messaging/.gitignore b/cereal/messaging/.gitignore new file mode 100644 index 000000000..dbbe8e22a --- /dev/null +++ b/cereal/messaging/.gitignore @@ -0,0 +1,10 @@ +demo +bridge +test_runner +*.o +*.os +*.d +*.a +*.so +messaging_pyx.cpp +build/ diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py new file mode 100644 index 000000000..e1ba4e97b --- /dev/null +++ b/cereal/messaging/__init__.py @@ -0,0 +1,262 @@ +# must be build with scons +from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error +from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error +import os +import capnp + +from typing import Optional, List, Union +from collections import deque + +from cereal import log +from cereal.services import service_list + +assert MultiplePublishersError +assert MessagingError + +NO_TRAVERSAL_LIMIT = 2**64-1 +AVG_FREQ_HISTORY = 100 +SIMULATION = "SIMULATION" in os.environ + +# sec_since_boot is faster, but allow to run standalone too +try: + from common.realtime import sec_since_boot +except ImportError: + import time + sec_since_boot = time.time + print("Warning, using python time.time() instead of faster sec_since_boot") + +context = Context() + +def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader: + return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) + +def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder: + dat = log.Event.new_message() + dat.logMonoTime = int(sec_since_boot() * 1e9) + dat.valid = True + if service is not None: + if size is None: + dat.init(service) + else: + dat.init(service, size) + return dat + +def pub_sock(endpoint: str) -> PubSocket: + sock = PubSocket() + sock.connect(context, endpoint) + return sock + +def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1", + conflate: bool = False, timeout: Optional[int] = None) -> SubSocket: + sock = SubSocket() + sock.connect(context, endpoint, addr.encode('utf8'), conflate) + + if timeout is not None: + sock.setTimeout(timeout) + + if poller is not None: + poller.registerSocket(sock) + return sock + + +def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]: + """Receive all message currently available on the queue""" + ret: List[bytes] = [] + while 1: + if wait_for_one and len(ret) == 0: + dat = sock.receive() + else: + dat = sock.receive(non_blocking=True) + + if dat is None: + break + + ret.append(dat) + + return ret + +def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]: + """Receive all message currently available on the queue""" + ret: List[capnp.lib.capnp._DynamicStructReader] = [] + while 1: + if wait_for_one and len(ret) == 0: + dat = sock.receive() + else: + dat = sock.receive(non_blocking=True) + + if dat is None: # Timeout hit + break + + dat = log_from_bytes(dat) + ret.append(dat) + + return ret + + +# TODO: print when we drop packets? +def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]: + """Same as drain sock, but only returns latest message. Consider using conflate instead.""" + dat = None + + while 1: + if wait and dat is None: + rcv = sock.receive() + else: + rcv = sock.receive(non_blocking=True) + + if rcv is None: # Timeout hit + break + + dat = rcv + + if dat is not None: + dat = log_from_bytes(dat) + + return dat + +def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]: + dat = sock.receive() + if dat is not None: + dat = log_from_bytes(dat) + return dat + +def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]: + dat = sock.receive(non_blocking=True) + if dat is not None: + dat = log_from_bytes(dat) + return dat + +def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader: + """Keep receiving until we get a message""" + while True: + dat = sock.receive() + if dat is not None: + return log_from_bytes(dat) + +class SubMaster: + def __init__(self, services: List[str], poll: Optional[List[str]] = None, + ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None, + addr: str = "127.0.0.1"): + self.frame = -1 + self.updated = {s: False for s in services} + self.rcv_time = {s: 0. for s in services} + self.rcv_frame = {s: 0 for s in services} + self.alive = {s: False for s in services} + self.freq_ok = {s: False for s in services} + self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services} + self.sock = {} + self.freq = {} + self.data = {} + self.valid = {} + self.logMonoTime = {} + + self.poller = Poller() + self.non_polled_services = [s for s in services if poll is not None and + len(poll) and s not in poll] + + self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq + self.ignore_alive = [] if ignore_alive is None else ignore_alive + + for s in services: + if addr is not None: + p = self.poller if s not in self.non_polled_services else None + self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True) + self.freq[s] = service_list[s].frequency + + try: + data = new_message(s) + except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member + data = new_message(s, 0) # lists + + self.data[s] = getattr(data, s) + self.logMonoTime[s] = 0 + self.valid[s] = data.valid + + def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader: + return self.data[s] + + def update(self, timeout: int = 1000) -> None: + msgs = [] + for sock in self.poller.poll(timeout): + msgs.append(recv_one_or_none(sock)) + + # non-blocking receive for non-polled sockets + for s in self.non_polled_services: + msgs.append(recv_one_or_none(self.sock[s])) + self.update_msgs(sec_since_boot(), msgs) + + def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None: + self.frame += 1 + self.updated = dict.fromkeys(self.updated, False) + for msg in msgs: + if msg is None: + continue + + s = msg.which() + self.updated[s] = True + + if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \ + and (s not in self.ignore_average_freq): + self.recv_dts[s].append(cur_time - self.rcv_time[s]) + + self.rcv_time[s] = cur_time + self.rcv_frame[s] = self.frame + self.data[s] = getattr(msg, s) + self.logMonoTime[s] = msg.logMonoTime + self.valid[s] = msg.valid + + if SIMULATION: + self.freq_ok[s] = True + self.alive[s] = True + + if not SIMULATION: + for s in self.data: + # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check + if self.freq[s] > 1e-5: + # alive if delay is within 10x the expected frequency + self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s]) + + # TODO: check if update frequency is high enough to not drop messages + # freq_ok if average frequency is higher than 90% of expected frequency + avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY + expected_dt = 1 / (self.freq[s] * 0.90) + self.freq_ok[s] = (avg_dt < expected_dt) + else: + self.freq_ok[s] = True + self.alive[s] = True + + def all_alive(self, service_list=None) -> bool: + if service_list is None: # check all + service_list = self.alive.keys() + return all(self.alive[s] for s in service_list if s not in self.ignore_alive) + + def all_freq_ok(self, service_list=None) -> bool: + if service_list is None: # check all + service_list = self.alive.keys() + return all(self.freq_ok[s] for s in service_list if s not in self.ignore_alive) + + def all_valid(self, service_list=None) -> bool: + if service_list is None: # check all + service_list = self.valid.keys() + return all(self.valid[s] for s in service_list) + + def all_checks(self, service_list=None) -> bool: + if service_list is None: # check all + service_list = self.alive.keys() + return self.all_alive(service_list=service_list) \ + and self.all_freq_ok(service_list=service_list) \ + and self.all_valid(service_list=service_list) + +class PubMaster: + def __init__(self, services: List[str]): + self.sock = {} + for s in services: + self.sock[s] = pub_sock(s) + + def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None: + if not isinstance(dat, bytes): + dat = dat.to_bytes() + self.sock[s].send(dat) + + def all_readers_updated(self, s: str) -> bool: + return self.sock[s].all_readers_updated() diff --git a/cereal/messaging/bridge b/cereal/messaging/bridge new file mode 100755 index 000000000..4857306dd Binary files /dev/null and b/cereal/messaging/bridge differ diff --git a/cereal/messaging/demo.py b/cereal/messaging/demo.py new file mode 100644 index 000000000..f6aca5d17 --- /dev/null +++ b/cereal/messaging/demo.py @@ -0,0 +1,29 @@ +import time + +from messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error + +MSGS = 1e5 + +if __name__ == "__main__": + c = Context() + sub_sock = SubSocket() + pub_sock = PubSocket() + + sub_sock.connect(c, "controlsState") + pub_sock.connect(c, "controlsState") + + poller = Poller() + poller.registerSocket(sub_sock) + + t = time.time() + for i in range(int(MSGS)): + bts = i.to_bytes(4, 'little') + pub_sock.send(bts) + + for s in poller.poll(100): + dat = s.receive() + ii = int.from_bytes(dat, 'little') + assert(i == ii) + + dt = time.time() - t + print("%.1f msg/s" % (MSGS / dt)) diff --git a/cereal/messaging/impl_msgq.h b/cereal/messaging/impl_msgq.h new file mode 100644 index 000000000..b67aae622 --- /dev/null +++ b/cereal/messaging/impl_msgq.h @@ -0,0 +1,65 @@ +#pragma once +#include "messaging.h" +#include "msgq.h" +#include +#include + +#define MAX_POLLERS 128 + +class MSGQContext : public Context { +private: + void * context = NULL; +public: + MSGQContext(); + void * getRawContext() {return context;} + ~MSGQContext(); +}; + +class MSGQMessage : public Message { +private: + char * data; + size_t size; +public: + void init(size_t size); + void init(char *data, size_t size); + void takeOwnership(char *data, size_t size); + size_t getSize(){return size;} + char * getData(){return data;} + void close(); + ~MSGQMessage(); +}; + +class MSGQSubSocket : public SubSocket { +private: + msgq_queue_t * q = NULL; + int timeout; +public: + int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true); + void setTimeout(int timeout); + void * getRawSocket() {return (void*)q;} + Message *receive(bool non_blocking=false); + ~MSGQSubSocket(); +}; + +class MSGQPubSocket : public PubSocket { +private: + msgq_queue_t * q = NULL; +public: + int connect(Context *context, std::string endpoint, bool check_endpoint=true); + int sendMessage(Message *message); + int send(char *data, size_t size); + bool all_readers_updated(); + ~MSGQPubSocket(); +}; + +class MSGQPoller : public Poller { +private: + std::vector sockets; + msgq_pollitem_t polls[MAX_POLLERS]; + size_t num_polls = 0; + +public: + void registerSocket(SubSocket *socket); + std::vector poll(int timeout); + ~MSGQPoller(){}; +}; diff --git a/cereal/messaging/impl_zmq.h b/cereal/messaging/impl_zmq.h new file mode 100644 index 000000000..bb232049e --- /dev/null +++ b/cereal/messaging/impl_zmq.h @@ -0,0 +1,64 @@ +#pragma once +#include "messaging.h" +#include +#include + +#define MAX_POLLERS 128 + +class ZMQContext : public Context { +private: + void * context = NULL; +public: + ZMQContext(); + void * getRawContext() {return context;} + ~ZMQContext(); +}; + +class ZMQMessage : public Message { +private: + char * data; + size_t size; +public: + void init(size_t size); + void init(char *data, size_t size); + size_t getSize(){return size;} + char * getData(){return data;} + void close(); + ~ZMQMessage(); +}; + +class ZMQSubSocket : public SubSocket { +private: + void * sock; + std::string full_endpoint; +public: + int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true); + void setTimeout(int timeout); + void * getRawSocket() {return sock;} + Message *receive(bool non_blocking=false); + ~ZMQSubSocket(); +}; + +class ZMQPubSocket : public PubSocket { +private: + void * sock; + std::string full_endpoint; +public: + int connect(Context *context, std::string endpoint, bool check_endpoint=true); + int sendMessage(Message *message); + int send(char *data, size_t size); + bool all_readers_updated(); + ~ZMQPubSocket(); +}; + +class ZMQPoller : public Poller { +private: + std::vector sockets; + zmq_pollitem_t polls[MAX_POLLERS]; + size_t num_polls = 0; + +public: + void registerSocket(SubSocket *socket); + std::vector poll(int timeout); + ~ZMQPoller(){}; +}; diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h new file mode 100644 index 000000000..4a184ff70 --- /dev/null +++ b/cereal/messaging/messaging.h @@ -0,0 +1,145 @@ +#pragma once +#include +#include +#include +#include +#include +#include "../gen/cpp/log.capnp.h" + +#ifdef __APPLE__ +#define CLOCK_BOOTTIME CLOCK_MONOTONIC +#endif + +#define MSG_MULTIPLE_PUBLISHERS 100 + +bool messaging_use_zmq(); + +class Context { +public: + virtual void * getRawContext() = 0; + static Context * create(); + virtual ~Context(){}; +}; + +class Message { +public: + virtual void init(size_t size) = 0; + virtual void init(char * data, size_t size) = 0; + virtual void close() = 0; + virtual size_t getSize() = 0; + virtual char * getData() = 0; + virtual ~Message(){}; +}; + + +class SubSocket { +public: + virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0; + virtual void setTimeout(int timeout) = 0; + virtual Message *receive(bool non_blocking=false) = 0; + virtual void * getRawSocket() = 0; + static SubSocket * create(); + static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true); + virtual ~SubSocket(){}; +}; + +class PubSocket { +public: + virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0; + virtual int sendMessage(Message *message) = 0; + virtual int send(char *data, size_t size) = 0; + virtual bool all_readers_updated() = 0; + static PubSocket * create(); + static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true); + static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true); + virtual ~PubSocket(){}; +}; + +class Poller { +public: + virtual void registerSocket(SubSocket *socket) = 0; + virtual std::vector poll(int timeout) = 0; + static Poller * create(); + static Poller * create(std::vector sockets); + virtual ~Poller(){}; +}; + +class SubMaster { +public: + SubMaster(const std::vector &service_list, + const char *address = nullptr, const std::vector &ignore_alive = {}); + void update(int timeout = 1000); + void update_msgs(uint64_t current_time, const std::vector> &messages); + inline bool allAlive(const std::vector &service_list = {}) { return all_(service_list, false, true); } + inline bool allValid(const std::vector &service_list = {}) { return all_(service_list, true, false); } + inline bool allAliveAndValid(const std::vector &service_list = {}) { return all_(service_list, true, true); } + void drain(); + ~SubMaster(); + + uint64_t frame = 0; + bool updated(const char *name) const; + bool alive(const char *name) const; + bool valid(const char *name) const; + uint64_t rcv_frame(const char *name) const; + uint64_t rcv_time(const char *name) const; + cereal::Event::Reader &operator[](const char *name) const; + +private: + bool all_(const std::vector &service_list, bool valid, bool alive); + Poller *poller_ = nullptr; + struct SubMessage; + std::map messages_; + std::map services_; +}; + +class MessageBuilder : public capnp::MallocMessageBuilder { +public: + MessageBuilder() = default; + + cereal::Event::Builder initEvent(bool valid = true) { + cereal::Event::Builder event = initRoot(); + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec; + event.setLogMonoTime(current_time); + event.setValid(valid); + return event; + } + + kj::ArrayPtr toBytes() { + heapArray_ = capnp::messageToFlatArray(*this); + return heapArray_.asBytes(); + } + +private: + kj::Array heapArray_; +}; + +class PubMaster { +public: + PubMaster(const std::vector &service_list); + inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); } + int send(const char *name, MessageBuilder &msg); + ~PubMaster(); + +private: + std::map sockets_; +}; + +class AlignedBuffer { +public: + kj::ArrayPtr align(const char *data, const size_t size) { + words_size = size / sizeof(capnp::word) + 1; + if (aligned_buf.size() < words_size) { + aligned_buf = kj::heapArray(words_size < 512 ? 512 : words_size); + } + memcpy(aligned_buf.begin(), data, size); + return aligned_buf.slice(0, words_size); + } + inline kj::ArrayPtr align(Message *m) { + return align(m->getData(), m->getSize()); + } +private: + kj::Array aligned_buf; + size_t words_size; +}; diff --git a/cereal/messaging/messaging.pxd b/cereal/messaging/messaging.pxd new file mode 100644 index 000000000..de232da5f --- /dev/null +++ b/cereal/messaging/messaging.pxd @@ -0,0 +1,40 @@ +# distutils: language = c++ +#cython: language_level=3 + +from libcpp.string cimport string +from libcpp.vector cimport vector +from libcpp cimport bool + + +cdef extern from "messaging.h": + cdef cppclass Context: + @staticmethod + Context * create() + + cdef cppclass Message: + void init(size_t) + void init(char *, size_t) + void close() + size_t getSize() + char *getData() + + cdef cppclass SubSocket: + @staticmethod + SubSocket * create() + int connect(Context *, string, string, bool) + Message * receive(bool) + void setTimeout(int) + + cdef cppclass PubSocket: + @staticmethod + PubSocket * create() + int connect(Context *, string) + int sendMessage(Message *) + int send(char *, size_t) + bool all_readers_updated() + + cdef cppclass Poller: + @staticmethod + Poller * create() + void registerSocket(SubSocket *) + vector[SubSocket*] poll(int) nogil diff --git a/cereal/messaging/messaging_pyx.cpp b/cereal/messaging/messaging_pyx.cpp new file mode 100644 index 000000000..534740c01 --- /dev/null +++ b/cereal/messaging/messaging_pyx.cpp @@ -0,0 +1,7181 @@ +/* Generated by Cython 0.29.26 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "cereal/messaging/messaging.h" + ], + "include_dirs": [ + "./cereal/messaging" + ], + "language": "c++", + "name": "cereal.messaging.messaging_pyx", + "sources": [ + "/data/openpilot/cereal/messaging/messaging_pyx.pyx" + ] + }, + "module_name": "cereal.messaging.messaging_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(U other) { return *ptr == other; } + template bool operator !=(U other) { return *ptr != other; } + private: + T *ptr; +}; + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__cereal__messaging__messaging_pyx +#define __PYX_HAVE_API__cereal__messaging__messaging_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include +#include "messaging.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +static PyObject *__pyx_m = NULL; +static PyObject *__pyx_d; +static PyObject *__pyx_b; +static PyObject *__pyx_cython_runtime = NULL; +static PyObject *__pyx_empty_tuple; +static PyObject *__pyx_empty_bytes; +static PyObject *__pyx_empty_unicode; +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm= __FILE__; +static const char *__pyx_filename; + + +static const char *__pyx_f[] = { + "stringsource", + "cereal/messaging/messaging_pyx.pyx", +}; +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + + +/*--- Type declarations ---*/ +struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Context; +struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Poller; +struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket; +struct __pyx_obj_6cereal_9messaging_13messaging_pyx_PubSocket; + +/* "cereal/messaging/messaging_pyx.pyx":25 + * + * + * cdef class Context: # <<<<<<<<<<<<<< + * cdef cppContext * context + * + */ +struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Context { + PyObject_HEAD + Context *context; +}; + + +/* "cereal/messaging/messaging_pyx.pyx":42 + * + * + * cdef class Poller: # <<<<<<<<<<<<<< + * cdef cppPoller * poller + * cdef list sub_sockets + */ +struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Poller { + PyObject_HEAD + Poller *poller; + PyObject *sub_sockets; +}; + + +/* "cereal/messaging/messaging_pyx.pyx":71 + * return sockets + * + * cdef class SubSocket: # <<<<<<<<<<<<<< + * cdef cppSubSocket * socket + * cdef bool is_owner + */ +struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket { + PyObject_HEAD + struct __pyx_vtabstruct_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_vtab; + SubSocket *socket; + bool is_owner; +}; + + +/* "cereal/messaging/messaging_pyx.pyx":123 + * + * + * cdef class PubSocket: # <<<<<<<<<<<<<< + * cdef cppPubSocket * socket + * + */ +struct __pyx_obj_6cereal_9messaging_13messaging_pyx_PubSocket { + PyObject_HEAD + PubSocket *socket; +}; + + + +/* "cereal/messaging/messaging_pyx.pyx":71 + * return sockets + * + * cdef class SubSocket: # <<<<<<<<<<<<<< + * cdef cppSubSocket * socket + * cdef bool is_owner + */ + +struct __pyx_vtabstruct_6cereal_9messaging_13messaging_pyx_SubSocket { + PyObject *(*setPtr)(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *, SubSocket *); 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}} while(0) + #define __Pyx_XDECREF(r) do { if((r) != NULL) {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) != NULL) {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) != NULL) {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kwdict, const char* function_name, int kw_allowed); + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely((Py_TYPE(obj) == type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + PyList_SET_ITEM(list, len, x); + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#else +#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if CYTHON_FAST_PYCALL + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif // CYTHON_FAST_PYCALL +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectCallNoArg.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); +#else +#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL) +#endif + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* PyCFunctionFastCall.proto */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); +#else +#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* SetupReduce.proto */ +static int __Pyx_setup_reduce(PyObject* type_obj); + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable); + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +static PyObject *__pyx_f_6cereal_9messaging_13messaging_pyx_9SubSocket_setPtr(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_v_self, SubSocket *__pyx_v_ptr); /* proto*/ + +/* Module declarations from 'libc.string' */ + +/* Module declarations from 'libcpp.string' */ + +/* Module declarations from 'libcpp' */ + +/* Module declarations from 'libc' */ + +/* Module declarations from 'libc.errno' */ + +/* Module declarations from 'libcpp.vector' */ + +/* Module declarations from 'cereal.messaging.messaging' */ + +/* Module declarations from 'cereal.messaging.messaging_pyx' */ +static PyTypeObject *__pyx_ptype_6cereal_9messaging_13messaging_pyx_Context = 0; +static PyTypeObject *__pyx_ptype_6cereal_9messaging_13messaging_pyx_Poller = 0; +static PyTypeObject *__pyx_ptype_6cereal_9messaging_13messaging_pyx_SubSocket = 0; +static PyTypeObject *__pyx_ptype_6cereal_9messaging_13messaging_pyx_PubSocket = 0; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +#define __Pyx_MODULE_NAME "cereal.messaging.messaging_pyx" +extern int __pyx_module_is_main_cereal__messaging__messaging_pyx; +int __pyx_module_is_main_cereal__messaging__messaging_pyx = 0; + +/* Implementation of 'cereal.messaging.messaging_pyx' */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_print; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_exit[] = "exit"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_print[] = "print"; +static const char __pyx_k_Poller[] = "Poller"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_Context[] = "Context"; +static const char __pyx_k_address[] = "address"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_conflate[] = "conflate"; +static const char __pyx_k_endpoint[] = "endpoint"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_127_0_0_1[] = "127.0.0.1"; +static const char __pyx_k_PubSocket[] = "PubSocket"; +static const char __pyx_k_SubSocket[] = "SubSocket"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_non_blocking[] = "non_blocking"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_MessagingError[] = "MessagingError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_MultiplePublishersError[] = "MultiplePublishersError"; +static const char __pyx_k_SIGINT_received_exiting[] = "SIGINT received, exiting"; +static const char __pyx_k_cereal_messaging_messaging_pyx[] = "cereal.messaging.messaging_pyx"; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static PyObject *__pyx_kp_b_127_0_0_1; +static PyObject *__pyx_n_s_Context; +static PyObject *__pyx_n_s_MessagingError; +static PyObject *__pyx_n_s_MultiplePublishersError; +static PyObject *__pyx_n_s_Poller; +static PyObject *__pyx_n_s_PubSocket; +static PyObject *__pyx_kp_u_SIGINT_received_exiting; +static PyObject *__pyx_n_s_SubSocket; +static PyObject *__pyx_n_s_TypeError; +static PyObject *__pyx_n_s_address; +static PyObject *__pyx_n_s_cereal_messaging_messaging_pyx; +static PyObject *__pyx_n_s_cline_in_traceback; +static PyObject *__pyx_n_s_conflate; +static PyObject *__pyx_n_s_context; +static PyObject *__pyx_n_s_doc; +static PyObject *__pyx_n_s_endpoint; +static PyObject *__pyx_n_s_exit; +static PyObject *__pyx_n_s_getstate; +static PyObject *__pyx_n_s_import; +static PyObject *__pyx_n_s_main; +static PyObject *__pyx_n_s_metaclass; +static PyObject *__pyx_n_s_module; +static PyObject *__pyx_n_s_name; +static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; +static PyObject *__pyx_n_s_non_blocking; +static PyObject *__pyx_n_s_prepare; +static PyObject *__pyx_n_s_print; +static PyObject *__pyx_n_s_pyx_vtable; +static PyObject *__pyx_n_s_qualname; +static PyObject *__pyx_n_s_reduce; +static PyObject *__pyx_n_s_reduce_cython; +static PyObject *__pyx_n_s_reduce_ex; +static PyObject *__pyx_n_s_setstate; +static PyObject *__pyx_n_s_setstate_cython; +static PyObject *__pyx_n_s_sys; +static PyObject *__pyx_n_s_test; +static int __pyx_pf_6cereal_9messaging_13messaging_pyx_7Context___cinit__(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Context *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_7Context_2term(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Context *__pyx_v_self); /* proto */ +static void __pyx_pf_6cereal_9messaging_13messaging_pyx_7Context_4__dealloc__(CYTHON_UNUSED struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Context *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_7Context_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Context *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_7Context_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Context *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_6cereal_9messaging_13messaging_pyx_6Poller___cinit__(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Poller *__pyx_v_self); /* proto */ +static void __pyx_pf_6cereal_9messaging_13messaging_pyx_6Poller_2__dealloc__(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Poller *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_6Poller_4registerSocket(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Poller *__pyx_v_self, struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_v_socket); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_6Poller_6poll(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Poller *__pyx_v_self, PyObject *__pyx_v_timeout); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_6Poller_8__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Poller *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_6Poller_10__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Poller *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_6cereal_9messaging_13messaging_pyx_9SubSocket___cinit__(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_v_self); /* proto */ +static void __pyx_pf_6cereal_9messaging_13messaging_pyx_9SubSocket_2__dealloc__(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_9SubSocket_4connect(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_v_self, struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Context *__pyx_v_context, std::string __pyx_v_endpoint, std::string __pyx_v_address, bool __pyx_v_conflate); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_9SubSocket_6setTimeout(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_v_self, int __pyx_v_timeout); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_9SubSocket_8receive(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_v_self, bool __pyx_v_non_blocking); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_9SubSocket_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_9SubSocket_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_6cereal_9messaging_13messaging_pyx_9PubSocket___cinit__(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_PubSocket *__pyx_v_self); /* proto */ +static void __pyx_pf_6cereal_9messaging_13messaging_pyx_9PubSocket_2__dealloc__(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_PubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_9PubSocket_4connect(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_PubSocket *__pyx_v_self, struct __pyx_obj_6cereal_9messaging_13messaging_pyx_Context *__pyx_v_context, std::string __pyx_v_endpoint); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_9PubSocket_6send(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_PubSocket *__pyx_v_self, PyObject *__pyx_v_data); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_9PubSocket_8all_readers_updated(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_PubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_9PubSocket_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9messaging_13messaging_pyx_PubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9messaging_13messaging_pyx_9PubSocket_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9messaging_13messaging_pyx_PubSocket *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_Context(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_Poller(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_SubSocket(PyTypeObject *t, PyObject *a, PyObject *k); 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+ +static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_PubSocket(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_6cereal_9messaging_13messaging_pyx_9PubSocket_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_6cereal_9messaging_13messaging_pyx_PubSocket(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && (!PyType_IS_GC(Py_TYPE(o)) || !_PyGC_FINALIZED(o))) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); 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"" : "s", num_found); +} + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kwdict, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kwdict, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + while (PyDict_Next(kwdict, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if ((!kw_allowed) && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +} +#endif + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", + name, type->tp_name, Py_TYPE(obj)->tp_name); + return 0; +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { + return NULL; + } + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallNoArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, NULL, 0); + } +#endif +#ifdef __Pyx_CyFunction_USED + if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) +#else + if (likely(PyCFunction_Check(func))) +#endif + { + if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { + return __Pyx_PyObject_CallMethO(func, NULL); + } + } + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); +} +#endif + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseDoubleKeywords */ +static void __Pyx_RaiseDoubleKeywordsError( + const char* func_name, + PyObject* kw_name) +{ + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION >= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + while (PyDict_Next(kwds, &pos, &key, &value)) { + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; + continue; + } + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = (**name == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + return -1; +} + +/* PyCFunctionFastCall */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); + } else { + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); + } +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); + } + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); + } + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; +} + +/* PyObjectCallOneArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); + } +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (__Pyx_PyFastCFunction_Check(func)) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } + } + return __Pyx__PyObject_CallOneArg(func, arg); +} +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +#endif + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* PyErrExceptionMatches */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); +} +#endif + +/* PyObjectGetAttrStrNoError */ +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +} + +/* SetupReduce */ +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* SetVTable */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable) { +#if PY_VERSION_HEX >= 0x02070000 + PyObject *ob = PyCapsule_New(vtable, 0, 0); +#else + PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); +#endif + if (!ob) + goto bad; + if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *empty_list = 0; + PyObject *module = 0; + PyObject *global_dict = 0; + PyObject *empty_dict = 0; + PyObject *list; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (!py_import) + goto bad; + #endif + if (from_list) + list = from_list; + else { + empty_list = PyList_New(0); + if (!empty_list) + goto bad; + list = empty_list; + } + global_dict = PyModule_GetDict(__pyx_m); + if (!global_dict) + goto bad; + empty_dict = PyDict_New(); + if (!empty_dict) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, 1); + if (!module) { + if (!PyErr_ExceptionMatches(PyExc_ImportError)) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (!py_level) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, level); + #endif + } + } +bad: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + Py_XDECREF(empty_list); + Py_XDECREF(empty_dict); + return module; +} + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases = PyTuple_GET_SIZE(bases); + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; + PyObject *tmp = PyTuple_GET_ITEM(bases, i); + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStr(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs = PyTuple_Pack(2, name, bases); + if (unlikely(!pargs)) { + Py_DECREF(prep); + return NULL; + } + ns = PyObject_Call(prep, pargs, mkw); + Py_DECREF(prep); + Py_DECREF(pargs); + } else { + if (unlikely(!PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + PyErr_Clear(); + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result, *margs; + PyObject *owned_metaclass = NULL; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + margs = PyTuple_Pack(3, name, bases, dict); + if (unlikely(!margs)) { + result = NULL; + } else { + result = PyObject_Call(metaclass, margs, mkw); + Py_DECREF(margs); + } + Py_XDECREF(owned_metaclass); + return result; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; ip) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/cereal/messaging/messaging_pyx.so b/cereal/messaging/messaging_pyx.so new file mode 100755 index 000000000..e5973fa87 Binary files /dev/null and b/cereal/messaging/messaging_pyx.so differ diff --git a/cereal/messaging/msgq.h b/cereal/messaging/msgq.h new file mode 100644 index 000000000..90a20acdd --- /dev/null +++ b/cereal/messaging/msgq.h @@ -0,0 +1,68 @@ +#pragma once +#include +#include +#include +#include + +#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024) +#define NUM_READERS 10 +#define ALIGN(n) ((n + (8 - 1)) & -8) + +#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0) +#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF) + +struct msgq_header_t { + uint64_t num_readers; + uint64_t write_pointer; + uint64_t write_uid; + uint64_t read_pointers[NUM_READERS]; + uint64_t read_valids[NUM_READERS]; + uint64_t read_uids[NUM_READERS]; +}; + +struct msgq_queue_t { + std::atomic *num_readers; + std::atomic *write_pointer; + std::atomic *write_uid; + std::atomic *read_pointers[NUM_READERS]; + std::atomic *read_valids[NUM_READERS]; + std::atomic *read_uids[NUM_READERS]; + char * mmap_p; + char * data; + size_t size; + int reader_id; + uint64_t read_uid_local; + uint64_t write_uid_local; + + bool read_conflate; + std::string endpoint; +}; + +struct msgq_msg_t { + size_t size; + char * data; +}; + +struct msgq_pollitem_t { + msgq_queue_t *q; + int revents; +}; + +void msgq_wait_for_subscriber(msgq_queue_t *q); +void msgq_reset_reader(msgq_queue_t *q); + +int msgq_msg_init_size(msgq_msg_t *msg, size_t size); +int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size); +int msgq_msg_close(msgq_msg_t *msg); + +int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size); +void msgq_close_queue(msgq_queue_t *q); +void msgq_init_publisher(msgq_queue_t * q); +void msgq_init_subscriber(msgq_queue_t * q); + +int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q); +int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q); +int msgq_msg_ready(msgq_queue_t * q); +int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout); + +bool msgq_all_readers_updated(msgq_queue_t *q); diff --git a/cereal/messaging/msgq.md b/cereal/messaging/msgq.md new file mode 100644 index 000000000..34fe35682 --- /dev/null +++ b/cereal/messaging/msgq.md @@ -0,0 +1,54 @@ +# MSGQ: A lock free single producer multi consumer message queue + +## What is MSGQ? +MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance. + +## Storage +The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains: + +1. A counter to the number of readers that are active +2. A pointer to the head of the queue for writing. From now on referred to as *write pointer* +3. A cycle counter for the writer. This counter is incremented when the writer wraps around +4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer* +5. N counters, counting the number of cycles for all the readers +6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag* + +The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically. + +The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer. + + +## Writing +Writing involves the following steps: + +1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag. +2. Write the message +3. Increase the write pointer by the size of the message + +In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message. + +There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1. + +## Reset reader +When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed: + +1. Set valid flag +2. Set read cycle counter to that of the writer +3. Set read pointer to write pointer + +## Reading +Reading involves the following steps: + +1. Read the size field at the current read pointer +2. Read the validity flag +3. Copy the data out of the buffer +4. Increase the read pointer by the size of the message +5. Check the validity flag again + +Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU. + +If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter. + +If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning. + +If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed. diff --git a/cereal/messaging/stress.py b/cereal/messaging/stress.py new file mode 100644 index 000000000..388477c7b --- /dev/null +++ b/cereal/messaging/stress.py @@ -0,0 +1,14 @@ +from messaging_pyx import Context, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error + +if __name__ == "__main__": + c = Context() + pub_sock = PubSocket() + pub_sock.connect(c, "controlsState") + + for i in range(int(1e10)): + print(i) + sub_sock = SubSocket() + sub_sock.connect(c, "controlsState") + + pub_sock.send(b'a') + print(sub_sock.receive()) diff --git a/cereal/services.h b/cereal/services.h new file mode 100644 index 000000000..d27ae46e2 --- /dev/null +++ b/cereal/services.h @@ -0,0 +1,61 @@ +/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */ +#ifndef __SERVICES_H +#define __SERVICES_H +struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; }; +static struct service services[] = { + { "sensorEvents", 8001, true, 100, 100 }, + { "gpsNMEA", 8002, true, 9, -1 }, + { "deviceState", 8003, true, 2, 1 }, + { "can", 8004, true, 100, -1 }, + { "controlsState", 8005, true, 100, 10 }, + { "pandaStates", 8006, true, 2, 1 }, + { "peripheralState", 8007, true, 2, 1 }, + { "radarState", 8008, true, 20, 5 }, + { "roadEncodeIdx", 8009, false, 20, 1 }, + { "liveTracks", 8010, true, 20, -1 }, + { "sendcan", 8011, true, 100, 139 }, + { "logMessage", 8012, true, 0, -1 }, + { "errorLogMessage", 8013, true, 0, 1 }, + { "liveCalibration", 8014, true, 4, 4 }, + { "androidLog", 8015, true, 0, -1 }, + { "carState", 8016, true, 100, 10 }, + { "carControl", 8017, true, 100, 10 }, + { "longitudinalPlan", 8018, true, 20, 5 }, + { "procLog", 8019, true, 0, -1 }, + { "gpsLocationExternal", 8020, true, 10, 10 }, + { "ubloxGnss", 8021, true, 10, -1 }, + { "qcomGnss", 8023, true, 2, -1 }, + { "gnssMeasurements", 8024, true, 10, -1 }, + { "clocks", 8025, true, 1, 1 }, + { "ubloxRaw", 8026, true, 20, -1 }, + { "liveLocationKalman", 8027, true, 20, 5 }, + { "liveParameters", 8028, true, 20, 5 }, + { "cameraOdometry", 8029, true, 20, 5 }, + { "lateralPlan", 8030, true, 20, 5 }, + { "thumbnail", 8031, true, 0, 1 }, + { "carEvents", 8032, true, 1, 1 }, + { "carParams", 8033, true, 0, 1 }, + { "roadCameraState", 8034, true, 20, 20 }, + { "driverCameraState", 8035, true, 20, 20 }, + { "driverEncodeIdx", 8036, false, 20, 1 }, + { "driverStateV2", 8037, true, 20, 10 }, + { "driverMonitoringState", 8038, true, 20, 10 }, + { "wideRoadEncodeIdx", 8039, false, 20, 1 }, + { "wideRoadCameraState", 8040, true, 20, 20 }, + { "modelV2", 8041, true, 20, 40 }, + { "managerState", 8042, true, 2, 1 }, + { "uploaderState", 8043, true, 0, 1 }, + { "navInstruction", 8044, true, 1, 10 }, + { "navRoute", 8045, true, 0, -1 }, + { "navThumbnail", 8046, true, 0, -1 }, + { "qRoadEncodeIdx", 8047, false, 20, -1 }, + { "testJoystick", 8048, true, 0, -1 }, + { "roadEncodeData", 8049, false, 20, -1 }, + { "driverEncodeData", 8050, false, 20, -1 }, + { "wideRoadEncodeData", 8051, false, 20, -1 }, + { "qRoadEncodeData", 8052, false, 20, -1 }, + { "dragonConf", 8053, false, 1, -1 }, + { "liveMapData", 8054, true, 0, -1 }, +}; +#endif + diff --git a/cereal/services.py b/cereal/services.py new file mode 100755 index 000000000..8d8f48cde --- /dev/null +++ b/cereal/services.py @@ -0,0 +1,104 @@ +#!/usr/bin/env python3 +from typing import Optional + +RESERVED_PORT = 8022 # sshd +STARTING_PORT = 8001 + + +def new_port(port: int): + port += STARTING_PORT + return port + 1 if port >= RESERVED_PORT else port + + +class Service: + def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None): + self.port = port + self.should_log = should_log + self.frequency = frequency + self.decimation = decimation + + +services = { + # service: (should_log, frequency, qlog decimation (optional)) + # note: the "EncodeIdx" packets will still be in the log + "sensorEvents": (True, 100., 100), + "gpsNMEA": (True, 9.), + "deviceState": (True, 2., 1), + "can": (True, 100.), + "controlsState": (True, 100., 10), + "pandaStates": (True, 2., 1), + "peripheralState": (True, 2., 1), + "radarState": (True, 20., 5), + "roadEncodeIdx": (False, 20., 1), + "liveTracks": (True, 20.), + "sendcan": (True, 100., 139), + "logMessage": (True, 0.), + "errorLogMessage": (True, 0., 1), + "liveCalibration": (True, 4., 4), + "androidLog": (True, 0.), + "carState": (True, 100., 10), + "carControl": (True, 100., 10), + "longitudinalPlan": (True, 20., 5), + "procLog": (True, 0.5), + "gpsLocationExternal": (True, 10., 10), + "ubloxGnss": (True, 10.), + "qcomGnss": (True, 2.), + "gnssMeasurements": (True, 10.), + "clocks": (True, 1., 1), + "ubloxRaw": (True, 20.), + "liveLocationKalman": (True, 20., 5), + "liveParameters": (True, 20., 5), + "cameraOdometry": (True, 20., 5), + "lateralPlan": (True, 20., 5), + "thumbnail": (True, 0.2, 1), + "carEvents": (True, 1., 1), + "carParams": (True, 0.02, 1), + "roadCameraState": (True, 20., 20), + "driverCameraState": (True, 20., 20), + "driverEncodeIdx": (False, 20., 1), + "driverStateV2": (True, 20., 10), + "driverMonitoringState": (True, 20., 10), + "wideRoadEncodeIdx": (False, 20., 1), + "wideRoadCameraState": (True, 20., 20), + "modelV2": (True, 20., 40), + "managerState": (True, 2., 1), + "uploaderState": (True, 0., 1), + "navInstruction": (True, 1., 10), + "navRoute": (True, 0.), + "navThumbnail": (True, 0.), + "qRoadEncodeIdx": (False, 20.), + + # debug + "testJoystick": (True, 0.), + "roadEncodeData": (False, 20.), + "driverEncodeData": (False, 20.), + "wideRoadEncodeData": (False, 20.), + "qRoadEncodeData": (False, 20.), + + # dp + "dragonConf": (False, 1.), + "liveMapData": (True, 0.), +} +service_list = {name: Service(new_port(idx), *vals) for # type: ignore + idx, (name, vals) in enumerate(services.items())} + + +def build_header(): + h = "" + h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n" + h += "#ifndef __SERVICES_H\n" + h += "#define __SERVICES_H\n" + h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n" + h += "static struct service services[] = {\n" + for k, v in service_list.items(): + should_log = "true" if v.should_log else "false" + decimation = -1 if v.decimation is None else v.decimation + h += ' { "%s", %d, %s, %d, %d },\n' % \ + (k, v.port, should_log, v.frequency, decimation) + h += "};\n" + h += "#endif\n" + return h + + +if __name__ == "__main__": + print(build_header()) diff --git a/cereal/site_scons/site_tools/cython.py b/cereal/site_scons/site_tools/cython.py new file mode 100644 index 000000000..c29147553 --- /dev/null +++ b/cereal/site_scons/site_tools/cython.py @@ -0,0 +1,72 @@ +import re +import SCons +from SCons.Action import Action +from SCons.Scanner import Scanner + +pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M) +pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M) +cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M) + + +def pyx_scan(node, env, path, arg=None): + contents = node.get_text_contents() + + # from cimport ... + matches = pyx_from_import_re.findall(contents) + # cimport + matches += pyx_import_re.findall(contents) + + # Modules can be either .pxd or .pyx files + files = [m.replace('.', '/') + '.pxd' for m in matches] + files += [m.replace('.', '/') + '.pyx' for m in matches] + + # cdef extern from + files += cdef_import_re.findall(contents) + + # Handle relative imports + cur_dir = str(node.get_dir()) + files = [cur_dir + f if f.startswith('/') else f for f in files] + + # Filter out non-existing files (probably system imports) + files = [f for f in files if env.File(f).exists()] + return env.File(files) + + +pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True) +cythonAction = Action("$CYTHONCOM") + + +def create_builder(env): + try: + cython = env['BUILDERS']['Cython'] + except KeyError: + cython = SCons.Builder.Builder( + action=cythonAction, + emitter={}, + suffix=cython_suffix_emitter, + single_source=1 + ) + env.Append(SCANNERS=pyxscanner) + env['BUILDERS']['Cython'] = cython + return cython + +def cython_suffix_emitter(env, source): + return "$CYTHONCFILESUFFIX" + +def generate(env): + env["CYTHON"] = "cythonize" + env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE" + env["CYTHONCFILESUFFIX"] = ".cpp" + + c_file, _ = SCons.Tool.createCFileBuilders(env) + + c_file.suffix['.pyx'] = cython_suffix_emitter + c_file.add_action('.pyx', cythonAction) + + c_file.suffix['.py'] = cython_suffix_emitter + c_file.add_action('.py', cythonAction) + + create_builder(env) + +def exists(env): + return True diff --git a/cereal/visionipc/.gitignore b/cereal/visionipc/.gitignore new file mode 100644 index 000000000..fa5a2b9f3 --- /dev/null +++ b/cereal/visionipc/.gitignore @@ -0,0 +1,2 @@ +visionipc_pyx.cpp +*.so diff --git a/cereal/visionipc/__init__.py b/cereal/visionipc/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/cereal/visionipc/ipc.h b/cereal/visionipc/ipc.h new file mode 100644 index 000000000..14bb61a52 --- /dev/null +++ b/cereal/visionipc/ipc.h @@ -0,0 +1,7 @@ +#pragma once +#include + +int ipc_connect(const char* socket_path); +int ipc_bind(const char* socket_path); +int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds, + int *out_num_fds); diff --git a/cereal/visionipc/visionbuf.h b/cereal/visionipc/visionbuf.h new file mode 100644 index 000000000..864fac97d --- /dev/null +++ b/cereal/visionipc/visionbuf.h @@ -0,0 +1,69 @@ +#pragma once +#include "visionipc.h" + +#define CL_USE_DEPRECATED_OPENCL_1_2_APIS +#ifdef __APPLE__ +#include +#else +#include +#endif + +#define VISIONBUF_SYNC_FROM_DEVICE 0 +#define VISIONBUF_SYNC_TO_DEVICE 1 + +enum VisionStreamType { + VISION_STREAM_RGB_ROAD, + VISION_STREAM_RGB_DRIVER, + VISION_STREAM_RGB_WIDE_ROAD, + + VISION_STREAM_ROAD, + VISION_STREAM_DRIVER, + VISION_STREAM_WIDE_ROAD, + + VISION_STREAM_RGB_MAP, + VISION_STREAM_MAX, +}; + +class VisionBuf { + public: + size_t len = 0; + size_t mmap_len = 0; + void * addr = nullptr; + uint64_t *frame_id; + int fd = 0; + + bool rgb = false; + size_t width = 0; + size_t height = 0; + size_t stride = 0; + + // YUV + uint8_t * y = nullptr; + uint8_t * u = nullptr; + uint8_t * v = nullptr; + + // Visionipc + uint64_t server_id = 0; + size_t idx = 0; + VisionStreamType type; + + // OpenCL + cl_mem buf_cl = nullptr; + cl_command_queue copy_q = nullptr; + + // ion + int handle = 0; + + void allocate(size_t len); + void import(); + void init_cl(cl_device_id device_id, cl_context ctx); + void init_rgb(size_t width, size_t height, size_t stride); + void init_yuv(size_t width, size_t height); + int sync(int dir); + int free(); + + void set_frame_id(uint64_t id); + uint64_t get_frame_id(); +}; + +void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h); diff --git a/cereal/visionipc/visionipc.h b/cereal/visionipc/visionipc.h new file mode 100644 index 000000000..fb640692c --- /dev/null +++ b/cereal/visionipc/visionipc.h @@ -0,0 +1,18 @@ +#pragma once + +#include +#include + +constexpr int VISIONIPC_MAX_FDS = 128; + +struct VisionIpcBufExtra { + uint32_t frame_id; + uint64_t timestamp_sof; + uint64_t timestamp_eof; +}; + +struct VisionIpcPacket { + uint64_t server_id; + size_t idx; + struct VisionIpcBufExtra extra; +}; diff --git a/cereal/visionipc/visionipc.pxd b/cereal/visionipc/visionipc.pxd new file mode 100644 index 000000000..5cb729f7e --- /dev/null +++ b/cereal/visionipc/visionipc.pxd @@ -0,0 +1,39 @@ +# distutils: language = c++ +#cython: language_level=3 + +from libcpp.string cimport string +from libcpp.vector cimport vector +from libc.stdint cimport uint32_t, uint64_t +from libcpp cimport bool + +cdef extern from "visionbuf.h": + cdef enum VisionStreamType: + pass + + cdef cppclass VisionBuf: + void * addr + size_t len + size_t width + size_t height + size_t stride + +cdef extern from "visionipc.h": + struct VisionIpcBufExtra: + uint32_t frame_id + uint64_t timestamp_sof + uint64_t timestamp_eof + +cdef extern from "visionipc_server.h": + cdef cppclass VisionIpcServer: + VisionIpcServer(string, void*, void*) + void create_buffers(VisionStreamType, size_t, bool, size_t, size_t) + VisionBuf * get_buffer(VisionStreamType) + void send(VisionBuf *, VisionIpcBufExtra *, bool) + void start_listener() + +cdef extern from "visionipc_client.h": + cdef cppclass VisionIpcClient: + VisionIpcClient(string, VisionStreamType, bool, void*, void*) + VisionBuf * recv(VisionIpcBufExtra *, int) + bool connect(bool) + bool is_connected() diff --git a/cereal/visionipc/visionipc_client.h b/cereal/visionipc/visionipc_client.h new file mode 100644 index 000000000..a6426ce92 --- /dev/null +++ b/cereal/visionipc/visionipc_client.h @@ -0,0 +1,33 @@ +#pragma once +#include +#include +#include + +#include "messaging/messaging.h" +#include "visionipc/visionipc.h" +#include "visionipc/visionbuf.h" + +class VisionIpcClient { +private: + std::string name; + Context * msg_ctx; + SubSocket * sock; + Poller * poller; + + VisionStreamType type; + + cl_device_id device_id = nullptr; + cl_context ctx = nullptr; + + void init_msgq(bool conflate); + +public: + bool connected = false; + int num_buffers = 0; + VisionBuf buffers[VISIONIPC_MAX_FDS]; + VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr); + ~VisionIpcClient(); + VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100); + bool connect(bool blocking=true); + bool is_connected() { return connected; } +}; diff --git a/cereal/visionipc/visionipc_pyx.cpp b/cereal/visionipc/visionipc_pyx.cpp new file mode 100644 index 000000000..1484539b7 --- /dev/null +++ b/cereal/visionipc/visionipc_pyx.cpp @@ -0,0 +1,29326 @@ +/* Generated by Cython 0.29.26 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "cereal/visionipc/visionbuf.h", + "cereal/visionipc/visionipc.h", + "cereal/visionipc/visionipc_client.h", + "cereal/visionipc/visionipc_server.h" + ], + "include_dirs": [ + "./cereal/visionipc" + ], + "language": "c++", + "name": "cereal.visionipc.visionipc_pyx", + "sources": [ + "/data/openpilot/cereal/visionipc/visionipc_pyx.pyx" + ] + }, + "module_name": "cereal.visionipc.visionipc_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(U other) { return *ptr == other; } + template bool operator !=(U other) { return *ptr != other; } + private: + T *ptr; +}; + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__cereal__visionipc__visionipc_pyx +#define __PYX_HAVE_API__cereal__visionipc__visionipc_pyx +/* Early includes */ +#include +#include +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" + + /* NumPy API declarations from "numpy/__init__.pxd" */ + +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include "visionbuf.h" +#include "visionipc.h" +#include "visionipc_server.h" +#include "visionipc_client.h" +#include "pythread.h" +#include +#include "pystate.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +static PyObject *__pyx_m = NULL; +static PyObject *__pyx_d; +static PyObject *__pyx_b; +static PyObject *__pyx_cython_runtime = NULL; +static PyObject *__pyx_empty_tuple; +static PyObject *__pyx_empty_bytes; +static PyObject *__pyx_empty_unicode; +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm= __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif defined(_Complex_I) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + + +static const char *__pyx_f[] = { + "stringsource", + "cereal/visionipc/visionipc_pyx.pyx", + "__init__.pxd", + "type.pxd", +}; +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __pyx_atomic_int_type int +#if CYTHON_ATOMICS && __GNUC__ >= 4 && (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL >= 2)) &&\ + !defined(__i386__) + #define __pyx_atomic_incr_aligned(value, lock) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value, lock) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) && 0 + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type LONG + #define __pyx_atomic_incr_aligned(value, lock) InterlockedIncrement(value) + #define __pyx_atomic_decr_aligned(value, lock) InterlockedDecrement(value) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#elif CYTHON_ATOMICS && (defined(__ICC) || defined(__INTEL_COMPILER)) && 0 + #define __pyx_atomic_incr_aligned(value, lock) _InterlockedIncrement(value) + #define __pyx_atomic_decr_aligned(value, lock) _InterlockedDecrement(value) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using Intel atomics" + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +typedef volatile __pyx_atomic_int_type __pyx_atomic_int; +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview), memview->lock) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +#define IS_UNSIGNED(type) (((type) -1) > 0) +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":690 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":691 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":692 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":693 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":697 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":698 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":699 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":700 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":704 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":705 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":714 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong long_t + * ctypedef npy_longlong longlong_t + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":715 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong long_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_longlong __pyx_t_5numpy_long_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":716 + * ctypedef npy_long int_t + * ctypedef npy_longlong long_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":718 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulong_t + * ctypedef npy_ulonglong ulonglong_t + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":719 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulong_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulonglong __pyx_t_5numpy_ulong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":720 + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulong_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":722 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":723 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":725 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":726 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":727 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* Declarations.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + + +/*--- Type declarations ---*/ +struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer; +struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient; +struct __pyx_obj___Pyx_EnumMeta; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":729 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":730 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":731 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":733 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "cereal/visionipc/visionipc_pyx.pyx":18 + * from .visionipc cimport VisionIpcBufExtra + * + * cpdef enum VisionStreamType: # <<<<<<<<<<<<<< + * VISION_STREAM_RGB_ROAD + * VISION_STREAM_RGB_DRIVER + */ +enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType { + __pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_ROAD, + __pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_DRIVER, + __pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_WIDE_ROAD, + __pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_ROAD, + __pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_DRIVER, + __pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_WIDE_ROAD, + __pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_MAP +}; + +/* "cereal/visionipc/visionipc_pyx.pyx":28 + * + * + * cdef class VisionIpcServer: # <<<<<<<<<<<<<< + * cdef cppVisionIpcServer * server + * + */ +struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer { + PyObject_HEAD + VisionIpcServer *server; 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r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (memview->acquisition_count_aligned_p) +#define __pyx_get_slice_count(memview) (*__pyx_get_slice_count_pointer(memview)) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XDEC_MEMVIEW(slice, have_gil) __Pyx_XDEC_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#else +#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if CYTHON_FAST_PYCALL + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif // CYTHON_FAST_PYCALL +#endif + +/* PyCFunctionFastCall.proto */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); +#else +#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectCallNoArg.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); +#else +#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL) +#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* PyObjectSetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_DelAttrStr(o,n) __Pyx_PyObject_SetAttrStr(o, n, NULL) +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value); +#else +#define __Pyx_PyObject_DelAttrStr(o,n) PyObject_DelAttr(o,n) +#define __Pyx_PyObject_SetAttrStr(o,n,v) PyObject_SetAttr(o,n,v) +#endif + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* PyObjectCall2Args.proto */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* HasAttr.proto */ +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely((Py_TYPE(obj) == type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* None.proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +static CYTHON_UNUSED int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +static CYTHON_UNUSED int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + PyList_SET_ITEM(list, len, x); + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PyIntBinop.proto */ +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); +#else +#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ + (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) +#endif + +/* ListExtend.proto */ +static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) { +#if CYTHON_COMPILING_IN_CPYTHON + PyObject* none = _PyList_Extend((PyListObject*)L, v); + if (unlikely(!none)) + return -1; + Py_DECREF(none); + return 0; +#else + return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v); +#endif +} + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + PyList_SET_ITEM(list, len, x); + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* None.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* None.proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* SetupReduce.proto */ +static int __Pyx_setup_reduce(PyObject* type_obj); + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable); + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto +#define __PYX_HAVE_RT_ImportType_proto +enum __Pyx_ImportType_CheckSize { + __Pyx_ImportType_CheckSize_Error = 0, + __Pyx_ImportType_CheckSize_Warn = 1, + __Pyx_ImportType_CheckSize_Ignore = 2 +}; +static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size); +#endif + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* FetchCommonType.proto */ +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED 1 +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { + PyCFunctionObject func; +#if PY_VERSION_HEX < 0x030500A0 + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; + PyObject *func_classobj; + void *defaults; + int defaults_pyobjects; + size_t defaults_size; // used by FusedFunction for copying defaults + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; +} __pyx_CyFunctionObject; +static PyTypeObject *__pyx_CyFunctionType = 0; +#define __Pyx_CyFunction_Check(obj) (__Pyx_TypeCheck(obj, __pyx_CyFunctionType)) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *self, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(void); + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* Globals.proto */ +static PyObject* __Pyx_Globals(void); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* Capsule.proto */ +static CYTHON_INLINE PyObject *__pyx_capsule_create(void *p, const char *sig); + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_unsigned_char__const__(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char__const__(const char *itemp); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_char(PyObject *, int writable_flag); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* CIntFromPy.proto */ +static CYTHON_INLINE enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint64_t __Pyx_PyInt_As_uint64_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType value); + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ + +/* Module declarations from 'cpython.buffer' */ + +/* Module declarations from 'libc.string' */ + +/* Module declarations from 'libc.stdio' */ + +/* Module declarations from '__builtin__' */ + +/* Module declarations from 'cpython.type' */ +static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; + +/* Module declarations from 'cpython' */ + +/* Module declarations from 'cpython.object' */ + +/* Module declarations from 'cpython.ref' */ + +/* Module declarations from 'cpython.mem' */ + +/* Module declarations from 'numpy' */ + +/* Module declarations from 'numpy' */ +static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; +static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; +static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; +static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; +static PyTypeObject *__pyx_ptype_5numpy_generic = 0; +static PyTypeObject *__pyx_ptype_5numpy_number = 0; +static PyTypeObject *__pyx_ptype_5numpy_integer = 0; +static PyTypeObject *__pyx_ptype_5numpy_signedinteger = 0; +static PyTypeObject *__pyx_ptype_5numpy_unsignedinteger = 0; +static PyTypeObject *__pyx_ptype_5numpy_inexact = 0; +static PyTypeObject *__pyx_ptype_5numpy_floating = 0; +static PyTypeObject *__pyx_ptype_5numpy_complexfloating = 0; +static PyTypeObject *__pyx_ptype_5numpy_flexible = 0; +static PyTypeObject *__pyx_ptype_5numpy_character = 0; +static PyTypeObject *__pyx_ptype_5numpy_ufunc = 0; + +/* Module declarations from 'cython.view' */ + +/* Module declarations from 'libc.stdint' */ + +/* Module declarations from 'libcpp' */ + +/* Module declarations from 'libcpp.string' */ + +/* Module declarations from 'libcpp.vector' */ + +/* Module declarations from 'cereal.visionipc.visionipc' */ + +/* Module declarations from 'cereal.visionipc.visionipc_pyx' */ +static PyTypeObject *__pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer = 0; +static PyTypeObject *__pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient = 0; +static PyTypeObject *__pyx_ptype___Pyx_EnumMeta = 0; +static PyTypeObject *__pyx_array_type = 0; +static PyTypeObject *__pyx_MemviewEnum_type = 0; +static PyTypeObject *__pyx_memoryview_type = 0; +static PyTypeObject *__pyx_memoryviewslice_type = 0; +static PyObject *__Pyx_OrderedDict = 0; +static PyObject *__Pyx_EnumBase = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static PyObject *__Pyx_globals = 0; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static PyObject *__pyx_unpickle___Pyx_EnumMeta__set_state(struct __pyx_obj___Pyx_EnumMeta *, PyObject *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static void *__pyx_align_pointer(void *, size_t); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static PyObject *assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, char *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, char *); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char__const__ = { "const unsigned char", NULL, sizeof(unsigned char const ), { 0 }, 0, IS_UNSIGNED(unsigned char const ) ? 'U' : 'I', IS_UNSIGNED(unsigned char const ), 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_char = { "char", NULL, sizeof(char), { 0 }, 0, 'H', IS_UNSIGNED(char), 0 }; +#define __Pyx_MODULE_NAME "cereal.visionipc.visionipc_pyx" +extern int __pyx_module_is_main_cereal__visionipc__visionipc_pyx; +int __pyx_module_is_main_cereal__visionipc__visionipc_pyx = 0; + +/* Implementation of 'cereal.visionipc.visionipc_pyx' */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_ImportError; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k_v[] = "v"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_np[] = "np"; +static const char __pyx_k_tp[] = "tp"; +static const char __pyx_k_cls[] = "cls"; +static const char __pyx_k_dct[] = "dct"; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_res[] = "res"; +static const char __pyx_k_rgb[] = "rgb"; +static const char __pyx_k_s_s[] = "%s.%s"; +static const char __pyx_k_str[] = "__str__"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_data[] = "data"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_enum[] = "enum"; +static const char __pyx_k_init[] = "__init__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_repr[] = "__repr__"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_empty[] = "empty"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_s_s_d[] = "<%s.%s: %d>"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_uint8[] = "uint8"; +static const char __pyx_k_value[] = "value"; +static const char __pyx_k_width[] = "width"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_height[] = "height"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_stream[] = "stream"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_values[] = "values"; +static const char __pyx_k_IntEnum[] = "IntEnum"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_members[] = "__members__"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_parents[] = "parents"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_EnumBase[] = "EnumBase"; +static const char __pyx_k_EnumType[] = "EnumType"; +static const char __pyx_k_conflate[] = "conflate"; +static const char __pyx_k_frame_id[] = "frame_id"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_timeout_ms[] = "timeout_ms"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_OrderedDict[] = "OrderedDict"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_num_buffers[] = "num_buffers"; +static const char __pyx_k_Pyx_EnumBase[] = "__Pyx_EnumBase"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = "stringsource"; +static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_timestamp_eof[] = "timestamp_eof"; +static const char __pyx_k_timestamp_sof[] = "timestamp_sof"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_VisionIpcClient[] = "VisionIpcClient"; +static const char __pyx_k_VisionIpcServer[] = "VisionIpcServer"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_VisionStreamType[] = "VisionStreamType"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_Pyx_EnumBase___new[] = "__Pyx_EnumBase.__new__"; +static const char __pyx_k_Pyx_EnumBase___str[] = "__Pyx_EnumBase.__str__"; +static const char __pyx_k_VISION_STREAM_ROAD[] = "VISION_STREAM_ROAD"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_Pyx_EnumBase___repr[] = "__Pyx_EnumBase.__repr__"; +static const char __pyx_k_Unknown_enum_value_s[] = "Unknown enum value: '%s'"; +static const char __pyx_k_VISION_STREAM_DRIVER[] = "VISION_STREAM_DRIVER"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_VISION_STREAM_RGB_MAP[] = "VISION_STREAM_RGB_MAP"; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_VISION_STREAM_RGB_ROAD[] = "VISION_STREAM_RGB_ROAD"; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_VISION_STREAM_WIDE_ROAD[] = "VISION_STREAM_WIDE_ROAD"; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'"; +static const char __pyx_k_VISION_STREAM_RGB_DRIVER[] = "VISION_STREAM_RGB_DRIVER"; +static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d."; +static const char __pyx_k_VISION_STREAM_RGB_WIDE_ROAD[] = "VISION_STREAM_RGB_WIDE_ROAD"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_pyx_unpickle___Pyx_EnumMeta[] = "__pyx_unpickle___Pyx_EnumMeta"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_self_server_cannot_be_converted[] = "self.server cannot be converted to a Python object for pickling"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_s_vs_0xb0[] = "Incompatible checksums (%s vs 0xb068931 = (name))"; +static const char __pyx_k_Incompatible_checksums_s_vs_0xd4[] = "Incompatible checksums (%s vs 0xd41d8cd = ())"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s"; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)"; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)"; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static PyObject *__pyx_n_s_ASCII; +static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; +static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; +static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; +static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; +static PyObject *__pyx_kp_s_Cannot_index_with_type_s; +static PyObject *__pyx_n_s_Ellipsis; +static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; +static PyObject *__pyx_n_s_EnumBase; +static PyObject *__pyx_n_s_EnumType; +static PyObject *__pyx_n_s_ImportError; +static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0; +static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xd4; +static PyObject *__pyx_n_s_IndexError; +static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; +static PyObject *__pyx_n_s_IntEnum; +static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr; +static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d; +static PyObject *__pyx_n_s_MemoryError; +static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; +static PyObject *__pyx_kp_s_MemoryView_of_r_object; +static PyObject *__pyx_n_b_O; +static PyObject *__pyx_n_s_OrderedDict; +static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a; +static PyObject *__pyx_n_s_PickleError; +static PyObject *__pyx_n_s_Pyx_EnumBase; +static PyObject *__pyx_n_s_Pyx_EnumBase___new; +static PyObject *__pyx_n_s_Pyx_EnumBase___repr; +static PyObject *__pyx_n_s_Pyx_EnumBase___str; +static PyObject *__pyx_n_s_TypeError; +static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; +static PyObject *__pyx_kp_s_Unknown_enum_value_s; +static PyObject *__pyx_n_s_VISION_STREAM_DRIVER; +static PyObject *__pyx_n_s_VISION_STREAM_RGB_DRIVER; +static PyObject *__pyx_n_s_VISION_STREAM_RGB_MAP; +static PyObject *__pyx_n_s_VISION_STREAM_RGB_ROAD; +static PyObject *__pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD; +static PyObject *__pyx_n_s_VISION_STREAM_ROAD; +static PyObject *__pyx_n_s_VISION_STREAM_WIDE_ROAD; +static PyObject *__pyx_n_s_ValueError; +static PyObject *__pyx_n_s_View_MemoryView; +static PyObject *__pyx_n_s_VisionIpcClient; +static PyObject *__pyx_n_s_VisionIpcServer; +static PyObject *__pyx_n_s_VisionStreamType; +static PyObject *__pyx_n_s_allocate_buffer; +static PyObject *__pyx_n_s_base; +static PyObject *__pyx_n_s_c; +static PyObject *__pyx_n_u_c; +static PyObject *__pyx_n_s_class; +static PyObject *__pyx_n_s_cline_in_traceback; +static PyObject *__pyx_n_s_cls; +static PyObject *__pyx_n_s_collections; +static PyObject *__pyx_n_s_conflate; +static PyObject *__pyx_kp_s_contiguous_and_direct; +static PyObject *__pyx_kp_s_contiguous_and_indirect; +static PyObject *__pyx_n_s_data; +static PyObject *__pyx_n_s_dct; +static PyObject *__pyx_n_s_dict; +static PyObject *__pyx_n_s_doc; +static PyObject *__pyx_n_s_dtype; +static PyObject *__pyx_n_s_dtype_is_object; +static PyObject *__pyx_n_s_empty; +static PyObject *__pyx_n_s_encode; +static PyObject *__pyx_n_s_enum; +static PyObject *__pyx_n_s_enumerate; +static PyObject *__pyx_n_s_error; +static PyObject *__pyx_n_s_flags; +static PyObject *__pyx_n_s_format; +static PyObject *__pyx_n_s_fortran; +static PyObject *__pyx_n_u_fortran; +static PyObject *__pyx_n_s_frame_id; +static PyObject *__pyx_n_s_getstate; +static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; +static PyObject *__pyx_n_s_height; +static PyObject *__pyx_n_s_id; +static PyObject *__pyx_n_s_import; +static PyObject *__pyx_n_s_init; +static PyObject *__pyx_n_s_itemsize; +static PyObject *__pyx_kp_s_itemsize_0_for_cython_array; +static PyObject *__pyx_n_s_main; +static PyObject *__pyx_n_s_members; +static PyObject *__pyx_n_s_memview; +static PyObject *__pyx_n_s_metaclass; +static PyObject *__pyx_n_s_mode; +static PyObject *__pyx_n_s_module; +static PyObject *__pyx_n_s_name; +static PyObject *__pyx_n_s_name_2; +static PyObject *__pyx_n_s_ndim; +static PyObject *__pyx_n_s_new; +static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; +static PyObject *__pyx_n_s_np; +static PyObject *__pyx_n_s_num_buffers; +static PyObject *__pyx_n_s_numpy; +static PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; +static PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; +static PyObject *__pyx_n_s_obj; +static PyObject *__pyx_n_s_pack; +static PyObject *__pyx_n_s_parents; +static PyObject *__pyx_n_s_pickle; +static PyObject *__pyx_n_s_prepare; +static PyObject *__pyx_n_s_pyx_PickleError; +static PyObject *__pyx_n_s_pyx_checksum; +static PyObject *__pyx_n_s_pyx_getbuffer; +static PyObject *__pyx_n_s_pyx_result; +static PyObject *__pyx_n_s_pyx_state; +static PyObject *__pyx_n_s_pyx_type; +static PyObject *__pyx_n_s_pyx_unpickle_Enum; +static PyObject *__pyx_n_s_pyx_unpickle___Pyx_EnumMeta; +static PyObject *__pyx_n_s_pyx_vtable; +static PyObject *__pyx_n_s_qualname; +static PyObject *__pyx_n_s_range; +static PyObject *__pyx_n_s_reduce; +static PyObject *__pyx_n_s_reduce_cython; +static PyObject *__pyx_n_s_reduce_ex; +static PyObject *__pyx_n_s_repr; +static PyObject *__pyx_n_s_res; +static PyObject *__pyx_n_s_rgb; +static PyObject *__pyx_kp_s_s_s; +static PyObject *__pyx_kp_s_s_s_d; +static PyObject *__pyx_n_s_self; +static PyObject *__pyx_kp_s_self_server_cannot_be_converted; +static PyObject *__pyx_n_s_setstate; +static PyObject *__pyx_n_s_setstate_cython; +static PyObject *__pyx_n_s_shape; +static PyObject *__pyx_n_s_size; +static PyObject *__pyx_n_s_start; +static PyObject *__pyx_n_s_step; +static PyObject *__pyx_n_s_stop; +static PyObject *__pyx_n_s_str; +static PyObject *__pyx_n_s_stream; +static PyObject *__pyx_kp_s_strided_and_direct; +static PyObject *__pyx_kp_s_strided_and_direct_or_indirect; +static PyObject *__pyx_kp_s_strided_and_indirect; +static PyObject *__pyx_kp_s_stringsource; +static PyObject *__pyx_n_s_struct; +static PyObject *__pyx_n_s_sys; +static PyObject *__pyx_n_s_test; +static PyObject *__pyx_n_s_timeout_ms; +static PyObject *__pyx_n_s_timestamp_eof; +static PyObject *__pyx_n_s_timestamp_sof; +static PyObject *__pyx_n_s_tp; +static PyObject *__pyx_n_s_uint8; +static PyObject *__pyx_kp_s_unable_to_allocate_array_data; +static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; +static PyObject *__pyx_n_s_unpack; +static PyObject *__pyx_n_s_update; +static PyObject *__pyx_n_s_v; +static PyObject *__pyx_n_s_value; +static PyObject *__pyx_n_s_values; +static PyObject *__pyx_n_s_width; +static int __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer___init__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, std::string __pyx_v_name); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_2create_buffers(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, size_t __pyx_v_num_buffers, bool __pyx_v_rgb, size_t __pyx_v_width, size_t __pyx_v_height); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_4send(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, __Pyx_memviewslice __pyx_v_data, uint32_t __pyx_v_frame_id, uint64_t __pyx_v_timestamp_sof, uint64_t __pyx_v_timestamp_eof); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_6start_listener(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ +static void __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_8__dealloc__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient___cinit__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, std::string __pyx_v_name, enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_stream, bool __pyx_v_conflate); /* proto */ +static void __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_2__dealloc__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_5width___get__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_6height___get__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_6stride___get__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_4recv(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, int __pyx_v_timeout_ms); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_6connect(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, bool __pyx_v_blocking); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_8is_connected(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name, PyObject *__pyx_v_parents, PyObject *__pyx_v_dct); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_2__iter__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_4__getitem__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_8__setstate_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_cls, PyObject *__pyx_v_value, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_2__repr__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_4__str__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_16_memoryviewslice_4base___get__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new___Pyx_EnumMeta(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_int_0; +static PyObject *__pyx_int_1; +static PyObject *__pyx_int_184977713; +static PyObject *__pyx_int_222419149; +static PyObject *__pyx_int_neg_1; +static PyObject *__pyx_tuple_; +static PyObject *__pyx_tuple__2; +static PyObject *__pyx_tuple__3; +static PyObject *__pyx_tuple__4; +static PyObject *__pyx_tuple__5; +static PyObject *__pyx_tuple__6; +static PyObject *__pyx_tuple__7; +static PyObject *__pyx_tuple__8; +static PyObject *__pyx_tuple__9; +static PyObject *__pyx_slice__21; +static PyObject *__pyx_tuple__10; +static PyObject *__pyx_tuple__11; +static PyObject *__pyx_tuple__12; +static PyObject *__pyx_tuple__13; +static PyObject *__pyx_tuple__14; +static PyObject *__pyx_tuple__15; +static PyObject *__pyx_tuple__16; +static PyObject *__pyx_tuple__17; +static PyObject *__pyx_tuple__18; +static PyObject *__pyx_tuple__19; +static PyObject *__pyx_tuple__20; +static PyObject *__pyx_tuple__22; +static PyObject *__pyx_tuple__23; +static PyObject *__pyx_tuple__24; +static PyObject *__pyx_tuple__25; +static PyObject *__pyx_tuple__27; +static PyObject *__pyx_tuple__28; +static PyObject *__pyx_tuple__30; +static PyObject *__pyx_tuple__32; +static PyObject *__pyx_tuple__34; +static PyObject *__pyx_tuple__35; +static PyObject *__pyx_tuple__36; +static PyObject *__pyx_tuple__37; +static PyObject *__pyx_tuple__38; +static PyObject *__pyx_tuple__39; +static PyObject *__pyx_codeobj__26; +static PyObject *__pyx_codeobj__29; +static PyObject *__pyx_codeobj__31; +static PyObject *__pyx_codeobj__33; 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__Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":807 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "View.MemoryView":827 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = ((!(__pyx_v_is_slice != 0)) != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":829 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = ((__pyx_v_start < 0) != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":830 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":829 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":831 + * if start < 0: + * start += shape 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__pyx_L3; + } + + /* "View.MemoryView":835 + * else: + * + * negative_step = have_step != 0 and step < 0 # <<<<<<<<<<<<<< + * + * if have_step and step == 0: + */ + /*else*/ { + __pyx_t_1 = ((__pyx_v_have_step != 0) != 0); + if (__pyx_t_1) { + } else { + __pyx_t_2 = __pyx_t_1; + goto __pyx_L6_bool_binop_done; + } + __pyx_t_1 = ((__pyx_v_step < 0) != 0); + __pyx_t_2 = __pyx_t_1; + __pyx_L6_bool_binop_done:; + __pyx_v_negative_step = __pyx_t_2; + + /* "View.MemoryView":837 + * negative_step = have_step != 0 and step < 0 + * + * if have_step and step == 0: # <<<<<<<<<<<<<< + * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) + * + */ + __pyx_t_1 = (__pyx_v_have_step != 0); + if (__pyx_t_1) { + } else { + __pyx_t_2 = __pyx_t_1; + goto __pyx_L9_bool_binop_done; + } + __pyx_t_1 = ((__pyx_v_step == 0) != 0); + __pyx_t_2 = __pyx_t_1; + __pyx_L9_bool_binop_done:; + if (__pyx_t_2) { + + /* "View.MemoryView":838 + * + * if have_step and step == 0: + * _err_dim(ValueError, "Step may not 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__pyx_v_shape); + + /* "View.MemoryView":844 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = ((__pyx_v_start < 0) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":845 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":844 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":842 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":846 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = ((__pyx_v_start >= __pyx_v_shape) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + __pyx_t_2 = (__pyx_v_negative_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":847 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":850 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L14:; + + /* "View.MemoryView":846 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L12:; + + /* "View.MemoryView":841 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L11; + } + + /* 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* if stop < 0: + */ + __pyx_t_2 = ((__pyx_v_stop < 0) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":859 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":860 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = ((__pyx_v_stop < 0) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":861 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":860 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":858 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L17; + } + + /* "View.MemoryView":862 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = ((__pyx_v_stop > __pyx_v_shape) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":863 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":862 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L17:; + + /* "View.MemoryView":857 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L16; + } + + /* "View.MemoryView":865 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_negative_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":866 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":865 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":868 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * if not have_step: + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L19:; + } + __pyx_L16:; + + /* "View.MemoryView":870 + * stop = shape + * + * if not have_step: # <<<<<<<<<<<<<< + * step = 1 + * + */ + __pyx_t_2 = ((!(__pyx_v_have_step != 0)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":871 + * + * if not have_step: + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + + /* "View.MemoryView":870 + * stop = shape + * + * if not have_step: # <<<<<<<<<<<<<< + * step = 1 + * + */ + } + + /* "View.MemoryView":875 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":877 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":878 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":877 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":880 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = ((__pyx_v_new_shape < 0) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":880 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + 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*)__pyx_v_memview)->to_object_func; + __pyx_v_to_object_func = __pyx_t_3; + + /* "View.MemoryView":1096 + * if isinstance(memview, _memoryviewslice): + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func # <<<<<<<<<<<<<< + * else: + * to_object_func = NULL + */ + __pyx_t_4 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_4; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_5 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 1101, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_5); + __pyx_r = __pyx_t_5; + __pyx_t_5 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_5); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: # <<<<<<<<<<<<<< + * if arg < 0: + * return -arg + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + int __pyx_t_1; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: + * if arg < 0: # <<<<<<<<<<<<<< + * return -arg + * else: + */ + __pyx_t_1 = ((__pyx_v_arg < 0) != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":1111 + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: + * if arg < 0: + * return -arg # <<<<<<<<<<<<<< + * else: + * return arg + */ + __pyx_r = (-__pyx_v_arg); + goto __pyx_L0; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: + * if arg < 0: # <<<<<<<<<<<<<< + * return -arg + * else: + */ + } + + /* "View.MemoryView":1113 + * return -arg + * else: + * return arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + /*else*/ { + __pyx_r = __pyx_v_arg; + goto __pyx_L0; + } + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: # <<<<<<<<<<<<<< + * if arg < 0: + * return -arg + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1116 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1121 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1122 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1124 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1125 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = (((__pyx_v_mslice->shape[__pyx_v_i]) > 1) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1126 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1127 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1125 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1129 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1130 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = (((__pyx_v_mslice->shape[__pyx_v_i]) > 1) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1131 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1132 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1130 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1134 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = ((abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1135 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1134 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1137 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1116 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1140 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + Py_ssize_t __pyx_t_6; + + /* "View.MemoryView":1147 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1148 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1150 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1152 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = ((__pyx_v_ndim == 1) != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = ((__pyx_v_src_stride > 0) != 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = ((__pyx_v_dst_stride > 0) != 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1154 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_3 = (__pyx_t_2 != 0); + __pyx_t_1 = __pyx_t_3; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1155 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_4 = __pyx_v_dst_extent; + __pyx_t_5 = __pyx_t_4; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1158 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1159 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1160 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1152 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1162 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_4 = __pyx_v_dst_extent; + __pyx_t_5 = __pyx_t_4; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1163 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1168 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1140 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1170 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1173 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1170 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1177 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1179 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + 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* direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1315 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1318 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + */ + __pyx_t_2 = (__pyx_v_direct_copy != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1320 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1321 + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1322 + * refcount_copying(&dst, dtype_is_object, ndim, False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1323 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1324 + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1318 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + */ + } + + /* "View.MemoryView":1310 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1326 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + __pyx_t_8 = (__pyx_t_2 != 0); + if (__pyx_t_8) { + + /* "View.MemoryView":1329 + * + * + * transpose_memslice(&src) # 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__pyx_t_3; + + /* "View.MemoryView":1344 + * int ndim_other) nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1346 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1347 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1348 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i 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Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + __Pyx_RefNannyDeclarations + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + __Pyx_RefNannySetupContext("refcount_objects_in_slice", 0); + + /* "View.MemoryView":1381 + * cdef Py_ssize_t i + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1382 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = ((__pyx_v_ndim == 1) != 0); + if (__pyx_t_4) { + + /* "View.MemoryView":1383 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + __pyx_t_4 = (__pyx_v_inc != 0); + if (__pyx_t_4) { + 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Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static PyMethodDef __pyx_methods___Pyx_EnumMeta[] = { + {"__reduce_cython__", (PyCFunction)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_7__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_9__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static PySequenceMethods __pyx_tp_as_sequence___Pyx_EnumMeta = { + 0, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item___Pyx_EnumMeta, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping___Pyx_EnumMeta = { + 0, /*mp_length*/ + __pyx_pw_8EnumBase_14__Pyx_EnumMeta_5__getitem__, /*mp_subscript*/ + 0, /*mp_ass_subscript*/ +}; + +static PyTypeObject __Pyx_EnumMeta = { 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+ __pyx_tp_clear___Pyx_EnumMeta, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + __pyx_pw_8EnumBase_14__Pyx_EnumMeta_3__iter__, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods___Pyx_EnumMeta, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + __pyx_pw_8EnumBase_14__Pyx_EnumMeta_1__init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new___Pyx_EnumMeta, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && (!PyType_IS_GC(Py_TYPE(o)) || !_PyGC_FINALIZED(o))) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + (*Py_TYPE(o)->tp_free)(o); +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by %.200s", Py_TYPE(o)->tp_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_array_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_array_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "cereal.visionipc.visionipc_pyx.array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + (*Py_TYPE(o)->tp_free)(o); +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "cereal.visionipc.visionipc_pyx.Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + (*Py_TYPE(o)->tp_free)(o); +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by %.200s", Py_TYPE(o)->tp_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"is_c_contig", (PyCFunction)__pyx_memoryview_is_c_contig, METH_NOARGS, 0}, + {"is_f_contig", (PyCFunction)__pyx_memoryview_is_f_contig, METH_NOARGS, 0}, + {"copy", (PyCFunction)__pyx_memoryview_copy, METH_NOARGS, 0}, + {"copy_fortran", (PyCFunction)__pyx_memoryview_copy_fortran, METH_NOARGS, 0}, + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "cereal.visionipc.visionipc_pyx.memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XDEC_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyObject *__pyx_getprop___pyx_memoryviewslice_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_16_memoryviewslice_4base_1__get__(o); +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets__memoryviewslice[] = { + {(char *)"base", __pyx_getprop___pyx_memoryviewslice_base, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "cereal.visionipc.visionipc_pyx._memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + "Internal class for passing memoryview slices to Python", /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 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"" : "s", num_found); +} + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* MemviewSliceInit */ +static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#ifdef HAVE_STDARG_PROTOTYPES + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + int first_time; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) + return; + if (unlikely(__pyx_get_slice_count(memview) < 0)) + __pyx_fatalerror("Acquisition count is %d (line %d)", + __pyx_get_slice_count(memview), lineno); + first_time = __pyx_add_acquisition_count(memview) == 0; + if (unlikely(first_time)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } +} +static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + int last_time; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + if (unlikely(__pyx_get_slice_count(memview) <= 0)) + __pyx_fatalerror("Acquisition count is %d (line %d)", + __pyx_get_slice_count(memview), lineno); + last_time = __pyx_sub_acquisition_count(memview) == 1; + memslice->data = NULL; + if (unlikely(last_time)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + memslice->memview = NULL; + } +} + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +} +#endif + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", + Py_TYPE(obj)->tp_name, type->tp_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + #endif + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +#endif + +/* PyErrExceptionMatches */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type, *local_value, *local_tb; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { + return NULL; + } + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif +#endif + +/* PyCFunctionFastCall */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); + } else { + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); + } +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallNoArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, NULL, 0); + } +#endif +#ifdef __Pyx_CyFunction_USED + if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) +#else + if (likely(PyCFunction_Check(func))) +#endif + { + if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { + return __Pyx_PyObject_CallMethO(func, NULL); + } + } + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); +} +#endif + +/* PyObjectCallOneArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); + } +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (__Pyx_PyFastCFunction_Check(func)) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } + } + return __Pyx__PyObject_CallOneArg(func, arg); +} +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +#endif + +/* PyObjectSetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_setattro)) + return tp->tp_setattro(obj, attr_name, value); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_setattr)) + return tp->tp_setattr(obj, PyString_AS_STRING(attr_name), value); +#endif + return PyObject_SetAttr(obj, attr_name, value); +} +#endif + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (!j) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; + if (likely(m && m->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { + Py_ssize_t l = m->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return m->sq_item(o, i); + } + } +#else + if (is_list || PySequence_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { + PyObject *runerr; + Py_ssize_t key_value; + PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; + if (unlikely(!(m && m->sq_item))) { + PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); + return NULL; + } + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { + PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; + if (likely(m && m->mp_subscript)) { + return m->mp_subscript(obj, key); + } + return __Pyx_PyObject_GetIndex(obj, key); +} +#endif + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetAttr3 */ +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r = __Pyx_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +} + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *empty_list = 0; + PyObject *module = 0; + PyObject *global_dict = 0; + PyObject *empty_dict = 0; + PyObject *list; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (!py_import) + goto bad; + #endif + if (from_list) + list = from_list; + else { + empty_list = PyList_New(0); + if (!empty_list) + goto bad; + list = empty_list; + } + global_dict = PyModule_GetDict(__pyx_m); + if (!global_dict) + goto bad; + empty_dict = PyDict_New(); + if (!empty_dict) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, 1); + if (!module) { + if (!PyErr_ExceptionMatches(PyExc_ImportError)) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (!py_level) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, level); + #endif + } + } +bad: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + Py_XDECREF(empty_list); + Py_XDECREF(empty_dict); + return module; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* PyObjectCall2Args */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); + } + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); + } + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; +} + +/* HasAttr */ +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (unlikely(!r)) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", + name, type->tp_name, Py_TYPE(obj)->tp_name); + return 0; +} + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* None */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* decode_c_string */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + Py_ssize_t length; + if (unlikely((start < 0) | (stop < 0))) { + size_t slen = strlen(cstring); + if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, + "c-string too long to convert to Python"); + return NULL; + } + length = (Py_ssize_t) slen; + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0 || (x^b) >= 0)) + return PyInt_FromLong(x); + return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + const long b = intval; + long a, x; +#ifdef HAVE_LONG_LONG + const PY_LONG_LONG llb = intval; + PY_LONG_LONG lla, llx; +#endif + const digit* digits = ((PyLongObject*)op1)->ob_digit; + const Py_ssize_t size = Py_SIZE(op1); + if (likely(__Pyx_sst_abs(size) <= 1)) { + a = likely(size) ? digits[0] : 0; + if (size == -1) a = -a; + } else { + switch (size) { + case -2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case -3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case -4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + default: return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + } + x = a + b; + return PyLong_FromLong(x); +#ifdef HAVE_LONG_LONG + long_long: + llx = lla + llb; + return PyLong_FromLongLong(llx); +#endif + + + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; + double a = PyFloat_AS_DOUBLE(op1); + double result; + PyFPE_START_PROTECT("add", return NULL) + result = ((double)a) + (double)b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); + } + return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); +} +#endif + +/* None */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* None */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +} + +/* SetupReduce */ +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* SetVTable */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable) { +#if PY_VERSION_HEX >= 0x02070000 + PyObject *ob = PyCapsule_New(vtable, 0, 0); +#else + PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); +#endif + if (!ob) + goto bad; + if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType +#define __PYX_HAVE_RT_ImportType +static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, + size_t size, enum __Pyx_ImportType_CheckSize check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; +#ifdef Py_LIMITED_API + PyObject *py_basicsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#ifndef Py_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if ((size_t)basicsize < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases = PyTuple_GET_SIZE(bases); + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; + PyObject *tmp = PyTuple_GET_ITEM(bases, i); + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* FetchCommonType */ +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* fake_module; + PyTypeObject* cached_type = NULL; + fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI); + if (!fake_module) return NULL; + Py_INCREF(fake_module); + cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name); + if (cached_type) { + if (!PyType_Check((PyObject*)cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", + type->tp_name); + goto bad; + } + if (cached_type->tp_basicsize != type->tp_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + type->tp_name); + goto bad; + } + } else { + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; + } +done: + Py_DECREF(fake_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} + +/* CythonFunctionShared */ +#include +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure) +{ + if (unlikely(op->func_doc == NULL)) { + if (op->func.m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(op->func.m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(op->func.m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp = op->func_doc; + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + op->func_doc = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + if (unlikely(op->func_name == NULL)) { +#if PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(op->func.m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(op->func.m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + tmp = op->func_name; + Py_INCREF(value); + op->func_name = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + tmp = op->func_qualname; + Py_INCREF(value); + op->func_qualname = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_self(__pyx_CyFunctionObject *m, CYTHON_UNUSED void *closure) +{ + PyObject *self; + self = m->func_closure; + if (self == NULL) + self = Py_None; + Py_INCREF(self); + return self; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + tmp = op->func_dict; + Py_INCREF(value); + op->func_dict = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(CYTHON_UNUSED __pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value) { + value = Py_None; + } else if (value != Py_None && !PyTuple_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + Py_INCREF(value); + tmp = op->defaults_tuple; + op->defaults_tuple = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->defaults_tuple; + if (unlikely(!result)) { + if (op->defaults_getter) { + if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value) { + value = Py_None; + } else if (value != Py_None && !PyDict_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + Py_INCREF(value); + tmp = op->defaults_kwdict; + op->defaults_kwdict = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->defaults_kwdict; + if (unlikely(!result)) { + if (op->defaults_getter) { + if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value || value == Py_None) { + value = NULL; + } else if (!PyDict_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + tmp = op->func_annotations; + op->func_annotations = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->func_annotations; + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "__self__", (getter)__Pyx_CyFunction_get_self, 0, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), PY_WRITE_RESTRICTED, 0}, + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, CYTHON_UNUSED PyObject *args) +{ +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(m->func.m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func.m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + if (unlikely(op == NULL)) + return NULL; + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; + op->func.m_ml = ml; + op->func.m_self = (PyObject *) op; + Py_XINCREF(closure); + op->func_closure = closure; + Py_XINCREF(module); + op->func.m_module = module; + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; + op->func_classobj = NULL; + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); + Py_CLEAR(m->func.m_module); + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); + Py_CLEAR(m->func_classobj); + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + PyObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); + Py_VISIT(m->func.m_module); + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); + Py_VISIT(m->func_classobj); + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type) +{ +#if PY_MAJOR_VERSION < 3 + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) { + Py_INCREF(func); + return func; + } + if (m->flags & __Pyx_CYFUNCTION_CLASSMETHOD) { + if (type == NULL) + type = (PyObject *)(Py_TYPE(obj)); + return __Pyx_PyMethod_New(func, type, (PyObject *)(Py_TYPE(type))); + } + if (obj == Py_None) + obj = NULL; +#endif + return __Pyx_PyMethod_New(func, obj, type); +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + Py_ssize_t size; + switch (f->m_ml->ml_flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { + size = PyTuple_GET_SIZE(arg); + if (likely(size == 0)) + return (*meth)(self, NULL); + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { + size = PyTuple_GET_SIZE(arg); + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags in " + "__Pyx_CyFunction_Call. METH_OLDARGS is no " + "longer supported!"); + return NULL; + } + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + return __Pyx_CyFunction_CallMethod(func, ((PyCFunctionObject*)func)->m_self, arg, kw); +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; + argc = PyTuple_GET_SIZE(args); + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, + 0, + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_CyFunction_descr_get, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, +#endif +}; +static int __pyx_CyFunction_init(void) { + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStr(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs = PyTuple_Pack(2, name, bases); + if (unlikely(!pargs)) { + Py_DECREF(prep); + return NULL; + } + ns = PyObject_Call(prep, pargs, mkw); + Py_DECREF(prep); + Py_DECREF(pargs); + } else { + if (unlikely(!PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + PyErr_Clear(); + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result, *margs; + PyObject *owned_metaclass = NULL; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + margs = PyTuple_Pack(3, name, bases, dict); + if (unlikely(!margs)) { + result = NULL; + } else { + result = PyObject_Call(metaclass, margs, mkw); + Py_DECREF(margs); + } + Py_XDECREF(owned_metaclass); + return result; +} + +/* Globals */ +static PyObject* __Pyx_Globals(void) { + Py_ssize_t i; + PyObject *names; + PyObject *globals = __pyx_d; + Py_INCREF(globals); + names = PyObject_Dir(__pyx_m); + if (!names) + goto bad; + for (i = PyList_GET_SIZE(names)-1; i >= 0; i--) { +#if CYTHON_COMPILING_IN_PYPY + PyObject* name = PySequence_ITEM(names, i); + if (!name) + goto bad; +#else + PyObject* name = PyList_GET_ITEM(names, i); +#endif + if (!PyDict_Contains(globals, name)) { + PyObject* value = __Pyx_GetAttr(__pyx_m, name); + if (!value) { +#if CYTHON_COMPILING_IN_PYPY + Py_DECREF(name); +#endif + goto bad; + } + if (PyDict_SetItem(globals, name, value) < 0) { +#if CYTHON_COMPILING_IN_PYPY + Py_DECREF(name); +#endif + Py_DECREF(value); + goto bad; + } + } +#if CYTHON_COMPILING_IN_PYPY + Py_DECREF(name); +#endif + } + Py_DECREF(names); + return globals; +bad: + Py_XDECREF(names); + Py_XDECREF(globals); + return NULL; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* Capsule */ +static CYTHON_INLINE PyObject * +__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) +{ + PyObject *cobj; +#if PY_VERSION_HEX >= 0x02070000 + cobj = PyCapsule_New(p, sig, NULL); +#else + cobj = PyCObject_FromVoidPtr(p, NULL); +#endif + return cobj; +} + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparseable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static PyObject * +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) + return PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + if (*ts != ',' && *ts != ')') + return PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + if (*ts == ',') ts++; + i++; + } + if (i != ndim) + return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return NULL; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return Py_None; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) +{ + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_unsigned_char__const__(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_unsigned_char__const__, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char__const__(const char *itemp) { + return (PyObject *) __Pyx_PyInt_From_unsigned_char(*(unsigned char const *) itemp); +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_char(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_char, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if (b.imag == 0) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if (b.imag == 0) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* CIntFromPy */ + static CYTHON_INLINE enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType neg_one = (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1, const_zero = (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) 0; + case 1: __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, digit, digits[0]) + case 2: + if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) >= 2 * PyLong_SHIFT) { + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) >= 3 * PyLong_SHIFT) { + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) >= 4 * PyLong_SHIFT) { + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) 0; + case -1: __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, digit, +digits[0]) + case -2: + if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT) { + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT) { + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) ((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT) { + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT) { + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) ((((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 4 * PyLong_SHIFT) { + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 4 * PyLong_SHIFT) { + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) ((((((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + } +#endif + if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1; + } + } else { + enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1; + val = __Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType"); + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType"); + return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(size_t) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (size_t) 0; + case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) + case 2: + if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(size_t) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (size_t) 0; + case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) + case -2: + if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } +#endif + if (sizeof(size_t) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(uint32_t) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint32_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (uint32_t) 0; + case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, digits[0]) + case 2: + if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT) { + return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT) { + return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT) { + return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(uint32_t) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (uint32_t) 0; + case -1: __PYX_VERIFY_RETURN_INT(uint32_t, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, +digits[0]) + case -2: + if (8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { + return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { + return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { + return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { + return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { + return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { + return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + } +#endif + if (sizeof(uint32_t) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + uint32_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (uint32_t) -1; + } + } else { + uint32_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint32_t) -1; + val = __Pyx_PyInt_As_uint32_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint32_t"); + return (uint32_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint32_t"); + return (uint32_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE uint64_t __Pyx_PyInt_As_uint64_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint64_t neg_one = (uint64_t) -1, const_zero = (uint64_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(uint64_t) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint64_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (uint64_t) 0; + case 1: __PYX_VERIFY_RETURN_INT(uint64_t, digit, digits[0]) + case 2: + if (8 * sizeof(uint64_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint64_t) >= 2 * PyLong_SHIFT) { + return (uint64_t) (((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(uint64_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint64_t) >= 3 * PyLong_SHIFT) { + return (uint64_t) (((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(uint64_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint64_t) >= 4 * PyLong_SHIFT) { + return (uint64_t) (((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint64_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(uint64_t) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint64_t) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (uint64_t) 0; + case -1: __PYX_VERIFY_RETURN_INT(uint64_t, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(uint64_t, digit, +digits[0]) + case -2: + if (8 * sizeof(uint64_t) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT) { + return (uint64_t) (((uint64_t)-1)*(((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(uint64_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT) { + return (uint64_t) ((((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT) { + return (uint64_t) (((uint64_t)-1)*(((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(uint64_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT) { + return (uint64_t) ((((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint64_t) - 1 > 4 * PyLong_SHIFT) { + return (uint64_t) (((uint64_t)-1)*(((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(uint64_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint64_t) - 1 > 4 * PyLong_SHIFT) { + return (uint64_t) ((((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + } +#endif + if (sizeof(uint64_t) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint64_t) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + uint64_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (uint64_t) -1; + } + } else { + uint64_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint64_t) -1; + val = __Pyx_PyInt_As_uint64_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint64_t"); + return (uint64_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint64_t"); + return (uint64_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const unsigned char neg_one = (unsigned char) -1, const_zero = (unsigned char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(unsigned char) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(unsigned char) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(unsigned char) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(unsigned char) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(unsigned char) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(unsigned char), + little, !is_unsigned); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(char) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (char) 0; + case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) + case 2: + if (8 * sizeof(char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(char) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (char) 0; + case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) + case -2: + if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } +#endif + if (sizeof(char) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(char) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType neg_one = (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1, const_zero = (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType), + little, !is_unsigned); + } +} + +/* CheckBinaryVersion */ + static int __Pyx_check_binary_version(void) { + char ctversion[4], rtversion[4]; + PyOS_snprintf(ctversion, 4, "%d.%d", PY_MAJOR_VERSION, PY_MINOR_VERSION); + PyOS_snprintf(rtversion, 4, "%s", Py_GetVersion()); + if (ctversion[0] != rtversion[0] || ctversion[2] != rtversion[2]) { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compiletime version %s of module '%.100s' " + "does not match runtime version %s", + ctversion, __Pyx_MODULE_NAME, rtversion); + return PyErr_WarnEx(NULL, message, 1); + } + return 0; +} + +/* InitStrings */ + static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so new file mode 100755 index 000000000..3dc05c341 Binary files /dev/null and b/cereal/visionipc/visionipc_pyx.so differ diff --git a/cereal/visionipc/visionipc_server.h b/cereal/visionipc/visionipc_server.h new file mode 100644 index 000000000..01409f78d --- /dev/null +++ b/cereal/visionipc/visionipc_server.h @@ -0,0 +1,42 @@ +#pragma once +#include +#include +#include +#include +#include + +#include "messaging/messaging.h" +#include "visionipc/visionipc.h" +#include "visionipc/visionbuf.h" + +std::string get_endpoint_name(std::string name, VisionStreamType type); + +class VisionIpcServer { + private: + cl_device_id device_id = nullptr; + cl_context ctx = nullptr; + uint64_t server_id; + + std::atomic should_exit = false; + std::string name; + std::thread listener_thread; + + std::map > cur_idx; + std::map > buffers; + std::map > idxs; + + Context * msg_ctx; + std::map sockets; + + void listener(void); + + public: + VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr); + ~VisionIpcServer(); + + VisionBuf * get_buffer(VisionStreamType type); + + void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height); + void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true); + void start_listener(); +}; diff --git a/common/.gitignore b/common/.gitignore new file mode 100644 index 000000000..ce1da4c53 --- /dev/null +++ b/common/.gitignore @@ -0,0 +1 @@ +*.cpp diff --git a/common/__init__.py b/common/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/common/api/__init__.py b/common/api/__init__.py new file mode 100644 index 000000000..0ffbdfabb --- /dev/null +++ b/common/api/__init__.py @@ -0,0 +1,47 @@ +import jwt +import os +import requests +from datetime import datetime, timedelta +from common.basedir import PERSIST +from system.version import get_version + +from common.params import Params +API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') if not Params().get_bool("dp_api_custom") else Params().get("dp_api_custom_url", encoding='utf-8') + +class Api(): + def __init__(self, dongle_id): + self.dongle_id = dongle_id + with open(PERSIST+'/comma/id_rsa') as f: + self.private_key = f.read() + + def get(self, *args, **kwargs): + return self.request('GET', *args, **kwargs) + + def post(self, *args, **kwargs): + return self.request('POST', *args, **kwargs) + + def request(self, method, endpoint, timeout=None, access_token=None, **params): + return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params) + + def get_token(self, expiry_hours=1): + now = datetime.utcnow() + payload = { + 'identity': self.dongle_id, + 'nbf': now, + 'iat': now, + 'exp': now + timedelta(hours=expiry_hours) + } + token = jwt.encode(payload, self.private_key, algorithm='RS256') + if isinstance(token, bytes): + token = token.decode('utf8') + return token + + +def api_get(endpoint, method='GET', timeout=None, access_token=None, **params): + headers = {} + if access_token is not None: + headers['Authorization'] = "JWT " + access_token + + headers['User-Agent'] = "openpilot-" + get_version() + + return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params) diff --git a/common/basedir.py b/common/basedir.py new file mode 100644 index 000000000..371b54d3e --- /dev/null +++ b/common/basedir.py @@ -0,0 +1,11 @@ +import os +from pathlib import Path + +from system.hardware import PC + +BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) + +if PC: + PERSIST = os.path.join(str(Path.home()), ".comma", "persist") +else: + PERSIST = "/persist" diff --git a/common/clock.cpp b/common/clock.cpp new file mode 100644 index 000000000..c2a5b2412 --- /dev/null +++ b/common/clock.cpp @@ -0,0 +1,2889 @@ +/* Generated by Cython 0.29.26 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [], + "language": "c++", + "name": "common.clock", + "sources": [ + "/data/openpilot/common/clock.pyx" + ] + }, + "module_name": "common.clock" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(U other) { return *ptr == other; } + template bool operator !=(U other) { return *ptr != other; } + private: + T *ptr; +}; + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__common__clock +#define __PYX_HAVE_API__common__clock +/* Early includes */ +#include +#include +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; 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/*proto*/ +__Pyx_PyMODINIT_FUNC PyInit_clock(void) +#if CYTHON_PEP489_MULTI_PHASE_INIT +{ + return PyModuleDef_Init(&__pyx_moduledef); +} +static CYTHON_SMALL_CODE int __Pyx_check_single_interpreter(void) { + #if PY_VERSION_HEX >= 0x030700A1 + static PY_INT64_T main_interpreter_id = -1; + PY_INT64_T current_id = PyInterpreterState_GetID(PyThreadState_Get()->interp); + if (main_interpreter_id == -1) { + main_interpreter_id = current_id; + return (unlikely(current_id == -1)) ? -1 : 0; + } else if (unlikely(main_interpreter_id != current_id)) + #else + static PyInterpreterState *main_interpreter = NULL; + PyInterpreterState *current_interpreter = PyThreadState_Get()->interp; + if (!main_interpreter) { + main_interpreter = current_interpreter; + } else if (unlikely(main_interpreter != current_interpreter)) + #endif + { + PyErr_SetString( + PyExc_ImportError, + "Interpreter change detected - this module can only be loaded into one interpreter per process."); + return -1; + } + return 0; +} +static CYTHON_SMALL_CODE int __Pyx_copy_spec_to_module(PyObject *spec, PyObject *moddict, const char* from_name, const char* to_name, int allow_none) { + PyObject *value = PyObject_GetAttrString(spec, from_name); 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(PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +} +#endif + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; ip) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/common/clock.pyx b/common/clock.pyx new file mode 100644 index 000000000..81333565c --- /dev/null +++ b/common/clock.pyx @@ -0,0 +1,24 @@ +# distutils: language = c++ +# cython: language_level = 3 +from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t + +IF UNAME_SYSNAME == "Darwin": + # Darwin doesn't have a CLOCK_BOOTTIME + CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW +ELSE: + from posix.time cimport CLOCK_BOOTTIME + +cdef double readclock(clockid_t clock_id): + cdef timespec ts + cdef double current + + clock_gettime(clock_id, &ts) + current = ts.tv_sec + (ts.tv_nsec / 1000000000.) + return current + +def monotonic_time(): + return readclock(CLOCK_MONOTONIC_RAW) + +def sec_since_boot(): + return readclock(CLOCK_BOOTTIME) + diff --git a/common/clock.so b/common/clock.so new file mode 100755 index 000000000..93fbdf0cb Binary files /dev/null and b/common/clock.so differ diff --git a/common/clutil.h b/common/clutil.h new file mode 100644 index 000000000..be1a07c33 --- /dev/null +++ b/common/clutil.h @@ -0,0 +1,28 @@ +#pragma once + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include + +#define CL_CHECK(_expr) \ + do { \ + assert(CL_SUCCESS == (_expr)); \ + } while (0) + +#define CL_CHECK_ERR(_expr) \ + ({ \ + cl_int err = CL_INVALID_VALUE; \ + __typeof__(_expr) _ret = _expr; \ + assert(_ret&& err == CL_SUCCESS); \ + _ret; \ + }) + +cl_device_id cl_get_device_id(cl_device_type device_type); +cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr); +cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr); +cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args); +const char* cl_get_error_string(int err); diff --git a/common/conversions.py b/common/conversions.py new file mode 100644 index 000000000..b02b33c62 --- /dev/null +++ b/common/conversions.py @@ -0,0 +1,19 @@ +import numpy as np + +class Conversions: + # Speed + MPH_TO_KPH = 1.609344 + KPH_TO_MPH = 1. / MPH_TO_KPH + MS_TO_KPH = 3.6 + KPH_TO_MS = 1. / MS_TO_KPH + MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH + MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS + MS_TO_KNOTS = 1.9438 + KNOTS_TO_MS = 1. / MS_TO_KNOTS + + # Angle + DEG_TO_RAD = np.pi / 180. + RAD_TO_DEG = 1. / DEG_TO_RAD + + # Mass + LB_TO_KG = 0.453592 diff --git a/common/dict_helpers.py b/common/dict_helpers.py new file mode 100644 index 000000000..62cff63b5 --- /dev/null +++ b/common/dict_helpers.py @@ -0,0 +1,9 @@ +# remove all keys that end in DEPRECATED +def strip_deprecated_keys(d): + for k in list(d.keys()): + if isinstance(k, str): + if k.endswith('DEPRECATED'): + d.pop(k) + elif isinstance(d[k], dict): + strip_deprecated_keys(d[k]) + return d diff --git a/common/dp_conf.py b/common/dp_conf.py new file mode 100644 index 000000000..cbca89df6 --- /dev/null +++ b/common/dp_conf.py @@ -0,0 +1,271 @@ +#!/usr/bin/env python3.7 +#pylint: skip-file +import os +import sys +import json +import time +from math import floor +# from system.hardware import EON, TICI + +''' +* type: Bool, Int8, UInt8, UInt16, Float32 +* conf_type: param, struct +* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times. +* update_once: True, False (the param will only load up once, need both param and struct defined) +''' +confs = [ + # custom api server + {'name': 'dp_api_custom', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + {'name': 'dp_api_custom_url', 'default': 'https://api.retropilot.org', 'type': 'Text', 'depends': [{'name': 'dp_api_custom', 'vals': [True]}], 'conf_type': ['param']}, + + {'name': 'dp_atl', 'default': 0, 'type': 'UInt8', 'conf_type': ['param', 'struct'], 'update_once': True}, + + {'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True}, + {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + + # nav service + {'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + {'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']}, + {'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']}, + {'name': 'dp_nav_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + {'name': 'dp_nav_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + {'name': 'dp_nav_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']}, + {'name': 'dp_nav_amap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + {'name': 'dp_nav_amap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']}, + {'name': 'dp_nav_amap_key_2', 'default': '', 'type': 'Text', 'conf_type': ['param']}, + {'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']}, + {'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']}, + + # gpxd + {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + + # assign car via param + # echo -n TOYOTA C-HR 2021 > /data/params/d/dp_car_assigned + {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']}, + {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']}, + + {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']}, + + # lateral - alc + {'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']}, + # {'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']}, + {'name': 'dp_lc_min_mph', 'default': 30, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1, 2]}], 'conf_type': ['param', 'struct']}, + {'name': 'dp_lc_auto_min_mph', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']}, + {'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']}, + + #ui + {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']}, + {'name': 'dp_quiet_drive', 'default': False, 'type': 'Boolean', 'conf_type': ['param']}, + {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']}, + {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']}, + {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']}, + + #toyota + {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']}, + {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + + {'name': 'dp_use_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + + # # dashcam related + # {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # # auto shutdown + # {'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']}, + # # service + # {'name': 'dp_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True}, + # {'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True}, + # # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # # lat ctrl + # {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']}, + # # long ctrl + # {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']}, + # #{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # #{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']}, + # {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']}, + # # safety + # {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']}, + # {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']}, + # # UIs + # {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']}, + # {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']}, + # # toyota + # {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_toyota_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'conf_type': ['param', 'struct']}, + # {'name': 'dp_toyota_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']}, + # {'name': 'dp_toyota_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']}, + # # hyundai + # {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # # honda + # {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # # volkswagen + # # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # #misc + # {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']}, + # {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']}, + # {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']}, + # {'name': 'dp_camera_offset', 'default': 6 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']}, + # {'name': 'dp_path_offset', 'default': 0 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']}, + # + # {'name': 'dp_reg', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # # sr learner related + # {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # {'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']}, + # {'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']}, + # + # {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # + # {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']}, + # {'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']}, + # {'name': 'dp_prebuilt', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + # # no gps is for mr. one's harness + black panda in one solution (without GPS chip) + # {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # + # {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, + # {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, +] + +def get_definition(name): + for conf in confs: + if conf['name'] == name: + return conf + return None + +def to_param_val(name, val): + conf = get_definition(name) + if conf is not None: + type = conf['type'].lower() + try: + if 'bool' in type: + val = '1' if val else '0' + elif 'int' in type: + val = int(val) + elif 'float' in type: + val = float(val) + return str(val) + except (ValueError, TypeError): + return '' + return '' + +def to_struct_val(name, val): + conf = get_definition(name) + if conf is not None: + try: + type = conf['type'].lower() + if 'bool' in type: + val = True if val == '1' else False + elif 'int' in type: + val = int(val) + elif 'float' in type: + val = float(val) + return val + except (ValueError, TypeError): + return None + return None + +''' +function to convert param name into struct name. +''' +def get_struct_name(snake_str): + components = snake_str.split('_') + # We capitalize the first letter of each component except the first one + # with the 'title' method and join them together. + return components[0] + ''.join(x.title() for x in components[1:]) + +''' +function to generate struct for log.capnp +''' +def gen_log_struct(): + count = 0 + str = "# dp\n" + str += "struct DragonConf {\n" + for conf in confs: + name = get_struct_name(conf['name']) + if 'struct' in conf['conf_type']: + str += f" {name} @{count} :{conf['type']};\n" + count += 1 + str += "}" + print(str) + +''' +function to generate support car list +''' +def get_support_car_list(): + attrs = ['FINGERPRINTS', 'FW_VERSIONS'] + cars = dict({"cars": []}) + models = [] + for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]: + try: + car_name = car_folder.split('/')[-1] + if car_name != "mock": + for attr in attrs: + values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr]) + if hasattr(values, attr): + attr_values = getattr(values, attr) + else: + continue + if isinstance(attr_values, dict): + for f, v in attr_values.items(): + if f not in models: + models.append(f) + except (ImportError, IOError, ValueError): + pass + models.sort() + cars["cars"] = models + return json.dumps(cars) + +''' +function to init param value. +should add this into manager.py +''' +def init_params_vals(params): + for conf in confs: + if 'param' in conf['conf_type']: + if conf['name'] == 'dp_car_list': + params.put(conf['name'], get_support_car_list()) + elif params.get(conf['name']) is None: + params.put(conf['name'], to_param_val(conf['name'], conf['default'])) + +def gen_params_cc_keys(): + for conf in confs: + if 'param' in conf['conf_type']: + print(" {\"%s\", PERSISTENT}," % conf['name']) + + +if __name__ == "__main__": + if (len(sys.argv) > 1) and sys.argv[1] == 'cc': + gen_params_cc_keys() + else: + gen_log_struct() diff --git a/common/dp_helpers.py b/common/dp_helpers.py new file mode 100644 index 000000000..064949c20 --- /dev/null +++ b/common/dp_helpers.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python3.7 +# import subprocess +# from cereal import car +from common.params import Params +from common.realtime import sec_since_boot +import os +params = Params() +LAST_MODIFIED = params.get_param_path() + "/dp_last_modified" + +# delay of reading last modified +# LAST_MODIFIED_TIMER_THERMALD = 10. +LAST_MODIFIED_TIMER_SYSTEMD = 1. +# LAST_MODIFIED_TIMER_LANE_PLANNER = 3. +# LAST_MODIFIED_TIMER_UPLOADER = 10. + +# def is_online(): +# try: +# return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"]) +# except ProcessLookupError: +# return False +# +# def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego): +# if enabled: +# if dragonconf.dpLateralMode == 0 and blinker_on: +# steer_req = 0 if isinstance(steer_req, int) else False +# return steer_req +# +def get_last_modified(delay, old_check, old_modified): + new_check = sec_since_boot() + if os.path.isfile(LAST_MODIFIED) and (old_check is None or new_check - old_check >= delay): + return new_check, os.stat(LAST_MODIFIED).st_mtime + else: + return old_check, old_modified + +# def param_get_if_updated(param, type, old_val, old_modified): +# try: +# modified = os.stat(PARAM_PATH + param).st_mtime +# except OSError: +# return old_val, old_modified +# if old_modified != modified: +# new_val = param_get(param, type, old_val) +# new_modified = modified +# else: +# new_val = old_val +# new_modified = old_modified +# return new_val, new_modified + +# def param_get(param_name, type, default): +# try: +# val = params.get(param_name, encoding='utf8').rstrip('\x00') +# if type == 'bool': +# val = val == '1' +# elif type == 'int': +# val = int(val) +# elif type == 'float': +# val = float(val) +# except (TypeError, ValueError): +# val = default +# return val diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py new file mode 100644 index 000000000..a228b4025 --- /dev/null +++ b/common/ffi_wrapper.py @@ -0,0 +1,55 @@ +import os +import sys +import fcntl +import hashlib +import platform +from cffi import FFI + +def suffix(): + if platform.system() == "Darwin": + return ".dylib" + else: + return ".so" + +def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None): + if libraries is None: + libraries = [] + + cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest() + try: + os.mkdir(tmpdir) + except OSError: + pass + + fd = os.open(tmpdir, 0) + fcntl.flock(fd, fcntl.LOCK_EX) + try: + sys.path.append(tmpdir) + try: + mod = __import__(cache) + except Exception: + print(f"cache miss {cache}") + compile_code(cache, c_code, c_header, tmpdir, cflags, libraries) + mod = __import__(cache) + finally: + os.close(fd) + + return mod.ffi, mod.lib + + +def compile_code(name, c_code, c_header, directory, cflags="", libraries=None): + if libraries is None: + libraries = [] + + ffibuilder = FFI() + ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries) + ffibuilder.cdef(c_header) + os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z" + os.environ['CFLAGS'] = cflags + ffibuilder.compile(verbose=True, debug=False, tmpdir=directory) + + +def wrap_compiled(name, directory): + sys.path.append(directory) + mod = __import__(name) + return mod.ffi, mod.lib diff --git a/common/file_helpers.py b/common/file_helpers.py new file mode 100644 index 000000000..592b2a199 --- /dev/null +++ b/common/file_helpers.py @@ -0,0 +1,113 @@ +import os +import shutil +import tempfile +from atomicwrites import AtomicWriter + + +def mkdirs_exists_ok(path): + if path.startswith('http://') or path.startswith('https://'): + raise ValueError('URL path') + try: + os.makedirs(path) + except OSError: + if not os.path.isdir(path): + raise + + +def rm_not_exists_ok(path): + try: + os.remove(path) + except OSError: + if os.path.exists(path): + raise + + +def rm_tree_or_link(path): + if os.path.islink(path): + os.unlink(path) + elif os.path.isdir(path): + shutil.rmtree(path) + + +def get_tmpdir_on_same_filesystem(path): + normpath = os.path.normpath(path) + parts = normpath.split("/") + if len(parts) > 1 and parts[1] == "scratch": + return "/scratch/tmp" + elif len(parts) > 2 and parts[2] == "runner": + return f"/{parts[1]}/runner/tmp" + return "/tmp" + + +class NamedTemporaryDir(): + def __init__(self, temp_dir=None): + self._path = tempfile.mkdtemp(dir=temp_dir) + + @property + def name(self): + return self._path + + def close(self): + shutil.rmtree(self._path) + + def __enter__(self): + return self + + def __exit__(self, exc_type, exc_value, traceback): + self.close() + + +class CallbackReader: + """Wraps a file, but overrides the read method to also + call a callback function with the number of bytes read so far.""" + def __init__(self, f, callback, *args): + self.f = f + self.callback = callback + self.cb_args = args + self.total_read = 0 + + def __getattr__(self, attr): + return getattr(self.f, attr) + + def read(self, *args, **kwargs): + chunk = self.f.read(*args, **kwargs) + self.total_read += len(chunk) + self.callback(*self.cb_args, self.total_read) + return chunk + + +def _get_fileobject_func(writer, temp_dir): + def _get_fileobject(): + return writer.get_fileobject(dir=temp_dir) + return _get_fileobject + +def monkeypatch_os_link(): + # This is neccesary on EON/C2, where os.link is patched out of python + if not hasattr(os, 'link'): + from cffi import FFI + ffi = FFI() + ffi.cdef("int link(const char *oldpath, const char *newpath);") + libc = ffi.dlopen(None) + + def link(src, dest): + return libc.link(src.encode(), dest.encode()) + os.link = link + +def atomic_write_on_fs_tmp(path, **kwargs): + """Creates an atomic writer using a temporary file in a temporary directory + on the same filesystem as path. + """ + # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp + # directory. + monkeypatch_os_link() + writer = AtomicWriter(path, **kwargs) + return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path))) + + +def atomic_write_in_dir(path, **kwargs): + """Creates an atomic writer using a temporary file in the same directory + as the destination file. + """ + monkeypatch_os_link() + writer = AtomicWriter(path, **kwargs) + return writer._open(_get_fileobject_func(writer, os.path.dirname(path))) diff --git a/common/filter_simple.py b/common/filter_simple.py new file mode 100644 index 000000000..0ec7a5156 --- /dev/null +++ b/common/filter_simple.py @@ -0,0 +1,18 @@ +class FirstOrderFilter: + # first order filter + def __init__(self, x0, rc, dt, initialized=True): + self.x = x0 + self.dt = dt + self.update_alpha(rc) + self.initialized = initialized + + def update_alpha(self, rc): + self.alpha = self.dt / (rc + self.dt) + + def update(self, x): + if self.initialized: + self.x = (1. - self.alpha) * self.x + self.alpha * x + else: + self.initialized = True + self.x = x + return self.x diff --git a/common/gpio.h b/common/gpio.h new file mode 100644 index 000000000..e03001987 --- /dev/null +++ b/common/gpio.h @@ -0,0 +1,21 @@ +#pragma once + +// Pin definitions +#ifdef QCOM2 + #define GPIO_HUB_RST_N 30 + #define GPIO_UBLOX_RST_N 32 + #define GPIO_UBLOX_SAFEBOOT_N 33 + #define GPIO_UBLOX_PWR_EN 34 + #define GPIO_STM_RST_N 124 + #define GPIO_STM_BOOT0 134 +#else + #define GPIO_HUB_RST_N 0 + #define GPIO_UBLOX_RST_N 0 + #define GPIO_UBLOX_SAFEBOOT_N 0 + #define GPIO_UBLOX_PWR_EN 0 + #define GPIO_STM_RST_N 0 + #define GPIO_STM_BOOT0 0 +#endif + +int gpio_init(int pin_nr, bool output); +int gpio_set(int pin_nr, bool high); diff --git a/common/gpio.py b/common/gpio.py new file mode 100644 index 000000000..32e5ca86c --- /dev/null +++ b/common/gpio.py @@ -0,0 +1,14 @@ +def gpio_init(pin: int, output: bool) -> None: + try: + with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f: + f.write(b"out" if output else b"in") + except Exception as e: + print(f"Failed to set gpio {pin} direction: {e}") + + +def gpio_set(pin: int, high: bool) -> None: + try: + with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f: + f.write(b"1" if high else b"0") + except Exception as e: + print(f"Failed to set gpio {pin} value: {e}") diff --git a/common/i18n.py b/common/i18n.py new file mode 100644 index 000000000..32a6a8bdc --- /dev/null +++ b/common/i18n.py @@ -0,0 +1,20 @@ +import gettext +from common.params import Params + +locale_dir = "/data/openpilot/selfdrive/assets/locales" +# supported_language = ["en-US", "zh-TW", "zh-CN", "ja-JP", "ko-KR"] +supported_languages = { + "main_zh-CHT": "zh-TW", + "main_zh-CHS": "zh-CN", + "main_ko": "ko-KR", +} + +def events(): + locale = Params().get("LanguageSetting", encoding='utf8') + if locale is not None: + locale = supported_languages[locale.strip()] + else: + locale = "en-US" + i18n = gettext.translation("events", localedir=locale_dir, fallback=True, languages=[locale]) + i18n.install() + return i18n.gettext diff --git a/common/i2c.h b/common/i2c.h new file mode 100644 index 000000000..0669116bb --- /dev/null +++ b/common/i2c.h @@ -0,0 +1,17 @@ +#pragma once + +#include + +#include + +class I2CBus { + private: + int i2c_fd; + + public: + I2CBus(uint8_t bus_id); + ~I2CBus(); + + int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len); + int set_register(uint8_t device_address, uint register_address, uint8_t data); +}; diff --git a/common/kalman/.gitignore b/common/kalman/.gitignore new file mode 100644 index 000000000..d86912e7d --- /dev/null +++ b/common/kalman/.gitignore @@ -0,0 +1 @@ +simple_kalman_impl.c diff --git a/common/kalman/__init__.py b/common/kalman/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py new file mode 100644 index 000000000..33289e4f5 --- /dev/null +++ b/common/kalman/simple_kalman.py @@ -0,0 +1,3 @@ +# pylint: skip-file +from common.kalman.simple_kalman_impl import KF1D as KF1D +assert KF1D diff --git a/common/kalman/simple_kalman_impl.cpp b/common/kalman/simple_kalman_impl.cpp new file mode 100644 index 000000000..faa41d50f --- /dev/null +++ b/common/kalman/simple_kalman_impl.cpp @@ -0,0 +1,6965 @@ +/* Generated by Cython 0.29.26 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "language": "c++", + "name": "common.kalman.simple_kalman_impl", + "sources": [ + "/data/openpilot/common/kalman/simple_kalman_impl.pyx" + ] + }, + "module_name": "common.kalman.simple_kalman_impl" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(U other) { return *ptr == other; } + template bool operator !=(U other) { return *ptr != other; } + private: + T *ptr; +}; + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__common__kalman__simple_kalman_impl +#define __PYX_HAVE_API__common__kalman__simple_kalman_impl +/* Early includes */ +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); 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+ +/*--- Type declarations ---*/ +struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D; + +/* "common/kalman/simple_kalman_impl.pxd":3 + * # cython: language_level = 3 + * + * cdef class KF1D: # <<<<<<<<<<<<<< + * cdef public: + * double x0_0 + */ +struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D { + PyObject_HEAD + double x0_0; + double x1_0; + double K0_0; + double K1_0; + double A0_0; + double A0_1; + double A1_0; + double A1_1; + double C0_0; + double C0_1; + double A_K_0; + double A_K_1; + double A_K_2; + double A_K_3; +}; + + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, int); + void (*DECREF)(void*, PyObject*, int); + void (*GOTREF)(void*, PyObject*, int); + void (*GIVEREF)(void*, PyObject*, int); + void* (*SetupContext)(const char*, int, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; 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}} while(0) + #define __Pyx_XDECREF(r) do { if((r) != NULL) {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) != NULL) {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) != NULL) {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* PyCFunctionFastCall.proto */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); +#else +#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#else +#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if CYTHON_FAST_PYCALL + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif // CYTHON_FAST_PYCALL +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* HasAttr.proto */ +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* SetupReduce.proto */ +static int __Pyx_setup_reduce(PyObject* type_obj); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + + +/* Module declarations from 'common.kalman.simple_kalman_impl' */ +static PyTypeObject *__pyx_ptype_6common_6kalman_18simple_kalman_impl_KF1D = 0; +static PyObject *__pyx_f_6common_6kalman_18simple_kalman_impl___pyx_unpickle_KF1D__set_state(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *, PyObject *); /*proto*/ +#define __Pyx_MODULE_NAME "common.kalman.simple_kalman_impl" +extern int __pyx_module_is_main_common__kalman__simple_kalman_impl; +int __pyx_module_is_main_common__kalman__simple_kalman_impl = 0; + +/* Implementation of 'common.kalman.simple_kalman_impl' */ +static const char __pyx_k_A[] = "A"; +static const char __pyx_k_C[] = "C"; +static const char __pyx_k_K[] = "K"; +static const char __pyx_k_x0[] = "x0"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_KF1D[] = "KF1D"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; 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+static PyObject *__pyx_n_s_K; +static PyObject *__pyx_n_s_KF1D; +static PyObject *__pyx_n_s_PickleError; +static PyObject *__pyx_n_s_cline_in_traceback; +static PyObject *__pyx_n_s_common_kalman_simple_kalman_impl; +static PyObject *__pyx_n_s_dict; +static PyObject *__pyx_n_s_getstate; +static PyObject *__pyx_n_s_import; +static PyObject *__pyx_n_s_main; +static PyObject *__pyx_n_s_name; +static PyObject *__pyx_n_s_new; +static PyObject *__pyx_n_s_pickle; +static PyObject *__pyx_n_s_pyx_PickleError; +static PyObject *__pyx_n_s_pyx_checksum; +static PyObject *__pyx_n_s_pyx_result; +static PyObject *__pyx_n_s_pyx_state; +static PyObject *__pyx_n_s_pyx_type; +static PyObject *__pyx_n_s_pyx_unpickle_KF1D; +static PyObject *__pyx_n_s_reduce; +static PyObject *__pyx_n_s_reduce_cython; +static PyObject *__pyx_n_s_reduce_ex; +static PyObject *__pyx_n_s_setstate; +static PyObject *__pyx_n_s_setstate_cython; +static PyObject *__pyx_kp_s_stringsource; +static PyObject *__pyx_n_s_test; +static PyObject *__pyx_n_s_update; 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/* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4x1_0___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4x1_0_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4K0_0___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4K0_0_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4K1_0___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4K1_0_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A0_0___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A0_0_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A0_1___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A0_1_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A1_0___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A1_0_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A1_1___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A1_1_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4C0_0___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4C0_0_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4C0_1___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4C0_1_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_5A_K_0___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_5A_K_0_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_5A_K_1___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_5A_K_1_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_5A_K_2___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_5A_K_2_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_5A_K_3___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_5A_K_3_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4__reduce_cython__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_6__setstate_cython__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl___pyx_unpickle_KF1D(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_6common_6kalman_18simple_kalman_impl_KF1D(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_int_54762874; +static PyObject *__pyx_tuple_; +static PyObject *__pyx_codeobj__2; +/* Late includes */ + +/* "common/kalman/simple_kalman_impl.pyx":5 + * + * cdef class KF1D: + * def __init__(self, x0, A, C, K): # <<<<<<<<<<<<<< + * self.x0_0 = x0[0][0] + * self.x1_0 = x0[1][0] + */ + +/* Python wrapper */ +static int __pyx_pw_6common_6kalman_18simple_kalman_impl_4KF1D_1__init__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds); /*proto*/ +static int __pyx_pw_6common_6kalman_18simple_kalman_impl_4KF1D_1__init__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds) { + PyObject *__pyx_v_x0 = 0; + PyObject *__pyx_v_A = 0; + PyObject *__pyx_v_C = 0; + PyObject *__pyx_v_K = 0; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + int __pyx_r; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__init__ (wrapper)", 0); + { + static PyObject **__pyx_pyargnames[] = {&__pyx_n_s_x0,&__pyx_n_s_A,&__pyx_n_s_C,&__pyx_n_s_K,0}; 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+ more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* RaiseDoubleKeywords */ +static void __Pyx_RaiseDoubleKeywordsError( + const char* func_name, + PyObject* kw_name) +{ + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION >= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + while (PyDict_Next(kwds, &pos, &key, &value)) { + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; + continue; + } + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = (**name == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + return -1; +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (!j) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; + if (likely(m && m->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { + Py_ssize_t l = m->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return m->sq_item(o, i); + } + } +#else + if (is_list || PySequence_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyErrExceptionMatches */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetAttr3 */ +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r = __Pyx_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStr(__pyx_b, name); + if (unlikely(!result)) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *empty_list = 0; + PyObject *module = 0; + PyObject *global_dict = 0; + PyObject *empty_dict = 0; + PyObject *list; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (!py_import) + goto bad; + #endif + if (from_list) + list = from_list; + else { + empty_list = PyList_New(0); + if (!empty_list) + goto bad; + list = empty_list; + } + global_dict = PyModule_GetDict(__pyx_m); + if (!global_dict) + goto bad; + empty_dict = PyDict_New(); + if (!empty_dict) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, 1); + if (!module) { + if (!PyErr_ExceptionMatches(PyExc_ImportError)) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (!py_level) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, level); + #endif + } + } +bad: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + Py_XDECREF(empty_list); + Py_XDECREF(empty_dict); + return module; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* PyCFunctionFastCall */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); + } else { + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); + } +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { + return NULL; + } + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); + } + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); + } + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; +} + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallOneArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); + } +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (__Pyx_PyFastCFunction_Check(func)) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } + } + return __Pyx__PyObject_CallOneArg(func, arg); +} +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +#endif + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* HasAttr */ +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (unlikely(!r)) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +} + +/* SetupReduce */ +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; ip) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/common/kalman/simple_kalman_impl.pxd b/common/kalman/simple_kalman_impl.pxd new file mode 100644 index 000000000..cb39a45bc --- /dev/null +++ b/common/kalman/simple_kalman_impl.pxd @@ -0,0 +1,18 @@ +# cython: language_level = 3 + +cdef class KF1D: + cdef public: + double x0_0 + double x1_0 + double K0_0 + double K1_0 + double A0_0 + double A0_1 + double A1_0 + double A1_1 + double C0_0 + double C0_1 + double A_K_0 + double A_K_1 + double A_K_2 + double A_K_3 diff --git a/common/kalman/simple_kalman_impl.pyx b/common/kalman/simple_kalman_impl.pyx new file mode 100644 index 000000000..16aefba2e --- /dev/null +++ b/common/kalman/simple_kalman_impl.pyx @@ -0,0 +1,37 @@ +# distutils: language = c++ +# cython: language_level=3 + +cdef class KF1D: + def __init__(self, x0, A, C, K): + self.x0_0 = x0[0][0] + self.x1_0 = x0[1][0] + self.A0_0 = A[0][0] + self.A0_1 = A[0][1] + self.A1_0 = A[1][0] + self.A1_1 = A[1][1] + self.C0_0 = C[0] + self.C0_1 = C[1] + self.K0_0 = K[0][0] + self.K1_0 = K[1][0] + + self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0 + self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1 + self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0 + self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1 + + def update(self, meas): + cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas + cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas + self.x0_0 = x0_0 + self.x1_0 = x1_0 + + return [self.x0_0, self.x1_0] + + @property + def x(self): + return [[self.x0_0], [self.x1_0]] + + @x.setter + def x(self, x): + self.x0_0 = x[0][0] + self.x1_0 = x[1][0] diff --git a/common/kalman/simple_kalman_impl.so b/common/kalman/simple_kalman_impl.so new file mode 100755 index 000000000..4fb04cb93 Binary files /dev/null and b/common/kalman/simple_kalman_impl.so differ diff --git a/common/kalman/simple_kalman_old.py b/common/kalman/simple_kalman_old.py new file mode 100644 index 000000000..d11770faf --- /dev/null +++ b/common/kalman/simple_kalman_old.py @@ -0,0 +1,23 @@ +import numpy as np + + +class KF1D: + # this EKF assumes constant covariance matrix, so calculations are much simpler + # the Kalman gain also needs to be precomputed using the control module + + def __init__(self, x0, A, C, K): + self.x = x0 + self.A = A + self.C = np.atleast_2d(C) + self.K = K + + self.A_K = self.A - np.dot(self.K, self.C) + + # K matrix needs to be pre-computed as follow: + # import control + # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R) + # self.K = np.transpose(K) + + def update(self, meas): + self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas) + return self.x diff --git a/common/kalman/tests/__init__.py b/common/kalman/tests/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py new file mode 100644 index 000000000..96b252765 --- /dev/null +++ b/common/kalman/tests/test_simple_kalman.py @@ -0,0 +1,87 @@ +import unittest +import random +import timeit +import numpy as np + +from common.kalman.simple_kalman import KF1D +from common.kalman.simple_kalman_old import KF1D as KF1D_old + + +class TestSimpleKalman(unittest.TestCase): + def setUp(self): + dt = 0.01 + x0_0 = 0.0 + x1_0 = 0.0 + A0_0 = 1.0 + A0_1 = dt + A1_0 = 0.0 + A1_1 = 1.0 + C0_0 = 1.0 + C0_1 = 0.0 + K0_0 = 0.12287673 + K1_0 = 0.29666309 + + self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]), + A=np.array([[A0_0, A0_1], [A1_0, A1_1]]), + C=np.array([C0_0, C0_1]), + K=np.array([[K0_0], [K1_0]])) + + self.kf = KF1D(x0=[[x0_0], [x1_0]], + A=[[A0_0, A0_1], [A1_0, A1_1]], + C=[C0_0, C0_1], + K=[[K0_0], [K1_0]]) + + def test_getter_setter(self): + self.kf.x = [[1.0], [1.0]] + self.assertEqual(self.kf.x, [[1.0], [1.0]]) + + def update_returns_state(self): + x = self.kf.update(100) + self.assertEqual(x, self.kf.x) + + def test_old_equal_new(self): + for _ in range(1000): + v_wheel = random.uniform(0, 200) + + x_old = self.kf_old.update(v_wheel) + x = self.kf.update(v_wheel) + + # Compare the output x, verify that the error is less than 1e-4 + np.testing.assert_almost_equal(x_old[0], x[0]) + np.testing.assert_almost_equal(x_old[1], x[1]) + + def test_new_is_faster(self): + setup = """ +import numpy as np + +from common.kalman.simple_kalman import KF1D +from common.kalman.simple_kalman_old import KF1D as KF1D_old + +dt = 0.01 +x0_0 = 0.0 +x1_0 = 0.0 +A0_0 = 1.0 +A0_1 = dt +A1_0 = 0.0 +A1_1 = 1.0 +C0_0 = 1.0 +C0_1 = 0.0 +K0_0 = 0.12287673 +K1_0 = 0.29666309 + +kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]), + A=np.array([[A0_0, A0_1], [A1_0, A1_1]]), + C=np.array([C0_0, C0_1]), + K=np.array([[K0_0], [K1_0]])) + +kf = KF1D(x0=[[x0_0], [x1_0]], + A=[[A0_0, A0_1], [A1_0, A1_1]], + C=[C0_0, C0_1], + K=[[K0_0], [K1_0]]) + """ + kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000) + kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000) + self.assertTrue(kf_speed < kf_old_speed / 4) + +if __name__ == "__main__": + unittest.main() diff --git a/common/logging_extra.py b/common/logging_extra.py new file mode 100644 index 000000000..5baaac1f9 --- /dev/null +++ b/common/logging_extra.py @@ -0,0 +1,247 @@ +import io +import os +import sys +import copy +import json +import time +import uuid +import socket +import logging +import traceback +from threading import local +from collections import OrderedDict +from contextlib import contextmanager + +LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ + +def json_handler(obj): + # if isinstance(obj, (datetime.date, datetime.time)): + # return obj.isoformat() + return repr(obj) + +def json_robust_dumps(obj): + return json.dumps(obj, default=json_handler) + +class NiceOrderedDict(OrderedDict): + def __str__(self): + return json_robust_dumps(self) + +class SwagFormatter(logging.Formatter): + def __init__(self, swaglogger): + logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y') + + self.swaglogger = swaglogger + self.host = socket.gethostname() + + def format_dict(self, record): + record_dict = NiceOrderedDict() + + if isinstance(record.msg, dict): + record_dict['msg'] = record.msg + else: + try: + record_dict['msg'] = record.getMessage() + except (ValueError, TypeError): + record_dict['msg'] = [record.msg]+record.args + + record_dict['ctx'] = self.swaglogger.get_ctx() + + if record.exc_info: + record_dict['exc_info'] = self.formatException(record.exc_info) + + record_dict['level'] = record.levelname + record_dict['levelnum'] = record.levelno + record_dict['name'] = record.name + record_dict['filename'] = record.filename + record_dict['lineno'] = record.lineno + record_dict['pathname'] = record.pathname + record_dict['module'] = record.module + record_dict['funcName'] = record.funcName + record_dict['host'] = self.host + record_dict['process'] = record.process + record_dict['thread'] = record.thread + record_dict['threadName'] = record.threadName + record_dict['created'] = record.created + + return record_dict + + def format(self, record): + if self.swaglogger is None: + raise Exception("must set swaglogger before calling format()") + return json_robust_dumps(self.format_dict(record)) + +class SwagLogFileFormatter(SwagFormatter): + def fix_kv(self, k, v): + # append type to names to preserve legacy naming in logs + # avoids overlapping key namespaces with different types + # e.g. log.info() creates 'msg' -> 'msg$s' + # log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i' + # because overlapping namespace 'msg' caused problems + if isinstance(v, (str, bytes)): + k += "$s" + elif isinstance(v, float): + k += "$f" + elif isinstance(v, bool): + k += "$b" + elif isinstance(v, int): + k += "$i" + elif isinstance(v, dict): + nv = {} + for ik, iv in v.items(): + ik, iv = self.fix_kv(ik, iv) + nv[ik] = iv + v = nv + elif isinstance(v, list): + k += "$a" + return k, v + + def format(self, record): + if isinstance(record, str): + v = json.loads(record) + else: + v = self.format_dict(record) + + mk, mv = self.fix_kv('msg', v['msg']) + del v['msg'] + v[mk] = mv + v['id'] = uuid.uuid4().hex + + return json_robust_dumps(v) + +class SwagErrorFilter(logging.Filter): + def filter(self, record): + return record.levelno < logging.ERROR + +def _tmpfunc(): + return 0 + +def _srcfile(): + return os.path.normcase(_tmpfunc.__code__.co_filename) + +class SwagLogger(logging.Logger): + def __init__(self): + logging.Logger.__init__(self, "swaglog") + + self.global_ctx = {} + + self.log_local = local() + self.log_local.ctx = {} + + def local_ctx(self): + try: + return self.log_local.ctx + except AttributeError: + self.log_local.ctx = {} + return self.log_local.ctx + + def get_ctx(self): + return dict(self.local_ctx(), **self.global_ctx) + + @contextmanager + def ctx(self, **kwargs): + old_ctx = self.local_ctx() + self.log_local.ctx = copy.copy(old_ctx) or {} + self.log_local.ctx.update(kwargs) + try: + yield + finally: + self.log_local.ctx = old_ctx + + def bind(self, **kwargs): + self.local_ctx().update(kwargs) + + def bind_global(self, **kwargs): + self.global_ctx.update(kwargs) + + def event(self, event_name, *args, **kwargs): + evt = NiceOrderedDict() + evt['event'] = event_name + if args: + evt['args'] = args + evt.update(kwargs) + if 'error' in kwargs: + self.error(evt) + elif 'debug' in kwargs: + self.debug(evt) + else: + self.info(evt) + + def timestamp(self, event_name): + if LOG_TIMESTAMPS: + t = time.monotonic() + tstp = NiceOrderedDict() + tstp['timestamp'] = NiceOrderedDict() + tstp['timestamp']["event"] = event_name + tstp['timestamp']["time"] = t*1e9 + self.debug(tstp) + + def findCaller(self, stack_info=False, stacklevel=1): + """ + Find the stack frame of the caller so that we can note the source + file name, line number and function name. + """ + f = sys._getframe(3) + #On some versions of IronPython, currentframe() returns None if + #IronPython isn't run with -X:Frames. + if f is not None: + f = f.f_back + orig_f = f + while f and stacklevel > 1: + f = f.f_back + stacklevel -= 1 + if not f: + f = orig_f + rv = "(unknown file)", 0, "(unknown function)", None + while hasattr(f, "f_code"): + co = f.f_code + filename = os.path.normcase(co.co_filename) + + # TODO: is this pylint exception correct? + if filename == _srcfile: # pylint: disable=comparison-with-callable + f = f.f_back + continue + sinfo = None + if stack_info: + sio = io.StringIO() + sio.write('Stack (most recent call last):\n') + traceback.print_stack(f, file=sio) + sinfo = sio.getvalue() + if sinfo[-1] == '\n': + sinfo = sinfo[:-1] + sio.close() + rv = (co.co_filename, f.f_lineno, co.co_name, sinfo) + break + return rv + +if __name__ == "__main__": + log = SwagLogger() + + stdout_handler = logging.StreamHandler(sys.stdout) + stdout_handler.setLevel(logging.INFO) + stdout_handler.addFilter(SwagErrorFilter()) + log.addHandler(stdout_handler) + + stderr_handler = logging.StreamHandler(sys.stderr) + stderr_handler.setLevel(logging.ERROR) + log.addHandler(stderr_handler) + + log.info("asdasd %s", "a") + log.info({'wut': 1}) + log.warning("warning") + log.error("error") + log.critical("critical") + log.event("test", x="y") + + with log.ctx(): + stdout_handler.setFormatter(SwagFormatter(log)) + stderr_handler.setFormatter(SwagFormatter(log)) + log.bind(user="some user") + log.info("in req") + print("") + log.warning("warning") + print("") + log.error("error") + print("") + log.critical("critical") + print("") + log.event("do_req", a=1, b="c") diff --git a/common/mat.h b/common/mat.h new file mode 100644 index 000000000..626f3404f --- /dev/null +++ b/common/mat.h @@ -0,0 +1,85 @@ +#pragma once + +typedef struct vec3 { + float v[3]; +} vec3; + +typedef struct vec4 { + float v[4]; +} vec4; + +typedef struct mat3 { + float v[3*3]; +} mat3; + +typedef struct mat4 { + float v[4*4]; +} mat4; + +static inline mat3 matmul3(const mat3 &a, const mat3 &b) { + mat3 ret = {{0.0}}; + for (int r=0; r<3; r++) { + for (int c=0; c<3; c++) { + float v = 0.0; + for (int k=0; k<3; k++) { + v += a.v[r*3+k] * b.v[k*3+c]; + } + ret.v[r*3+c] = v; + } + } + return ret; +} + +static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) { + vec3 ret = {{0.0}}; + for (int r=0; r<3; r++) { + for (int c=0; c<3; c++) { + ret.v[r] += a.v[r*3+c] * b.v[c]; + } + } + return ret; +} + +static inline mat4 matmul(const mat4 &a, const mat4 &b) { + mat4 ret = {{0.0}}; + for (int r=0; r<4; r++) { + for (int c=0; c<4; c++) { + float v = 0.0; + for (int k=0; k<4; k++) { + v += a.v[r*4+k] * b.v[k*4+c]; + } + ret.v[r*4+c] = v; + } + } + return ret; +} + +static inline vec4 matvecmul(const mat4 &a, const vec4 &b) { + vec4 ret = {{0.0}}; + for (int r=0; r<4; r++) { + for (int c=0; c<4; c++) { + ret.v[r] += a.v[r*4+c] * b.v[c]; + } + } + return ret; +} + +// scales the input and output space of a transformation matrix +// that assumes pixel-center origin. +static inline mat3 transform_scale_buffer(const mat3 &in, float s) { + // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s + + mat3 transform_out = {{ + 1.0f/s, 0.0f, 0.5f, + 0.0f, 1.0f/s, 0.5f, + 0.0f, 0.0f, 1.0f, + }}; + + mat3 transform_in = {{ + s, 0.0f, -0.5f*s, + 0.0f, s, -0.5f*s, + 0.0f, 0.0f, 1.0f, + }}; + + return matmul3(transform_in, matmul3(in, transform_out)); +} diff --git a/common/modeldata.h b/common/modeldata.h new file mode 100644 index 000000000..7b1ab5152 --- /dev/null +++ b/common/modeldata.h @@ -0,0 +1,57 @@ +#pragma once + +#include +#include "common/mat.h" +#include "system/hardware/hw.h" + +const int TRAJECTORY_SIZE = 33; +const int LAT_MPC_N = 16; +const int LON_MPC_N = 32; +const float MIN_DRAW_DISTANCE = 10.0; +const float MAX_DRAW_DISTANCE = 100.0; + +template +constexpr std::array build_idxs(float max_val) { + std::array result{}; + for (int i = 0; i < size; ++i) { + result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1))); + } + return result; +} + +constexpr auto T_IDXS = build_idxs(10.0); +constexpr auto T_IDXS_FLOAT = build_idxs(10.0); +constexpr auto X_IDXS = build_idxs(192.0); +constexpr auto X_IDXS_FLOAT = build_idxs(192.0); + +const int TICI_CAM_WIDTH = 1928; + +namespace tici_dm_crop { + const int x_offset = -72; + const int y_offset = -144; + const int width = 954; +}; + +const mat3 fcam_intrinsic_matrix = + Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2, + 0., 910., 874.0 / 2, + 0., 0., 1.}} + : (mat3){{2648.0, 0.0, 1928.0 / 2, + 0.0, 2648.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; + +// tici ecam focal probably wrong? magnification is not consistent across frame +// Need to retrain model before this can be changed +const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2, + 0.0, 567.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; + +static inline mat3 get_model_yuv_transform(bool bayer = true) { + float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON + const mat3 transform = (mat3){{ + 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 + }}; + return bayer ? transform_scale_buffer(transform, db_s) : transform; +} diff --git a/common/numpy_fast.py b/common/numpy_fast.py new file mode 100644 index 000000000..878c0005c --- /dev/null +++ b/common/numpy_fast.py @@ -0,0 +1,19 @@ +def clip(x, lo, hi): + return max(lo, min(hi, x)) + +def interp(x, xp, fp): + N = len(xp) + + def get_interp(xv): + hi = 0 + while hi < N and xv > xp[hi]: + hi += 1 + low = hi - 1 + return fp[-1] if hi == N and xv > xp[low] else ( + fp[0] if hi == 0 else + (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low]) + + return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x) + +def mean(x): + return sum(x) / len(x) diff --git a/common/params.h b/common/params.h new file mode 100644 index 000000000..aa4b1d7af --- /dev/null +++ b/common/params.h @@ -0,0 +1,47 @@ +#pragma once + +#include +#include + +enum ParamKeyType { + PERSISTENT = 0x02, + CLEAR_ON_MANAGER_START = 0x04, + CLEAR_ON_IGNITION_ON = 0x08, + CLEAR_ON_IGNITION_OFF = 0x10, + DONT_LOG = 0x20, + ALL = 0xFFFFFFFF +}; + +class Params { +public: + Params(const std::string &path = {}); + bool checkKey(const std::string &key); + ParamKeyType getKeyType(const std::string &key); + inline std::string getParamPath(const std::string &key = {}) { + return params_path + prefix + (key.empty() ? "" : "/" + key); + } + + // Delete a value + int remove(const std::string &key); + void clearAll(ParamKeyType type); + + // helpers for reading values + std::string get(const std::string &key, bool block = false); + inline bool getBool(const std::string &key) { + return get(key) == "1"; + } + std::map readAll(); + + // helpers for writing values + int put(const char *key, const char *val, size_t value_size); + inline int put(const std::string &key, const std::string &val) { + return put(key.c_str(), val.data(), val.size()); + } + inline int putBool(const std::string &key, bool val) { + return put(key.c_str(), val ? "1" : "0", 1); + } + +private: + std::string params_path; + std::string prefix; +}; diff --git a/common/params.py b/common/params.py new file mode 100644 index 000000000..2cfca3712 --- /dev/null +++ b/common/params.py @@ -0,0 +1,19 @@ +from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error +assert Params +assert ParamKeyType +assert UnknownKeyName +assert put_nonblocking + +if __name__ == "__main__": + import sys + + params = Params() + key = sys.argv[1] + assert params.check_key(key), f"unknown param: {key}" + + if len(sys.argv) == 3: + val = sys.argv[2] + print(f"SET: {key} = {val}") + params.put(key, val) + elif len(sys.argv) == 2: + print(f"GET: {key} = {params.get(key)}") diff --git a/common/params_pyx.cpp b/common/params_pyx.cpp new file mode 100644 index 000000000..278b5d73f --- /dev/null +++ b/common/params_pyx.cpp @@ -0,0 +1,10810 @@ +/* Generated by Cython 0.29.26 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "common/params.h" + ], + "language": "c++", + "name": "common.params_pyx", + "sources": [ + "/data/openpilot/common/params_pyx.pyx" + ] + }, + "module_name": "common.params_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(U other) { return *ptr == other; } + template bool operator !=(U other) { return *ptr != other; } + private: + T *ptr; +}; + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__common__params_pyx +#define __PYX_HAVE_API__common__params_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include "common/params.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +static PyObject *__pyx_m = NULL; +static PyObject *__pyx_d; +static PyObject *__pyx_b; +static PyObject *__pyx_cython_runtime = NULL; +static PyObject *__pyx_empty_tuple; +static PyObject *__pyx_empty_bytes; +static PyObject *__pyx_empty_unicode; +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm= __FILE__; +static const char *__pyx_filename; + + +static const char *__pyx_f[] = { + "common/params_pyx.pyx", + "stringsource", +}; 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+}; + + +/* "EnumBase":15 + * + * @cython.internal + * cdef class __Pyx_EnumMeta(type): # <<<<<<<<<<<<<< + * def __init__(cls, name, parents, dct): + * type.__init__(cls, name, parents, dct) + */ +struct __pyx_obj___Pyx_EnumMeta { + PyHeapTypeObject __pyx_base; +}; + + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, int); + void (*DECREF)(void*, PyObject*, int); + void (*GOTREF)(void*, PyObject*, int); + void (*GIVEREF)(void*, PyObject*, int); + void* (*SetupContext)(const char*, int, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), __LINE__, __FILE__);\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), __LINE__, __FILE__);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), __LINE__, __FILE__) +#endif + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), __LINE__) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), __LINE__) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), __LINE__) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), __LINE__) + #define __Pyx_XINCREF(r) do { if((r) != NULL) {__Pyx_INCREF(r); 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r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#else +#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if CYTHON_FAST_PYCALL + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif // CYTHON_FAST_PYCALL +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectCallNoArg.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); +#else +#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL) +#endif + +/* PyCFunctionFastCall.proto */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); +#else +#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) +#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* IncludeCppStringH.proto */ +#include + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_bytes.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* decode_cpp_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_cpp_string( + std::string cppstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + return __Pyx_decode_c_bytes( + cppstring.data(), cppstring.size(), start, stop, encoding, errors, decode_func); +} + +/* None.proto */ +static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname); + +/* FetchCommonType.proto */ +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED 1 +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { + PyCFunctionObject func; +#if PY_VERSION_HEX < 0x030500A0 + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; + PyObject *func_classobj; + void *defaults; + int defaults_pyobjects; + size_t defaults_size; // used by FusedFunction for copying defaults + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; +} __pyx_CyFunctionObject; +static PyTypeObject *__pyx_CyFunctionType = 0; +#define __Pyx_CyFunction_Check(obj) (__Pyx_TypeCheck(obj, __pyx_CyFunctionType)) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *self, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(void); + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* PyObjectSetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_DelAttrStr(o,n) __Pyx_PyObject_SetAttrStr(o, n, NULL) +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value); +#else +#define __Pyx_PyObject_DelAttrStr(o,n) PyObject_DelAttr(o,n) +#define __Pyx_PyObject_SetAttrStr(o,n,v) PyObject_SetAttr(o,n,v) +#endif + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); + +/* IncludeStringH.proto */ +#include + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* SetupReduce.proto */ +static int __Pyx_setup_reduce(PyObject* type_obj); + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* Globals.proto */ +static PyObject* __Pyx_Globals(void); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__ParamKeyType(enum ParamKeyType value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE enum ParamKeyType __Pyx_PyInt_As_enum__ParamKeyType(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + + +/* Module declarations from 'libcpp' */ + +/* Module declarations from 'libc.string' */ + +/* Module declarations from 'libcpp.string' */ + +/* Module declarations from 'common.params_pyx' */ +static PyTypeObject *__pyx_ptype_6common_10params_pyx_Params = 0; +static PyTypeObject *__pyx_ptype_6common_10params_pyx___pyx_scope_struct__put_nonblocking = 0; +static PyTypeObject *__pyx_ptype___Pyx_EnumMeta = 0; +static PyObject *__Pyx_OrderedDict = 0; +static PyObject *__Pyx_EnumBase = 0; +static PyObject *__Pyx_globals = 0; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +static PyObject *__pyx_unpickle___Pyx_EnumMeta__set_state(struct __pyx_obj___Pyx_EnumMeta *, PyObject *); /*proto*/ +#define __Pyx_MODULE_NAME "common.params_pyx" +extern int __pyx_module_is_main_common__params_pyx; +int __pyx_module_is_main_common__params_pyx = 0; + +/* Implementation of 'common.params_pyx' */ +static PyObject *__pyx_builtin_KeyboardInterrupt; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_ValueError; +static const char __pyx_k_[] = ""; +static const char __pyx_k_d[] = "d"; +static const char __pyx_k_f[] = "f"; +static const char __pyx_k_k[] = "k"; +static const char __pyx_k_t[] = "t"; +static const char __pyx_k_v[] = "v"; +static const char __pyx_k_ALL[] = "ALL"; +static const char __pyx_k_cls[] = "cls"; +static const char __pyx_k_dat[] = "dat"; +static const char __pyx_k_dct[] = "dct"; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_key[] = "key"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_put[] = "put"; +static const char __pyx_k_res[] = "res"; +static const char __pyx_k_s_s[] = "%s.%s"; +static const char __pyx_k_str[] = "__str__"; +static const char __pyx_k_val[] = "val"; +static const char __pyx_k_args[] = "args"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_enum[] = "enum"; +static const char __pyx_k_init[] = "__init__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_repr[] = "__repr__"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_block[] = "block"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_s_s_d[] = "<%s.%s: %d>"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_value[] = "value"; +static const char __pyx_k_Params[] = "Params"; +static 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+ if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallNoArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, NULL, 0); + } +#endif +#ifdef __Pyx_CyFunction_USED + if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) +#else + if (likely(PyCFunction_Check(func))) +#endif + { + if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { + return __Pyx_PyObject_CallMethO(func, NULL); + } + } + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); +} +#endif + +/* PyCFunctionFastCall */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); + } else { + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); + } +} +#endif + +/* PyObjectCallOneArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); + } +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (__Pyx_PyFastCFunction_Check(func)) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } + } + return __Pyx__PyObject_CallOneArg(func, arg); +} +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +#endif + +/* RaiseDoubleKeywords */ +static void __Pyx_RaiseDoubleKeywordsError( + const char* func_name, + PyObject* kw_name) +{ + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION >= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + while (PyDict_Next(kwds, &pos, &key, &value)) { + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; + continue; + } + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = (**name == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + return -1; +} + +/* RaiseArgTupleInvalid */ +static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* PyObjectCall2Args */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); + } + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); + } + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; +} + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +} +#endif + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* decode_c_bytes */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + if (unlikely((start < 0) | (stop < 0))) { + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (stop > length) + stop = length; + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* None */ +static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname) { + PyErr_Format(PyExc_NameError, "free variable '%s' referenced before assignment in enclosing scope", varname); +} + +/* FetchCommonType */ +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* fake_module; + PyTypeObject* cached_type = NULL; + fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI); + if (!fake_module) return NULL; + Py_INCREF(fake_module); + cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name); + if (cached_type) { + if (!PyType_Check((PyObject*)cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", + type->tp_name); + goto bad; + } + if (cached_type->tp_basicsize != type->tp_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + type->tp_name); + goto bad; + } + } else { + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; + } +done: + Py_DECREF(fake_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} + +/* CythonFunctionShared */ +#include +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure) +{ + if (unlikely(op->func_doc == NULL)) { + if (op->func.m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(op->func.m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(op->func.m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp = op->func_doc; + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + op->func_doc = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + if (unlikely(op->func_name == NULL)) { +#if PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(op->func.m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(op->func.m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + tmp = op->func_name; + Py_INCREF(value); + op->func_name = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + tmp = op->func_qualname; + Py_INCREF(value); + op->func_qualname = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_self(__pyx_CyFunctionObject *m, CYTHON_UNUSED void *closure) +{ + PyObject *self; + self = m->func_closure; + if (self == NULL) + self = Py_None; + Py_INCREF(self); + return self; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + tmp = op->func_dict; + Py_INCREF(value); + op->func_dict = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(CYTHON_UNUSED __pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value) { + value = Py_None; + } else if (value != Py_None && !PyTuple_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + Py_INCREF(value); + tmp = op->defaults_tuple; + op->defaults_tuple = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->defaults_tuple; + if (unlikely(!result)) { + if (op->defaults_getter) { + if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value) { + value = Py_None; + } else if (value != Py_None && !PyDict_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + Py_INCREF(value); + tmp = op->defaults_kwdict; + op->defaults_kwdict = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->defaults_kwdict; + if (unlikely(!result)) { + if (op->defaults_getter) { + if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value || value == Py_None) { + value = NULL; + } else if (!PyDict_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + tmp = op->func_annotations; + op->func_annotations = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->func_annotations; + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "__self__", (getter)__Pyx_CyFunction_get_self, 0, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), PY_WRITE_RESTRICTED, 0}, + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, CYTHON_UNUSED PyObject *args) +{ +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(m->func.m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func.m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + if (unlikely(op == NULL)) + return NULL; + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; + op->func.m_ml = ml; + op->func.m_self = (PyObject *) op; + Py_XINCREF(closure); + op->func_closure = closure; + Py_XINCREF(module); + op->func.m_module = module; + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; + op->func_classobj = NULL; + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); + Py_CLEAR(m->func.m_module); + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); + Py_CLEAR(m->func_classobj); + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + PyObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); + Py_VISIT(m->func.m_module); + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); + Py_VISIT(m->func_classobj); + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type) +{ +#if PY_MAJOR_VERSION < 3 + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) { + Py_INCREF(func); + return func; + } + if (m->flags & __Pyx_CYFUNCTION_CLASSMETHOD) { + if (type == NULL) + type = (PyObject *)(Py_TYPE(obj)); + return __Pyx_PyMethod_New(func, type, (PyObject *)(Py_TYPE(type))); + } + if (obj == Py_None) + obj = NULL; +#endif + return __Pyx_PyMethod_New(func, obj, type); +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + Py_ssize_t size; + switch (f->m_ml->ml_flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { + size = PyTuple_GET_SIZE(arg); + if (likely(size == 0)) + return (*meth)(self, NULL); + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { + size = PyTuple_GET_SIZE(arg); + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags in " + "__Pyx_CyFunction_Call. METH_OLDARGS is no " + "longer supported!"); + return NULL; + } + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + return __Pyx_CyFunction_CallMethod(func, ((PyCFunctionObject*)func)->m_self, arg, kw); +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; + argc = PyTuple_GET_SIZE(args); + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, + 0, + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_CyFunction_descr_get, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, +#endif +}; +static int __pyx_CyFunction_init(void) { + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* PyObjectSetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_setattro)) + return tp->tp_setattro(obj, attr_name, value); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_setattr)) + return tp->tp_setattr(obj, PyString_AS_STRING(attr_name), value); +#endif + return PyObject_SetAttr(obj, attr_name, value); +} +#endif + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (!j) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; + if (likely(m && m->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { + Py_ssize_t l = m->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return m->sq_item(o, i); + } + } +#else + if (is_list || PySequence_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { + PyObject *runerr; + Py_ssize_t key_value; + PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; + if (unlikely(!(m && m->sq_item))) { + PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); + return NULL; + } + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { + PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; + if (likely(m && m->mp_subscript)) { + return m->mp_subscript(obj, key); + } + return __Pyx_PyObject_GetIndex(obj, key); +} +#endif + +/* PyErrExceptionMatches */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); +} +#endif + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetAttr3 */ +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r = __Pyx_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +} + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *empty_list = 0; + PyObject *module = 0; + PyObject *global_dict = 0; + PyObject *empty_dict = 0; + PyObject *list; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (!py_import) + goto bad; + #endif + if (from_list) + list = from_list; + else { + empty_list = PyList_New(0); + if (!empty_list) + goto bad; + list = empty_list; + } + global_dict = PyModule_GetDict(__pyx_m); + if (!global_dict) + goto bad; + empty_dict = PyDict_New(); + if (!empty_dict) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, 1); + if (!module) { + if (!PyErr_ExceptionMatches(PyExc_ImportError)) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (!py_level) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, level); + #endif + } + } +bad: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + Py_XDECREF(empty_list); + Py_XDECREF(empty_dict); + return module; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (unlikely(!r)) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +} + +/* SetupReduce */ +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases = PyTuple_GET_SIZE(bases); + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; + PyObject *tmp = PyTuple_GET_ITEM(bases, i); + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStr(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs = PyTuple_Pack(2, name, bases); + if (unlikely(!pargs)) { + Py_DECREF(prep); + return NULL; + } + ns = PyObject_Call(prep, pargs, mkw); + Py_DECREF(prep); + Py_DECREF(pargs); + } else { + if (unlikely(!PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + PyErr_Clear(); + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result, *margs; + PyObject *owned_metaclass = NULL; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + margs = PyTuple_Pack(3, name, bases, dict); + if (unlikely(!margs)) { + result = NULL; + } else { + result = PyObject_Call(metaclass, margs, mkw); + Py_DECREF(margs); + } + Py_XDECREF(owned_metaclass); + return result; +} + +/* Globals */ +static PyObject* __Pyx_Globals(void) { + Py_ssize_t i; + PyObject *names; + PyObject *globals = __pyx_d; + Py_INCREF(globals); + names = PyObject_Dir(__pyx_m); + if (!names) + goto bad; + for (i = PyList_GET_SIZE(names)-1; i >= 0; i--) { +#if CYTHON_COMPILING_IN_PYPY + PyObject* name = PySequence_ITEM(names, i); + if (!name) + goto bad; +#else + PyObject* name = PyList_GET_ITEM(names, i); +#endif + if (!PyDict_Contains(globals, name)) { + PyObject* value = __Pyx_GetAttr(__pyx_m, name); + if (!value) { +#if CYTHON_COMPILING_IN_PYPY + Py_DECREF(name); +#endif + goto bad; + } + if (PyDict_SetItem(globals, name, value) < 0) { +#if CYTHON_COMPILING_IN_PYPY + Py_DECREF(name); +#endif + Py_DECREF(value); + goto bad; + } + } +#if CYTHON_COMPILING_IN_PYPY + Py_DECREF(name); +#endif + } + Py_DECREF(names); + return globals; +bad: + Py_XDECREF(names); + Py_XDECREF(globals); + return NULL; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__ParamKeyType(enum ParamKeyType value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum ParamKeyType neg_one = (enum ParamKeyType) -1, const_zero = (enum ParamKeyType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(enum ParamKeyType) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(enum ParamKeyType) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum ParamKeyType) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(enum ParamKeyType) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum ParamKeyType) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(enum ParamKeyType), + little, !is_unsigned); + } +} + +/* CIntFromPy */ +static CYTHON_INLINE enum ParamKeyType __Pyx_PyInt_As_enum__ParamKeyType(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum ParamKeyType neg_one = (enum ParamKeyType) -1, const_zero = (enum ParamKeyType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(enum ParamKeyType) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (enum ParamKeyType) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (enum ParamKeyType) 0; + case 1: __PYX_VERIFY_RETURN_INT(enum ParamKeyType, digit, digits[0]) + case 2: + if (8 * sizeof(enum ParamKeyType) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum ParamKeyType) >= 2 * PyLong_SHIFT) { + return (enum ParamKeyType) (((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(enum ParamKeyType) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum ParamKeyType) >= 3 * PyLong_SHIFT) { + return (enum ParamKeyType) (((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(enum ParamKeyType) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum ParamKeyType) >= 4 * PyLong_SHIFT) { + return (enum ParamKeyType) (((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (enum ParamKeyType) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(enum ParamKeyType) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum ParamKeyType) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (enum ParamKeyType) 0; + case -1: __PYX_VERIFY_RETURN_INT(enum ParamKeyType, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(enum ParamKeyType, digit, +digits[0]) + case -2: + if (8 * sizeof(enum ParamKeyType) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT) { + return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(enum ParamKeyType) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT) { + return (enum ParamKeyType) ((((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT) { + return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(enum ParamKeyType) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT) { + return (enum ParamKeyType) ((((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum ParamKeyType) - 1 > 4 * PyLong_SHIFT) { + return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(enum ParamKeyType) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(enum ParamKeyType) - 1 > 4 * PyLong_SHIFT) { + return (enum ParamKeyType) ((((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + } +#endif + if (sizeof(enum ParamKeyType) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum ParamKeyType) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + enum ParamKeyType val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (enum ParamKeyType) -1; + } + } else { + enum ParamKeyType val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (enum ParamKeyType) -1; + val = __Pyx_PyInt_As_enum__ParamKeyType(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to enum ParamKeyType"); + return (enum ParamKeyType) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to enum ParamKeyType"); + return (enum ParamKeyType) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; ip) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx new file mode 100755 index 000000000..b3b824852 --- /dev/null +++ b/common/params_pyx.pyx @@ -0,0 +1,110 @@ +# distutils: language = c++ +# cython: language_level = 3 +from libcpp cimport bool +from libcpp.string cimport string +import threading + +cdef extern from "common/params.h": + cpdef enum ParamKeyType: + PERSISTENT + CLEAR_ON_MANAGER_START + CLEAR_ON_IGNITION_ON + CLEAR_ON_IGNITION_OFF + ALL + + cdef cppclass c_Params "Params": + c_Params(string) nogil + string get(string, bool) nogil + bool getBool(string) nogil + int remove(string) nogil + int put(string, string) nogil + int putBool(string, bool) nogil + bool checkKey(string) nogil + string getParamPath(string) nogil + void clearAll(ParamKeyType) + + +def ensure_bytes(v): + return v.encode() if isinstance(v, str) else v; + +class UnknownKeyName(Exception): + pass + +cdef class Params: + cdef c_Params* p + + def __cinit__(self, d=""): + cdef string path = d.encode() + with nogil: + self.p = new c_Params(path) + + def __dealloc__(self): + del self.p + + def clear_all(self, tx_type=ParamKeyType.ALL): + self.p.clearAll(tx_type) + + def check_key(self, key): + key = ensure_bytes(key) + if not self.p.checkKey(key): + raise UnknownKeyName(key) + return key + + def get(self, key, bool block=False, encoding=None): + cdef string k = self.check_key(key) + cdef string val + with nogil: + val = self.p.get(k, block) + + if val == b"": + if block: + # If we got no value while running in blocked mode + # it means we got an interrupt while waiting + raise KeyboardInterrupt + else: + return None + + return val if encoding is None else val.decode(encoding) + + def get_bool(self, key): + cdef string k = self.check_key(key) + cdef bool r + with nogil: + r = self.p.getBool(k) + return r + + def put(self, key, dat): + """ + Warning: This function blocks until the param is written to disk! + In very rare cases this can take over a second, and your code will hang. + Use the put_nonblocking helper function in time sensitive code, but + in general try to avoid writing params as much as possible. + """ + cdef string k = self.check_key(key) + cdef string dat_bytes = ensure_bytes(dat) + with nogil: + self.p.put(k, dat_bytes) + + def put_bool(self, key, bool val): + cdef string k = self.check_key(key) + with nogil: + self.p.putBool(k, val) + + def delete(self, key): + cdef string k = self.check_key(key) + with nogil: + self.p.remove(k) + + def get_param_path(self, key=""): + cdef string key_bytes = ensure_bytes(key) + return self.p.getParamPath(key_bytes).decode("utf-8") + +def put_nonblocking(key, val, d=""): + def f(key, val): + params = Params(d) + cdef string k = ensure_bytes(key) + params.put(k, val) + + t = threading.Thread(target=f, args=(key, val)) + t.start() + return t diff --git a/common/params_pyx.so b/common/params_pyx.so new file mode 100755 index 000000000..06b061150 Binary files /dev/null and b/common/params_pyx.so differ diff --git a/common/profiler.py b/common/profiler.py new file mode 100644 index 000000000..8b1a7a8cf --- /dev/null +++ b/common/profiler.py @@ -0,0 +1,45 @@ +import time + +class Profiler(): + def __init__(self, enabled=False): + self.enabled = enabled + self.cp = {} + self.cp_ignored = [] + self.iter = 0 + self.start_time = time.time() + self.last_time = self.start_time + self.tot = 0. + + def reset(self, enabled=False): + self.enabled = enabled + self.cp = {} + self.cp_ignored = [] + self.iter = 0 + self.start_time = time.time() + self.last_time = self.start_time + + def checkpoint(self, name, ignore=False): + # ignore flag needed when benchmarking threads with ratekeeper + if not self.enabled: + return + tt = time.time() + if name not in self.cp: + self.cp[name] = 0. + if ignore: + self.cp_ignored.append(name) + self.cp[name] += tt - self.last_time + if not ignore: + self.tot += tt - self.last_time + self.last_time = tt + + def display(self): + if not self.enabled: + return + self.iter += 1 + print("******* Profiling %d *******" % self.iter) + for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]): + if n in self.cp_ignored: + print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) + else: + print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) + print(f"Iter clock: {self.tot / self.iter:2.6f} TOTAL: {self.tot:2.2f}") diff --git a/common/queue.h b/common/queue.h new file mode 100644 index 000000000..b3558b11a --- /dev/null +++ b/common/queue.h @@ -0,0 +1,52 @@ +#pragma once + +#include +#include +#include + +template +class SafeQueue { +public: + SafeQueue() = default; + + void push(const T& v) { + { + std::unique_lock lk(m); + q.push(v); + } + cv.notify_one(); + } + + T pop() { + std::unique_lock lk(m); + cv.wait(lk, [this] { return !q.empty(); }); + T v = q.front(); + q.pop(); + return v; + } + + bool try_pop(T& v, int timeout_ms = 0) { + std::unique_lock lk(m); + if (!cv.wait_for(lk, std::chrono::milliseconds(timeout_ms), [this] { return !q.empty(); })) { + return false; + } + v = q.front(); + q.pop(); + return true; + } + + bool empty() const { + std::scoped_lock lk(m); + return q.empty(); + } + + size_t size() const { + std::scoped_lock lk(m); + return q.size(); + } + +private: + mutable std::mutex m; + std::condition_variable cv; + std::queue q; +}; diff --git a/common/realtime.py b/common/realtime.py new file mode 100644 index 000000000..416d8170d --- /dev/null +++ b/common/realtime.py @@ -0,0 +1,96 @@ +"""Utilities for reading real time clocks and keeping soft real time constraints.""" +import gc +import os +import time +from collections import deque +from typing import Optional, List, Union + +from setproctitle import getproctitle # pylint: disable=no-name-in-module + +from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error +from system.hardware import PC, TICI + + +# time step for each process +DT_CTRL = 0.01 # controlsd +DT_MDL = 0.05 # model +DT_TRML = 0.5 # thermald and manager +DT_DMON = 0.05 # driver monitoring + + +class Priority: + # CORE 2 + # - modeld = 55 + # - camerad = 54 + CTRL_LOW = 51 # plannerd & radard + + # CORE 3 + # - boardd = 55 + CTRL_HIGH = 53 + + +def set_realtime_priority(level: int) -> None: + if not PC: + os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # type: ignore[attr-defined] # pylint: disable=no-member + + +def set_core_affinity(cores: List[int]) -> None: + if not PC: + os.sched_setaffinity(0, cores) # pylint: disable=no-member + + +def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None: + gc.disable() + set_realtime_priority(priority) + c = cores if isinstance(cores, list) else [cores, ] + set_core_affinity(c) + + +class Ratekeeper: + def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None: + """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative.""" + self._interval = 1. / rate + self._next_frame_time = sec_since_boot() + self._interval + self._print_delay_threshold = print_delay_threshold + self._frame = 0 + self._remaining = 0.0 + self._process_name = getproctitle() + self._dts = deque([self._interval], maxlen=100) + self._last_monitor_time = sec_since_boot() + + @property + def frame(self) -> int: + return self._frame + + @property + def remaining(self) -> float: + return self._remaining + + @property + def lagging(self) -> bool: + avg_dt = sum(self._dts) / len(self._dts) + expected_dt = self._interval * (1 / 0.9) + return avg_dt > expected_dt + + # Maintain loop rate by calling this at the end of each loop + def keep_time(self) -> bool: + lagged = self.monitor_time() + if self._remaining > 0: + time.sleep(self._remaining) + return lagged + + # this only monitor the cumulative lag, but does not enforce a rate + def monitor_time(self) -> bool: + prev = self._last_monitor_time + self._last_monitor_time = sec_since_boot() + self._dts.append(self._last_monitor_time - prev) + + lagged = False + remaining = self._next_frame_time - sec_since_boot() + self._next_frame_time += self._interval + if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold: + print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms") + lagged = True + self._frame += 1 + self._remaining = remaining + return lagged diff --git a/common/spinner.py b/common/spinner.py new file mode 100644 index 000000000..57242d644 --- /dev/null +++ b/common/spinner.py @@ -0,0 +1,52 @@ +import os +import subprocess +from common.basedir import BASEDIR + + +class Spinner(): + def __init__(self): + try: + self.spinner_proc = subprocess.Popen(["./spinner"], + stdin=subprocess.PIPE, + cwd=os.path.join(BASEDIR, "selfdrive", "ui"), + close_fds=True) + except OSError: + self.spinner_proc = None + + def __enter__(self): + return self + + def update(self, spinner_text: str): + if self.spinner_proc is not None: + self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n") + try: + self.spinner_proc.stdin.flush() + except BrokenPipeError: + pass + + def update_progress(self, cur: float, total: float): + self.update(str(round(100 * cur / total))) + + def close(self): + if self.spinner_proc is not None: + try: + self.spinner_proc.stdin.close() + except BrokenPipeError: + pass + self.spinner_proc.terminate() + self.spinner_proc = None + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_value, traceback): + self.close() + + +if __name__ == "__main__": + import time + with Spinner() as s: + s.update("Spinner text") + time.sleep(5.0) + print("gone") + time.sleep(5.0) diff --git a/common/stat_live.py b/common/stat_live.py new file mode 100644 index 000000000..a91c1819b --- /dev/null +++ b/common/stat_live.py @@ -0,0 +1,73 @@ +import numpy as np + +class RunningStat(): + # tracks realtime mean and standard deviation without storing any data + def __init__(self, priors=None, max_trackable=-1): + self.max_trackable = max_trackable + if priors is not None: + # initialize from history + self.M = priors[0] + self.S = priors[1] + self.n = priors[2] + self.M_last = self.M + self.S_last = self.S + + else: + self.reset() + + def reset(self): + self.M = 0. + self.S = 0. + self.M_last = 0. + self.S_last = 0. + self.n = 0 + + def push_data(self, new_data): + # short term memory hack + if self.max_trackable < 0 or self.n < self.max_trackable: + self.n += 1 + if self.n == 0: + self.M_last = new_data + self.M = self.M_last + self.S_last = 0. + else: + self.M = self.M_last + (new_data - self.M_last) / self.n + self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M) + self.M_last = self.M + self.S_last = self.S + + def mean(self): + return self.M + + def variance(self): + if self.n >= 2: + return self.S / (self.n - 1.) + else: + return 0 + + def std(self): + return np.sqrt(self.variance()) + + def params_to_save(self): + return [self.M, self.S, self.n] + +class RunningStatFilter(): + def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1): + self.raw_stat = RunningStat(raw_priors, -1) + self.filtered_stat = RunningStat(filtered_priors, max_trackable) + + def reset(self): + self.raw_stat.reset() + self.filtered_stat.reset() + + def push_and_update(self, new_data): + _std_last = self.raw_stat.std() + self.raw_stat.push_data(new_data) + _delta_std = self.raw_stat.std() - _std_last + if _delta_std <= 0: + self.filtered_stat.push_data(new_data) + else: + pass + # self.filtered_stat.push_data(self.filtered_stat.mean()) + +# class SequentialBayesian(): diff --git a/common/statlog.h b/common/statlog.h new file mode 100644 index 000000000..5d223bb66 --- /dev/null +++ b/common/statlog.h @@ -0,0 +1,10 @@ +#pragma once + +#define STATLOG_GAUGE "g" +#define STATLOG_SAMPLE "sa" + +void statlog_log(const char* metric_type, const char* metric, int value); +void statlog_log(const char* metric_type, const char* metric, float value); + +#define statlog_gauge(metric, value) statlog_log(STATLOG_GAUGE, metric, value) +#define statlog_sample(metric, value) statlog_log(STATLOG_SAMPLE, metric, value) diff --git a/common/swaglog.h b/common/swaglog.h new file mode 100644 index 000000000..a0096e3a6 --- /dev/null +++ b/common/swaglog.h @@ -0,0 +1,70 @@ +#pragma once + +#include "common/timing.h" + +#define CLOUDLOG_DEBUG 10 +#define CLOUDLOG_INFO 20 +#define CLOUDLOG_WARNING 30 +#define CLOUDLOG_ERROR 40 +#define CLOUDLOG_CRITICAL 50 + + +void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, + const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/; + +void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, + const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/; + +void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, + uint32_t frame_id, const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/; + + +#define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \ + __func__, \ + fmt, ## __VA_ARGS__); + +#define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \ + __func__, \ + __VA_ARGS__); + + +#define cloudlog_rl(burst, millis, lvl, fmt, ...) \ +{ \ + static uint64_t __begin = 0; \ + static int __printed = 0; \ + static int __missed = 0; \ + \ + int __burst = (burst); \ + int __millis = (millis); \ + uint64_t __ts = nanos_since_boot(); \ + \ + if (!__begin) __begin = __ts; \ + \ + if (__begin + __millis*1000000ULL < __ts) { \ + if (__missed) { \ + cloudlog(CLOUDLOG_WARNING, "cloudlog: %d messages suppressed", __missed); \ + } \ + __begin = 0; \ + __printed = 0; \ + __missed = 0; \ + } \ + \ + if (__printed < __burst) { \ + cloudlog(lvl, fmt, ## __VA_ARGS__); \ + __printed++; \ + } else { \ + __missed++; \ + } \ +} + + +#define LOGT(...) cloudlog_t(CLOUDLOG_DEBUG, __VA_ARGS__) +#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) +#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) +#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) +#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) + +#define LOGD_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) +#define LOG_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_INFO, fmt, ## __VA_ARGS__) +#define LOGW_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) +#define LOGE_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) diff --git a/common/text_window.py b/common/text_window.py new file mode 100755 index 000000000..bea3a149f --- /dev/null +++ b/common/text_window.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python3 +import os +import time +import subprocess +from common.basedir import BASEDIR + + +class TextWindow: + def __init__(self, text): + try: + self.text_proc = subprocess.Popen(["./text", text], + stdin=subprocess.PIPE, + cwd=os.path.join(BASEDIR, "selfdrive", "ui"), + close_fds=True) + except OSError: + self.text_proc = None + + def get_status(self): + if self.text_proc is not None: + self.text_proc.poll() + return self.text_proc.returncode + return None + + def __enter__(self): + return self + + def close(self): + if self.text_proc is not None: + self.text_proc.terminate() + self.text_proc = None + + def wait_for_exit(self): + if self.text_proc is not None: + while True: + if self.get_status() == 1: + return + time.sleep(0.1) + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_value, traceback): + self.close() + + +if __name__ == "__main__": + text = """Traceback (most recent call last): + File "./controlsd.py", line 608, in + main() + File "./controlsd.py", line 604, in main + controlsd_thread(sm, pm, logcan) + File "./controlsd.py", line 455, in controlsd_thread + 1/0 +ZeroDivisionError: division by zero""" + print(text) + + with TextWindow(text) as s: + for _ in range(100): + if s.get_status() == 1: + print("Got exit button") + break + time.sleep(0.1) + print("gone") diff --git a/common/timeout.py b/common/timeout.py new file mode 100644 index 000000000..d0b0ce063 --- /dev/null +++ b/common/timeout.py @@ -0,0 +1,27 @@ +import signal + +class TimeoutException(Exception): + pass + +class Timeout: + """ + Timeout context manager. + For example this code will raise a TimeoutException: + with Timeout(seconds=5, error_msg="Sleep was too long"): + time.sleep(10) + """ + def __init__(self, seconds, error_msg=None): + if error_msg is None: + error_msg = f'Timed out after {seconds} seconds' + self.seconds = seconds + self.error_msg = error_msg + + def handle_timeout(self, signume, frame): + raise TimeoutException(self.error_msg) + + def __enter__(self): + signal.signal(signal.SIGALRM, self.handle_timeout) + signal.alarm(self.seconds) + + def __exit__(self, exc_type, exc_val, exc_tb): + signal.alarm(0) diff --git a/common/timing.h b/common/timing.h new file mode 100644 index 000000000..83f55e0c4 --- /dev/null +++ b/common/timing.h @@ -0,0 +1,51 @@ +#pragma once + +#include +#include + +#ifdef __APPLE__ +#define CLOCK_BOOTTIME CLOCK_MONOTONIC +#endif + +static inline uint64_t nanos_since_boot() { + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + return t.tv_sec * 1000000000ULL + t.tv_nsec; +} + +static inline double millis_since_boot() { + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6; +} + +static inline double seconds_since_boot() { + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + return (double)t.tv_sec + t.tv_nsec * 1e-9; +} + +static inline uint64_t nanos_since_epoch() { + struct timespec t; + clock_gettime(CLOCK_REALTIME, &t); + return t.tv_sec * 1000000000ULL + t.tv_nsec; +} + +static inline double seconds_since_epoch() { + struct timespec t; + clock_gettime(CLOCK_REALTIME, &t); + return (double)t.tv_sec + t.tv_nsec * 1e-9; +} + +// you probably should use nanos_since_boot instead +static inline uint64_t nanos_monotonic() { + struct timespec t; + clock_gettime(CLOCK_MONOTONIC, &t); + return t.tv_sec * 1000000000ULL + t.tv_nsec; +} + +static inline uint64_t nanos_monotonic_raw() { + struct timespec t; + clock_gettime(CLOCK_MONOTONIC_RAW, &t); + return t.tv_sec * 1000000000ULL + t.tv_nsec; +} diff --git a/common/transformations/__init__.py b/common/transformations/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/common/transformations/camera.py b/common/transformations/camera.py new file mode 100644 index 000000000..a3b4a2991 --- /dev/null +++ b/common/transformations/camera.py @@ -0,0 +1,186 @@ +import numpy as np + +import common.transformations.orientation as orient +from system.hardware import TICI + +## -- hardcoded hardware params -- +eon_f_focal_length = 910.0 +eon_d_focal_length = 860.0 +leon_d_focal_length = 650.0 +tici_f_focal_length = 2648.0 +tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame + +eon_f_frame_size = (1164, 874) +eon_d_frame_size = (1152, 864) +leon_d_frame_size = (816, 612) +tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208) + +# aka 'K' aka camera_frame_from_view_frame +eon_fcam_intrinsics = np.array([ + [eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2], + [0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2], + [0.0, 0.0, 1.0]]) +eon_intrinsics = eon_fcam_intrinsics # xx + +leon_dcam_intrinsics = np.array([ + [leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2], + [0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2], + [0.0, 0.0, 1.0]]) + +eon_dcam_intrinsics = np.array([ + [eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2], + [0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2], + [0.0, 0.0, 1.0]]) + +tici_fcam_intrinsics = np.array([ + [tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2], + [0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2], + [0.0, 0.0, 1.0]]) + +tici_dcam_intrinsics = np.array([ + [tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2], + [0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2], + [0.0, 0.0, 1.0]]) + +tici_ecam_intrinsics = tici_dcam_intrinsics + +# aka 'K_inv' aka view_frame_from_camera_frame +eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics) +eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx + +tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics) +tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics) + + +if not TICI: + FULL_FRAME_SIZE = eon_f_frame_size + FOCAL = eon_f_focal_length + fcam_intrinsics = eon_fcam_intrinsics +else: + FULL_FRAME_SIZE = tici_f_frame_size + FOCAL = tici_f_focal_length + fcam_intrinsics = tici_fcam_intrinsics + +W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1] + + +# device/mesh : x->forward, y-> right, z->down +# view : x->right, y->down, z->forward +device_frame_from_view_frame = np.array([ + [ 0., 0., 1.], + [ 1., 0., 0.], + [ 0., 1., 0.] +]) +view_frame_from_device_frame = device_frame_from_view_frame.T + + +def get_calib_from_vp(vp): + vp_norm = normalize(vp) + yaw_calib = np.arctan(vp_norm[0]) + pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib)) + roll_calib = 0 + return roll_calib, pitch_calib, yaw_calib + + +# aka 'extrinsic_matrix' +# road : x->forward, y -> left, z->up +def get_view_frame_from_road_frame(roll, pitch, yaw, height): + device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1])) + view_from_road = view_frame_from_device_frame.dot(device_from_road) + return np.hstack((view_from_road, [[0], [height], [0]])) + + +# aka 'extrinsic_matrix' +def get_view_frame_from_calib_frame(roll, pitch, yaw, height): + device_from_calib= orient.rot_from_euler([roll, pitch, yaw]) + view_from_calib = view_frame_from_device_frame.dot(device_from_calib) + return np.hstack((view_from_calib, [[0], [height], [0]])) + + +def vp_from_ke(m): + """ + Computes the vanishing point from the product of the intrinsic and extrinsic + matrices C = KE. + + The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T + """ + return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0]) + + +def vp_from_rpy(rpy, intrinsics=fcam_intrinsics): + e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22) + ke = np.dot(intrinsics, e) + return vp_from_ke(ke) + + +def roll_from_ke(m): + # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong + return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]), + -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1])) + + +def normalize(img_pts, intrinsics=fcam_intrinsics): + # normalizes image coordinates + # accepts single pt or array of pts + intrinsics_inv = np.linalg.inv(intrinsics) + img_pts = np.array(img_pts) + input_shape = img_pts.shape + img_pts = np.atleast_2d(img_pts) + img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1)))) + img_pts_normalized = img_pts.dot(intrinsics_inv.T) + img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan + return img_pts_normalized[:, :2].reshape(input_shape) + + +def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf): + # denormalizes image coordinates + # accepts single pt or array of pts + img_pts = np.array(img_pts) + input_shape = img_pts.shape + img_pts = np.atleast_2d(img_pts) + img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype))) + img_pts_denormalized = img_pts.dot(intrinsics.T) + if np.isfinite(width): + img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan + img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan + if np.isfinite(height): + img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan + img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan + return img_pts_denormalized[:, :2].reshape(input_shape) + + +def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef): + # device from ecef frame + # device frame is x -> forward, y-> right, z -> down + # accepts single pt or array of pts + input_shape = pt_ecef.shape + pt_ecef = np.atleast_2d(pt_ecef) + ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef) + device_from_ecef_rot = ecef_from_device_rot.T + pt_ecef_rel = pt_ecef - pos_ecef + pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel) + return pt_device.reshape(input_shape) + + +def img_from_device(pt_device): + # img coordinates from pts in device frame + # first transforms to view frame, then to img coords + # accepts single pt or array of pts + input_shape = pt_device.shape + pt_device = np.atleast_2d(pt_device) + pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device) + + # This function should never return negative depths + pt_view[pt_view[:, 2] < 0] = np.nan + + pt_img = pt_view/pt_view[:, 2:3] + return pt_img.reshape(input_shape)[:, :2] + + +def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics): + camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)] + calib_frame_from_ground = np.dot(intrinsics, + get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)] + ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground) + camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame) + return camera_frame_from_calib_frame diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp new file mode 100644 index 000000000..f5ba0d3fe --- /dev/null +++ b/common/transformations/coordinates.hpp @@ -0,0 +1,41 @@ +#pragma once + +#define DEG2RAD(x) ((x) * M_PI / 180.0) +#define RAD2DEG(x) ((x) * 180.0 / M_PI) + +struct ECEF { + double x, y, z; + Eigen::Vector3d to_vector(){ + return Eigen::Vector3d(x, y, z); + } +}; + +struct NED { + double n, e, d; + Eigen::Vector3d to_vector(){ + return Eigen::Vector3d(n, e, d); + } +}; + +struct Geodetic { + double lat, lon, alt; + bool radians=false; +}; + +ECEF geodetic2ecef(Geodetic g); +Geodetic ecef2geodetic(ECEF e); + +class LocalCoord { +public: + Eigen::Matrix3d ned2ecef_matrix; + Eigen::Matrix3d ecef2ned_matrix; + Eigen::Vector3d init_ecef; + LocalCoord(Geodetic g, ECEF e); + LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {} + LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {} + + NED ecef2ned(ECEF e); + ECEF ned2ecef(NED n); + NED geodetic2ned(Geodetic g); + Geodetic ned2geodetic(NED n); +}; diff --git a/common/transformations/coordinates.py b/common/transformations/coordinates.py new file mode 100644 index 000000000..46cc0ded0 --- /dev/null +++ b/common/transformations/coordinates.py @@ -0,0 +1,19 @@ +# pylint: skip-file +from common.transformations.orientation import numpy_wrap +from common.transformations.transformations import (ecef2geodetic_single, + geodetic2ecef_single) +from common.transformations.transformations import LocalCoord as LocalCoord_single + + +class LocalCoord(LocalCoord_single): + ecef2ned = numpy_wrap(LocalCoord_single.ecef2ned_single, (3,), (3,)) + ned2ecef = numpy_wrap(LocalCoord_single.ned2ecef_single, (3,), (3,)) + geodetic2ned = numpy_wrap(LocalCoord_single.geodetic2ned_single, (3,), (3,)) + ned2geodetic = numpy_wrap(LocalCoord_single.ned2geodetic_single, (3,), (3,)) + + +geodetic2ecef = numpy_wrap(geodetic2ecef_single, (3,), (3,)) +ecef2geodetic = numpy_wrap(ecef2geodetic_single, (3,), (3,)) + +geodetic_from_ecef = ecef2geodetic +ecef_from_geodetic = geodetic2ecef diff --git a/common/transformations/model.py b/common/transformations/model.py new file mode 100644 index 000000000..62eb86423 --- /dev/null +++ b/common/transformations/model.py @@ -0,0 +1,166 @@ +import numpy as np + +from common.transformations.camera import (FULL_FRAME_SIZE, + FOCAL, + get_view_frame_from_road_frame, + get_view_frame_from_calib_frame, + vp_from_ke) + +# segnet +SEGNET_SIZE = (512, 384) + +def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE): + return np.array([[float(segnet_size[0]) / full_frame_size[0], 0.0], + [0.0, float(segnet_size[1]) / full_frame_size[1]]]) +segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx + +# model +MODEL_INPUT_SIZE = (320, 160) +MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2) +MODEL_CX = MODEL_INPUT_SIZE[0] / 2. +MODEL_CY = 21. + +model_fl = 728.0 +model_height = 1.22 + +# canonical model transform +model_intrinsics = np.array([ + [model_fl, 0.0, MODEL_CX], + [0.0, model_fl, MODEL_CY], + [0.0, 0.0, 1.0]]) + + +# MED model +MEDMODEL_INPUT_SIZE = (512, 256) +MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2) +MEDMODEL_CY = 47.6 + +medmodel_fl = 910.0 +medmodel_intrinsics = np.array([ + [medmodel_fl, 0.0, 0.5 * MEDMODEL_INPUT_SIZE[0]], + [0.0, medmodel_fl, MEDMODEL_CY], + [0.0, 0.0, 1.0]]) + + +# BIG model +BIGMODEL_INPUT_SIZE = (1024, 512) +BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2) + +bigmodel_fl = 910.0 +bigmodel_intrinsics = np.array([ + [bigmodel_fl, 0.0, 0.5 * BIGMODEL_INPUT_SIZE[0]], + [0.0, bigmodel_fl, 256 + MEDMODEL_CY], + [0.0, 0.0, 1.0]]) + + +# SBIG model (big model with the size of small model) +SBIGMODEL_INPUT_SIZE = (512, 256) +SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2) + +sbigmodel_fl = 455.0 +sbigmodel_intrinsics = np.array([ + [sbigmodel_fl, 0.0, 0.5 * SBIGMODEL_INPUT_SIZE[0]], + [0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)], + [0.0, 0.0, 1.0]]) + +model_frame_from_road_frame = np.dot(model_intrinsics, + get_view_frame_from_road_frame(0, 0, 0, model_height)) + +bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics, + get_view_frame_from_road_frame(0, 0, 0, model_height)) + +bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics, + get_view_frame_from_calib_frame(0, 0, 0, 0)) + +sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics, + get_view_frame_from_road_frame(0, 0, 0, model_height)) + +sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics, + get_view_frame_from_calib_frame(0, 0, 0, 0)) + +medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics, + get_view_frame_from_road_frame(0, 0, 0, model_height)) + +medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics, + get_view_frame_from_calib_frame(0, 0, 0, 0)) + +model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics)) +medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics)) + + +# 'camera from model camera' +def get_model_height_transform(camera_frame_from_road_frame, height): + camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([ + [1, 0, 0], + [0, 1, 0], + [0, 0, 0], + [0, 0, 1], + ])) + + camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([ + [1, 0, 0], + [0, 1, 0], + [0, 0, height - model_height], + [0, 0, 1], + ])) + + road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high) + high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame) + + return high_camera_from_low_camera + + +# camera_frame_from_model_frame aka 'warp matrix' +# was: calibration.h/CalibrationTransform +def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL): + vp = vp_from_ke(camera_frame_from_road_frame) + + model_zoom = camera_fl / model_fl + model_camera_from_model_frame = np.array([ + [model_zoom, 0.0, vp[0] - MODEL_CX * model_zoom], + [0.0, model_zoom, vp[1] - MODEL_CY * model_zoom], + [0.0, 0.0, 1.0], + ]) + + # This function is super slow, so skip it if height is very close to canonical + # TODO: speed it up! + if abs(height - model_height) > 0.001: + camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height) + else: + camera_from_model_camera = np.eye(3) + + return np.dot(camera_from_model_camera, model_camera_from_model_frame) + + +def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame): + camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)] + medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)] + + ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground) + camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame) + + return camera_frame_from_medmodel_frame + + +def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame): + camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)] + bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)] + + ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground) + camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame) + + return camera_frame_from_bigmodel_frame + + +def get_model_frame(snu_full, camera_frame_from_model_frame, size): + idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]), + np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(), + np.ones(size[0] * size[1])]).T).T.astype(int) + calib_flat = snu_full[idxs[:, 1], idxs[:, 0]] + if len(snu_full.shape) == 3: + calib = calib_flat.reshape((size[1], size[0], 3)) + elif len(snu_full.shape) == 2: + calib = calib_flat.reshape((size[1], size[0])) + else: + raise ValueError("shape of input img is weird") + return calib diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp new file mode 100644 index 000000000..ebd7da0ae --- /dev/null +++ b/common/transformations/orientation.hpp @@ -0,0 +1,17 @@ +#pragma once +#include +#include "coordinates.hpp" + + +Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat); + +Eigen::Quaterniond euler2quat(Eigen::Vector3d euler); +Eigen::Vector3d quat2euler(Eigen::Quaterniond quat); +Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat); +Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot); +Eigen::Matrix3d euler2rot(Eigen::Vector3d euler); +Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot); +Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw); +Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle); +Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose); +Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose); diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py new file mode 100644 index 000000000..134442b62 --- /dev/null +++ b/common/transformations/orientation.py @@ -0,0 +1,53 @@ +# pylint: skip-file +import numpy as np +from typing import Callable + +from common.transformations.transformations import (ecef_euler_from_ned_single, + euler2quat_single, + euler2rot_single, + ned_euler_from_ecef_single, + quat2euler_single, + quat2rot_single, + rot2euler_single, + rot2quat_single) + + +def numpy_wrap(function, input_shape, output_shape) -> Callable[..., np.ndarray]: + """Wrap a function to take either an input or list of inputs and return the correct shape""" + def f(*inps): + *args, inp = inps + inp = np.array(inp) + shape = inp.shape + + if len(shape) == len(input_shape): + out_shape = output_shape + else: + out_shape = (shape[0],) + output_shape + + # Add empty dimension if inputs is not a list + if len(shape) == len(input_shape): + inp.shape = (1, ) + inp.shape + + result = np.asarray([function(*args, i) for i in inp]) + result.shape = out_shape + return result + return f + + +euler2quat = numpy_wrap(euler2quat_single, (3,), (4,)) +quat2euler = numpy_wrap(quat2euler_single, (4,), (3,)) +quat2rot = numpy_wrap(quat2rot_single, (4,), (3, 3)) +rot2quat = numpy_wrap(rot2quat_single, (3, 3), (4,)) +euler2rot = numpy_wrap(euler2rot_single, (3,), (3, 3)) +rot2euler = numpy_wrap(rot2euler_single, (3, 3), (3,)) +ecef_euler_from_ned = numpy_wrap(ecef_euler_from_ned_single, (3,), (3,)) +ned_euler_from_ecef = numpy_wrap(ned_euler_from_ecef_single, (3,), (3,)) + +quats_from_rotations = rot2quat +quat_from_rot = rot2quat +rotations_from_quats = quat2rot +rot_from_quat = quat2rot +euler_from_rot = rot2euler +euler_from_quat = quat2euler +rot_from_euler = euler2rot +quat_from_euler = euler2quat diff --git a/common/transformations/transformations.cpp b/common/transformations/transformations.cpp new file mode 100644 index 000000000..4080d4a8b --- /dev/null +++ b/common/transformations/transformations.cpp @@ -0,0 +1,10462 @@ +/* Generated by Cython 0.29.26 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "common/transformations/coordinates.cc", + "common/transformations/coordinates.hpp", + "common/transformations/orientation.cc", + "common/transformations/orientation.hpp" + ], + "include_dirs": [ + "common/transformations", + "./common/transformations" + ], + "language": "c++", + "name": "common.transformations.transformations", + "sources": [ + "/data/openpilot/common/transformations/transformations.pyx" + ] + }, + "module_name": "common.transformations.transformations" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define 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#error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(U other) { return *ptr == other; } + template bool operator !=(U other) { return *ptr != other; } + private: + T *ptr; +}; + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__common__transformations__transformations +#define __PYX_HAVE_API__common__transformations__transformations +/* Early includes */ +#include "orientation.cc" +#include "orientation.hpp" +#include "coordinates.cc" +#include "coordinates.hpp" +#include +#include +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" + + /* NumPy API declarations from "numpy/__init__.pxd" */ + +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +static PyObject *__pyx_m = NULL; +static PyObject *__pyx_d; +static PyObject *__pyx_b; +static PyObject *__pyx_cython_runtime = NULL; +static PyObject *__pyx_empty_tuple; +static PyObject *__pyx_empty_bytes; +static PyObject *__pyx_empty_unicode; +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm= __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif defined(_Complex_I) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + + +static const char *__pyx_f[] = { + "stringsource", + "common/transformations/transformations.pyx", + "__init__.pxd", + "type.pxd", +}; +/* BufferFormatStructs.proto */ +#define IS_UNSIGNED(type) (((type) -1) > 0) +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":690 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":691 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":692 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":693 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":697 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":698 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":699 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":700 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":704 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":705 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":714 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong long_t + * ctypedef npy_longlong longlong_t + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":715 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong long_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_longlong __pyx_t_5numpy_long_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":716 + * ctypedef npy_long int_t + * ctypedef npy_longlong long_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":718 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulong_t + * ctypedef npy_ulonglong ulonglong_t + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":719 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulong_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulonglong __pyx_t_5numpy_ulong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":720 + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulong_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":722 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":723 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":725 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":726 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":727 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; 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+ +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":730 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":731 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":733 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "common/transformations/transformations.pyx":115 + * + * + * cdef class LocalCoord: # <<<<<<<<<<<<<< + * cdef LocalCoord_c * lc + * + */ +struct __pyx_obj_6common_15transformations_15transformations_LocalCoord { + PyObject_HEAD + LocalCoord *lc; 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r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); 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+#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* WriteUnraisableException.proto */ +static void __Pyx_WriteUnraisable(const char *name, int clineno, + int lineno, const char *filename, + int full_traceback, int nogil); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* SetupReduce.proto */ +static int __Pyx_setup_reduce(PyObject* type_obj); + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto +#define __PYX_HAVE_RT_ImportType_proto +enum __Pyx_ImportType_CheckSize { + __Pyx_ImportType_CheckSize_Error = 0, + __Pyx_ImportType_CheckSize_Warn = 1, + __Pyx_ImportType_CheckSize_Ignore = 2 +}; +static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ClassMethod.proto */ +#include "descrobject.h" +static CYTHON_UNUSED PyObject* __Pyx_Method_ClassMethod(PyObject *method); + +/* GetNameInClass.proto */ +#define __Pyx_GetNameInClass(var, nmspace, name) (var) = __Pyx__GetNameInClass(nmspace, name) +static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + + +/* Module declarations from 'libcpp' */ + +/* Module declarations from 'cython' */ + +/* Module declarations from 'cpython.buffer' */ + +/* Module declarations from 'libc.string' */ + +/* Module declarations from 'libc.stdio' */ + +/* Module declarations from '__builtin__' */ + +/* Module declarations from 'cpython.type' */ +static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; + +/* Module declarations from 'cpython' */ + +/* Module declarations from 'cpython.object' */ + +/* Module declarations from 'cpython.ref' */ + +/* Module declarations from 'cpython.mem' */ + +/* Module declarations from 'numpy' */ + +/* Module declarations from 'numpy' */ +static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; +static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; +static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; +static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; +static PyTypeObject *__pyx_ptype_5numpy_generic = 0; +static PyTypeObject *__pyx_ptype_5numpy_number = 0; +static PyTypeObject *__pyx_ptype_5numpy_integer = 0; +static PyTypeObject *__pyx_ptype_5numpy_signedinteger = 0; +static PyTypeObject *__pyx_ptype_5numpy_unsignedinteger = 0; +static PyTypeObject *__pyx_ptype_5numpy_inexact = 0; +static PyTypeObject *__pyx_ptype_5numpy_floating = 0; +static PyTypeObject *__pyx_ptype_5numpy_complexfloating = 0; +static PyTypeObject *__pyx_ptype_5numpy_flexible = 0; +static PyTypeObject *__pyx_ptype_5numpy_character = 0; +static PyTypeObject *__pyx_ptype_5numpy_ufunc = 0; + +/* Module declarations from 'common.transformations.transformations' */ +static PyTypeObject *__pyx_ptype_6common_15transformations_15transformations_LocalCoord = 0; +static PyArrayObject *__pyx_f_6common_15transformations_15transformations_matrix2numpy(Eigen::Matrix3d); /*proto*/ +static Eigen::Matrix3d __pyx_f_6common_15transformations_15transformations_numpy2matrix(PyArrayObject *); /*proto*/ +static struct ECEF __pyx_f_6common_15transformations_15transformations_list2ecef(PyObject *); /*proto*/ +static struct NED __pyx_f_6common_15transformations_15transformations_list2ned(PyObject *); /*proto*/ +static struct Geodetic __pyx_f_6common_15transformations_15transformations_list2geodetic(PyObject *); /*proto*/ +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +#define __Pyx_MODULE_NAME "common.transformations.transformations" +extern int __pyx_module_is_main_common__transformations__transformations; +int __pyx_module_is_main_common__transformations__transformations = 0; + +/* Implementation of 'common.transformations.transformations' */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_ImportError; +static const char __pyx_k_e[] = "e"; +static const char __pyx_k_g[] = "g"; +static const char __pyx_k_q[] = "q"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k_np[] = "np"; +static const char __pyx_k_rot[] = "rot"; +static const char __pyx_k_yaw[] = "yaw"; +static const char __pyx_k_ecef[] = "ecef"; +static const char __pyx_k_init[] = "init"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_pose[] = "pose"; +static const char __pyx_k_quat[] = "quat"; +static const char __pyx_k_roll[] = "roll"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_array[] = "array"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_euler[] = "euler"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_pitch[] = "pitch"; +static const char __pyx_k_double[] = "double"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_geodetic[] = "geodetic"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_ned_pose[] = "ned_pose"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_ecef_init[] = "ecef_init"; +static const char __pyx_k_ecef_pose[] = "ecef_pose"; +static const char __pyx_k_from_ecef[] = "from_ecef"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_LocalCoord[] = "LocalCoord"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_from_geodetic[] = "from_geodetic"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_asfortranarray[] = "asfortranarray"; +static const char __pyx_k_ecef2ned_matrix[] = "ecef2ned_matrix"; +static const char __pyx_k_ned2ecef_matrix[] = "ned2ecef_matrix"; +static const char __pyx_k_quat2rot_single[] = "quat2rot_single"; +static const char __pyx_k_rot2quat_single[] = "rot2quat_single"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_euler2rot_single[] = "euler2rot_single"; +static const char __pyx_k_rot2euler_single[] = "rot2euler_single"; +static const char __pyx_k_euler2quat_single[] = "euler2quat_single"; +static const char __pyx_k_quat2euler_single[] = "quat2euler_single"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_ecef2geodetic_single[] = "ecef2geodetic_single"; +static const char __pyx_k_geodetic2ecef_single[] = "geodetic2ecef_single"; +static const char __pyx_k_ecef_euler_from_ned_single[] = "ecef_euler_from_ned_single"; +static const char __pyx_k_ned_euler_from_ecef_single[] = "ned_euler_from_ecef_single"; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_common_transformations_transform[] = "common/transformations/transformations.pyx"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_self_lc_cannot_be_converted_to_a[] = "self.lc cannot be converted to a Python object for pickling"; +static const char __pyx_k_common_transformations_transform_2[] = "common.transformations.transformations"; +static PyObject *__pyx_n_s_ImportError; +static PyObject *__pyx_n_s_LocalCoord; +static PyObject *__pyx_n_s_TypeError; +static PyObject *__pyx_n_s_array; +static PyObject *__pyx_n_s_asfortranarray; +static PyObject *__pyx_n_s_cline_in_traceback; +static PyObject *__pyx_kp_s_common_transformations_transform; +static PyObject *__pyx_n_s_common_transformations_transform_2; +static PyObject *__pyx_n_s_double; +static PyObject *__pyx_n_s_dtype; +static PyObject *__pyx_n_s_e; +static PyObject *__pyx_n_s_ecef; +static PyObject *__pyx_n_s_ecef2geodetic_single; +static PyObject *__pyx_n_s_ecef2ned_matrix; +static PyObject *__pyx_n_s_ecef_euler_from_ned_single; +static PyObject *__pyx_n_s_ecef_init; +static PyObject *__pyx_n_s_ecef_pose; +static PyObject *__pyx_n_s_euler; +static PyObject *__pyx_n_s_euler2quat_single; +static PyObject *__pyx_n_s_euler2rot_single; +static PyObject *__pyx_n_s_from_ecef; +static PyObject *__pyx_n_s_from_geodetic; +static PyObject *__pyx_n_s_g; +static PyObject *__pyx_n_s_geodetic; +static PyObject *__pyx_n_s_geodetic2ecef_single; +static PyObject *__pyx_n_s_getstate; +static PyObject *__pyx_n_s_import; +static PyObject *__pyx_n_s_init; +static PyObject *__pyx_n_s_main; +static PyObject *__pyx_n_s_name; +static PyObject *__pyx_n_s_ned2ecef_matrix; +static PyObject *__pyx_n_s_ned_euler_from_ecef_single; +static PyObject *__pyx_n_s_ned_pose; +static PyObject *__pyx_n_s_np; +static PyObject *__pyx_n_s_numpy; +static PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; +static PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; +static PyObject *__pyx_n_s_pitch; +static PyObject *__pyx_n_s_pose; +static PyObject *__pyx_n_s_q; +static PyObject *__pyx_n_s_quat; +static PyObject *__pyx_n_s_quat2euler_single; +static PyObject *__pyx_n_s_quat2rot_single; +static PyObject *__pyx_n_s_r; +static PyObject *__pyx_n_s_reduce; +static PyObject *__pyx_n_s_reduce_cython; +static PyObject *__pyx_n_s_reduce_ex; +static PyObject *__pyx_n_s_roll; +static PyObject *__pyx_n_s_rot; +static PyObject *__pyx_n_s_rot2euler_single; +static PyObject *__pyx_n_s_rot2quat_single; +static PyObject *__pyx_kp_s_self_lc_cannot_be_converted_to_a; +static PyObject *__pyx_n_s_setstate; +static PyObject *__pyx_n_s_setstate_cython; +static PyObject *__pyx_n_s_test; +static PyObject *__pyx_n_s_yaw; +static PyObject *__pyx_pf_6common_15transformations_15transformations_euler2quat_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_euler); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_2quat2euler_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_quat); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_4quat2rot_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_quat); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_6rot2quat_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_rot); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_8euler2rot_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_euler); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10rot2euler_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_rot); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_12rot_matrix(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_roll, PyObject *__pyx_v_pitch, PyObject *__pyx_v_yaw); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_14ecef_euler_from_ned_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_ecef_init, PyObject *__pyx_v_ned_pose); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_16ned_euler_from_ecef_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_ecef_init, PyObject *__pyx_v_ecef_pose); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_18geodetic2ecef_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_geodetic); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_20ecef2geodetic_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_ecef); 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+ if (unlikely(!result)) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* PyCFunctionFastCall */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); + } else { + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); + } +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { + return NULL; + } + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); + } + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); + } + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; +} + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallOneArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); + } +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (__Pyx_PyFastCFunction_Check(func)) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } + } + return __Pyx__PyObject_CallOneArg(func, arg); +} +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +#endif + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", + Py_TYPE(obj)->tp_name, type->tp_name); + return 0; +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparseable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static PyObject * +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) + return PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + if (*ts != ',' && *ts != ')') + return PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + if (*ts == ',') ts++; + i++; + } + if (i != ndim) + return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return NULL; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return Py_None; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* PyErrFetchRestore */ + #if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +} +#endif + +/* WriteUnraisableException */ + static void __Pyx_WriteUnraisable(const char *name, CYTHON_UNUSED int clineno, + CYTHON_UNUSED int lineno, CYTHON_UNUSED const char *filename, + int full_traceback, CYTHON_UNUSED int nogil) { + PyObject *old_exc, *old_val, *old_tb; + PyObject *ctx; + __Pyx_PyThreadState_declare +#ifdef WITH_THREAD + PyGILState_STATE state; + if (nogil) + state = PyGILState_Ensure(); +#ifdef _MSC_VER + else state = (PyGILState_STATE)-1; +#endif +#endif + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&old_exc, &old_val, &old_tb); + if (full_traceback) { + Py_XINCREF(old_exc); + Py_XINCREF(old_val); + Py_XINCREF(old_tb); + __Pyx_ErrRestore(old_exc, old_val, old_tb); + PyErr_PrintEx(1); + } + #if PY_MAJOR_VERSION < 3 + ctx = PyString_FromString(name); + #else + ctx = PyUnicode_FromString(name); + #endif + __Pyx_ErrRestore(old_exc, old_val, old_tb); + if (!ctx) { + PyErr_WriteUnraisable(Py_None); + } else { + PyErr_WriteUnraisable(ctx); + Py_DECREF(ctx); + } +#ifdef WITH_THREAD + if (nogil) + PyGILState_Release(state); +#endif +} + +/* GetItemInt */ + static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (!j) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; + if (likely(m && m->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { + Py_ssize_t l = m->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return m->sq_item(o, i); + } + } +#else + if (is_list || PySequence_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* RaiseArgTupleInvalid */ + static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* RaiseDoubleKeywords */ + static void __Pyx_RaiseDoubleKeywordsError( + const char* func_name, + PyObject* kw_name) +{ + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION >= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ + static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + while (PyDict_Next(kwds, &pos, &key, &value)) { + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; + continue; + } + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = (**name == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + return -1; +} + +/* RaiseException */ + #if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* GetTopmostException */ + #if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ + #if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + #endif + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +#endif + +/* PyErrExceptionMatches */ + #if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); +} +#endif + +/* GetException */ + #if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type, *local_value, *local_tb; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* PyObject_GenericGetAttrNoDict */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ + static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +} + +/* SetupReduce */ + static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType +#define __PYX_HAVE_RT_ImportType +static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, + size_t size, enum __Pyx_ImportType_CheckSize check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; +#ifdef Py_LIMITED_API + PyObject *py_basicsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#ifndef Py_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if ((size_t)basicsize < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* Import */ + static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *empty_list = 0; + PyObject *module = 0; + PyObject *global_dict = 0; + PyObject *empty_dict = 0; + PyObject *list; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (!py_import) + goto bad; + #endif + if (from_list) + list = from_list; + else { + empty_list = PyList_New(0); + if (!empty_list) + goto bad; + list = empty_list; + } + global_dict = PyModule_GetDict(__pyx_m); + if (!global_dict) + goto bad; + empty_dict = PyDict_New(); + if (!empty_dict) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, 1); + if (!module) { + if (!PyErr_ExceptionMatches(PyExc_ImportError)) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (!py_level) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, level); + #endif + } + } +bad: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + Py_XDECREF(empty_list); + Py_XDECREF(empty_dict); + return module; +} + +/* ClassMethod */ + static PyObject* __Pyx_Method_ClassMethod(PyObject *method) { +#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM <= 0x05080000 + if (PyObject_TypeCheck(method, &PyWrapperDescr_Type)) { + return PyClassMethod_New(method); + } +#else +#if CYTHON_COMPILING_IN_PYSTON || CYTHON_COMPILING_IN_PYPY + if (PyMethodDescr_Check(method)) +#else + #if PY_MAJOR_VERSION == 2 + static PyTypeObject *methoddescr_type = NULL; + if (methoddescr_type == NULL) { + PyObject *meth = PyObject_GetAttrString((PyObject*)&PyList_Type, "append"); + if (!meth) return NULL; + methoddescr_type = Py_TYPE(meth); + Py_DECREF(meth); + } + #else + PyTypeObject *methoddescr_type = &PyMethodDescr_Type; + #endif + if (__Pyx_TypeCheck(method, methoddescr_type)) +#endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject *)method; + #if PY_VERSION_HEX < 0x03020000 + PyTypeObject *d_type = descr->d_type; + #else + PyTypeObject *d_type = descr->d_common.d_type; + #endif + return PyDescr_NewClassMethod(d_type, descr->d_method); + } +#endif + else if (PyMethod_Check(method)) { + return PyClassMethod_New(PyMethod_GET_FUNCTION(method)); + } + else { + return PyClassMethod_New(method); + } +} + +/* GetNameInClass */ + static PyObject *__Pyx_GetGlobalNameAfterAttributeLookup(PyObject *name) { + PyObject *result; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + __Pyx_GetModuleGlobalNameUncached(result, name); + return result; +} +static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name) { + PyObject *result; + result = __Pyx_PyObject_GetAttrStr(nmspace, name); + if (!result) { + result = __Pyx_GetGlobalNameAfterAttributeLookup(name); + } + return result; +} + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* Declarations */ + #if CYTHON_CCOMPLEX + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if (b.imag == 0) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if (b.imag == 0) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ + #if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; ip) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd new file mode 100644 index 000000000..7af009870 --- /dev/null +++ b/common/transformations/transformations.pxd @@ -0,0 +1,72 @@ +#cython: language_level=3 +from libcpp cimport bool + +cdef extern from "orientation.cc": + pass + +cdef extern from "orientation.hpp": + cdef cppclass Quaternion "Eigen::Quaterniond": + Quaternion() + Quaternion(double, double, double, double) + double w() + double x() + double y() + double z() + + cdef cppclass Vector3 "Eigen::Vector3d": + Vector3() + Vector3(double, double, double) + double operator()(int) + + cdef cppclass Matrix3 "Eigen::Matrix3d": + Matrix3() + Matrix3(double*) + + double operator()(int, int) + + Quaternion euler2quat(Vector3) + Vector3 quat2euler(Quaternion) + Matrix3 quat2rot(Quaternion) + Quaternion rot2quat(Matrix3) + Vector3 rot2euler(Matrix3) + Matrix3 euler2rot(Vector3) + Matrix3 rot_matrix(double, double, double) + Vector3 ecef_euler_from_ned(ECEF, Vector3) + Vector3 ned_euler_from_ecef(ECEF, Vector3) + + +cdef extern from "coordinates.cc": + cdef struct ECEF: + double x + double y + double z + + cdef struct NED: + double n + double e + double d + + cdef struct Geodetic: + double lat + double lon + double alt + bool radians + + ECEF geodetic2ecef(Geodetic) + Geodetic ecef2geodetic(ECEF) + + cdef cppclass LocalCoord_c "LocalCoord": + Matrix3 ned2ecef_matrix + Matrix3 ecef2ned_matrix + + LocalCoord_c(Geodetic, ECEF) + LocalCoord_c(Geodetic) + LocalCoord_c(ECEF) + + NED ecef2ned(ECEF) + ECEF ned2ecef(NED) + NED geodetic2ned(Geodetic) + Geodetic ned2geodetic(NED) + +cdef extern from "coordinates.hpp": + pass diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx new file mode 100644 index 000000000..ce80d90d2 --- /dev/null +++ b/common/transformations/transformations.pyx @@ -0,0 +1,174 @@ +# distutils: language = c++ +# cython: language_level = 3 +from common.transformations.transformations cimport Matrix3, Vector3, Quaternion +from common.transformations.transformations cimport ECEF, NED, Geodetic + +from common.transformations.transformations cimport euler2quat as euler2quat_c +from common.transformations.transformations cimport quat2euler as quat2euler_c +from common.transformations.transformations cimport quat2rot as quat2rot_c +from common.transformations.transformations cimport rot2quat as rot2quat_c +from common.transformations.transformations cimport euler2rot as euler2rot_c +from common.transformations.transformations cimport rot2euler as rot2euler_c +from common.transformations.transformations cimport rot_matrix as rot_matrix_c +from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c +from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c +from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c +from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c +from common.transformations.transformations cimport LocalCoord_c + + +import cython +import numpy as np +cimport numpy as np + +cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m): + return np.array([ + [m(0, 0), m(0, 1), m(0, 2)], + [m(1, 0), m(1, 1), m(1, 2)], + [m(2, 0), m(2, 1), m(2, 2)], + ]) + +cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m): + assert m.shape[0] == 3 + assert m.shape[1] == 3 + return Matrix3(m.data) + +cdef ECEF list2ecef(ecef): + cdef ECEF e; + e.x = ecef[0] + e.y = ecef[1] + e.z = ecef[2] + return e + +cdef NED list2ned(ned): + cdef NED n; + n.n = ned[0] + n.e = ned[1] + n.d = ned[2] + return n + +cdef Geodetic list2geodetic(geodetic): + cdef Geodetic g + g.lat = geodetic[0] + g.lon = geodetic[1] + g.alt = geodetic[2] + return g + +def euler2quat_single(euler): + cdef Vector3 e = Vector3(euler[0], euler[1], euler[2]) + cdef Quaternion q = euler2quat_c(e) + return [q.w(), q.x(), q.y(), q.z()] + +def quat2euler_single(quat): + cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3]) + cdef Vector3 e = quat2euler_c(q); + return [e(0), e(1), e(2)] + +def quat2rot_single(quat): + cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3]) + cdef Matrix3 r = quat2rot_c(q) + return matrix2numpy(r) + +def rot2quat_single(rot): + cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double)) + cdef Quaternion q = rot2quat_c(r) + return [q.w(), q.x(), q.y(), q.z()] + +def euler2rot_single(euler): + cdef Vector3 e = Vector3(euler[0], euler[1], euler[2]) + cdef Matrix3 r = euler2rot_c(e) + return matrix2numpy(r) + +def rot2euler_single(rot): + cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double)) + cdef Vector3 e = rot2euler_c(r) + return [e(0), e(1), e(2)] + +def rot_matrix(roll, pitch, yaw): + return matrix2numpy(rot_matrix_c(roll, pitch, yaw)) + +def ecef_euler_from_ned_single(ecef_init, ned_pose): + cdef ECEF init = list2ecef(ecef_init) + cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2]) + + cdef Vector3 e = ecef_euler_from_ned_c(init, pose) + return [e(0), e(1), e(2)] + +def ned_euler_from_ecef_single(ecef_init, ecef_pose): + cdef ECEF init = list2ecef(ecef_init) + cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2]) + + cdef Vector3 e = ned_euler_from_ecef_c(init, pose) + return [e(0), e(1), e(2)] + +def geodetic2ecef_single(geodetic): + cdef Geodetic g = list2geodetic(geodetic) + cdef ECEF e = geodetic2ecef_c(g) + return [e.x, e.y, e.z] + +def ecef2geodetic_single(ecef): + cdef ECEF e = list2ecef(ecef) + cdef Geodetic g = ecef2geodetic_c(e) + return [g.lat, g.lon, g.alt] + + +cdef class LocalCoord: + cdef LocalCoord_c * lc + + def __init__(self, geodetic=None, ecef=None): + assert (geodetic is not None) or (ecef is not None) + if geodetic is not None: + self.lc = new LocalCoord_c(list2geodetic(geodetic)) + elif ecef is not None: + self.lc = new LocalCoord_c(list2ecef(ecef)) + + @property + def ned2ecef_matrix(self): + return matrix2numpy(self.lc.ned2ecef_matrix) + + @property + def ecef2ned_matrix(self): + return matrix2numpy(self.lc.ecef2ned_matrix) + + @property + def ned_from_ecef_matrix(self): + return self.ecef2ned_matrix + + @property + def ecef_from_ned_matrix(self): + return self.ned2ecef_matrix + + @classmethod + def from_geodetic(cls, geodetic): + return cls(geodetic=geodetic) + + @classmethod + def from_ecef(cls, ecef): + return cls(ecef=ecef) + + def ecef2ned_single(self, ecef): + assert self.lc + cdef ECEF e = list2ecef(ecef) + cdef NED n = self.lc.ecef2ned(e) + return [n.n, n.e, n.d] + + def ned2ecef_single(self, ned): + assert self.lc + cdef NED n = list2ned(ned) + cdef ECEF e = self.lc.ned2ecef(n) + return [e.x, e.y, e.z] + + def geodetic2ned_single(self, geodetic): + assert self.lc + cdef Geodetic g = list2geodetic(geodetic) + cdef NED n = self.lc.geodetic2ned(g) + return [n.n, n.e, n.d] + + def ned2geodetic_single(self, ned): + assert self.lc + cdef NED n = list2ned(ned) + cdef Geodetic g = self.lc.ned2geodetic(n) + return [g.lat, g.lon, g.alt] + + def __dealloc__(self): + del self.lc diff --git a/common/transformations/transformations.so b/common/transformations/transformations.so new file mode 100755 index 000000000..dd810f7f0 Binary files /dev/null and b/common/transformations/transformations.so differ diff --git a/common/util.h b/common/util.h new file mode 100644 index 000000000..f3a24723b --- /dev/null +++ b/common/util.h @@ -0,0 +1,200 @@ +#pragma once + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// keep trying if x gets interrupted by a signal +#define HANDLE_EINTR(x) \ + ({ \ + decltype(x) ret_; \ + int try_cnt = 0; \ + do { \ + ret_ = (x); \ + } while (ret_ == -1 && errno == EINTR && try_cnt++ < 100); \ + ret_; \ + }) + +#ifndef sighandler_t +typedef void (*sighandler_t)(int sig); +#endif + +const double MILE_TO_KM = 1.609344; +const double KM_TO_MILE = 1. / MILE_TO_KM; +const double MS_TO_KPH = 3.6; +const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE; +const double METER_TO_MILE = KM_TO_MILE / 1000.0; +const double METER_TO_FOOT = 3.28084; + +namespace util { + +void set_thread_name(const char* name); +int set_realtime_priority(int level); +int set_core_affinity(std::vector cores); + +// ***** Time helpers ***** +struct tm get_time(); +bool time_valid(struct tm sys_time); + +// ***** math helpers ***** + +// map x from [a1, a2] to [b1, b2] +template +T map_val(T x, T a1, T a2, T b1, T b2) { + x = std::clamp(x, a1, a2); + T ra = a2 - a1; + T rb = b2 - b1; + return (x - a1) * rb / ra + b1; +} + +// ***** string helpers ***** + +template +std::string string_format(const std::string& format, Args... args) { + size_t size = snprintf(nullptr, 0, format.c_str(), args...) + 1; + std::unique_ptr buf(new char[size]); + snprintf(buf.get(), size, format.c_str(), args...); + return std::string(buf.get(), buf.get() + size - 1); +} + +std::string getenv(const char* key, const char* default_val = ""); +int getenv(const char* key, int default_val); +float getenv(const char* key, float default_val); + +std::string hexdump(const uint8_t* in, const size_t size); +std::string dir_name(std::string const& path); + +// **** file fhelpers ***** +std::string read_file(const std::string& fn); +std::map read_files_in_dir(const std::string& path); +int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664); + +FILE* safe_fopen(const char* filename, const char* mode); +size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream); +int safe_fflush(FILE *stream); + +std::string readlink(const std::string& path); +bool file_exists(const std::string& fn); +bool create_directories(const std::string &dir, mode_t mode); + +std::string check_output(const std::string& command); + +inline void sleep_for(const int milliseconds) { + if (milliseconds > 0) { + std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds)); + } +} + +} // namespace util + +class ExitHandler { +public: + ExitHandler() { + std::signal(SIGINT, (sighandler_t)set_do_exit); + std::signal(SIGTERM, (sighandler_t)set_do_exit); + +#ifndef __APPLE__ + std::signal(SIGPWR, (sighandler_t)set_do_exit); +#endif + }; + inline static std::atomic power_failure = false; + inline static std::atomic signal = 0; + inline operator bool() { return do_exit; } + inline ExitHandler& operator=(bool v) { + signal = 0; + do_exit = v; + return *this; + } +private: + static void set_do_exit(int sig) { +#ifndef __APPLE__ + power_failure = (sig == SIGPWR); +#endif + signal = sig; + do_exit = true; + } + inline static std::atomic do_exit = false; +}; + +struct unique_fd { + unique_fd(int fd = -1) : fd_(fd) {} + unique_fd& operator=(unique_fd&& uf) { + fd_ = uf.fd_; + uf.fd_ = -1; + return *this; + } + ~unique_fd() { + if (fd_ != -1) close(fd_); + } + operator int() const { return fd_; } + int fd_; +}; + +class FirstOrderFilter { +public: + FirstOrderFilter(float x0, float ts, float dt) { + k_ = (dt / ts) / (1.0 + dt / ts); + x_ = x0; + } + inline float update(float x) { + x_ = (1. - k_) * x_ + k_ * x; + return x_; + } + inline void reset(float x) { x_ = x; } + inline float x(){ return x_; } + +private: + float x_, k_; +}; + +template +void update_max_atomic(std::atomic& max, T const& value) { + T prev = max; + while(prev < value && !max.compare_exchange_weak(prev, value)) {} +} + +class LogState { + public: + bool initialized = false; + std::mutex lock; + void *zctx = nullptr; + void *sock = nullptr; + int print_level; + const char* endpoint; + + LogState(const char* _endpoint) { + endpoint = _endpoint; + } + + inline void initialize() { + zctx = zmq_ctx_new(); + sock = zmq_socket(zctx, ZMQ_PUSH); + + // Timeout on shutdown for messages to be received by the logging process + int timeout = 100; + zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout)); + + zmq_connect(sock, endpoint); + initialized = true; + } + + ~LogState() { + if (initialized) { + zmq_close(sock); + zmq_ctx_destroy(zctx); + } + } +}; diff --git a/common/version.h b/common/version.h new file mode 100644 index 000000000..244acf702 --- /dev/null +++ b/common/version.h @@ -0,0 +1 @@ +#define COMMA_VERSION "2022.07.29" diff --git a/common/visionimg.h b/common/visionimg.h new file mode 100644 index 000000000..e8917f3bd --- /dev/null +++ b/common/visionimg.h @@ -0,0 +1,27 @@ +#pragma once + +#include "cereal/visionipc/visionbuf.h" + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#ifdef QCOM +#include +#define EGL_EGLEXT_PROTOTYPES +#include +#undef Status +#endif + +class EGLImageTexture { + public: + EGLImageTexture(const VisionBuf *buf); + ~EGLImageTexture(); + GLuint frame_tex = 0; +#ifdef QCOM + void *private_handle = nullptr; + EGLImageKHR img_khr = 0; +#endif +}; diff --git a/common/watchdog.h b/common/watchdog.h new file mode 100644 index 000000000..12dd2ca03 --- /dev/null +++ b/common/watchdog.h @@ -0,0 +1,5 @@ +#pragma once + +#include + +bool watchdog_kick(uint64_t ts); diff --git a/common/xattr.py b/common/xattr.py new file mode 100644 index 000000000..26616fd63 --- /dev/null +++ b/common/xattr.py @@ -0,0 +1,46 @@ +import os +from cffi import FFI +from typing import Any, List + +# Workaround for the EON/termux build of Python having os.*xattr removed. +ffi = FFI() +ffi.cdef(""" +int setxattr(const char *path, const char *name, const void *value, size_t size, int flags); +ssize_t getxattr(const char *path, const char *name, void *value, size_t size); +ssize_t listxattr(const char *path, char *list, size_t size); +int removexattr(const char *path, const char *name); +""") +libc = ffi.dlopen(None) + +def setxattr(path, name, value, flags=0) -> None: + path = path.encode() + name = name.encode() + if libc.setxattr(path, name, value, len(value), flags) == -1: + raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: setxattr({path}, {name}, {value}, {flags})") + +def getxattr(path, name, size=128): + path = path.encode() + name = name.encode() + value = ffi.new(f"char[{size}]") + l = libc.getxattr(path, name, value, size) + if l == -1: + # errno 61 means attribute hasn't been set + if ffi.errno == 61: + return None + raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})") + return ffi.buffer(value)[:l] + +def listxattr(path, size=128) -> List[Any]: + path = path.encode() + attrs = ffi.new(f"char[{size}]") + l = libc.listxattr(path, attrs, size) + if l == -1: + raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: listxattr({path}, {size})") + # attrs is b'\0' delimited values (so chop off trailing empty item) + return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]] + +def removexattr(path, name) -> None: + path = path.encode() + name = name.encode() + if libc.removexattr(path, name) == -1: + raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: removexattr({path}, {name})") diff --git a/docs/CARS.md b/docs/CARS.md new file mode 100644 index 000000000..c84008bd6 --- /dev/null +++ b/docs/CARS.md @@ -0,0 +1,274 @@ + + +# Supported Cars + +A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system. + +## How We Rate The Cars + +### Stop and Go +- [![star](assets/icon-star-full.svg)](##) - openpilot operates down to 0 mph. +- [![star](assets/icon-star-empty.svg)](##) - openpilot operates only above a minimum speed. See your car's manual for the minimum speed. + +### Steer to 0 +- [![star](assets/icon-star-full.svg)](##) - openpilot can control the steering wheel down to 0 mph. +- [![star](assets/icon-star-empty.svg)](##) - No steering control below certain speeds. See your car's manual for the minimum speed. + +### Steering Torque +- [![star](assets/icon-star-full.svg)](##) - Car has enough steering torque to comfortably take most highway turns. +- [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns. + + +# 196 Supported Cars + +|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque| +|---|---|---|:---:|:---:|:---:|:---:| +|Acura|ILX 2016-19|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Acura|RDX 2016-18|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Acura|RDX 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Audi|A3 2014-19|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Audi|Q2 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Audi|Q3 2020-21|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica 2019-20|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica 2021|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|comma|body|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Genesis|G70 2018-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Genesis|G70 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Genesis|G80 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Genesis|G90 2017-18|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Honda|Accord 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Accord Hybrid 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Civic 2016-18|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Civic 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)[2](#footnotes)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Civic 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Honda|Civic Hatchback 2017-21|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Civic Hatchback 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Honda|CR-V 2015-16|Touring|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|CR-V 2017-22|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|e 2020|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Fit 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Freed 2020|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|HR-V 2019-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Insight 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Inspire 2018|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Odyssey 2018-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Hyundai|Elantra 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Elantra 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Genesis 2015-16|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Electric 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Electric 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona Electric 2018-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona Hybrid 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Santa Fe 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Santa Fe Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Sonata 2018-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Tucson 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Tucson Diesel 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Veloster 2019-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Ceed 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|EV6 2022[3](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Forte 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Forte 2019-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|K5 2021-22|SCC|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Hybrid 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Hybrid 2022|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Optima 2017|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Optima 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Seltos 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Sorento 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Sorento 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Stinger 2018-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Telluride 2020|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|CT Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|ES Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Mazda|CX-9 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|Altima 2019-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|Leaf 2018-22|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|Rogue 2018-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|X-Trail 2017|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Ram|1500 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|SEAT|Ateca 2018|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|SEAT|Leon 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Ascent 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Crosstrek 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Subaru|Crosstrek 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Impreza 2017-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Kamiq 2021[6](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Scala 2020|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[5](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[5](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[5](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius v 2017|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon 2018-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon eHybrid 2020-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon R 2020-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Atlas 2018-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Atlas Cross Sport 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|California 2021[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Caravelle 2020[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|CC 2018-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf 2015-20[9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf R 2015-19[9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Jetta 2018-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Jetta GLI 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat 2015-22[7,8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat Alltrack 2015-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat GTE 2015-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Polo 2020-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Polo GTI 2020-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|T-Cross 2021[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|T-Roc 2021[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Taos 2022[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont 2018-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont Cross Sport 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont X 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Tiguan 2019-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| + + +1Requires an OBD-II car harness and community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
+22019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
+3Requires a red panda and additional harness box.
+4When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
+528mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+6Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+7Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
+8Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
+9Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
+ +## Community Maintained Cars +Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). + +# Don't see your car here? + +**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported. +If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you! + +### Which cars are able to be supported? + +openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016. + +If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported. + +| Make | Required Package/Features | +| ---- | ------------------------- | +| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. | +| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. | +| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | +| Nissan | Any car with ProPILOT will likely work. | +| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. | +| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. | +| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. | + +### FlexRay + +All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay. + +### Toyota Security + +Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support. +So far, this list includes: +* Toyota RAV4 Prime 2021+ +* Toyota Sienna 2021+ +* Toyota Venza 2021+ +* Toyota Sequoia 2023+ +* Toyota Tundra 2022+ +* Toyota Corolla Cross 2022+ (only US model) +* Lexus NX 2022+ +* Toyota bZ4x 2023+ +* Subaru Solterra 2023+ \ No newline at end of file diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md new file mode 100644 index 000000000..7a074f12d --- /dev/null +++ b/docs/CONTRIBUTING.md @@ -0,0 +1,48 @@ +# How to contribute + +Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). + +Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/). + +### Getting Started + + * Setup your [development environment](../tools/) + * Join our [Discord](https://discord.comma.ai) + * Make sure you have a [GitHub account](https://github.com/signup/free) + * Fork [our repositories](https://github.com/commaai) on GitHub + +### First contribution +Try out some of these first pull requests ideas to dive into the codebase: + +* Increase our [mypy](http://mypy-lang.org/) coverage +* Write some documentation +* Tackle an open [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) + +## Pull Requests + +Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. + +A good pull request has all of the following: +* a clearly stated purpose +* every line changed directly contributes to the stated purpose +* verification, i.e. how did you test your PR? +* justification + * if you've optimized something, post benchmarks to prove it's better + * if you've improved your car's tuning, post before and after plots +* passes the CI tests + +### Car Ports + +We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models. + +If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/). + +## Testing + +### Automated Testing + +All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. + +### Code Style and Linting + +Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. diff --git a/docs/INTEGRATION.md b/docs/INTEGRATION.md new file mode 100644 index 000000000..97b72e39d --- /dev/null +++ b/docs/INTEGRATION.md @@ -0,0 +1,11 @@ +# Integration with Stock Features + +In all supported cars: +* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user. +* Stock LDW is replaced by openpilot LDW. + +Additionally, on specific supported cars (see ACC column in [supported cars](CARS.md)): +* Stock ACC is replaced by openpilot ACC. +* openpilot FCW operates in addition to stock FCW. + +openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning. diff --git a/docs/LIMITATIONS.md b/docs/LIMITATIONS.md new file mode 100644 index 000000000..8c112659c --- /dev/null +++ b/docs/LIMITATIONS.md @@ -0,0 +1,58 @@ +# Limitations +## Limitations of openpilot ALC and LDW + +openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times. + +While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so. + +Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to: + +* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation. +* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc. +* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle. +* The device is mounted incorrectly. +* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce. +* In the presence of restricted lanes or construction zones. +* When driving on highly banked roads or in presence of strong cross-wind. +* Extremely hot or cold temperatures. +* Bright light (due to oncoming headlights, direct sunlight, etc.). +* Driving on hills, narrow, or winding roads. + +The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times. + +## Limitations of openpilot ACC and FCW + +openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times. + +Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to: + +* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation. +* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc. +* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle. +* The device is mounted incorrectly. +* Approaching a toll booth, a bridge or a large metal plate. +* When driving on roads with pedestrians, cyclists, etc... +* In presence of traffic signs or stop lights, which are not detected by openpilot at this time. +* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time. +* In presence of vehicles in the same lane that are not moving. +* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce. +* When surrounding vehicles perform close cut-ins from neighbor lanes. +* Driving on hills, narrow, or winding roads. +* Extremely hot or cold temperatures. +* Bright light (due to oncoming headlights, direct sunlight, etc.). +* Interference from other equipment that generates radar waves. + +The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times. + +## Limitations of openpilot DM + +openpilot DM should not be considered an exact measurement of the alertness of the driver. + +Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to: + +* Low light conditions, such as driving at night or in dark tunnels. +* Bright light (due to oncoming headlights, direct sunlight, etc.). +* The driver's face is partially or completely outside field of view of the driver facing camera. +* The driver facing camera is obstructed, covered, or damaged. + +The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention. diff --git a/laika/__init__.py b/laika/__init__.py new file mode 100644 index 000000000..661c4584d --- /dev/null +++ b/laika/__init__.py @@ -0,0 +1,2 @@ +from .astro_dog import AstroDog +assert AstroDog diff --git a/laika/astro_dog.py b/laika/astro_dog.py new file mode 100644 index 000000000..ea32e350d --- /dev/null +++ b/laika/astro_dog.py @@ -0,0 +1,367 @@ +from collections import defaultdict +from concurrent.futures import ThreadPoolExecutor +from typing import DefaultDict, Dict, Iterable, List, Optional, Union + +from .constants import SECS_IN_DAY, SECS_IN_HR +from .helpers import ConstellationId, get_constellation, get_closest, get_el_az, TimeRangeHolder +from .ephemeris import Ephemeris, EphemerisType, GLONASSEphemeris, GPSEphemeris, PolyEphemeris, parse_sp3_orbits, parse_rinex_nav_msg_gps, \ + parse_rinex_nav_msg_glonass +from .downloader import download_orbits_gps, download_orbits_russia_src, download_nav, download_ionex, download_dcb, download_prediction_orbits_russia_src +from .downloader import download_cors_station +from .trop import saast +from .iono import IonexMap, parse_ionex +from .dcb import DCB, parse_dcbs +from .gps_time import GPSTime +from .dgps import get_closest_station_names, parse_dgps +from . import constants + +MAX_DGPS_DISTANCE = 100_000 # in meters, because we're not barbarians + + +class AstroDog: + ''' + auto_update: flag indicating whether laika should fetch files from web automatically + cache_dir: directory where data files are downloaded to and cached + dgps: flag indicating whether laika should use dgps (CORS) + data to calculate pseudorange corrections + valid_const: list of constellation identifiers laika will try process + valid_ephem_types: set of ephemeris types that are allowed to use and download. + Default is set to use all orbit ephemeris types + clear_old_ephemeris: flag indicating if ephemeris for an individual satellite should be overwritten when new ephemeris is added. + ''' + + def __init__(self, auto_update=True, + cache_dir='/tmp/gnss/', + dgps=False, + valid_const=('GPS', 'GLONASS'), + valid_ephem_types=EphemerisType.all_orbits(), + clear_old_ephemeris=False): + self.auto_update = auto_update + self.cache_dir = cache_dir + self.clear_old_ephemeris = clear_old_ephemeris + self.dgps = dgps + if not isinstance(valid_ephem_types, Iterable): + valid_ephem_types = [valid_ephem_types] + self.pull_orbit = len(set(EphemerisType.all_orbits()) & set(valid_ephem_types)) > 0 + self.pull_nav = EphemerisType.NAV in valid_ephem_types + self.valid_const = valid_const + self.valid_ephem_types = valid_ephem_types + + self.orbit_fetched_times = TimeRangeHolder() + self.nav_fetched_times = TimeRangeHolder() + self.dcbs_fetched_times = TimeRangeHolder() + + self.dgps_delays = [] + self.ionex_maps: List[IonexMap] = [] + self.orbits: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list) + self.nav: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list) + self.dcbs: DefaultDict[str, List[DCB]] = defaultdict(list) + + self.cached_ionex: Optional[IonexMap] = None + self.cached_dgps = None + self.cached_orbit: DefaultDict[str, Optional[PolyEphemeris]] = defaultdict(lambda: None) + self.cached_nav: DefaultDict[str, Union[GPSEphemeris, GLONASSEphemeris, None]] = defaultdict(lambda: None) + self.cached_dcb: DefaultDict[str, Optional[DCB]] = defaultdict(lambda: None) + + def get_ionex(self, time) -> Optional[IonexMap]: + ionex: Optional[IonexMap] = self._get_latest_valid_data(self.ionex_maps, self.cached_ionex, self.get_ionex_data, time) + if ionex is None: + if self.auto_update: + raise RuntimeError("Pulled ionex, but still can't get valid for time " + str(time)) + else: + self.cached_ionex = ionex + return ionex + + def get_nav(self, prn, time): + skip_download = time in self.nav_fetched_times + nav = self._get_latest_valid_data(self.nav[prn], self.cached_nav[prn], self.get_nav_data, time, skip_download) + if nav is not None: + self.cached_nav[prn] = nav + return nav + + @staticmethod + def _select_valid_temporal_items(item_dict, time, cache): + '''Returns only valid temporal item for specific time from currently fetched + data.''' + result = {} + for prn, temporal_objects in item_dict.items(): + cached = cache[prn] + if cached is not None and cached.valid(time): + obj = cached + else: + obj = get_closest(time, temporal_objects) + if obj is None or not obj.valid(time): + continue + cache[prn] = obj + result[prn] = obj + return result + + def get_navs(self, time): + if time not in self.nav_fetched_times and self.auto_update: + self.get_nav_data(time) + return AstroDog._select_valid_temporal_items(self.nav, time, self.cached_nav) + + def get_orbit(self, prn: str, time: GPSTime): + skip_download = time in self.orbit_fetched_times + orbit = self._get_latest_valid_data(self.orbits[prn], self.cached_orbit[prn], self.get_orbit_data, time, skip_download) + if orbit is not None: + self.cached_orbit[prn] = orbit + return orbit + + def get_orbits(self, time): + if time not in self.orbit_fetched_times: + self.get_orbit_data(time) + return AstroDog._select_valid_temporal_items(self.orbits, time, self.cached_orbit) + + def get_dcb(self, prn, time): + skip_download = time in self.dcbs_fetched_times + dcb = self._get_latest_valid_data(self.dcbs[prn], self.cached_dcb[prn], self.get_dcb_data, time, skip_download) + if dcb is not None: + self.cached_dcb[prn] = dcb + return dcb + + def get_dgps_corrections(self, time, recv_pos): + latest_data = self._get_latest_valid_data(self.dgps_delays, self.cached_dgps, self.get_dgps_data, time, recv_pos=recv_pos) + if latest_data is None: + if self.auto_update: + raise RuntimeError("Pulled dgps, but still can't get valid for time " + str(time)) + else: + self.cached_dgps = latest_data + return latest_data + + def add_orbits(self, new_ephems: Dict[str, List[Ephemeris]]): + self._add_ephems(new_ephems, self.orbits, self.orbit_fetched_times) + + def add_navs(self, new_ephems: Dict[str, List[Ephemeris]]): + self._add_ephems(new_ephems, self.nav, self.nav_fetched_times) + + def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict, fetched_times): + for k, v in new_ephems.items(): + if len(v) > 0: + if self.clear_old_ephemeris: + ephems_dict[k] = v + else: + ephems_dict[k].extend(v) + + min_epochs = [] + max_epochs = [] + for v in new_ephems.values(): + if len(v) > 0: + min_ephem, max_ephem = self.get_epoch_range(v) + min_epochs.append(min_ephem) + max_epochs.append(max_ephem) + if len(min_epochs) > 0: + min_epoch = min(min_epochs) + max_epoch = max(max_epochs) + fetched_times.add(min_epoch, max_epoch) + + def get_nav_data(self, time): + def download_and_parse(constellation, parse_rinex_nav_func): + file_path = download_nav(time, cache_dir=self.cache_dir, constellation=constellation) + return parse_rinex_nav_func(file_path) if file_path else {} + + fetched_ephems = {} + + if 'GPS' in self.valid_const: + fetched_ephems = download_and_parse(ConstellationId.GPS, parse_rinex_nav_msg_gps) + if 'GLONASS' in self.valid_const: + for k, v in download_and_parse(ConstellationId.GLONASS, parse_rinex_nav_msg_glonass).items(): + fetched_ephems.setdefault(k, []).extend(v) + self.add_navs(fetched_ephems) + + if sum([len(v) for v in fetched_ephems.values()]) == 0: + begin_day = GPSTime(time.week, SECS_IN_DAY * (time.tow // SECS_IN_DAY)) + end_day = GPSTime(time.week, SECS_IN_DAY * (1 + (time.tow // SECS_IN_DAY))) + self.nav_fetched_times.add(begin_day, end_day) + + def download_parse_orbit(self, gps_time: GPSTime, skip_before_epoch=None) -> Dict[str, List[PolyEphemeris]]: + # Download multiple days to be able to polyfit at the start-end of the day + time_steps = [gps_time - SECS_IN_DAY, gps_time, gps_time + SECS_IN_DAY] + with ThreadPoolExecutor() as executor: + futures_other = [executor.submit(download_orbits_russia_src, t, self.cache_dir, self.valid_ephem_types) for t in time_steps] + futures_gps = None + if "GPS" in self.valid_const: + futures_gps = [executor.submit(download_orbits_gps, t, self.cache_dir, self.valid_ephem_types) for t in time_steps] + + ephems_other = parse_sp3_orbits([f.result() for f in futures_other if f.result()], self.valid_const, skip_before_epoch) + ephems_us = parse_sp3_orbits([f.result() for f in futures_gps if f.result()], self.valid_const, skip_before_epoch) if futures_gps else {} + + return {k: ephems_other.get(k, []) + ephems_us.get(k, []) for k in set(list(ephems_other.keys()) + list(ephems_us.keys()))} + + def download_parse_prediction_orbit(self, gps_time: GPSTime): + assert EphemerisType.ULTRA_RAPID_ORBIT in self.valid_ephem_types + skip_until_epoch = gps_time - 2 * SECS_IN_HR + + result = download_prediction_orbits_russia_src(gps_time, self.cache_dir) + if result is not None: + result = [result] + elif "GPS" in self.valid_const: + # Slower fallback. Russia src prediction orbits are published from 2022 + result = [download_orbits_gps(t, self.cache_dir, self.valid_ephem_types) for t in [gps_time - SECS_IN_DAY, gps_time]] + if result is None: + return {} + return parse_sp3_orbits(result, self.valid_const, skip_until_epoch=skip_until_epoch) + + def get_orbit_data(self, time: GPSTime, only_predictions=False): + if only_predictions: + ephems_sp3 = self.download_parse_prediction_orbit(time) + else: + ephems_sp3 = self.download_parse_orbit(time) + if sum([len(v) for v in ephems_sp3.values()]) < 5: + raise RuntimeError(f'No orbit data found. For Time {time.as_datetime()} constellations {self.valid_const} valid ephem types {self.valid_ephem_types}') + + self.add_orbits(ephems_sp3) + + def get_dcb_data(self, time): + file_path_dcb = download_dcb(time, cache_dir=self.cache_dir) + dcbs = parse_dcbs(file_path_dcb, self.valid_const) + for dcb in dcbs: + self.dcbs[dcb.prn].append(dcb) + + if len(dcbs) != 0: + min_epoch, max_epoch = self.get_epoch_range(dcbs) + self.dcbs_fetched_times.add(min_epoch, max_epoch) + + def get_epoch_range(self, new_ephems): + min_ephem = min(new_ephems, key=lambda e: e.epoch) + max_ephem = max(new_ephems, key=lambda e: e.epoch) + min_epoch = min_ephem.epoch - min_ephem.max_time_diff + max_epoch = max_ephem.epoch + max_ephem.max_time_diff + return min_epoch, max_epoch + + def get_ionex_data(self, time): + file_path_ionex = download_ionex(time, cache_dir=self.cache_dir) + ionex_maps = parse_ionex(file_path_ionex) + for im in ionex_maps: + self.ionex_maps.append(im) + + def get_dgps_data(self, time, recv_pos): + station_names = get_closest_station_names(recv_pos, k=8, max_distance=MAX_DGPS_DISTANCE, cache_dir=self.cache_dir) + for station_name in station_names: + file_path_station = download_cors_station(time, station_name, cache_dir=self.cache_dir) + if file_path_station: + dgps = parse_dgps(station_name, file_path_station, + self, max_distance=MAX_DGPS_DISTANCE, + required_constellations=self.valid_const) + if dgps is not None: + self.dgps_delays.append(dgps) + break + + def get_tgd_from_nav(self, prn, time): + if get_constellation(prn) not in self.valid_const: + return None + + eph = self.get_nav(prn, time) + + if eph: + return eph.get_tgd() + return None + + def get_sat_info(self, prn, time): + if get_constellation(prn) not in self.valid_const: + return None + eph = None + if self.pull_orbit: + eph = self.get_orbit(prn, time) + if not eph and self.pull_nav: + eph = self.get_nav(prn, time) + + if eph: + return eph.get_sat_info(time) + return None + + def get_all_sat_info(self, time): + ephs = {} + if self.pull_orbit: + ephs = self.get_orbits(time) + if len(ephs) == 0 and self.pull_nav: + ephs = self.get_navs(time) + + return {prn: eph.get_sat_info(time) for prn, eph in ephs.items()} + + def get_glonass_channel(self, prn, time): + nav = self.get_nav(prn, time) + if nav: + return nav.channel + return None + + def get_frequency(self, prn, time, signal='C1C'): + if get_constellation(prn) == 'GPS': + switch = {'1': constants.GPS_L1, + '2': constants.GPS_L2, + '5': constants.GPS_L5, + '6': constants.GALILEO_E6, + '7': constants.GALILEO_E5B, + '8': constants.GALILEO_E5AB} + freq = switch.get(signal[1]) + if freq: + return freq + raise NotImplementedError("Dont know this GPS frequency: ", signal, prn) + elif get_constellation(prn) == 'GLONASS': + n = self.get_glonass_channel(prn, time) + if n is None: + return None + switch = {'1': constants.GLONASS_L1 + n * constants.GLONASS_L1_DELTA, + '2': constants.GLONASS_L2 + n * constants.GLONASS_L2_DELTA, + '5': constants.GLONASS_L5 + n * constants.GLONASS_L5_DELTA, + '6': constants.GALILEO_E6, + '7': constants.GALILEO_E5B, + '8': constants.GALILEO_E5AB} + freq = switch.get(signal[1]) + if freq: + return freq + raise NotImplementedError("Dont know this GLONASS frequency: ", signal, prn) + + def get_delay(self, prn, time, rcv_pos, no_dgps=False, signal='C1C', freq=None): + sat_info = self.get_sat_info(prn, time) + if sat_info is None: + return None + sat_pos = sat_info[0] + el, az = get_el_az(rcv_pos, sat_pos) + if el < 0.2: + return None + + if self.dgps and not no_dgps: + return self._get_delay_dgps(prn, rcv_pos, time) + + ionex = self.get_ionex(time) + if not freq and ionex is not None: + freq = self.get_frequency(prn, time, signal) + dcb = self.get_dcb(prn, time) + # When using internet we expect all data or return None + if self.auto_update and (ionex is None or dcb is None or freq is None): + return None + iono_delay = ionex.get_delay(rcv_pos, az, el, sat_pos, time, freq) if ionex is not None else 0. + trop_delay = saast(rcv_pos, el) + code_bias = dcb.get_delay(signal) if dcb is not None else 0. + return iono_delay + trop_delay + code_bias + + def _get_delay_dgps(self, prn, rcv_pos, time): + dgps_corrections = self.get_dgps_corrections(time, rcv_pos) + if dgps_corrections is None: + return None + return dgps_corrections.get_delay(prn, time) + + def _get_latest_valid_data(self, data, latest_data, download_data_func, time, skip_download=False, recv_pos=None): + def is_valid(latest_data): + if recv_pos is None: + return latest_data is not None and latest_data.valid(time) + else: + return latest_data is not None and latest_data.valid(time, recv_pos) + + if is_valid(latest_data): + return latest_data + + latest_data = get_closest(time, data, recv_pos=recv_pos) + if is_valid(latest_data): + return latest_data + if skip_download or not self.auto_update: + return None + if recv_pos is not None: + download_data_func(time, recv_pos) + else: + download_data_func(time) + latest_data = get_closest(time, data, recv_pos=recv_pos) + if is_valid(latest_data): + return latest_data + return None diff --git a/laika/constants.py b/laika/constants.py new file mode 100644 index 000000000..6b6d33110 --- /dev/null +++ b/laika/constants.py @@ -0,0 +1,34 @@ +# These are all from IS-GPS-200G unless otherwise noted + +SPEED_OF_LIGHT = 2.99792458e8 # m/s + +# Physical parameters of the Earth +EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) +EARTH_RADIUS = 6.3781e6 # m +EARTH_ROTATION_RATE = 7.2921151467e-005 # rad/s (WGS84 earth rotation rate) + +# GPS system parameters: +GPS_L1 = l1 = 1.57542e9 # Hz +GPS_L2 = l2 = 1.22760e9 # Hz +GPS_L5 = l5 = 1.17645e9 # Hz Also E5 + +#GLONASS system parameters +#TODO this is old convention +GLONASS_L1 = 1.602e9 +GLONASS_L1_DELTA = 0.5625e6 +GLONASS_L2 = 1.246e9 +GLONASS_L2_DELTA = 0.4375e6 +GLONASS_L5 = 1.201e9 +GLONASS_L5_DELTA = 0.4375e6 + +#Galileo system parameters: # Has additional frequencies on E6 +#Source RINEX 2.11 document +GALILEO_E5B = 1.207140e9 # Hz +GALILEO_E5AB = 1.191795e9 # Hz +GALILEO_E6 = 1.27875e9 # Hz + +SECS_IN_MIN = 60 +SECS_IN_HR = 60*SECS_IN_MIN +SECS_IN_DAY = 24*SECS_IN_HR +SECS_IN_WEEK = 7*SECS_IN_DAY +SECS_IN_YEAR = 365*SECS_IN_DAY diff --git a/laika/dcb.py b/laika/dcb.py new file mode 100644 index 000000000..06017ff4c --- /dev/null +++ b/laika/dcb.py @@ -0,0 +1,84 @@ +from datetime import datetime +from .constants import SECS_IN_HR, SECS_IN_WEEK, \ + SPEED_OF_LIGHT, GPS_L1, GPS_L2 +from .gps_time import GPSTime +from .helpers import get_constellation +import warnings + + +class DCB: + def __init__(self, prn, data): + self.max_time_diff = 2*SECS_IN_WEEK + self.prn = prn + self.epoch = data['epoch'] + self.healthy = True + if 'C1W_C2W' in data: + self.C1W_C2W = data['C1W_C2W'] + elif 'C1P_C2P' in data: + self.C1W_C2W = data['C1P_C2P'] + else: + self.healthy = False + if 'C1C_C1W' in data: + self.C1C_C1W = data['C1C_C1W'] + elif 'C1C_C1P' in data: + self.C1C_C1W = data['C1C_C1P'] + else: + self.healthy = False + + def valid(self, time): + return abs(time - self.epoch) <= self.max_time_diff and self.healthy + + def get_delay(self, signal): + if signal == 'C1C': + return (- SPEED_OF_LIGHT*1e-9*self.C1W_C2W*GPS_L2**2/(GPS_L1**2 - GPS_L2**2) + + SPEED_OF_LIGHT*1e-9*self.C1C_C1W) + if signal == 'C2P': + return (- SPEED_OF_LIGHT*1e-9*self.C1W_C2W*GPS_L1**2/(GPS_L1**2 - GPS_L2**2)) + if signal == 'C1P': + return (SPEED_OF_LIGHT*1e-9*self.C1C_C1W) + ## Todo: update dcb database and get delay to include additional signals + if signal == 'C2C': + warnings.warn("Differential code bias not implemented for signal C2C", UserWarning) + return 0 + if signal == 'C5C': + warnings.warn("Differential code bias not implemented for signal C5C", UserWarning) + return 0 + if signal == 'C6C': + warnings.warn("Differential code bias not implemented for signal C6C", UserWarning) + return 0 + if signal == 'C7C': + warnings.warn("Differential code bias not implemented for signal C7C", UserWarning) + return 0 + if signal == 'C8C': + warnings.warn("Differential code bias not implemented for signal C8C", UserWarning) + return 0 + + +def parse_dcbs(file_name, SUPPORTED_CONSTELLATIONS): + with open(file_name, 'r+') as DCB_file: + contents = DCB_file.readlines() + data_started = False + dcbs_dict = {} + for line in contents: + if not data_started: + if line[1:4] == 'DSB': + data_started = True + else: + continue + line_components = line.split() + if len(line_components[2]) < 3: + break + prn = line_components[2] + if get_constellation(prn) not in SUPPORTED_CONSTELLATIONS: + continue + dcb_type = line_components[3] + '_' + line_components[4] + epoch = GPSTime.from_datetime(datetime.strptime(line_components[5], '%Y:%j:%f')) + 12*SECS_IN_HR + if prn not in dcbs_dict: + dcbs_dict[prn] = {} + dcbs_dict[prn][dcb_type] = float(line_components[8]) + dcbs_dict[prn]['epoch'] = epoch + + dcbs = [] + for prn in dcbs_dict: + dcbs.append(DCB(prn, dcbs_dict[prn])) + return dcbs diff --git a/laika/dgps.py b/laika/dgps.py new file mode 100644 index 000000000..54c13d8cf --- /dev/null +++ b/laika/dgps.py @@ -0,0 +1,160 @@ +import os +import numpy as np +from datetime import datetime + +from .gps_time import GPSTime +from .constants import SECS_IN_YEAR +from . import raw_gnss as raw +from .rinex_file import RINEXFile +from .downloader import download_cors_coords +from .helpers import get_constellation + + +def mean_filter(delay): + d2 = delay.copy() + max_step = 10 + for i in range(max_step, len(delay) - max_step): + finite_idxs = np.where(np.isfinite(delay[i - max_step:i + max_step])) + if max_step in finite_idxs[0]: + step = min([max_step, finite_idxs[0][-1] - max_step, max_step - finite_idxs[0][0]]) + d2[i] = np.nanmean(delay[i - step:i + step + 1]) + return d2 + + +def download_and_parse_station_postions(cors_station_positions_path, cache_dir): + if not os.path.isfile(cors_station_positions_path): + cors_stations = {} + coord_file_paths = download_cors_coords(cache_dir=cache_dir) + for coord_file_path in coord_file_paths: + try: + station_id = coord_file_path.split('/')[-1][:4] + with open(coord_file_path, 'r+') as coord_file: + contents = coord_file.readlines() + phase_center = False + for line_number in range(len(contents)): + if 'L1 Phase Center' in contents[line_number]: + phase_center = True + if not phase_center and 'ITRF2014 POSITION' in contents[line_number]: + velocity = [float(contents[line_number+8].split()[3]), + float(contents[line_number+9].split()[3]), + float(contents[line_number+10].split()[3])] + if phase_center and 'ITRF2014 POSITION' in contents[line_number]: + epoch = GPSTime.from_datetime(datetime(2005,1,1)) + position = [float(contents[line_number+2].split()[3]), + float(contents[line_number+3].split()[3]), + float(contents[line_number+4].split()[3])] + cors_stations[station_id] = [epoch, position, velocity] + break + except ValueError: + pass + cors_station_positions_file = open(cors_station_positions_path, 'wb') + np.save(cors_station_positions_file, cors_stations) + cors_station_positions_file.close() + + +def get_closest_station_names(pos, k=5, max_distance=100000, cache_dir='/tmp/gnss/'): + from scipy.spatial import cKDTree + + cors_station_positions_dict = load_cors_station_positions(cache_dir) + station_ids = list(cors_station_positions_dict.keys()) + station_positions = [] + for station_id in station_ids: + station_positions.append(cors_station_positions_dict[station_id][1]) + tree = cKDTree(station_positions) + distances, idxs = tree.query(pos, k=k, distance_upper_bound=max_distance) + return np.array(station_ids)[idxs] + + +def load_cors_station_positions(cache_dir): + cors_station_positions_path = cache_dir + 'cors_coord/cors_station_positions' + download_and_parse_station_postions(cors_station_positions_path, cache_dir) + with open(cors_station_positions_path, 'rb') as f: + return np.load(f, allow_pickle=True).item() # pylint: disable=unexpected-keyword-arg + + +def get_station_position(station_id, cache_dir='/tmp/gnss/', time=GPSTime.from_datetime(datetime.utcnow())): + cors_station_positions_dict = load_cors_station_positions(cache_dir) + epoch, pos, vel = cors_station_positions_dict[station_id] + return ((time - epoch)/SECS_IN_YEAR)*np.array(vel) + np.array(pos) + + +def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, required_constellations=['GPS']): + station_pos = get_station_position(station_id, cache_dir=dog.cache_dir) + obsdata = RINEXFile(station_obs_file_path) + measurements = raw.read_rinex_obs(obsdata) + + # if not all constellations in first 100 epochs bail + detected_constellations = set() + for m in sum(measurements[:100],[]): + detected_constellations.add(get_constellation(m.prn)) + for constellation in required_constellations: + if constellation not in detected_constellations: + return None + + proc_measurements = [] + for measurement in measurements: + proc_measurements.append(raw.process_measurements(measurement, dog=dog)) + # sample at 30s + if len(proc_measurements) > 2880: + proc_measurements = proc_measurements[::int(len(proc_measurements)/2880)] + if len(proc_measurements) != 2880: + return None + + station_delays = {} + n = len(proc_measurements) + for signal in ['C1C', 'C2P']: + times = [] + station_delays[signal] = {} + for i, proc_measurement in enumerate(proc_measurements): + times.append(proc_measurement[0].recv_time) + Fx_pos = raw.pr_residual(proc_measurement, signal=signal) + residual = -np.array(Fx_pos(list(station_pos) + [0, 0])) + for j, m in enumerate(proc_measurement): + prn = m.prn + if prn not in station_delays[signal]: + station_delays[signal][prn] = np.nan*np.ones(n) + station_delays[signal][prn][i] = residual[j] + assert len(times) == n + + # TODO crude way to get dgps station's clock errors, + # could this be biased? Only use GPS for convenience. + model_delays = {} + for prn in station_delays['C1C']: + if get_constellation(prn) == 'GPS': + model_delays[prn] = np.nan*np.zeros(n) + for i in range(n): + model_delays[prn][i] = dog.get_delay(prn, times[i], station_pos, no_dgps=True) + station_clock_errs = np.zeros(n) + for i in range(n): + station_clock_errs[i] = np.nanmean([(station_delays['C1C'][prn][i] - model_delays[prn][i]) for prn in model_delays]) + + # remove clock errors and smooth out signal + for prn in station_delays['C1C']: + station_delays['C1C'][prn] = mean_filter(station_delays['C1C'][prn] - station_clock_errs) + for prn in station_delays['C2P']: + station_delays['C2P'][prn] = station_delays['C2P'][prn] - station_clock_errs + + return DGPSDelay(station_id, station_pos, station_delays, + times, max_distance) + + +class DGPSDelay: + def __init__(self, station_id, station_pos, + station_delays, station_delays_t, max_distance): + self.id = station_id + self.pos = station_pos + self.delays = station_delays + self.delays_t = station_delays_t + self.max_distance = max_distance + + def get_delay(self, prn, time, signal='C1C'): + time_index = int((time - self.delays_t[0])/30) + assert abs(self.delays_t[time_index] - time) < 30 + if prn in self.delays[signal] and np.isfinite(self.delays[signal][prn][time_index]): + return self.delays[signal][prn][time_index] + return None + + def valid(self, time, recv_pos): + return (np.linalg.norm(recv_pos - self.pos) <= self.max_distance and + time - self.delays_t[0] > -30 and + self.delays_t[-1] - time > -30) diff --git a/laika/downloader.py b/laika/downloader.py new file mode 100644 index 000000000..1658e7f7d --- /dev/null +++ b/laika/downloader.py @@ -0,0 +1,462 @@ +import certifi +import ftplib +import hatanaka +import os +import urllib.request +import urllib.error +import pycurl +import re +import time +import tempfile +import socket + +from datetime import datetime, timedelta +from urllib.parse import urlparse +from io import BytesIO + +from atomicwrites import atomic_write + +from laika.ephemeris import EphemerisType +from .constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK +from .gps_time import GPSTime +from .helpers import ConstellationId + +dir_path = os.path.dirname(os.path.realpath(__file__)) + +class DownloadFailed(Exception): + pass + + +def retryable(f): + """ + Decorator to allow us to pass multiple URLs from which to download. + Automatically retry the request with the next URL on failure + """ + def wrapped(url_bases, *args, **kwargs): + if isinstance(url_bases, str): + # only one url passed, don't do the retry thing + return f(url_bases, *args, **kwargs) + + # not a string, must be a list of url_bases + for url_base in url_bases: + try: + return f(url_base, *args, **kwargs) + except DownloadFailed as e: + print(e) + # none of them succeeded + raise DownloadFailed("Multiple URL failures attempting to pull file(s)") + return wrapped + + +def ftp_connect(url): + parsed = urlparse(url) + assert parsed.scheme == 'ftp' + try: + domain = parsed.netloc + ftp = ftplib.FTP(domain, timeout=10) + ftp.login() + except (OSError, ftplib.error_perm): + raise DownloadFailed("Could not connect/auth to: " + domain) + try: + ftp.cwd(parsed.path) + except ftplib.error_perm: + raise DownloadFailed("Permission failure with folder: " + url) + return ftp + + +@retryable +def list_dir(url): + parsed = urlparse(url) + if parsed.scheme == 'ftp': + try: + ftp = ftp_connect(url) + return ftp.nlst() + except ftplib.error_perm: + raise DownloadFailed("Permission failure listing folder: " + url) + else: + # just connect and do simple url parsing + listing = https_download_file(url) + urls = re.findall(b"", listing) + # decode the urls to normal strings. If they are complicated paths, ignore them + return [name.decode("latin1") for name in urls if name and b"/" not in name[1:]] + + +def ftp_download_files(url_base, folder_path, cacheDir, filenames): + """ + Like download file, but more of them. Keeps a persistent FTP connection open + to be more efficient. + """ + folder_path_abs = os.path.join(cacheDir, folder_path) + + ftp = ftp_connect(url_base + folder_path) + + filepaths = [] + for filename in filenames: + # os.path.join will be dumb if filename has a leading / + # if there is a / in the filename, then it's using a different folder + filename = filename.lstrip("/") + if "/" in filename: + continue + filepath = os.path.join(folder_path_abs, filename) + print("pulling from", url_base, "to", filepath) + + if not os.path.isfile(filepath): + os.makedirs(folder_path_abs, exist_ok=True) + try: + ftp.retrbinary('RETR ' + filename, open(filepath, 'wb').write) + except (ftplib.error_perm): + raise DownloadFailed("Could not download file from: " + url_base + folder_path + filename) + except (socket.timeout): + raise DownloadFailed("Read timed out from: " + url_base + folder_path + filename) + filepaths.append(filepath) + else: + filepaths.append(filepath) + return filepaths + + +def http_download_files(url_base, folder_path, cacheDir, filenames): + """ + Similar to ftp_download_files, attempt to download multiple files faster than + just downloading them one-by-one. + Returns a list of filepaths instead of the raw data + """ + folder_path_abs = os.path.join(cacheDir, folder_path) + + def write_function(disk_path, handle): + def do_write(data): + open(disk_path, "wb").write(data) + + return do_write + + fetcher = pycurl.CurlMulti() + fetcher.setopt(pycurl.M_PIPELINING, 3) + fetcher.setopt(pycurl.M_MAX_HOST_CONNECTIONS, 64) + fetcher.setopt(pycurl.M_MAX_TOTAL_CONNECTIONS, 64) + filepaths = [] + for filename in filenames: + # os.path.join will be dumb if filename has a leading / + # if there is a / in the filename, then it's using a different folder + filename = filename.lstrip("/") + if "/" in filename: + continue + filepath = os.path.join(folder_path_abs, filename) + if not os.path.isfile(filepath): + print("pulling from", url_base, "to", filepath) + os.makedirs(folder_path_abs, exist_ok=True) + url_path = url_base + folder_path + filename + handle = pycurl.Curl() + handle.setopt(pycurl.URL, url_path) + handle.setopt(pycurl.CONNECTTIMEOUT, 10) + handle.setopt(pycurl.WRITEFUNCTION, write_function(filepath, handle)) + fetcher.add_handle(handle) + filepaths.append(filepath) + + requests_processing = len(filepaths) + timeout = 10.0 # after 10 seconds of nothing happening, restart + deadline = time.time() + timeout + while requests_processing and time.time() < deadline: + while True: + ret, cur_requests_processing = fetcher.perform() + if ret != pycurl.E_CALL_MULTI_PERFORM: + _, success, failed = fetcher.info_read() + break + if requests_processing > cur_requests_processing: + deadline = time.time() + timeout + requests_processing = cur_requests_processing + + if fetcher.select(1) < 0: + continue + + # if there are downloads left to be done, repeat, and don't overwrite + _, requests_processing = fetcher.perform() + if requests_processing > 0: + print("some requests stalled, retrying them") + return http_download_files(url_base, folder_path, cacheDir, filenames) + + return filepaths + + +def https_download_file(url): + if 'nasa.gov/' not in url: + netrc_path = None + f = None + elif os.path.isfile(dir_path + '/.netrc'): + netrc_path = dir_path + '/.netrc' + f = None + else: + try: + username = os.environ['NASA_USERNAME'] + password = os.environ['NASA_PASSWORD'] + f = tempfile.NamedTemporaryFile() + netrc = f"machine urs.earthdata.nasa.gov login {username} password {password}" + f.write(netrc.encode()) + f.flush() + netrc_path = f.name + except KeyError: + raise DownloadFailed('Could not find .netrc file and no NASA_USERNAME and NASA_PASSWORD in environment for urs.earthdata.nasa.gov authentication') + + crl = pycurl.Curl() + crl.setopt(crl.CAINFO, certifi.where()) + crl.setopt(crl.URL, url) + crl.setopt(crl.FOLLOWLOCATION, True) + crl.setopt(crl.SSL_CIPHER_LIST, 'DEFAULT@SECLEVEL=1') + crl.setopt(crl.COOKIEJAR, '/tmp/cddis_cookies') + crl.setopt(pycurl.CONNECTTIMEOUT, 10) + if netrc_path is not None: + crl.setopt(crl.NETRC_FILE, netrc_path) + crl.setopt(crl.NETRC, 2) + + buf = BytesIO() + crl.setopt(crl.WRITEDATA, buf) + crl.perform() + response = crl.getinfo(pycurl.RESPONSE_CODE) + crl.close() + if f is not None: + f.close() + + if response != 200: + raise DownloadFailed('HTTPS error ' + str(response)) + return buf.getvalue() + + +def ftp_download_file(url): + try: + urlf = urllib.request.urlopen(url, timeout=10) + data_zipped = urlf.read() + urlf.close() + return data_zipped + except urllib.error.URLError as e: + raise DownloadFailed(e) + + +@retryable +def download_files(url_base, folder_path, cacheDir, filenames): + parsed = urlparse(url_base) + if parsed.scheme == 'ftp': + return ftp_download_files(url_base, folder_path, cacheDir, filenames) + else: + return http_download_files(url_base, folder_path, cacheDir, filenames) + + +@retryable +def download_file(url_base, folder_path, filename_zipped): + url = url_base + folder_path + filename_zipped + print('Downloading ' + url) + if url.startswith('https'): + return https_download_file(url) + if url.startswith('ftp'): + return ftp_download_file(url) + raise NotImplementedError('Did find ftp or https preamble') + + +def download_and_cache_file_return_first_success(url_bases, folder_and_file_names, cache_dir, compression='', overwrite=False, raise_error=False): + last_error = None + for folder_path, filename in folder_and_file_names: + try: + file = download_and_cache_file(url_bases, folder_path, cache_dir, filename, compression, overwrite) + return file + except DownloadFailed as e: + last_error = e + + if last_error and raise_error: + raise last_error + + +def download_and_cache_file(url_base, folder_path: str, cache_dir: str, filename: str, compression='', overwrite=False): + filename_zipped = filename + compression + folder_path_abs = os.path.join(cache_dir, folder_path) + filepath = str(hatanaka.get_decompressed_path(os.path.join(folder_path_abs, filename))) + + filepath_attempt = filepath + '.attempt_time' + + if os.path.exists(filepath_attempt): + with open(filepath_attempt, 'r') as rf: + last_attempt_time = float(rf.read()) + if time.time() - last_attempt_time < SECS_IN_HR: + raise DownloadFailed(f"Too soon to try downloading {folder_path + filename_zipped} from {url_base} again since last attempt") + if not os.path.isfile(filepath) or overwrite: + try: + data_zipped = download_file(url_base, folder_path, filename_zipped) + except (DownloadFailed, pycurl.error, socket.timeout): + unix_time = time.time() + os.makedirs(folder_path_abs, exist_ok=True) + with atomic_write(filepath_attempt, mode='w', overwrite=True) as wf: + wf.write(str(unix_time)) + raise DownloadFailed(f"Could not download {folder_path + filename_zipped} from {url_base} ") + + os.makedirs(folder_path_abs, exist_ok=True) + ephem_bytes = hatanaka.decompress(data_zipped) + try: + with atomic_write(filepath, mode='wb', overwrite=overwrite) as f: + f.write(ephem_bytes) + except FileExistsError: + # Only happens when same file is downloaded in parallel by another process. + pass + return filepath + + +# Currently, only GPS and Glonass are supported for daily and hourly data. +CONSTELLATION_NASA_CHAR = {ConstellationId.GPS: 'n', ConstellationId.GLONASS: 'g'} + + +def download_nav(time: GPSTime, cache_dir, constellation: ConstellationId): + t = time.as_datetime() + try: + if constellation not in CONSTELLATION_NASA_CHAR: + return None + c = CONSTELLATION_NASA_CHAR[constellation] + if GPSTime.from_datetime(datetime.utcnow()) - time > SECS_IN_DAY: + url_bases = ( + 'https://github.com/commaai/gnss-data/raw/master/gnss/data/daily/', + 'https://cddis.nasa.gov/archive/gnss/data/daily/', + ) + filename = t.strftime(f"brdc%j0.%y{c}") + folder_path = t.strftime(f'%Y/%j/%y{c}/') + compression = '.gz' if folder_path >= '2020/335/' else '.Z' + return download_and_cache_file(url_bases, folder_path, cache_dir+'daily_nav/', filename, compression) + elif constellation == ConstellationId.GPS: + url_base = 'https://cddis.nasa.gov/archive/gnss/data/hourly/' + filename = t.strftime(f"hour%j0.%y{c}") + folder_path = t.strftime('%Y/%j/') + compression = '.gz' if folder_path >= '2020/336/' else '.Z' + return download_and_cache_file(url_base, folder_path, cache_dir+'hourly_nav/', filename, compression) + except DownloadFailed: + pass + + +def download_orbits_gps(time, cache_dir, ephem_types): + url_bases = ( + 'https://github.com/commaai/gnss-data/raw/master/gnss/products/', + 'https://cddis.nasa.gov/archive/gnss/products/', + 'ftp://igs.ign.fr/pub/igs/products/', + ) + folder_path = "%i/" % time.week + filenames = [] + time_str = "%i%i" % (time.week, time.day) + # Download filenames in order of quality. Final -> Rapid -> Ultra-Rapid(newest first) + if EphemerisType.FINAL_ORBIT in ephem_types and GPSTime.from_datetime(datetime.utcnow()) - time > 3 * SECS_IN_WEEK: + filenames.append(f"igs{time_str}.sp3") + if EphemerisType.RAPID_ORBIT in ephem_types: + filenames.append(f"igr{time_str}.sp3") + if EphemerisType.ULTRA_RAPID_ORBIT in ephem_types: + filenames.extend([f"igu{time_str}_18.sp3", + f"igu{time_str}_12.sp3", + f"igu{time_str}_06.sp3", + f"igu{time_str}_00.sp3"]) + folder_file_names = [(folder_path, filename) for filename in filenames] + return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.Z') + + +def download_prediction_orbits_russia_src(gps_time, cache_dir): + # Download single file that contains Ultra_Rapid predictions for GPS, GLONASS and other constellations + t = gps_time.as_datetime() + # Files exist starting at 29-01-2022 + if t < datetime(2022, 1, 29): + return None + url_bases = 'https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/' + folder_path = t.strftime('%y%j/ultra/') + file_prefix = "Stark_1D_" + t.strftime('%y%m%d') + + # Predictions are 24H so previous day can also be used. + prev_day = (t - timedelta(days=1)) + file_prefix_prev = "Stark_1D_" + prev_day.strftime('%y%m%d') + folder_path_prev = prev_day.strftime('%y%j/ultra/') + + current_day = GPSTime.from_datetime(datetime(t.year, t.month, t.day)) + # Ultra-Orbit is published in gnss-data-alt every 10th minute past the 5,11,17,23 hour. + # Predictions published are delayed by around 10 hours. + # Download latest file that includes gps_time with 20 minutes margin.: + if gps_time > current_day + 23.5 * SECS_IN_HR: + prev_day, current_day = [], [6, 12] + elif gps_time > current_day + 17.5 * SECS_IN_HR: + prev_day, current_day = [], [0, 6] + elif gps_time > current_day + 11.5 * SECS_IN_HR: + prev_day, current_day = [18], [0] + elif gps_time > current_day + 5.5 * SECS_IN_HR: + prev_day, current_day = [12, 18], [] + else: + prev_day, current_day = [6, 12], [] + # Example: Stark_1D_22060100.sp3 + folder_and_file_names = [(folder_path, file_prefix + f"{h:02}.sp3") for h in reversed(current_day)] + \ + [(folder_path_prev, file_prefix_prev + f"{h:02}.sp3") for h in reversed(prev_day)] + return download_and_cache_file_return_first_success(url_bases, folder_and_file_names, cache_dir+'russian_products/', raise_error=True) + + +def download_orbits_russia_src(time, cache_dir, ephem_types): + # Orbits from russian source. Contains GPS, GLONASS, GALILEO, BEIDOU + url_bases = ( + 'https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/', + 'ftp://ftp.glonass-iac.ru/MCC/PRODUCTS/', + ) + t = time.as_datetime() + folder_paths = [] + current_gps_time = GPSTime.from_datetime(datetime.utcnow()) + filename = "Sta%i%i.sp3" % (time.week, time.day) + if EphemerisType.FINAL_ORBIT in ephem_types and current_gps_time - time > 2 * SECS_IN_WEEK: + folder_paths.append(t.strftime('%y%j/final/')) + if EphemerisType.RAPID_ORBIT in ephem_types: + folder_paths.append(t.strftime('%y%j/rapid/')) + if EphemerisType.ULTRA_RAPID_ORBIT in ephem_types: + folder_paths.append(t.strftime('%y%j/ultra/')) + folder_file_names = [(folder_path, filename) for folder_path in folder_paths] + return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'russian_products/') + + +def download_ionex(time, cache_dir): + t = time.as_datetime() + url_bases = ( + 'https://github.com/commaai/gnss-data/raw/master/gnss/products/ionex/', + 'https://cddis.nasa.gov/archive/gnss/products/ionex/', + 'ftp://igs.ensg.ign.fr/pub/igs/products/ionosphere/', + 'ftp://gssc.esa.int/gnss/products/ionex/', + ) + folder_path = t.strftime('%Y/%j/') + filenames = [t.strftime("codg%j0.%yi"), t.strftime("c1pg%j0.%yi"), t.strftime("c2pg%j0.%yi")] + + folder_file_names = [(folder_path, f) for f in filenames] + return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'ionex/', compression='.Z', raise_error=True) + + +def download_dcb(time, cache_dir): + filenames = [] + folder_paths = [] + url_bases = ( + 'https://github.com/commaai/gnss-data/raw/master/gnss/products/bias/', + 'https://cddis.nasa.gov/archive/gnss/products/bias/', + 'ftp://igs.ign.fr/pub/igs/products/mgex/dcb/', + ) + # seem to be a lot of data missing, so try many days + for time_step in [time - i * SECS_IN_DAY for i in range(14)]: + t = time_step.as_datetime() + folder_paths.append(t.strftime('%Y/')) + filenames.append(t.strftime("CAS0MGXRAP_%Y%j0000_01D_01D_DCB.BSX")) + + return download_and_cache_file_return_first_success(url_bases, list(zip(folder_paths, filenames)), cache_dir+'dcb/', compression='.gz', raise_error=True) + + +def download_cors_coords(cache_dir): + cache_subdir = cache_dir + 'cors_coord/' + url_bases = ( + 'https://geodesy.noaa.gov/corsdata/coord/coord_14/', + 'https://alt.ngs.noaa.gov/corsdata/coord/coord_14/', + ) + file_names = list_dir(url_bases) + file_names = [file_name for file_name in file_names if file_name.endswith('coord.txt')] + filepaths = download_files(url_bases, '', cache_subdir, file_names) + return filepaths + + +def download_cors_station(time, station_name, cache_dir): + t = time.as_datetime() + folder_path = t.strftime('%Y/%j/') + station_name + '/' + filename = station_name + t.strftime("%j0.%yd") + url_bases = ( + 'https://geodesy.noaa.gov/corsdata/rinex/', + 'https://alt.ngs.noaa.gov/corsdata/rinex/', + ) + try: + filepath = download_and_cache_file(url_bases, folder_path, cache_dir+'cors_obs/', filename, compression='.gz') + return filepath + except DownloadFailed: + print("File not downloaded, check availability on server.") + return None diff --git a/laika/ephemeris.py b/laika/ephemeris.py new file mode 100644 index 000000000..91caef2a4 --- /dev/null +++ b/laika/ephemeris.py @@ -0,0 +1,557 @@ +import json +import warnings +from abc import ABC, abstractmethod +from collections import defaultdict +from enum import IntEnum +from typing import Dict, List, Optional + +import numpy as np +import numpy.polynomial.polynomial as poly +from datetime import datetime +from math import sin, cos, sqrt, fabs, atan2 + +from .gps_time import GPSTime, utc_to_gpst +from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, EARTH_ROTATION_RATE, EARTH_GM +from .helpers import get_constellation + + +def read4(f, rinex_ver): + line = f.readline()[:-1] + if rinex_ver == 2: + line = ' ' + line # Shift 1 char to the right + line = line.replace('D', 'E') # Handle bizarro float format + return float(line[4:23]), float(line[23:42]), float(line[42:61]), float(line[61:80]) + + +def convert_ublox_ephem(ublox_ephem, current_time: Optional[datetime] = None): + # Week time of ephemeris gps msg has a roll-over period of 10 bits (19.6 years) + # The latest roll-over was on 2019-04-07 + week = ublox_ephem.gpsWeek + if current_time is None: + # Each message is incremented to be greater or equal than week 1877 (2015-12-27). + # To skip this use the current_time argument + week += 1024 + if week < 1877: + week += 1024 + else: + roll_overs = GPSTime.from_datetime(current_time).week // 1024 + week += (roll_overs - (week // 1024)) * 1024 + + ephem = {} + ephem['sv_id'] = ublox_ephem.svId + ephem['toe'] = GPSTime(week, ublox_ephem.toe) + ephem['toc'] = GPSTime(week, ublox_ephem.toc) + ephem['af0'] = ublox_ephem.af0 + ephem['af1'] = ublox_ephem.af1 + ephem['af2'] = ublox_ephem.af2 + ephem['tgd'] = ublox_ephem.tgd + + ephem['sqrta'] = np.sqrt(ublox_ephem.a) + ephem['dn'] = ublox_ephem.deltaN + ephem['m0'] = ublox_ephem.m0 + + ephem['ecc'] = ublox_ephem.ecc + ephem['w'] = ublox_ephem.omega + ephem['cus'] = ublox_ephem.cus + ephem['cuc'] = ublox_ephem.cuc + ephem['crc'] = ublox_ephem.crc + ephem['crs'] = ublox_ephem.crs + ephem['cic'] = ublox_ephem.cic + ephem['cis'] = ublox_ephem.cis + + ephem['inc'] = ublox_ephem.i0 + ephem['inc_dot'] = ublox_ephem.iDot + ephem['omegadot'] = ublox_ephem.omegaDot + ephem['omega0'] = ublox_ephem.omega0 + + epoch = ephem['toe'] + return GPSEphemeris(ephem, epoch) + + +class EphemerisType(IntEnum): + # Matches the enum in log.capnp + NAV = 0 + FINAL_ORBIT = 1 + RAPID_ORBIT = 2 + ULTRA_RAPID_ORBIT = 3 + QCOM_POLY = 4 # Currently not supported + + @staticmethod + def all_orbits(): + return EphemerisType.FINAL_ORBIT, EphemerisType.RAPID_ORBIT, EphemerisType.ULTRA_RAPID_ORBIT + + @classmethod + def from_file_name(cls, file_name: str): + if "/final" in file_name or "/igs" in file_name: + return EphemerisType.FINAL_ORBIT + if "/rapid" in file_name or "/igr" in file_name: + return EphemerisType.RAPID_ORBIT + if "/ultra" in file_name or "/igu" in file_name: + return EphemerisType.ULTRA_RAPID_ORBIT + raise RuntimeError(f"Ephemeris type not found in filename: {file_name}") + + +class Ephemeris(ABC): + + def __init__(self, prn: str, data, epoch: GPSTime, eph_type: EphemerisType, healthy: bool, max_time_diff: float, + file_epoch: Optional[GPSTime] = None, file_name=None): + self.prn = prn + self.data = data + self.epoch = epoch + self.eph_type = eph_type + self.healthy = healthy + self.max_time_diff = max_time_diff + self.file_epoch = file_epoch + self.file_source = '' if file_name is None else file_name.split('/')[-1][:3] # File source for the ephemeris (e.g. igu, igr, Sta) + self.__json = None + + def valid(self, time): + return abs(time - self.epoch) <= self.max_time_diff + + def __repr__(self): + time = self.epoch.as_datetime().strftime('%Y-%m-%dT%H:%M:%S.%f') + return f"<{self.__class__.__name__} from {self.prn} at {time}>" + + def get_sat_info(self, time: GPSTime): + """ + Returns: (pos, vel, clock_err, clock_rate_err, ephemeris) + """ + if not self.healthy: + return None + return list(self._get_sat_info(time)) + [self] + + @abstractmethod + def _get_sat_info(self, time): + pass + + def to_json(self): + if self.__json is None: + dict = self.__dict__ + dict['ephemeris_class'] = self.__class__.__name__ + self.__json = {'ephemeris': json.dumps(dict, cls=EphemerisSerializer)} + return self.__json + + @classmethod + def from_json(cls, json_dct): + dct = json.loads(json_dct['ephemeris'], object_hook=ephemeris_deserialize_hook) + obj = cls.__new__(globals()[dct['ephemeris_class']]) + obj.__dict__.update(dct) + obj.__json = json_dct + return obj + + +def ephemeris_deserialize_hook(dct): + if 'week' in dct: + return GPSTime(dct['week'], dct['tow']) + return dct + + +class EphemerisSerializer(json.JSONEncoder): + + def default(self, o): + if isinstance(o, GPSTime): + return o.__dict__ + if isinstance(o, np.ndarray): + return o.tolist() + return json.JSONEncoder.default(self, o) + + +class GLONASSEphemeris(Ephemeris): + def __init__(self, data, epoch, healthy=True, file_name=None): + super().__init__(data['prn'], data, epoch, EphemerisType.NAV, healthy, max_time_diff=25*SECS_IN_MIN, file_name=file_name) + self.channel = data['freq_num'] + self.to_json() + + def _get_sat_info(self, time: GPSTime): + # see the russian doc for this: + # http://gauss.gge.unb.ca/GLONASS.ICD.pdf + + eph = self.data + # TODO should handle leap seconds better + toc_gps_time = utc_to_gpst(eph['toc']) + tdiff = time - toc_gps_time + + # Clock correction (except for general relativity which is applied later) + clock_err = eph['min_tauN'] + tdiff * (eph['GammaN']) + clock_rate_err = eph['GammaN'] + + def glonass_diff_eq(state, acc): + J2 = 1.0826257e-3 + mu = 3.9860044e14 + omega = 7.292115e-5 + ae = 6378136.0 + r = np.sqrt(state[0]**2 + state[1]**2 + state[2]**2) + ders = np.zeros(6) + if r**2 < 0: + return ders + a = 1.5 * J2 * mu * (ae**2)/ (r**5) + b = 5 * (state[2]**2) / (r**2) + c = -mu/(r**3) - a*(1-b) + + ders[0:3] = state[3:6] + ders[3] = (c + omega**2)*state[0] + 2*omega*state[4] + acc[0] + ders[4] = (c + omega**2)*state[1] - 2*omega*state[3] + acc[1] + ders[5] = (c - 2*a)*state[2] + acc[2] + return ders + + init_state = np.empty(6) + init_state[0] = eph['x'] + init_state[1] = eph['y'] + init_state[2] = eph['z'] + init_state[3] = eph['x_vel'] + init_state[4] = eph['y_vel'] + init_state[5] = eph['z_vel'] + init_state = 1000*init_state + acc = 1000*np.array([eph['x_acc'], eph['y_acc'], eph['z_acc']]) + state = init_state + tstep = 90 + if tdiff < 0: + tt = -tstep + elif tdiff > 0: + tt = tstep + while abs(tdiff) > 1e-9: + if abs(tdiff) < tstep: + tt = tdiff + k1 = glonass_diff_eq(state, acc) + k2 = glonass_diff_eq(state + k1*tt/2, -acc) + k3 = glonass_diff_eq(state + k2*tt/2, -acc) + k4 = glonass_diff_eq(state + k3*tt, -acc) + state += (k1 + 2*k2 + 2*k3 + k4)*tt/6.0 + tdiff -= tt + + pos = state[0:3] + vel = state[3:6] + return pos, vel, clock_err, clock_rate_err + + +class PolyEphemeris(Ephemeris): + def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType, file_epoch: GPSTime, file_name: str, healthy=True, tgd=0): + super().__init__(prn, data, epoch, ephem_type, healthy, max_time_diff=SECS_IN_HR, file_epoch=file_epoch, file_name=file_name) + self.tgd = tgd + self.to_json() + + def _get_sat_info(self, time: GPSTime): + dt = time - self.data['t0'] + deg = self.data['deg'] + deg_t = self.data['deg_t'] + indices = np.arange(deg+1)[:,np.newaxis] + sat_pos = np.sum((dt**indices)*self.data['xyz'], axis=0) + indices = indices[1:] + sat_vel = np.sum(indices*(dt**(indices-1)*self.data['xyz'][1:]), axis=0) + time_err = sum((dt**p)*self.data['clock'][deg_t-p] for p in range(deg_t+1)) + time_err_rate = sum(p*(dt**(p-1))*self.data['clock'][deg_t-p] for p in range(1,deg_t+1)) + time_err_with_rel = time_err - 2*np.inner(sat_pos, sat_vel)/SPEED_OF_LIGHT**2 + return sat_pos, sat_vel, time_err_with_rel, time_err_rate + + +class GPSEphemeris(Ephemeris): + def __init__(self, data, epoch, healthy=True, file_name=None): + super().__init__('G%02i' % data['sv_id'], data, epoch, EphemerisType.NAV, healthy, max_time_diff=2*SECS_IN_HR, file_name=file_name) + self.max_time_diff_tgd = SECS_IN_DAY + self.to_json() + + def get_tgd(self): + return self.data['tgd'] + + def _get_sat_info(self, time: GPSTime): + eph = self.data + tdiff = time - eph['toc'] # Time of clock + clock_err = eph['af0'] + tdiff * (eph['af1'] + tdiff * eph['af2']) + clock_rate_err = eph['af1'] + 2 * tdiff * eph['af2'] + + # Orbit propagation + tdiff = time - eph['toe'] # Time of ephemeris (might be different from time of clock) + + # Calculate position per IS-GPS-200D p 97 Table 20-IV + a = eph['sqrta'] * eph['sqrta'] # [m] Semi-major axis + ma_dot = sqrt(EARTH_GM / (a * a * a)) + eph['dn'] # [rad/sec] Corrected mean motion + ma = eph['m0'] + ma_dot * tdiff # [rad] Corrected mean anomaly + + # Iteratively solve for the Eccentric Anomaly (from Keith Alter and David Johnston) + ea = ma # Starting value for E + + ea_old = 2222 + while fabs(ea - ea_old) > 1.0E-14: + ea_old = ea + tempd1 = 1.0 - eph['ecc'] * cos(ea_old) + ea = ea + (ma - ea_old + eph['ecc'] * sin(ea_old)) / tempd1 + ea_dot = ma_dot / tempd1 + + # Relativistic correction term + einstein = -4.442807633E-10 * eph['ecc'] * eph['sqrta'] * sin(ea) + + # Begin calc for True Anomaly and Argument of Latitude + tempd2 = sqrt(1.0 - eph['ecc'] * eph['ecc']) + # [rad] Argument of Latitude = True Anomaly + Argument of Perigee + al = atan2(tempd2 * sin(ea), cos(ea) - eph['ecc']) + eph['w'] + al_dot = tempd2 * ea_dot / tempd1 + + # Calculate corrected argument of latitude based on position + cal = al + eph['cus'] * sin(2.0 * al) + eph['cuc'] * cos(2.0 * al) + cal_dot = al_dot * (1.0 + 2.0 * (eph['cus'] * cos(2.0 * al) - + eph['cuc'] * sin(2.0 * al))) + + # Calculate corrected radius based on argument of latitude + r = a * tempd1 + eph['crc'] * cos(2.0 * al) + eph['crs'] * sin(2.0 * al) + r_dot = (a * eph['ecc'] * sin(ea) * ea_dot + + 2.0 * al_dot * (eph['crs'] * cos(2.0 * al) - + eph['crc'] * sin(2.0 * al))) + + # Calculate inclination based on argument of latitude + inc = (eph['inc'] + eph['inc_dot'] * tdiff + + eph['cic'] * cos(2.0 * al) + + eph['cis'] * sin(2.0 * al)) + inc_dot = (eph['inc_dot'] + + 2.0 * al_dot * (eph['cis'] * cos(2.0 * al) - + eph['cic'] * sin(2.0 * al))) + + # Calculate position and velocity in orbital plane + x = r * cos(cal) + y = r * sin(cal) + x_dot = r_dot * cos(cal) - y * cal_dot + y_dot = r_dot * sin(cal) + x * cal_dot + + # Corrected longitude of ascending node + om_dot = eph['omegadot'] - EARTH_ROTATION_RATE + om = eph['omega0'] + tdiff * om_dot - EARTH_ROTATION_RATE * eph['toe'].tow + + # Compute the satellite's position in Earth-Centered Earth-Fixed coordinates + pos = np.empty(3) + pos[0] = x * cos(om) - y * cos(inc) * sin(om) + pos[1] = x * sin(om) + y * cos(inc) * cos(om) + pos[2] = y * sin(inc) + + tempd3 = y_dot * cos(inc) - y * sin(inc) * inc_dot + + # Compute the satellite's velocity in Earth-Centered Earth-Fixed coordinates + vel = np.empty(3) + vel[0] = -om_dot * pos[1] + x_dot * cos(om) - tempd3 * sin(om) + vel[1] = om_dot * pos[0] + x_dot * sin(om) + tempd3 * cos(om) + vel[2] = y * cos(inc) * inc_dot + y_dot * sin(inc) + + clock_err += einstein + + return pos, vel, clock_err, clock_rate_err + + +def parse_sp3_orbits(file_names, supported_constellations, skip_until_epoch: Optional[GPSTime] = None) -> Dict[str, List[PolyEphemeris]]: + if skip_until_epoch is None: + skip_until_epoch = GPSTime(0, 0) + data: Dict[str, List] = {} + for file_name in file_names: + if file_name is None: + continue + with open(file_name) as f: + ephem_type = EphemerisType.from_file_name(file_name) + file_epoch = None + while True: + line = f.readline()[:-1] + if not line: + break + # epoch header + if line[0:2] == '* ': + year = int(line[3:7]) + month = int(line[8:10]) + day = int(line[11:13]) + hour = int(line[14:16]) + minute = int(line[17:19]) + second = int(float(line[20:31])) + epoch = GPSTime.from_datetime(datetime(year, month, day, hour, minute, second)) + if file_epoch is None: + file_epoch = epoch + # pos line + elif line[0] == 'P': + # Skipping data can reduce the time significantly when parsing the ephemeris + if epoch < skip_until_epoch: + continue + prn = line[1:4].replace(' ', '0') + # In old SP3 files vehicle ID doesn't contain constellation + # identifier. We assume that constellation is GPS when missing. + if prn[0] == '0': + prn = 'G' + prn[1:] + if get_constellation(prn) not in supported_constellations: + continue + if prn not in data: + data[prn] = [] + #TODO this is a crappy way to deal with overlapping ultra rapid + if len(data[prn]) < 1 or epoch - data[prn][-1][1] > 0: + parsed = [(ephem_type, file_epoch, file_name), + epoch, + 1e3 * float(line[4:18]), + 1e3 * float(line[18:32]), + 1e3 * float(line[32:46]), + 1e-6 * float(line[46:60])] + if (np.array(parsed[2:]) != 0).all(): + data[prn].append(parsed) + ephems = {} + for prn in data: + ephems[prn] = read_prn_data(data, prn) + return ephems + + +def read_prn_data(data, prn, deg=16, deg_t=1): + np_data_prn = np.array(data[prn], dtype=object) + # Currently, don't even bother with satellites that have unhealthy times + if len(np_data_prn) == 0 or (np_data_prn[:, 5] > .99).any(): + return [] + ephems = [] + for i in range(len(np_data_prn) - deg): + epoch_index = i + deg // 2 + epoch = np_data_prn[epoch_index][1] + measurements = np_data_prn[i:i + deg + 1, 1:5] + + times = (measurements[:, 0] - epoch).astype(float) + if (np.diff(times) != 900).any(): + continue + + poly_data = {} + poly_data['t0'] = epoch + with warnings.catch_warnings(): + warnings.simplefilter("ignore") # Ignores: UserWarning: The value of the smallest subnormal for type is zero. + poly_data['xyz'] = poly.polyfit(times, measurements[:, 1:].astype(float), deg) + poly_data['clock'] = [(np_data_prn[epoch_index + 1][5] - np_data_prn[epoch_index - 1][5]) / 1800, np_data_prn[epoch_index][5]] + poly_data['deg'] = deg + poly_data['deg_t'] = deg_t + # It can happen that a mix of orbit ephemeris types are used in the polyfit. + ephem_type, file_epoch, file_name = np_data_prn[epoch_index][0] + ephems.append(PolyEphemeris(prn, poly_data, epoch, ephem_type, file_epoch, file_name, healthy=True)) + return ephems + + +def parse_rinex_nav_msg_gps(file_name): + ephems = defaultdict(list) + got_header = False + rinex_ver = None + #ion_alpha = None + #ion_beta = None + f = open(file_name) + while True: + line = f.readline()[:-1] + if not line: + break + if not got_header: + if rinex_ver is None: + if line[60:80] != "RINEX VERSION / TYPE": + raise RuntimeError("Doesn't appear to be a RINEX file") + rinex_ver = int(float(line[0:9])) + if line[20] != "N": + raise RuntimeError("Doesn't appear to be a Navigation Message file") + #if line[60:69] == "ION ALPHA": + # line = line.replace('D', 'E') # Handle bizarro float format + # ion_alpha= [float(line[3:14]), float(line[15:26]), float(line[27:38]), float(line[39:50])] + #if line[60:68] == "ION BETA": + # line = line.replace('D', 'E') # Handle bizarro float format + # ion_beta= [float(line[3:14]), float(line[15:26]), float(line[27:38]), float(line[39:50])] + if line[60:73] == "END OF HEADER": + #ion = ion_alpha + ion_beta + got_header = True + continue + if rinex_ver == 3: + if line[0] != 'G': + continue + if rinex_ver == 3: + sv_id = int(line[1:3]) + epoch = GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S")) + elif rinex_ver == 2: + sv_id = int(line[0:2]) + # 2000 year is in RINEX file as 0, but Python requires two digit year: 00 + epoch_str = line[3:20] + if epoch_str[0] == ' ': + epoch_str = '0' + epoch_str[1:] + epoch = GPSTime.from_datetime(datetime.strptime(epoch_str, "%y %m %d %H %M %S")) + line = ' ' + line # Shift 1 char to the right + + line = line.replace('D', 'E') # Handle bizarro float format + e = {'epoch': epoch, 'sv_id': sv_id} + e['toc'] = epoch + e['af0'] = float(line[23:42]) + e['af1'] = float(line[42:61]) + e['af2'] = float(line[61:80]) + + e['iode'], e['crs'], e['dn'], e['m0'] = read4(f, rinex_ver) + e['cuc'], e['ecc'], e['cus'], e['sqrta'] = read4(f, rinex_ver) + toe_tow, e['cic'], e['omega0'], e['cis'] = read4(f, rinex_ver) + e['inc'], e['crc'], e['w'], e['omegadot'] = read4(f, rinex_ver) + e['inc_dot'], e['l2_codes'], toe_week, e['l2_pflag'] = read4(f, rinex_ver) + e['sv_accuracy'], e['health'], e['tgd'], e['iodc'] = read4(f, rinex_ver) + f.readline() # Discard last row + + e['toe'] = GPSTime(toe_week, toe_tow) + e['healthy'] = (e['health'] == 0.0) + + ephem = GPSEphemeris(e, epoch, file_name=file_name) + ephems[ephem.prn].append(ephem) + f.close() + return ephems + + +def parse_rinex_nav_msg_glonass(file_name): + ephems = defaultdict(list) + f = open(file_name) + got_header = False + rinex_ver = None + while True: + line = f.readline()[:-1] + if not line: + break + if not got_header: + if rinex_ver is None: + if line[60:80] != "RINEX VERSION / TYPE": + raise RuntimeError("Doesn't appear to be a RINEX file") + rinex_ver = int(float(line[0:9])) + if line[20] != "G": + raise RuntimeError("Doesn't appear to be a Navigation Message file") + if line[60:73] == "END OF HEADER": + got_header = True + continue + if rinex_ver == 3: + prn = line[:3] + epoch = GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S")) + elif rinex_ver == 2: + prn = 'R%02i' % int(line[0:2]) + epoch = GPSTime.from_datetime(datetime.strptime(line[3:20], "%y %m %d %H %M %S")) + line = ' ' + line # Shift 1 char to the right + + line = line.replace('D', 'E') # Handle bizarro float format + e = {'epoch': epoch, 'prn': prn} + e['toc'] = epoch + e['min_tauN'] = float(line[23:42]) + e['GammaN'] = float(line[42:61]) + e['tk'] = float(line[61:80]) + + e['x'], e['x_vel'], e['x_acc'], e['health'] = read4(f, rinex_ver) + e['y'], e['y_vel'], e['y_acc'], e['freq_num'] = read4(f, rinex_ver) + e['z'], e['z_vel'], e['z_acc'], e['age'] = read4(f, rinex_ver) + + e['healthy'] = (e['health'] == 0.0) + + ephems[prn].append(GLONASSEphemeris(e, epoch, file_name=file_name)) + f.close() + return ephems + + +''' + +def parse_qcom_ephems(qcom_polys, current_week): + ephems = [] + for qcom_poly in qcom_polys: + svId = qcom_poly.qcomGnss.drSvPoly.svId + data = qcom_poly.qcomGnss.drSvPoly + t0 = data.t0 + # fix glonass time + if get_constellation(svId) == 'GLONASS': + # TODO should handle leap seconds better + epoch = GPSTime(current_week, (t0 + 3*SECS_IN_WEEK) % (SECS_IN_WEEK) + 18) + else: + epoch = GPSTime(current_week, t0) + poly_data = {} + poly_data['t0'] = epoch + poly_data['x'] = [data.xyzN[2], data.xyzN[1], data.xyzN[0], data.xyz0[0]] + poly_data['y'] = [data.xyzN[5], data.xyzN[4], data.xyzN[3], data.xyz0[1]] + poly_data['z'] = [data.xyzN[8], data.xyzN[7], data.xyzN[6], data.xyz0[2]] + poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]] + poly_data['deg'] = 3 + poly_data['deg_t'] = 3 + ephems.append(PolyEphemeris(svId, poly_data, epoch, eph_type=EphemerisType.QCOM_POLY)) + return ephems +''' diff --git a/laika/gps_time.py b/laika/gps_time.py new file mode 100644 index 000000000..83d65b748 --- /dev/null +++ b/laika/gps_time.py @@ -0,0 +1,188 @@ +import datetime + + +def datetime_to_tow(t): + """ + Convert a Python datetime object to GPS Week and Time Of Week. + Does *not* convert from UTC to GPST. + Fractional seconds are supported. + + Parameters + ---------- + t : datetime + A time to be converted, on the GPST timescale. + mod1024 : bool, optional + If True (default), the week number will be output in 10-bit form. + + Returns + ------- + week, tow : tuple (int, float) + The GPS week number and time-of-week. + """ + # DateTime to GPS week and TOW + wk_ref = datetime.datetime(2014, 2, 16, 0, 0, 0, 0, None) + refwk = 1780 + wk = (t - wk_ref).days // 7 + refwk + tow = ((t - wk_ref) - datetime.timedelta((wk - refwk) * 7.0)).total_seconds() + return wk, tow + + +def tow_to_datetime(tow, week): + """ + Convert a GPS Week and Time Of Week to Python datetime object. + Does *not* convert from GPST to UTC. + Fractional seconds are supported. + + Parameters + ---------- + tow : time of week in seconds + + weeks : gps week + + + Returns + ------- + t : datetime + Python datetime + """ + # GPS week and TOW to DateTime + t = datetime.datetime(1980, 1, 6, 0, 0, 0, 0, None) + t += datetime.timedelta(seconds=tow) + t += datetime.timedelta(weeks=week) + return t + + +def get_leap_seconds(time): + if time <= GPSTime.from_datetime(datetime.datetime(2006, 1, 1)): + raise ValueError("Don't know how many leap seconds to use before 2006") + elif time <= GPSTime.from_datetime(datetime.datetime(2009, 1, 1)): + return 14 + elif time <= GPSTime.from_datetime(datetime.datetime(2012, 7, 1)): + return 15 + elif time <= GPSTime.from_datetime(datetime.datetime(2015, 7, 1)): + return 16 + elif time <= GPSTime.from_datetime(datetime.datetime(2017, 7, 1)): + return 17 + else: + return 18 + + +def gpst_to_utc(t_gpst): + t_utc = t_gpst - get_leap_seconds(t_gpst) + if utc_to_gpst(t_utc) - t_gpst != 0: + return t_utc + 1 + else: + return t_utc + + +def utc_to_gpst(t_utc): + t_gpst = t_utc + get_leap_seconds(t_utc) + return t_gpst + + +class GPSTime: + """ + GPS time class to add and subtract [week, tow] + """ + def __init__(self, week, tow): + self.week = week + self.tow = tow + self.seconds_in_week = 604800 + + @classmethod + def from_datetime(cls, datetime): + week, tow = datetime_to_tow(datetime) + return cls(week, tow) + + @classmethod + def from_glonass(cls, cycle, days, tow): + # https://en.wikipedia.org/wiki/GLONASS + # Day number (1 to 1461) within a four-year interval + # starting on 1 January of the last leap year + t = datetime.datetime(1992, 1, 1, 0, 0, 0, 0, None) + t += datetime.timedelta(days=cycle*(365*4+1)+(days-1)) + # according to Moscow decree time. + t -= datetime.timedelta(hours=3) + t += datetime.timedelta(seconds=tow) + ret = cls.from_datetime(t) + return utc_to_gpst(ret) + + @classmethod + def from_meas(cls, meas): + return cls(meas[1], meas[2]) + + def __sub__(self, other): + if isinstance(other, type(self)): + return (self.week - other.week)*self.seconds_in_week + self.tow - other.tow + elif isinstance(other, float) or isinstance(other, int): + new_week = self.week + new_tow = self.tow - other + while new_tow < 0: + new_tow += self.seconds_in_week + new_week -= 1 + return GPSTime(new_week, new_tow) + raise NotImplementedError(f"subtracting {other} from {self}") + + def __add__(self, other): + if isinstance(other, float) or isinstance(other, int): + new_week = self.week + new_tow = self.tow + other + while new_tow >= self.seconds_in_week: + new_tow -= self.seconds_in_week + new_week += 1 + return GPSTime(new_week, new_tow) + raise NotImplementedError(f"adding {other} from {self}") + + def __lt__(self, other): + return self - other < 0 + + def __gt__(self, other): + return self - other > 0 + + def __le__(self, other): + return self - other <= 0 + + def __ge__(self, other): + return self - other >= 0 + + def __eq__(self, other): + return self - other == 0 + + def as_datetime(self): + return tow_to_datetime(self.tow, self.week) + + @property + def day(self): + return int(self.tow/(24*3600)) + + def __repr__(self): + return f"GPSTime(week={self.week}, tow={self.tow})" + + +class TimeSyncer: + """ + Converts logmonotime to gps_time and vice versa + """ + def __init__(self, mono_time, gps_time): + self.ref_mono_time = mono_time + self.ref_gps_time = gps_time + + @classmethod + def from_datetime(cls, datetime): + week, tow = datetime_to_tow(datetime) + return cls(week, tow) + + @classmethod + def from_logs(cls, raw_qcom_measurement_report, clocks): + #TODO + #return cls(week, mono_time, gps_time) + return None + + def mono2gps(self, mono_time): + return self.ref_gps_time + mono_time - self.ref_mono_time + + def gps2mono(self, gps_time): + return gps_time - self.ref_gps_time + self.ref_mono_time + + def __str__(self): + return f"Reference mono time: {self.ref_mono_time} \n Reference gps time: {self.ref_gps_time}" diff --git a/laika/helpers.py b/laika/helpers.py new file mode 100644 index 000000000..4ebba76c1 --- /dev/null +++ b/laika/helpers.py @@ -0,0 +1,224 @@ +from enum import IntEnum +from typing import Dict + +import numpy as np +from .lib.coordinates import LocalCoord + + +class ConstellationId(IntEnum): + # Int values match Ublox gnssid version 8 + GPS = 0 + SBAS = 1 + GALILEO = 2 + BEIDOU = 3 + IMES = 4 + QZNSS = 5 + GLONASS = 6 + # Not supported by Ublox: + IRNSS = 7 + + def to_rinex_char(self) -> str: + # returns single character id + return RINEX_CONSTELLATION_TO_ID[self] + + @classmethod + def from_rinex_char(cls, c: str): + if c in RINEX_ID_TO_CONSTELLATION: + return RINEX_ID_TO_CONSTELLATION[c] + else: + return None + + @classmethod + def from_qcom_source(cls, report_source: int): + if report_source == 0: + return ConstellationId.GPS + if report_source == 6: + return ConstellationId.SBAS + elif report_source == 1: + return ConstellationId.GLONASS + raise NotImplementedError('Only GPS (0), SBAS (1) and GLONASS (6) are supported from qcom, not:', {report_source}) + + +# From https://gpsd.gitlab.io/gpsd/NMEA.html#_satellite_ids +# NmeaId is the unique 3 digits id for every satellite globally. (Example: 001, 201) +# SvId is the 2 digits satellite id that is unique within a constellation. (Get the unique satellite with the constellation id. Examples: G01, R01) +CONSTELLATION_TO_NMEA_RANGES = { + # NmeaId ranges for each constellation with its svId offset. + # constellation: [(start, end, svIdOffset)] + # svId = nmeaId + offset + ConstellationId.GPS: [(1, 32, 0)], # svId [1,32] + ConstellationId.SBAS: [(33, 64, -32), (120, 158, -87)], # svId [1,71] + ConstellationId.GLONASS: [(65, 96, -64)], # svId [1,31] + ConstellationId.IMES: [(173, 182, -172)], # svId [1,9] + ConstellationId.QZNSS: [(193, 200, -192)], # svId [1,28] # todo should be QZSS + ConstellationId.BEIDOU: [(201, 235, -200), (401, 437, -365)], # svId 1-72 + ConstellationId.GALILEO: [(301, 336, -300)] # svId 1-36 +} +# +# # Source: RINEX 3.04 +RINEX_CONSTELLATION_TO_ID: Dict[ConstellationId, str] = { + ConstellationId.GPS: 'G', + ConstellationId.GLONASS: 'R', + ConstellationId.SBAS: 'S', + ConstellationId.GALILEO: 'E', + ConstellationId.BEIDOU: 'C', + ConstellationId.QZNSS: 'J', + ConstellationId.IRNSS: 'I' +} + +# Make above dictionary bidirectional map: +# Now you can ask for constellation using: +# >>> RINEX_CONSTELLATION_IDENTIFIERS['R'] +# "GLONASS" +RINEX_ID_TO_CONSTELLATION: Dict[str, ConstellationId] = {id: con for con, id in RINEX_CONSTELLATION_TO_ID.items()} + + +def get_el_az(pos, sat_pos): + converter = LocalCoord.from_ecef(pos) + sat_ned = converter.ecef2ned(sat_pos) + sat_range = np.linalg.norm(sat_ned) + + el = np.arcsin(-sat_ned[2] / sat_range) # pylint: disable=unsubscriptable-object + az = np.arctan2(sat_ned[1], sat_ned[0]) # pylint: disable=unsubscriptable-object + return el, az + + +def get_closest(time, candidates, recv_pos=None): + if recv_pos is None: + # Takes a list of object that have an epoch(GPSTime) value + # and return the one that is closest the given time (GPSTime) + return min(candidates, key=lambda candidate: abs(time - candidate.epoch), default=None) + + return min( + (candidate for candidate in candidates if candidate.valid(time, recv_pos)), + key=lambda candidate: np.linalg.norm(recv_pos - candidate.pos), + default=None, + ) + + +def get_constellation(prn: str): + identifier = prn[0] + constellation = ConstellationId.from_rinex_char(identifier) + if constellation is not None: + return constellation.name + return None + + +def get_constellation_and_sv_id(nmea_id): + for c, ranges in CONSTELLATION_TO_NMEA_RANGES.items(): + for (start, end, sv_id_offset) in ranges: + if start <= nmea_id <= end: + sv_id = nmea_id + sv_id_offset + return c, sv_id + + raise ValueError(f"constellation not found for nmeaid {nmea_id}") + + +def get_prn_from_nmea_id(nmea_id: int): + c_id, sv_id = get_constellation_and_sv_id(nmea_id) + return "%s%02d" % (c_id.to_rinex_char(), sv_id) + + +def get_nmea_id_from_prn(prn: str): + constellation = get_constellation(prn) + if constellation is None: + raise ValueError(f"Constellation not found for prn {prn}") + + sv_id = int(prn[1:]) # satellite id + return get_nmea_id_from_constellation_and_svid(ConstellationId[constellation], sv_id) + + +def get_nmea_id_from_constellation_and_svid(constellation: ConstellationId, sv_id: int): + ranges = CONSTELLATION_TO_NMEA_RANGES[constellation] + for (start, end, sv_id_offset) in ranges: + new_nmea_id = sv_id - sv_id_offset + if start <= new_nmea_id <= end: + return new_nmea_id + + raise ValueError(f"NMEA ID not found for constellation {constellation.name} with satellite id {sv_id}") + + +def rinex3_obs_from_rinex2_obs(observable): + if observable == 'P2': + return 'C2P' + if len(observable) == 2: + return observable + 'C' + raise NotImplementedError("Don't know this: " + observable) + + +class TimeRangeHolder: + '''Class to support test if date is in any of the multiple, sparse ranges''' + + def __init__(self): + # Sorted list + self._ranges = [] + + def _previous_and_contains_index(self, time): + prev = None + current = None + + for idx, (start, end) in enumerate(self._ranges): + # Time may be in next range + if time > end: + continue + + # Time isn't in any next range + if time < start: + prev = idx - 1 + current = None + # Time is in current range + else: + prev = idx - 1 + current = idx + break + + # Break in last loop + if prev is None: + prev = len(self._ranges) - 1 + + return prev, current + + def add(self, start_time, end_time): + prev_start, current_start = self._previous_and_contains_index(start_time) + _, current_end = self._previous_and_contains_index(end_time) + + # Merge ranges + if current_start is not None and current_end is not None: + # If ranges are different then merge + if current_start != current_end: + new_start, _ = self._ranges[current_start] + _, new_end = self._ranges[current_end] + new_range = (new_start, new_end) + # Required reversed order to correct remove + del self._ranges[current_end] + del self._ranges[current_start] + self._ranges.insert(current_start, new_range) + # Extend range - left + elif current_start is not None: + new_start, _ = self._ranges[current_start] + new_range = (new_start, end_time) + del self._ranges[current_start] + self._ranges.insert(current_start, new_range) + # Extend range - right + elif current_end is not None: + _, new_end = self._ranges[current_end] + new_range = (start_time, new_end) + del self._ranges[current_end] + self._ranges.insert(prev_start + 1, new_range) + # Create new range + else: + new_range = (start_time, end_time) + self._ranges.insert(prev_start + 1, new_range) + + def __contains__(self, time): + for start, end in self._ranges: + # Time may be in next range + if time > end: + continue + + # Time isn't in any next range + if time < start: + return False + # Time is in current range + return True + return False diff --git a/laika/iono.py b/laika/iono.py new file mode 100644 index 000000000..16bad87fe --- /dev/null +++ b/laika/iono.py @@ -0,0 +1,246 @@ +import datetime as dt +import numpy as np +import re +from math import cos, sin, pi, floor +from .constants import SECS_IN_MIN, SECS_IN_HR, EARTH_RADIUS +from .lib.coordinates import LocalCoord +from .gps_time import GPSTime + +# Altitude of Ionospheric-pierce-point +IPP_ALT = 6821000 + + +def closest_in_list(lst, val, num=2): + """ + Returns two (`num` in general) closest values of `val` in list `lst` + """ + idxs = sorted(lst, key=lambda x: abs(x - val))[:num] + return sorted(list(lst).index(x) for x in idxs) + + +def get_header_line(headr, proprty): + """ + :param headr: the header of the RINEX-file + :param proprty: string-like property to search for (e.g. 'delta-utc') + :return: the string of the ``headr`` containing ``property`` + """ + pattern = re.compile(proprty, re.IGNORECASE) + for d in headr: + if pattern.search(d): + return d + + +def get_header_body(file_path): + """ + Opens `file_path`, reads file and returns header and body + separated with "END OF HEADER" + :param file_path: path to RINEX-like file + :return: header, body (arrays of lines) + """ + with open(file_path) as fd: + data = fd.readlines() + for j, d in enumerate(data): + if "END OF HEADER" in d: + header_end = j + break + return data[:header_end], data[header_end + 1:] + + +def get_int_from_header(hdr, seq): + """ + Returns the first int from the line that contains `seq` of lines `hdr`. + In fact, _header_ here may not be header of RINEX/IONEX, just some set of lines. + """ + return int(get_header_line(hdr, seq).split()[0]) + +def compute_grid_lats_lons(data): + grid = np.array([], dtype='uint16') + lats = np.array([]) + for j, line in enumerate(data[1:]): + if "LAT" in line: + lat, lon1, lon2, dlon, h = (float(line[x:x + 6]) for x in range(2, 32, 6)) + lats = np.append(lats, lat) + row_length = (lon2 - lon1) / dlon + 1 # total number of values of longitudes + next_lines_with_numbers = int(np.ceil(row_length / 16)) + elems_in_row = [ + min(16, int(row_length - i * 16)) for i in range(next_lines_with_numbers) + ] + row = np.array([], dtype='int16') + for i, elem in enumerate(elems_in_row): + row = np.append( + row, + np.array( + [int(data[j + 2 + i][5 * x:5 * x + 5]) for x in range(elem)], + dtype='int16', + ), + ) + if len(grid) > 0: + grid = np.vstack((grid, row)) + else: + grid = np.append(grid, row) + lons = np.linspace(lon1, lon2, int(row_length)) + return (grid, lats, lons) + + +class IonexMap: + def __init__(self, exp, data1, data2): + self.exp = exp + self.t1 = GPSTime.from_datetime(dt.datetime(*[int(d) for d in data1[0].split()[:6]])) + self.t2 = GPSTime.from_datetime(dt.datetime(*[int(d) for d in data2[0].split()[:6]])) + assert self.t2 - self.t1 == SECS_IN_HR + assert len(data1) == len(data2) + + self.max_time_diff = SECS_IN_MIN*30 + self.epoch = self.t1 + self.max_time_diff + + self.grid_TEC1, self.lats, self.lons = compute_grid_lats_lons(data1) + self.grid_TEC2, self.lats, self.lons = compute_grid_lats_lons(data2) + + def valid(self, time): + return abs(time - self.epoch) <= self.max_time_diff + + @staticmethod + def find_nearest(lst, val): + return (np.abs(lst - val)).argmin() + + def get_TEC(self, pos, time): + """ + Returns TEC in a position `pos` of ionosphere + :param pos: (lat, lon) [deg, deg] + :return: + """ + if pos[0] in self.lats and pos[1] in self.lons: + lat = self.find_nearest(self.lats, pos[0]) + lon = self.find_nearest(self.lons, pos[1]) + E = self.grid_TEC1[lat][lon] + self.grid_TEC2[lat][lon] + return E + lat_idxs = closest_in_list(self.lats, pos[0]) + lon_idxs = closest_in_list(self.lons, pos[1]) + lat0, lat1 = self.lats[lat_idxs[0]], self.lats[lat_idxs[1]] + lon0, lon1 = self.lons[lon_idxs[0]], self.lons[lon_idxs[1]] + dlat = lat1 - lat0 + dlon = lon1 - lon0 + p = float(pos[0] - lat0) / dlat + q = float(pos[1] - lon0) / dlon + + (E00, E10), (E01, E11) = self.grid_TEC1[lat_idxs[0]:lat_idxs[1] + 1, lon_idxs[0]:lon_idxs[1] + 1] + TEC_1 = ((1 - p) * (1 - q) * E00 + p * (1 - q) * E01 + (1 - p) * q * E10 + p * q * E11) + (E00, E10), (E01, E11) = self.grid_TEC2[lat_idxs[0]:lat_idxs[1] + 1, lon_idxs[0]:lon_idxs[1] + 1] + TEC_2 = ((1 - p) * (1 - q) * E00 + p * (1 - q) * E01 + (1 - p) * q * E10 + p * q * E11) + + return (1 - (time - self.t1)/SECS_IN_HR)*TEC_1 + ((time - self.t1)/SECS_IN_HR)*TEC_2 + + def get_delay(self, rcv_pos, az, el, sat_pos, time, freq): + # To get a delay from a TEC map, we need to calculate + # the ionospheric pierce point, geometry described here + # https://en.wikipedia.org/wiki/Ionospheric_pierce_point + conv = LocalCoord.from_ecef(rcv_pos) + geocentric_alt = np.linalg.norm(rcv_pos) + alpha = np.pi/2 + el + beta = np.arcsin(geocentric_alt*np.sin(alpha)/IPP_ALT) + gamma = np.pi - alpha - beta + ipp_dist = geocentric_alt*np.sin(gamma)/np.sin(beta) + ipp_ned = conv.ecef2ned(sat_pos)*(ipp_dist)/np.linalg.norm(sat_pos) + ipp_geo = conv.ned2geodetic(ipp_ned) + factor = 40.30E16 / (freq**2) * 10**(self.exp) + vertical_delay = self.get_TEC(ipp_geo, time) * factor + slant_delay = vertical_delay * ((1 - ((EARTH_RADIUS * np.sin(beta)) / + (EARTH_RADIUS + 3.5e5))**2)**(-0.5)) + return slant_delay + + @staticmethod + def round_to_grid(number, base): + return int(base * round(float(number) / base)) + + +def parse_ionex(ionex_file): + """ + :param ionex_file: path to the IONEX file + :return: TEC interpolation function `f( (lat,lon), datetime )` + """ + header, body = get_header_body(ionex_file) + + exponent = get_int_from_header(header, "EXPONENT") + maps_count = get_int_from_header(header, "MAPS IN FILE") + # ============= + # Separate maps + # ============= + map_start_idx = [] + map_end_idx = [] + + for j, line in enumerate(body): + if "START OF TEC MAP" in line: + map_start_idx += [j] + elif "END OF TEC MAP" in line: + map_end_idx += [j] + if maps_count != len(map_start_idx): + raise LookupError("Parsing error: the number of maps in the header " + "is not equal to the number of maps in the body.") + if len(map_start_idx) != len(map_end_idx): + raise IndexError("Starts end ends numbers are not equal.") + map_dates = [] + for i in range(maps_count): + date_components = body[map_start_idx[i] + 1].split()[:6] + map_dates.append(dt.datetime(*[int(d) for d in date_components])) + + maps = [] + iono_map = iono_map_prev = None + for m in range(maps_count): + iono_map_prev = iono_map + iono_map = body[map_start_idx[m] + 1:map_end_idx[m]] + if iono_map and iono_map_prev: + maps += [IonexMap(exponent, iono_map_prev, iono_map)] + return maps + + +def klobuchar(pos, az, el, time, iono_coeffs): + """ + Details are taken from [5]: IS-GPS-200H, Fig. 20-4 + Note: result is referred to the GPS L₁ frequency; + if the user is operating on the GPS L₂ frequency, the correction term must + be multiplied by γ = f₂²/f₁¹ = 0.6071850227694382 + :param pos: [lat, lon, alt] in radians and meters + """ + + tow = time.tow + if pos[2] < -1E3 or el < 0: + return 0.0 + if len(iono_coeffs) < 8: + return None + + # earth centered angle (semi-circle) + psi = 0.0137 / (el / pi + 0.11) - 0.022 + + # subionospheric latitude/longitude (semi-circle) + phi = pos[0] / pi + psi * cos(az) + if phi > 0.416: + phi = 0.416 + elif phi < -0.416: + phi = -0.416 + lam = pos[1] / pi + psi * sin(az) / cos(phi * pi) + + # geomagnetic latitude (semi-circle) */ + phi += 0.064 * cos((lam - 1.617) * pi) + + # local time (s) + tt = 43200.0 * lam + tow + tt -= floor(tt / 86400.0) * 86400.0 # 0<=tt<86400 + + # slant factor + f = 1.0 + 16.0 * pow(0.53 - el / pi, 3.0) + + # ionospheric delay + amp = iono_coeffs[0] + phi * (iono_coeffs[1] + phi * + (iono_coeffs[2] + phi * iono_coeffs[3])) + per = iono_coeffs[4] + phi * (iono_coeffs[5] + phi * + (iono_coeffs[6] + phi * iono_coeffs[7])) + if amp < 0.0: + amp = 0. + if per < 72000.0: + per = 72000.0 + x = 2.0 * pi * (tt - 50400.0) / per + + mul = 5E-9 + if abs(x) < 1.57: + mul = (5E-9 + amp * (1.0 + x * x * (-0.5 + x * x / 24.0))) + return 2.99792458E8 * f * mul diff --git a/laika/lib/__init__.py b/laika/lib/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/laika/lib/coordinates.py b/laika/lib/coordinates.py new file mode 100644 index 000000000..c6e584f83 --- /dev/null +++ b/laika/lib/coordinates.py @@ -0,0 +1,106 @@ +import numpy as np +""" +Coordinate transformation module. All methods accept arrays as input +with each row as a position. +""" + + +a = 6378137 +b = 6356752.3142 +esq = 6.69437999014 * 0.001 +e1sq = 6.73949674228 * 0.001 + + +def geodetic2ecef(geodetic, radians=False): + geodetic = np.array(geodetic) + input_shape = geodetic.shape + geodetic = np.atleast_2d(geodetic) + + ratio = 1.0 if radians else (np.pi / 180.0) + lat = ratio*geodetic[:,0] + lon = ratio*geodetic[:,1] + alt = geodetic[:,2] + + xi = np.sqrt(1 - esq * np.sin(lat)**2) + x = (a / xi + alt) * np.cos(lat) * np.cos(lon) + y = (a / xi + alt) * np.cos(lat) * np.sin(lon) + z = (a / xi * (1 - esq) + alt) * np.sin(lat) + ecef = np.array([x, y, z]).T + return ecef.reshape(input_shape) + + +def ecef2geodetic(ecef, radians=False): + """ + Convert ECEF coordinates to geodetic using ferrari's method + """ + # Save shape and export column + ecef = np.atleast_1d(ecef) + input_shape = ecef.shape + ecef = np.atleast_2d(ecef) + x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2] + + ratio = 1.0 if radians else (180.0 / np.pi) + + # Conver from ECEF to geodetic using Ferrari's methods + # https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution + r = np.sqrt(x * x + y * y) + Esq = a * a - b * b + F = 54 * b * b * z * z + G = r * r + (1 - esq) * z * z - esq * Esq + C = (esq * esq * F * r * r) / (pow(G, 3)) + S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C)) + P = F / (3 * pow((S + 1 / S + 1), 2) * G * G) + Q = np.sqrt(1 + 2 * esq * esq * P) + r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - + P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r) + U = np.sqrt(pow((r - esq * r_0), 2) + z * z) + V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z) + Z_0 = b * b * z / (a * V) + h = U * (1 - b * b / (a * V)) + lat = ratio*np.arctan((z + e1sq * Z_0) / r) + lon = ratio*np.arctan2(y, x) + + # stack the new columns and return to the original shape + geodetic = np.column_stack((lat, lon, h)) + return geodetic.reshape(input_shape) + +class LocalCoord: + """ + Allows conversions to local frames. In this case NED. + That is: North East Down from the start position in + meters. + """ + def __init__(self, init_geodetic, init_ecef): + self.init_ecef = init_ecef + lat, lon, _ = (np.pi/180)*np.array(init_geodetic) + self.ned2ecef_matrix = np.array([[-np.sin(lat)*np.cos(lon), -np.sin(lon), -np.cos(lat)*np.cos(lon)], + [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)], + [np.cos(lat), 0, -np.sin(lat)]]) + self.ecef2ned_matrix = self.ned2ecef_matrix.T + + @classmethod + def from_geodetic(cls, init_geodetic): + init_ecef = geodetic2ecef(init_geodetic) + return LocalCoord(init_geodetic, init_ecef) + + @classmethod + def from_ecef(cls, init_ecef): + init_geodetic = ecef2geodetic(init_ecef) + return LocalCoord(init_geodetic, init_ecef) + + def ecef2ned(self, ecef): + ecef = np.array(ecef) + return np.dot(self.ecef2ned_matrix, (ecef - self.init_ecef).T).T + + def ned2ecef(self, ned): + ned = np.array(ned) + # Transpose so that init_ecef will broadcast correctly for 1d or 2d ned. + return (np.dot(self.ned2ecef_matrix, ned.T).T + self.init_ecef) + + def geodetic2ned(self, geodetic): + ecef = geodetic2ecef(geodetic) + return self.ecef2ned(ecef) + + def ned2geodetic(self, ned): + ecef = self.ned2ecef(ned) + return ecef2geodetic(ecef) diff --git a/laika/lib/orientation.py b/laika/lib/orientation.py new file mode 100644 index 000000000..5f8d5d2b3 --- /dev/null +++ b/laika/lib/orientation.py @@ -0,0 +1,291 @@ +import numpy as np +from numpy import dot, inner, array, linalg +from .coordinates import LocalCoord + + +''' +Vectorized functions that transform between +rotation matrices, euler angles and quaternions. +All support lists, array or array of arrays as inputs. +Supports both x2y and y_from_x format (y_from_x preferred!). +''' + +def euler2quat(eulers): + eulers = array(eulers) + if len(eulers.shape) > 1: + output_shape = (-1,4) + else: + output_shape = (4,) + eulers = np.atleast_2d(eulers) + gamma, theta, psi = eulers[:,0], eulers[:,1], eulers[:,2] + + cos_half_gamma = np.cos(gamma / 2) + cos_half_theta = np.cos(theta / 2) + cos_half_psi = np.cos(psi / 2) + sin_half_gamma = np.sin(gamma / 2) + sin_half_theta = np.sin(theta / 2) + sin_half_psi = np.sin(psi / 2) + q0 = cos_half_gamma * cos_half_theta * cos_half_psi + sin_half_gamma * sin_half_theta * sin_half_psi + q1 = sin_half_gamma * cos_half_theta * cos_half_psi - cos_half_gamma * sin_half_theta * sin_half_psi + q2 = cos_half_gamma * sin_half_theta * cos_half_psi + sin_half_gamma * cos_half_theta * sin_half_psi + q3 = cos_half_gamma * cos_half_theta * sin_half_psi - sin_half_gamma * sin_half_theta * cos_half_psi + + quats = array([q0, q1, q2, q3]).T + for i in range(len(quats)): + if quats[i,0] < 0: + quats[i] = -quats[i] + return quats.reshape(output_shape) + + +def quat2euler(quats): + quats = array(quats) + if len(quats.shape) > 1: + output_shape = (-1,3) + else: + output_shape = (3,) + quats = np.atleast_2d(quats) + q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3] + + gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2)) + theta = np.arcsin(2 * (q0 * q2 - q3 * q1)) + psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2)) + + eulers = array([gamma, theta, psi]).T + return eulers.reshape(output_shape) + + +def quat2rot(quats): + quats = array(quats) + input_shape = quats.shape + quats = np.atleast_2d(quats) + Rs = np.zeros((quats.shape[0], 3, 3)) + q0 = quats[:, 0] + q1 = quats[:, 1] + q2 = quats[:, 2] + q3 = quats[:, 3] + Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3 + Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3) + Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3) + Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3) + Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3 + Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1) + Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2) + Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3) + Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3 + + if len(input_shape) < 2: + return Rs[0] + return Rs + + +def rot2quat(rots): + input_shape = rots.shape + if len(input_shape) < 3: + rots = array([rots]) + K3 = np.empty((len(rots), 4, 4)) + K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0 + K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0 + K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0 + K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0 + K3[:, 1, 0] = K3[:, 0, 1] + K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0 + K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0 + K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0 + K3[:, 2, 0] = K3[:, 0, 2] + K3[:, 2, 1] = K3[:, 1, 2] + K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0 + K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0 + K3[:, 3, 0] = K3[:, 0, 3] + K3[:, 3, 1] = K3[:, 1, 3] + K3[:, 3, 2] = K3[:, 2, 3] + K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0 + q = np.empty((len(rots), 4)) + for i in range(len(rots)): + _, eigvecs = linalg.eigh(K3[i].T) + eigvecs = eigvecs[:,3:] + q[i, 0] = eigvecs[-1] + q[i, 1:] = -eigvecs[:-1].flatten() + if q[i, 0] < 0: + q[i] = -q[i] + + if len(input_shape) < 3: + return q[0] + return q + + +def euler2rot(eulers): + return rotations_from_quats(euler2quat(eulers)) + + +def rot2euler(rots): + return quat2euler(quats_from_rotations(rots)) + + +quats_from_rotations = rot2quat +quat_from_rot = rot2quat +rotations_from_quats = quat2rot +rot_from_quat= quat2rot +rot_from_quat= quat2rot +euler_from_rot = rot2euler +euler_from_quat = quat2euler +rot_from_euler = euler2rot +quat_from_euler = euler2quat + + +''' +Random helpers below +''' + + +def quat_product(q, r): + t = np.zeros(4) + t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3] + t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2] + t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1] + t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0] + return t + + +def rot_matrix(roll, pitch, yaw): + cr, sr = np.cos(roll), np.sin(roll) + cp, sp = np.cos(pitch), np.sin(pitch) + cy, sy = np.cos(yaw), np.sin(yaw) + rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]]) + rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]]) + ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]]) + return ry.dot(rp.dot(rr)) + + +def rot(axis, angle): + # Rotates around an arbitrary axis + ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [ + axis[1] * axis[0], axis[1]**2, axis[1] * axis[2] + ], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]]) + ret_2 = np.cos(angle) * np.eye(3) + ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]], + [-axis[1], axis[0], 0]]) + return ret_1 + ret_2 + ret_3 + + +def ecef_euler_from_ned(ned_ecef_init, ned_pose): + ''' + Got it from here: + Using Rotations to Build Aerospace Coordinate Systems + -Don Koks + ''' + converter = LocalCoord.from_ecef(ned_ecef_init) + x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0]) + y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0]) + z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0]) + + x1 = rot(z0, ned_pose[2]).dot(x0) + y1 = rot(z0, ned_pose[2]).dot(y0) + z1 = rot(z0, ned_pose[2]).dot(z0) + + x2 = rot(y1, ned_pose[1]).dot(x1) + y2 = rot(y1, ned_pose[1]).dot(y1) + z2 = rot(y1, ned_pose[1]).dot(z1) + + x3 = rot(x2, ned_pose[0]).dot(x2) + y3 = rot(x2, ned_pose[0]).dot(y2) + #z3 = rot(x2, ned_pose[0]).dot(z2) + + x0 = array([1, 0, 0]) + y0 = array([0, 1, 0]) + z0 = array([0, 0, 1]) + + psi = np.arctan2(inner(x3, y0), inner(x3, x0)) + theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2)) + y2 = rot(z0, psi).dot(y0) + z2 = rot(y2, theta).dot(z0) + phi = np.arctan2(inner(y3, z2), inner(y3, y2)) + + ret = array([phi, theta, psi]) + return ret + + +def ned_euler_from_ecef(ned_ecef_init, ecef_poses): + ''' + Got the math from here: + Using Rotations to Build Aerospace Coordinate Systems + -Don Koks + + Also accepts array of ecef_poses and array of ned_ecef_inits. + Where each row is a pose and an ecef_init. + ''' + ned_ecef_init = array(ned_ecef_init) + ecef_poses = array(ecef_poses) + output_shape = ecef_poses.shape + ned_ecef_init = np.atleast_2d(ned_ecef_init) + if ned_ecef_init.shape[0] == 1: + ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1)) + ecef_poses = np.atleast_2d(ecef_poses) + + ned_poses = np.zeros(ecef_poses.shape) + for i, ecef_pose in enumerate(ecef_poses): + converter = LocalCoord.from_ecef(ned_ecef_init[i]) + x0 = array([1, 0, 0]) + y0 = array([0, 1, 0]) + z0 = array([0, 0, 1]) + + x1 = rot(z0, ecef_pose[2]).dot(x0) + y1 = rot(z0, ecef_pose[2]).dot(y0) + z1 = rot(z0, ecef_pose[2]).dot(z0) + + x2 = rot(y1, ecef_pose[1]).dot(x1) + y2 = rot(y1, ecef_pose[1]).dot(y1) + z2 = rot(y1, ecef_pose[1]).dot(z1) + + x3 = rot(x2, ecef_pose[0]).dot(x2) + y3 = rot(x2, ecef_pose[0]).dot(y2) + #z3 = rot(x2, ecef_pose[0]).dot(z2) + + x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0]) + y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0]) + z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0]) + + psi = np.arctan2(inner(x3, y0), inner(x3, x0)) + theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2)) + y2 = rot(z0, psi).dot(y0) + z2 = rot(y2, theta).dot(z0) + phi = np.arctan2(inner(y3, z2), inner(y3, y2)) + ned_poses[i] = array([phi, theta, psi]) + + return ned_poses.reshape(output_shape) + + +def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter): + """ + TODO: add roll rotation + Converts an array of points in ecef coordinates into + x-forward, y-left, z-up coordinates + Parameters + ---------- + psi: yaw, radian + theta: pitch, radian + Returns + ------- + [x, y, z] coordinates in car frame + """ + + # input is an array of points in ecef cocrdinates + # output is an array of points in car's coordinate (x-front, y-left, z-up) + + # convert points to NED + points_ned = [] + for p in points_ecef: + points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef)) + + points_ned = np.vstack(points_ned).T + + # n, e, d -> x, y, z + # Calculate relative positions and rotate wrt to heading and pitch of car + invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]]) + + c, s = np.cos(psi), np.sin(psi) + yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]]) + + c, s = np.cos(theta), np.sin(theta) + pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]]) + + return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned))) diff --git a/laika/raw_gnss.py b/laika/raw_gnss.py new file mode 100644 index 000000000..39eabda45 --- /dev/null +++ b/laika/raw_gnss.py @@ -0,0 +1,433 @@ +from math import sqrt +from typing import Dict, List, Optional, Union + +import numpy as np +import datetime +import struct + +from . import constants +from .ephemeris import Ephemeris +from .lib.coordinates import LocalCoord +from .gps_time import GPSTime +from .helpers import ConstellationId, get_constellation_and_sv_id, get_nmea_id_from_constellation_and_svid, \ + rinex3_obs_from_rinex2_obs + + +def array_from_normal_meas(meas): + return np.concatenate(([meas.get_nmea_id()], + [meas.recv_time_week], + [meas.recv_time_sec], + [meas.glonass_freq], + [meas.observables['C1C']], + [meas.observables_std['C1C']], + [meas.observables['D1C']], + [meas.observables_std['D1C']], + [meas.observables['S1C']], + [meas.observables['L1C']])) + + +def normal_meas_from_array(arr): + observables, observables_std = {}, {} + observables['C1C'] = arr[4] + observables_std['C1C'] = arr[5] + observables['D1C'] = arr[6] + observables_std['D1C'] = arr[7] + observables['S1C'] = arr[8] + observables['L1C'] = arr[9] + constellation_id, sv_id = get_constellation_and_sv_id(nmea_id=arr[0]) + return GNSSMeasurement(constellation_id, sv_id, arr[1], arr[2], + observables, observables_std, arr[3]) + + +class GNSSMeasurement: + PRN = 0 + RECV_TIME_WEEK = 1 + RECV_TIME_SEC = 2 + GLONASS_FREQ = 3 + + PR = 4 + PR_STD = 5 + PRR = 6 + PRR_STD = 7 + + SAT_POS = slice(8, 11) + SAT_VEL = slice(11, 14) + + def __init__(self, constellation_id: ConstellationId, sv_id: int, recv_time_week: int, recv_time_sec: float, observables: Dict[str, float], observables_std: Dict[str, float], + glonass_freq: Union[int, float] = None): + # Metadata + # prn: unique satellite id + self.prn = "%s%02d" % (constellation_id.to_rinex_char(), sv_id) # satellite ID in rinex convention + self.constellation_id = constellation_id + self.sv_id = sv_id # satellite id per constellation + + self.recv_time_week = recv_time_week + self.recv_time_sec = recv_time_sec + self.recv_time = GPSTime(recv_time_week, recv_time_sec) + self.glonass_freq = glonass_freq # glonass channel + + # Measurements + self.observables = observables + self.observables_std = observables_std + + # flags + self.processed = False + self.corrected = False + + # sat info + self.sat_pos = np.array([np.nan, np.nan, np.nan]) + self.sat_vel = np.array([np.nan, np.nan, np.nan]) + self.sat_clock_err = np.nan + self.sat_ephemeris: Optional[Ephemeris] = None + + self.sat_pos_final = np.array([np.nan, np.nan, np.nan]) # sat_pos in receiver time's ECEF frame instead of satellite time's ECEF frame + self.observables_final: Dict[str, float] = {} + + def process(self, dog): + sat_time = self.recv_time - self.observables['C1C']/constants.SPEED_OF_LIGHT + sat_info = dog.get_sat_info(self.prn, sat_time) + if sat_info is None: + return False + self.sat_pos, self.sat_vel, self.sat_clock_err, _, self.sat_ephemeris = sat_info + self.processed = True + return True + + def correct(self, est_pos, dog, allow_incomplete_delay=False): + for obs in self.observables: + if obs[0] == 'C': # or obs[0] == 'L': + delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs) + if delay is not None and (allow_incomplete_delay or delay != 0): + self.observables_final[obs] = (self.observables[obs] + + self.sat_clock_err*constants.SPEED_OF_LIGHT - + delay) + else: + self.observables_final[obs] = self.observables[obs] + if 'C1C' in self.observables_final and 'C2P' in self.observables_final: + self.observables_final['IOF'] = (((constants.GPS_L1**2)*self.observables_final['C1C'] - + (constants.GPS_L2**2)*self.observables_final['C2P'])/ + (constants.GPS_L1**2 - constants.GPS_L2**2)) + + geometric_range = np.linalg.norm(self.sat_pos - est_pos) + theta_1 = constants.EARTH_ROTATION_RATE * geometric_range / constants.SPEED_OF_LIGHT + self.sat_pos_final = np.array([self.sat_pos[0] * np.cos(theta_1) + self.sat_pos[1] * np.sin(theta_1), + self.sat_pos[1] * np.cos(theta_1) - self.sat_pos[0] * np.sin(theta_1), + self.sat_pos[2]]) + if 'C1C' in self.observables_final and np.isfinite(self.observables_final['C1C']): + self.corrected = True + return True + return False + + def as_array(self, only_corrected=True): + observables = self.observables_final + sat_pos = self.sat_pos_final + if not self.corrected: + if only_corrected: + raise NotImplementedError('Only corrected measurements can be put into arrays') + else: + observables = self.observables + sat_pos = self.sat_pos + ret = np.array([self.get_nmea_id(), self.recv_time_week, self.recv_time_sec, self.glonass_freq, + observables['C1C'], self.observables_std['C1C'], + observables['D1C'], self.observables_std['D1C']]) + return np.concatenate((ret, sat_pos, self.sat_vel)) + + def __repr__(self): + time = self.recv_time.as_datetime().strftime('%Y-%m-%dT%H:%M:%S.%f') + return f"" + + def get_nmea_id(self): + return get_nmea_id_from_constellation_and_svid(self.constellation_id, self.sv_id) + + +def process_measurements(measurements: List[GNSSMeasurement], dog) -> List[GNSSMeasurement]: + proc_measurements = [] + for meas in measurements: + if meas.process(dog): + proc_measurements.append(meas) + return proc_measurements + + +def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog, allow_incomplete_delay=False) -> List[GNSSMeasurement]: + corrected_measurements = [] + for meas in measurements: + if meas.correct(est_pos, dog, allow_incomplete_delay): + corrected_measurements.append(meas) + return corrected_measurements + + +def group_measurements_by_epoch(measurements): + meas_filt_by_t = [[measurements[0]]] + for m in measurements[1:]: + if abs(m.recv_time - meas_filt_by_t[-1][-1].recv_time) > 1e-9: + meas_filt_by_t.append([]) + meas_filt_by_t[-1].append(m) + return meas_filt_by_t + + +def group_measurements_by_sat(measurements): + measurements_by_sat = {} + sats = {m.prn for m in measurements} + for sat in sats: + measurements_by_sat[sat] = [m for m in measurements if m.prn == sat] + return measurements_by_sat + + +def read_raw_qcom(report): + dr = 'DrMeasurementReport' in str(report.schema) + # Only gps/sbas and glonass are supported + constellation_id = ConstellationId.from_qcom_source(report.source) + if constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]: # gps/sbas + if dr: + recv_tow = report.gpsMilliseconds / 1000.0 # seconds + time_bias_ms = struct.unpack("f", struct.pack("I", report.gpsTimeBiasMs))[0] + else: + recv_tow = report.milliseconds / 1000.0 # seconds + time_bias_ms = report.timeBias + recv_time = GPSTime(report.gpsWeek, recv_tow) + elif constellation_id == ConstellationId.GLONASS: + if dr: + recv_tow = report.glonassMilliseconds / 1000.0 # seconds + recv_time = GPSTime.from_glonass(report.glonassYear, report.glonassDay, recv_tow) + time_bias_ms = report.glonassTimeBias + else: + recv_tow = report.milliseconds / 1000.0 # seconds + recv_time = GPSTime.from_glonass(report.glonassCycleNumber, report.glonassNumberOfDays, recv_tow) + time_bias_ms = report.timeBias + else: + raise NotImplementedError('Only GPS (0), SBAS (1) and GLONASS (6) are supported from qcom, not:', {report.source}) + #print(recv_time, report.source, time_bias_ms, dr) + measurements = [] + for i in report.sv: + nmea_id = i.svId # todo change svId to nmea_id in cereal message. Or better: change the publisher to publish correct svId's, since constellation id is also given + if nmea_id == 255: + # todo nmea_id is not valid. Fix publisher + continue + _, sv_id = get_constellation_and_sv_id(nmea_id) + if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown: + sat_tow = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency + time_bias_ms) / 1000 + observables, observables_std = {}, {} + observables['C1C'] = (recv_tow - sat_tow)*constants.SPEED_OF_LIGHT + observables_std['C1C'] = i.unfilteredTimeUncertainty * 1e-3 * constants.SPEED_OF_LIGHT + if i.measurementStatus.fineOrCoarseVelocity: + # about 10x better, perhaps filtered with carrier phase? + observables['D1C'] = i.fineSpeed + observables_std['D1C'] = i.fineSpeedUncertainty + else: + observables['D1C'] = i.unfilteredSpeed + observables_std['D1C'] = i.unfilteredSpeedUncertainty + observables['S1C'] = (i.carrierNoise/100.) if i.carrierNoise != 0 else np.nan + observables['L1C'] = np.nan + #print(" %.5f %3d %10.2f %7.2f %7.2f %.2f %d" % (recv_time.tow, nmea_id, + # observables['C1C'], observables_std['C1C'], + # observables_std['D1C'], observables['S1C'], i.latency), i.observationState, i.measurementStatus.fineOrCoarseVelocity) + glonass_freq = (i.glonassFrequencyIndex - 7) if constellation_id == ConstellationId.GLONASS else np.nan + measurements.append(GNSSMeasurement(constellation_id, sv_id, + recv_time.week, + recv_time.tow, + observables, + observables_std, + glonass_freq)) + return measurements + + +def read_raw_ublox(report) -> List[GNSSMeasurement]: + recv_tow = report.rcvTow # seconds + recv_week = report.gpsWeek + measurements = [] + for i in report.measurements: + # only add Gps and Glonass fixes + if i.gnssId in [ConstellationId.GPS, ConstellationId.GLONASS]: + if i.svId > 32 or i.pseudorange > 2**32: + continue + observables = {} + observables_std = {} + if i.trackingStatus.pseudorangeValid and i.sigId == 0: + observables['C1C'] = i.pseudorange + # Empirically it seems obvious ublox's std is + # actually a variation + observables_std['C1C'] = sqrt(i.pseudorangeStdev)*10 + if i.gnssId == ConstellationId.GLONASS: + glonass_freq = i.glonassFrequencyIndex - 7 + observables['D1C'] = -(constants.SPEED_OF_LIGHT / (constants.GLONASS_L1 + glonass_freq * constants.GLONASS_L1_DELTA)) * i.doppler + else: # GPS + glonass_freq = np.nan + observables['D1C'] = -(constants.SPEED_OF_LIGHT / constants.GPS_L1) * i.doppler + observables_std['D1C'] = (constants.SPEED_OF_LIGHT / constants.GPS_L1) * i.dopplerStdev + observables['S1C'] = i.cno + if i.trackingStatus.carrierPhaseValid: + observables['L1C'] = i.carrierCycles + else: + observables['L1C'] = np.nan + + measurements.append(GNSSMeasurement(ConstellationId(i.gnssId), i.svId, recv_week, recv_tow, + observables, observables_std, glonass_freq)) + return measurements + + +def read_rinex_obs(obsdata) -> List[List[GNSSMeasurement]]: + measurements: List[List[GNSSMeasurement]] = [] + obsdata_keys = list(obsdata.data.keys()) + first_sat = obsdata_keys[0] + n = len(obsdata.data[first_sat]['Epochs']) + for i in range(n): + recv_time_datetime = obsdata.data[first_sat]['Epochs'][i] + recv_time_datetime = recv_time_datetime.astype(datetime.datetime) + recv_time = GPSTime.from_datetime(recv_time_datetime) + measurements.append([]) + for sat_str in obsdata_keys: + if np.isnan(obsdata.data[sat_str]['C1'][i]): + continue + observables, observables_std = {}, {} + for obs in obsdata.data[sat_str]: + if obs == 'Epochs': + continue + rinex3_obs_key = rinex3_obs_from_rinex2_obs(obs) + observables[rinex3_obs_key] = obsdata.data[sat_str][obs][i] + observables_std[rinex3_obs_key] = 1. + + constellation_id, sv_id = get_constellation_and_sv_id(int(sat_str)) + measurements[-1].append(GNSSMeasurement(constellation_id, sv_id, + recv_time.week, recv_time.tow, + observables, observables_std)) + return measurements + + +def calc_pos_fix(measurements, x0=[0, 0, 0, 0, 0], no_weight=False, signal='C1C', min_measurements=6): + ''' + Calculates gps fix with WLS optimizer + + returns: + 0 -> list with positions + 1 -> pseudorange errs + ''' + import scipy.optimize as opt # Only use scipy here + + n = len(measurements) + if n < min_measurements: + return [] + + Fx_pos = pr_residual(measurements, signal=signal, no_weight=no_weight, no_nans=True) + opt_pos = opt.least_squares(Fx_pos, x0).x + return opt_pos, Fx_pos(opt_pos, no_weight=True) + + +def calc_vel_fix(measurements, est_pos, v0=[0, 0, 0, 0], no_weight=False, signal='D1C'): + ''' + Calculates gps velocity fix with WLS optimizer + + returns: + 0 -> list with velocities + 1 -> pseudorange_rate errs + ''' + import scipy.optimize as opt # Only use scipy here + + n = len(measurements) + if n < 6: + return [] + + Fx_vel = prr_residual(measurements, est_pos, signal=signal, no_weight=no_weight, no_nans=True) + opt_vel = opt.least_squares(Fx_vel, v0).x + return opt_vel, Fx_vel(opt_vel, no_weight=True) + + +def pr_residual(measurements: List[GNSSMeasurement], signal='C1C', no_weight=False, no_nans=False): + # solve for pos + def Fx_pos(xxx_todo_changeme, no_weight=no_weight): + (x, y, z, bc, bg) = xxx_todo_changeme + rows = [] + + for meas in measurements: + if signal in meas.observables_final and np.isfinite(meas.observables_final[signal]): + pr = meas.observables_final[signal] + sat_pos = meas.sat_pos_final + theta = 0 + elif signal in meas.observables and np.isfinite(meas.observables[signal]) and meas.processed: + pr = meas.observables[signal] + pr += meas.sat_clock_err * constants.SPEED_OF_LIGHT + sat_pos = meas.sat_pos + theta = constants.EARTH_ROTATION_RATE * (pr - bc) / constants.SPEED_OF_LIGHT + else: + if not no_nans: + rows.append(np.nan) + continue + if no_weight: + weight = 1 + else: + weight = (1 / meas.observables_std[signal]) + + val = np.sqrt( + (sat_pos[0] * np.cos(theta) + sat_pos[1] * np.sin(theta) - x) ** 2 + + (sat_pos[1] * np.cos(theta) - sat_pos[0] * np.sin(theta) - y) ** 2 + + (sat_pos[2] - z) ** 2 + ) + if meas.constellation_id == ConstellationId.GLONASS: + rows.append(weight * (val - (pr - bc - bg))) + elif meas.constellation_id == ConstellationId.GPS: + rows.append(weight * (val - (pr - bc))) + return rows + return Fx_pos + + +def prr_residual(measurements, est_pos, signal='D1C', no_weight=False, no_nans=False): + # solve for vel + def Fx_vel(vel, no_weight=no_weight): + rows = [] + for meas in measurements: + if signal not in meas.observables or not np.isfinite(meas.observables[signal]): + if not no_nans: + rows.append(np.nan) + continue + if meas.corrected: + sat_pos = meas.sat_pos_final + else: + sat_pos = meas.sat_pos + if no_weight: + weight = 1 + else: + weight = (1 / meas.observables[signal]) + los_vector = (sat_pos - est_pos[0:3] + ) / np.linalg.norm(sat_pos - est_pos[0:3]) + rows.append( + weight * ((meas.sat_vel - vel[0:3]).dot(los_vector) - + (meas.observables[signal] - vel[3]))) + return rows + return Fx_vel + + +def get_Q(recv_pos, sat_positions): + local = LocalCoord.from_ecef(recv_pos) + sat_positions_rel = local.ecef2ned(sat_positions) + sat_distances = np.linalg.norm(sat_positions_rel, axis=1) + A = np.column_stack((sat_positions_rel[:,0]/sat_distances, # pylint: disable=unsubscriptable-object + sat_positions_rel[:,1]/sat_distances, # pylint: disable=unsubscriptable-object + sat_positions_rel[:,2]/sat_distances, # pylint: disable=unsubscriptable-object + -np.ones(len(sat_distances)))) + if A.shape[0] < 4 or np.linalg.matrix_rank(A) < 4: + return np.inf*np.ones((4,4)) + Q = np.linalg.inv(A.T.dot(A)) + return Q + + +def get_DOP(recv_pos, sat_positions): + Q = get_Q(recv_pos, sat_positions) + return np.sqrt(np.trace(Q)) + + +def get_HDOP(recv_pos, sat_positions): + Q = get_Q(recv_pos, sat_positions) + return np.sqrt(np.trace(Q[:2,:2])) + + +def get_VDOP(recv_pos, sat_positions): + Q = get_Q(recv_pos, sat_positions) + return np.sqrt(Q[2,2]) + + +def get_TDOP(recv_pos, sat_positions): + Q = get_Q(recv_pos, sat_positions) + return np.sqrt(Q[3,3]) + + +def get_PDOP(recv_pos, sat_positions): + Q = get_Q(recv_pos, sat_positions) + return np.sqrt(np.trace(Q[:3,:3])) diff --git a/laika/rinex_file.py b/laika/rinex_file.py new file mode 100644 index 000000000..438506191 --- /dev/null +++ b/laika/rinex_file.py @@ -0,0 +1,252 @@ +#!/usr/bin/env python + +# Copyright (C) 2014 Swift Navigation Inc. +# +# This source is subject to the license found in the file 'LICENSE' which must +# be be distributed together with this source. All other rights reserved. +# +# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, +# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED +# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + +import datetime +import numpy as np + + +def floatornan(x): + if x == '' or x[-1] == ' ': + return np.NaN + return float(x) + + +def digitorzero(x): + if x == ' ' or x == '': + return 0 + return int(x) + + +def padline(l, n=16): + x = len(l) + x_ = n * ((x + n - 1) // n) + padded = l + ' ' * (x_ - x) + while len(padded) < 70: + padded += ' ' * 16 + return padded + + +TOTAL_SATS = 132 # Increased to support Galileo + + +class DownloadError(Exception): + pass + + +class RINEXFile: + def __init__(self, filename, rate=None): + self.rate = rate + try: + with open(filename) as f: + self._read_header(f) + self._read_data(f) + except TypeError: + print("TypeError, file likely not downloaded.") + raise DownloadError("file download failure") + except FileNotFoundError: + print("File not found in directory.") + raise DownloadError("file missing in download cache") + def _read_header(self, f): + version_line = padline(f.readline(), 80) + + self.version = float(version_line[0:9]) + if (self.version > 2.11): + raise ValueError( + f"RINEX file versions > 2.11 not supported (file version {self.version:f})") + + self.filetype = version_line[20] + if self.filetype not in "ONGM": # Check valid file type + raise ValueError(f"RINEX file type '{self.filetype}' not supported") + if self.filetype != 'O': + raise ValueError("Only 'OBSERVATION DATA' RINEX files are currently supported") + + self.gnss = version_line[40] + if self.gnss not in " GRSEM": # Check valid satellite system + raise ValueError(f"Satellite system '{self.filetype}' not supported") + if self.gnss == ' ': + self.gnss = 'G' + if self.gnss != 'G': + #raise ValueError("Only GPS data currently supported") + pass + + self.comment = "" + while True: # Read the rest of the header + line = padline(f.readline(), 80) + label = line[60:80].rstrip() + if label == "END OF HEADER": + break + if label == "COMMENT": + self.comment += line[:60] + '\n' + if label == "MARKER NAME": + self.marker_name = line[:60].rstrip() + if self.marker_name == '': + self.marker_name = 'UNKNOWN' + if label == "# / TYPES OF OBSERV": + # RINEX files can have multiple line headers + # This code handles the case + try: + n_obs = int(line[0:6]) + self.obs_types = [] + except ValueError: + pass + + if n_obs <= 9: + for i in range(0, n_obs): + self.obs_types.append(line[10 + 6 * i:12 + 6 * i]) + if n_obs > 9: + for i in range(0, 9): + self.obs_types.append(line[10 + 6 * i:12 + 6 * i]) + n_obs -= 9 + + def _read_next_non_comment(self, f): + line = f.readline() + while line and line.find('COMMENT') != -1: + line = f.readline() + return line + + def _read_epoch_header(self, f): + epoch_hdr = self._read_next_non_comment(f) + if epoch_hdr == '': + return None + # ignore any line with these three strings + skippable = ('0.0000000 4 5', 'MARKER NUMBER', ' 4 1') + while any(skip in epoch_hdr for skip in skippable): + epoch_hdr = self._read_next_non_comment(f) + + if epoch_hdr == '': + return None + + year = int(epoch_hdr[1:3]) + if year >= 80: + year += 1900 + else: + year += 2000 + month = int(epoch_hdr[4:6]) + day = int(epoch_hdr[7:9]) + hour = int(epoch_hdr[10:12]) + minute = int(epoch_hdr[13:15]) + second = int(epoch_hdr[15:18]) + microsecond = int( + epoch_hdr[19:25]) # Discard the least sig. fig. (use microseconds only). + epoch = datetime.datetime(year, month, day, hour, minute, second, microsecond) + + flag = int(epoch_hdr[28]) + allowed_flags = {0, 3, 4} + if flag not in allowed_flags: + raise ValueError("Don't know how to handle epoch flag %d in epoch header:\n%s" % + (flag, epoch_hdr)) + + n_sats = int(epoch_hdr[29:32]) + if flag > 1: # event flag: nsats is number of records + for i in range(n_sats): + f.readline() + return None + + sats = [] + for i in range(0, n_sats): + if ((i % 12) == 0) and (i > 0): + epoch_hdr = f.readline() + sats.append(epoch_hdr[(32 + (i % 12) * 3):(35 + (i % 12) * 3)]) + + return epoch, flag, sats + + def _read_obs(self, f, n_sat, sat_map): + obs = np.empty((TOTAL_SATS, len(self.obs_types)), dtype=np.float64) * np.NaN + lli = np.zeros((TOTAL_SATS, len(self.obs_types)), dtype=np.uint8) + signal_strength = np.zeros((TOTAL_SATS, len(self.obs_types)), dtype=np.uint8) + + for i in range(n_sat): + # Join together observations for a single satellite if split across lines. + obs_line = ''.join( + padline(f.readline()[:-1], 16) for _ in range((len(self.obs_types) + 4) // 5)) + for j in range(len(self.obs_types)): + obs_record = obs_line[16 * j:16 * (j + 1)] + obs[int(sat_map[i]), j] = floatornan(obs_record[0:14]) + lli[int(sat_map[i]), j] = digitorzero(obs_record[14:15]) + signal_strength[int(sat_map[i]), j] = digitorzero(obs_record[15:16]) + + return obs, lli, signal_strength + + def _skip_obs(self, f, n_sat): + for i in range(n_sat): + for _ in range((len(self.obs_types) + 4) // 5): + f.readline() + + def _read_data_chunk(self, f, CHUNK_SIZE=10000): + obss = np.empty( + (CHUNK_SIZE, TOTAL_SATS, len(self.obs_types)), dtype=np.float64) * np.NaN + llis = np.zeros((CHUNK_SIZE, TOTAL_SATS, len(self.obs_types)), dtype=np.uint8) + signal_strengths = np.zeros( + (CHUNK_SIZE, TOTAL_SATS, len(self.obs_types)), dtype=np.uint8) + epochs = np.zeros(CHUNK_SIZE, dtype='datetime64[us]') + flags = np.zeros(CHUNK_SIZE, dtype=np.uint8) + + i = 0 + while True: + hdr = self._read_epoch_header(f) + if hdr is None: + break + # data faster than desired rate: ignore it + if self.rate and (hdr[0].microsecond or hdr[0].second % self.rate != 0): + self._skip_obs(f, len(hdr[2])) + continue + epoch, flags[i], sats = hdr + epochs[i] = np.datetime64(epoch) + sat_map = np.ones(len(sats)) * -1 + for n, sat in enumerate(sats): + if sat[0] == 'G': + sat_map[n] = int(sat[1:]) - 1 + if sat[0] == 'R': + sat_map[n] = int(sat[1:]) - 1 + 64 + obss[i], llis[i], signal_strengths[i] = self._read_obs(f, len(sats), sat_map) + i += 1 + if i >= CHUNK_SIZE: + break + + return obss[:i], llis[:i], signal_strengths[:i], epochs[:i], flags[:i] + + def _read_data(self, f): + self.data = {} + while True: + obss, llis, signal_strengths, epochs, flags = self._read_data_chunk(f) + if obss.shape[0] == 0: + break + + for i, sv in enumerate(['%02d' % d for d in range(1, TOTAL_SATS+1)]): + if sv not in self.data: + self.data[sv] = {} + for j, obs_type in enumerate(self.obs_types): + if obs_type in self.data[sv]: + self.data[sv][obs_type] = np.append(self.data[sv][obs_type], obss[:, i, j]) + else: + self.data[sv][obs_type] = obss[:, i, j] + if 'Epochs' in self.data[sv]: + self.data[sv]['Epochs'] = np.append(self.data[sv]['Epochs'], epochs) + else: + self.data[sv]['Epochs'] = epochs + for sat in list(self.data.keys()): + if np.all(np.isnan(self.data[sat]['C1'])): + del self.data[sat] + + + + + + + + + + + + + + + diff --git a/laika/trop.py b/laika/trop.py new file mode 100644 index 000000000..8315e91bb --- /dev/null +++ b/laika/trop.py @@ -0,0 +1,34 @@ +#!/usr/bin/python + +from numpy import cos, exp, pi +from .lib.coordinates import ecef2geodetic + + +def saast(pos, el, humi=0.75, temp0=15.0): + """ + Function from RTKlib: https://github.com/tomojitakasu/RTKLIB/blob/master/src/rtkcmn.c#L3362-3362 + with no changes + :param time: time + :param pos: receiver position {ecef} m) + :param el: azimuth/elevation angle {az,el} (rad) -- we do not use az + :param humi: relative humidity + :param temp0: temperature (Celsius) + :return: tropospheric delay (m) + """ + pos_rad = ecef2geodetic(pos, radians=True) + if pos_rad[2] < -100.0 or 1E4 < pos_rad[2] or el <= 0: + return 0.0 + + # /* standard atmosphere */ + hgt = 0.0 if pos_rad[2] < 0.0 else pos_rad[2] + + pres = 1013.25 * pow(1.0 - 2.2557E-5 * hgt, 5.2568) + temp = temp0 - 6.5E-3 * hgt + 273.16 + e = 6.108 * humi * exp((17.15 * temp - 4684.0) / (temp - 38.45)) + + # /* saastamoninen model */ + z = pi / 2.0 - el + trph = 0.0022768 * pres / ( + 1.0 - 0.00266 * cos(2.0 * pos_rad[0]) - 0.00028 * hgt / 1E3) / cos(z) + trpw = 0.002277 * (1255.0 / temp + 0.05) * e / cos(z) + return trph + trpw diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh new file mode 100755 index 000000000..66536bb61 --- /dev/null +++ b/launch_chffrplus.sh @@ -0,0 +1,287 @@ +#!/usr/bin/bash + +if [ -z "$BASEDIR" ]; then + BASEDIR="/data/openpilot" +fi + +source "$BASEDIR/launch_env.sh" + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" + +function two_init { + + dt=$(date +%s) + + if [ $dt -le 1658278800 ]; then + date -s 'Wednesday, July 20, 2022 9:00:00 AM GMT+08:00' >/dev/null 2>&1 + fi + + mount -o remount,rw /system + if [ ! -f /ONEPLUS ] && ! $(grep -q "letv" /proc/cmdline); then + sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile + touch /ONEPLUS + else + if [ ! -f /LEECO ]; then + touch /LEECO + fi + fi + mount -o remount,r /system + # always update to the latest update.zip + if [ -f /ONEPLUS ]; then + cp -f "$BASEDIR/system/hardware/eon/update.zip" "/data/media/0/update.zip" + fi + + # set IO scheduler + setprop sys.io.scheduler noop + for f in /sys/block/*/queue/scheduler; do + echo noop > $f + done + + # *** shield cores 2-3 *** + + # TODO: should we enable this? + # offline cores 2-3 to force recurring timers onto the other cores + #echo 0 > /sys/devices/system/cpu/cpu2/online + #echo 0 > /sys/devices/system/cpu/cpu3/online + #echo 1 > /sys/devices/system/cpu/cpu2/online + #echo 1 > /sys/devices/system/cpu/cpu3/online + + # android gets two cores + echo 0-1 > /dev/cpuset/background/cpus + echo 0-1 > /dev/cpuset/system-background/cpus + echo 0-1 > /dev/cpuset/foreground/cpus + echo 0-1 > /dev/cpuset/foreground/boost/cpus + echo 0-1 > /dev/cpuset/android/cpus + + # openpilot gets all the cores + echo 0-3 > /dev/cpuset/app/cpus + + # mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering + echo 3 | tee /sys/class/net/*/queues/*/rps_cpus + echo 3 | tee /sys/class/net/*/queues/*/xps_cpus + + # *** set up governors *** + + # +50mW offroad, +500mW onroad for 30% more RAM bandwidth + echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor + # available freq: + # 192000000 307200000 384000000 441600000 537600000 614400000 691200000 + # 768000000 844800000 902400000 979200000 "1056000000" 1132800000 + # 1190400000 1286400000 1363200000 1440000000 1516800000 1593600000 + echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq + echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor + + # unclear if these help, but they don't seem to hurt + echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor + echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor + + # GPU + echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor + + # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave" + # it seems to gain nothing but a wasted 500mW + + # *** set up IRQ affinities *** + + # Collect RIL and other possibly long-running I/O interrupts onto CPU 1 + echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio) + echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage) + echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci) + echo 1 > /proc/irq/6/smp_affinity_list # MDSS + + # USB traffic needs realtime handling on cpu 3 + [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list + if [ -f /ONEPLUS ]; then + [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T + fi + + # GPU and camera get cpu 2 + CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192" + for irq in $CAM_IRQS; do + echo 2 > /proc/irq/$irq/smp_affinity_list + done + echo 2 > /proc/irq/193/smp_affinity_list # GPU + + # give GPU threads RT priority + for pid in $(pgrep "kgsl"); do + chrt -f -p 52 $pid + done + + # the flippening! + LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1 + + # disable bluetooth + service call bluetooth_manager 8 + + # wifi scan + wpa_cli IFNAME=wlan0 SCAN + + # install missing libs + LIB_PATH="/data/openpilot/system/hardware/eon/libs" + PY_LIB_DEST="/system/comma/usr/lib/python3.8/site-packages" + mount -o remount,rw /system + # mapd + if [ ! -f "/system/comma/usr/lib/libgfortran.so.5.0.0" ]; then + echo "Installing libgfortran..." + tar -zxvf "$LIB_PATH/libgfortran.tar.gz" -C /system/comma/usr/lib/ + fi + # mapd + MODULE="opspline" + if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then + echo "Installing $MODULE..." + tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/" + fi + MODULE="overpy" + if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then + echo "Installing $MODULE..." + tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/" + fi + # laika + MODULE="hatanaka" + if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then + echo "Installing $MODULE..." + tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/" + fi + if [ ! -f "$PY_LIB_DEST/ncompress.cpython-38.so" ]; then + echo "Installing ncompress.cpython-38.so..." + cp -f "$LIB_PATH/ncompress.cpython-38.so" "$PY_LIB_DEST/" + fi + MODULE="importlib_resources" + if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then + echo "Installing $MODULE..." + tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/" + fi + if [ ! -f "$PY_LIB_DEST/zipp.py" ]; then + echo "Installing zipp.py..." + cp -f "$LIB_PATH/zipp.py" "$PY_LIB_DEST/" + fi + # updated + MODULE="markdown_it" + if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then + echo "Installing $MODULE..." + tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/" + fi + MODULE="mdurl" + if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then + echo "Installing $MODULE..." + tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/" + fi + mount -o remount,r /system + + # Check for NEOS update + if [ -f /LEECO ] && [ $(< /VERSION) != "$NEOS_VERSION" ]; then + echo "Installing NEOS update" + NEOS_PY="$DIR/system/hardware/eon/neos.py" + MANIFEST="$DIR/system/hardware/eon/neos.json" + $NEOS_PY --swap-if-ready $MANIFEST + $DIR/system/hardware/eon/updater $NEOS_PY $MANIFEST + fi + + # One-time fix for a subset of OP3T with gyro orientation offsets. + # Remove and regenerate qcom sensor registry. Only done on OP3T mainboards. + # Performed exactly once. The old registry is preserved just-in-case, and + # doubles as a flag denoting we've already done the reset. + if [ -f /ONEPLUS ] && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then + echo "Performing OP3T sensor registry reset" + mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup && + rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal && + echo "restart" > /sys/kernel/debug/msm_subsys/slpi && + sleep 5 # Give Android sensor subsystem a moment to recover + fi + + # make sure we have the latest os version number. + mount -o remount,rw /system + echo -n "$NEOS_VERSION" > /VERSION + mount -o remount,r /system +} + +function agnos_init { + # wait longer for weston to come up + if [ -f "$BASEDIR/prebuilt" ]; then + sleep 3 + fi + + # TODO: move this to agnos + sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta + + # set success flag for current boot slot + sudo abctl --set_success + + # Check if AGNOS update is required + if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then + AGNOS_PY="$DIR/system/hardware/tici/agnos.py" + MANIFEST="$DIR/system/hardware/tici/agnos.json" + if $AGNOS_PY --verify $MANIFEST; then + sudo reboot + fi + $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST + fi + ./custom_dep.py +} + +function launch { + # Remove orphaned git lock if it exists on boot + [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock + + # Pull time from panda + $DIR/selfdrive/boardd/set_time.py + + # Check to see if there's a valid overlay-based update available. Conditions + # are as follows: + # + # 1. The BASEDIR init file has to exist, with a newer modtime than anything in + # the BASEDIR Git repo. This checks for local development work or the user + # switching branches/forks, which should not be overwritten. + # 2. The FINALIZED consistent file has to exist, indicating there's an update + # that completed successfully and synced to disk. + + if [ -f "${BASEDIR}/.overlay_init" ]; then +# find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null +# if [ $? -eq 0 ]; then +# echo "${BASEDIR} has been modified, skipping overlay update installation" +# else + if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then + if [ ! -d /data/safe_staging/old_openpilot ]; then + echo "Valid overlay update found, installing" + LAUNCHER_LOCATION="${BASH_SOURCE[0]}" + + mv $BASEDIR /data/safe_staging/old_openpilot + mv "${STAGING_ROOT}/finalized" $BASEDIR + cd $BASEDIR + + echo "Restarting launch script ${LAUNCHER_LOCATION}" + unset NEOS_VERSION + unset AGNOS_VERSION + exec "${LAUNCHER_LOCATION}" + else + echo "openpilot backup found, not updating" + # TODO: restore backup? This means the updater didn't start after swapping + fi + fi +# fi + fi + + # handle pythonpath + ln -sfn $(pwd) /data/pythonpath + export PYTHONPATH="$PWD:$PWD/pyextra" + + # dp - apply custom patch + if [ -f "/data/media/0/dp_patcher.py" ]; then + python /data/media/0/dp_patcher.py + fi + + # hardware specific init + two_init + + # write tmux scrollback to a file + tmux capture-pane -pq -S-1000 > /tmp/launch_log + + # start manager + cd selfdrive/manager + ./build.py && ./manager.py + + # if broken, keep on screen error + while true; do sleep 1; done +} + +launch diff --git a/launch_env.sh b/launch_env.sh new file mode 100755 index 000000000..320bfe736 --- /dev/null +++ b/launch_env.sh @@ -0,0 +1,21 @@ +#!/usr/bin/bash + +export OMP_NUM_THREADS=1 +export MKL_NUM_THREADS=1 +export NUMEXPR_NUM_THREADS=1 +export OPENBLAS_NUM_THREADS=1 +export VECLIB_MAXIMUM_THREADS=1 + +if [ -z "$NEOS_VERSION" ]; then + export NEOS_VERSION="20" +fi + +if [ -z "$AGNOS_VERSION" ]; then + export AGNOS_VERSION="5.2" +fi + +if [ -z "$PASSIVE" ]; then + export PASSIVE="1" +fi + +export STAGING_ROOT="/data/safe_staging" diff --git a/launch_openpilot.sh b/launch_openpilot.sh new file mode 100755 index 000000000..1525e1715 --- /dev/null +++ b/launch_openpilot.sh @@ -0,0 +1,5 @@ +#!/usr/bin/bash + +export PASSIVE="0" +exec ./launch_chffrplus.sh + diff --git a/opendbc/.gitignore b/opendbc/.gitignore new file mode 100644 index 000000000..bf8570d8b --- /dev/null +++ b/opendbc/.gitignore @@ -0,0 +1,17 @@ +.mypy_cache/ +*.pyc +*.os +*.o +*.tmp +*.dylib +.*.swp +.DS_Store +.sconsign.dblite + +can/*.so +can/build/ +can/obj/ +can/packer_pyx.cpp +can/parser_pyx.cpp +can/packer_pyx.html +can/parser_pyx.html diff --git a/opendbc/Dockerfile b/opendbc/Dockerfile new file mode 100644 index 000000000..860100a51 --- /dev/null +++ b/opendbc/Dockerfile @@ -0,0 +1,55 @@ +FROM ubuntu:20.04 + +ENV DEBIAN_FRONTEND=noninteractive +RUN apt-get update && apt-get install -y --no-install-recommends \ + autoconf \ + build-essential \ + ca-certificates \ + capnproto \ + clang \ + cppcheck \ + curl \ + git \ + libtool \ + make \ + libbz2-dev \ + libffi-dev \ + libcapnp-dev \ + liblzma-dev \ + libncurses5-dev \ + libncursesw5-dev \ + libreadline-dev \ + libssl-dev \ + libsqlite3-dev \ + libzmq3-dev \ + llvm \ + ocl-icd-opencl-dev \ + opencl-headers \ + tk-dev \ + python-openssl \ + xz-utils \ + zlib1g-dev \ + && rm -rf /var/lib/apt/lists/* + +RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash +ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}" +RUN pyenv install 3.8.10 +RUN pyenv global 3.8.10 +RUN pyenv rehash + +COPY requirements.txt /tmp/ +RUN pip install --no-cache-dir -r /tmp/requirements.txt +RUN pip install --no-cache-dir pre-commit==2.15.0 pylint==2.5.2 + +ENV PYTHONPATH=/project + +WORKDIR /project +# TODO: Add tag to cereal +RUN git clone https://github.com/commaai/cereal.git /project/cereal && cd /project/cereal && git checkout d46f37c314bb92306207db44693b2f58c31f66b9 + +COPY SConstruct . +COPY ./site_scons /project/site_scons +COPY . /project/opendbc + +RUN rm -rf /project/opendbc/.git +RUN scons -c && scons -j$(nproc) diff --git a/opendbc/ESR.dbc b/opendbc/ESR.dbc new file mode 100644 index 000000000..e3837a68b --- /dev/null +++ b/opendbc/ESR.dbc @@ -0,0 +1,1080 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: Gateway ESR +VAL_TABLE_ ForwardReverse 1 "Reverse" 0 "Forward" ; +VAL_TABLE_ LeftRight 1 "Right Clockwise" 0 "Left CounterClockwise" ; +VAL_TABLE_ ValidInvalid 1 "Valid" 0 "Invalid" ; +VAL_TABLE_ TrueFalse 1 "True" 0 "False" ; + + +BO_ 1343 Target64: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1342 Target63: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1341 Target62: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1340 Target61: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1339 Target60: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1338 Target59: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1337 Target58: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1336 Target57: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1335 Target56: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1334 Target55: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1333 Target54: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1332 Target53: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1331 Target52: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1330 Target51: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1329 Target50: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1328 Target49: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1327 Target48: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1326 Target47: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1325 Target46: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1324 Target45: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1323 Target44: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1322 Target43: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1321 Target42: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1320 Target41: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1319 Target40: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1318 Target39: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1317 Target38: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1316 Target37: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1315 Target36: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1314 Target35: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1313 Target34: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1312 Target33: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1311 Target32: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1310 Target31: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1309 Target30: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1308 Target29: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1307 Target28: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1306 Target27: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1305 Target26: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1304 Target25: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1303 Target24: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1302 Target23: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1301 Target22: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1300 Target21: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1299 Target20: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1298 Target19: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1297 Target18: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1296 Target17: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1295 Target16: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1294 Target15: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1293 Target14: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1292 Target13: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1291 Target12: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1290 Target11: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1289 Target10: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1288 Target9: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1287 Target8: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1285 Target6: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1286 Target7: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1284 Target5: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1283 Target4: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1282 Target3: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1281 Target2: 8 Vector__XXX + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1524 VehicleData3: 8 Gateway + SG_ CAN_RX_YAW_RATE_BIAS_SHIFT : 15|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_WHEELBASE : 55|8@0+ (2,200) [200|710] "cm" Vector__XXX + SG_ CAN_RX_STEERING_GEAR_RATIO : 63|8@0+ (0.125,0) [0|31.875] "" Vector__XXX + SG_ CAN_RX_OVERSTEER_UNDERSTEER : 7|8@0- (1,0) [-128|127] "%" Vector__XXX + SG_ CAN_RX_FUNNEL_OFFSET_RIGHT : 31|8@0- (0.1,0) [-12.8|12.7] "m" Vector__XXX + SG_ CAN_RX_FUNNEL_OFFSET_LEFT : 23|8@0- (0.1,0) [-12.8|12.7] "m" Vector__XXX + SG_ CAN_RX_DISTANCE_REAR_AXLE : 47|8@0+ (2,200) [200|710] "cm" Vector__XXX + SG_ CAN_RX_CW_BLOCKAGE_TRESHOLD : 39|8@0+ (0.0078125,0) [0|1.9921875] "" Vector__XXX + SG_ CAN_RX_BEAMWIDTH_VERT : 14|7@0+ (0.0625,0) [0|7.9375] "deg" Vector__XXX + +BO_ 1523 FactoryAlignment: 8 Gateway + +BO_ 1522 Vehicle_Data2: 8 Gateway + SG_ CAN_RX_WHEEL_SLIP : 41|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_RX_SERV_ALIGN_UPDATES_NEED : 55|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_RX_SERV_ALIGN_TYPE : 47|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_RADAR_HEIGHT : 38|7@0+ (1,0) [0|127] "cm" Vector__XXX + SG_ CAN_RX_RADAR_FOV_MR : 30|7@0+ (1,0) [0|127] "deg" Vector__XXX + SG_ CAN_RX_RADAR_FOV_LR : 19|5@0+ (1,0) [0|31] "deg" Vector__XXX + SG_ CAN_RX_LONG_ACCEL_VALIDITY : 7|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_LONG_ACCEL : 12|9@0- (0.03125,0) [-8|7.96875] "m/s^2" Vector__XXX + SG_ CAN_RX_LAT_ACCEL_VALIDITY : 6|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_LAT_ACCEL : 5|9@0- (0.03125,0) [-8|7.96875] "m/s^2" Vector__XXX + SG_ CAN_RX_AUTO_ALIGN_DISABLE : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_AUTO_ALIGN_CONVERGED : 42|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_ANGLE_MOUNTING_OFFSET : 63|8@0- (0.0625,0) [-8|7.9375] "deg" Vector__XXX + SG_ CAN_RX_AALIGN_AVG_CTR_TOTAL : 45|3@0+ (250,250) [250|2000] "" Vector__XXX + +BO_ 1512 CIPV_Targets_Etc: 8 ESR + +BO_ 1511 ESR_History_Fault: 8 ESR + +BO_ 1510 ESR_Active_Fault: 8 ESR + +BO_ 1508 AD_Data: 8 ESR + +BO_ 1489 SensorValidation2: 8 ESR + SG_ CAN_TX_VALID_MR_SN : 7|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_VALID_MR_RANGE_RATE : 31|16@0- (0.0078125,0) [-256|255.9921875] "m/s" Vector__XXX + SG_ CAN_TX_VALID_MR_RANGE : 15|16@0+ (0.0078125,0) [0|511.9921875] "m" Vector__XXX + SG_ CAN_TX_VALID_MR_POWER : 63|8@0- (1,0) [-128|127] "db" Vector__XXX + SG_ CAN_TX_VALID_MR_ANGLE : 40|16@1- (0.0625,0) [-2048|2047.9375] "deg" Vector__XXX + +BO_ 1488 SensorValidation: 8 ESR + SG_ CAN_TX_VALID_LR_SN : 7|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_VALID_LR_RANGE_RATE : 31|16@0- (0.0078125,0) [-256|255.9921875] "m/s" Vector__XXX + SG_ CAN_TX_VALID_LR_RANGE : 15|16@0+ (0.0078125,0) [0|511.9921875] "m" Vector__XXX + SG_ CAN_TX_VALID_LR_POWER : 63|8@0- (1,0) [-128|127] "db" Vector__XXX + SG_ CAN_TX_VALID_LR_ANGLE : 47|16@0- (0.0625,0) [-2048|2047.9375] "deg" Vector__XXX + +BO_ 1344 Track_Sensor: 1 ESR + SG_ CAN_TX_TRACK_ROLLING_COUNT_2 : 4|1@0+ (1,0) [0|1] "" Vector__XXX + +BO_ 1280 Target1: 8 ESR + SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX + SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX + SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX + SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX + SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX + SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX + SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX + +BO_ 1265 SensorInput: 8 Gateway + SG_ CAN_RX_USE_ANGLE_MISALIGNMENT : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_RX_SCAN_INDEX_ACK : 7|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_RX_LATERAL_MOUNTING_OFFSET : 47|8@0- (0.01563,0) [-2.00064|1.98501] "m" Vector__XXX + SG_ CAN_RX_WIPER_STATUS : 57|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_VOLVO_SHORT_TRACK_ROC : 31|4@0- (500,0) [-4000|3500] "m" Vector__XXX + SG_ CAN_RX_VEHICLE_SPEED_VALIDITY : 61|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_TURN_SIGNAL_STATUS : 63|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_RX_RAW_DATA_ENABLE : 56|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_RADAR_CMD_RADIATE : 55|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_MR_ONLY_TRANSMIT : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_RX_MMR_UPSIDE_DOWN : 60|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_MAXIMUM_TRACKS : 53|6@0+ (1,0) [0|63] "" Vector__XXX + SG_ CAN_RX_LR_ONLY_TRANSMIT : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_RX_HIGH_YAW_ANGLE : 21|6@0- (1,0) [-32|31] "deg" Vector__XXX + SG_ CAN_RX_GROUPING_MODE : 59|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_RX_CLEAR_FAULTS : 22|1@0- (1,0) [0|0] "" Vector__XXX + SG_ CAN_RX_BLOCKAGE_DISABLE : 54|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_ANGLE_MISALIGNMENT : 39|8@0- (0.0625,0) [-8|7.9375] "deg" Vector__XXX + +BO_ 1264 Vehicle_Data: 8 Gateway + SG_ CAN_RX_YAW_RATE_VALIDITY : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_RX_YAW_RATE : 11|12@0- (0.0625,0) [-128|127.9375] "deg/s" Vector__XXX + SG_ CAN_RX_VEHICLE_SPEED_DIRECTION : 12|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_VEHICLE_SPEED : 7|11@0+ (0.0625,0) [0|127.9375] "m/s" Vector__XXX + SG_ CAN_RX_RADIUS_CURVATURE : 29|14@0- (1,0) [-8192|8191] "m" Vector__XXX + SG_ CAN_RX_STEERING_VALIDITY : 47|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_STEERING_ANGLE_SIGN : 46|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_STEERING_ANGLE_RATE_SIGN : 30|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_RX_STEERING_ANGLE_RATE : 50|11@0+ (1,0) [0|2047] "deg/s" Vector__XXX + SG_ CAN_RX_STEERING_ANGLE : 45|11@0+ (1,0) [0|2047] "deg" Vector__XXX + +BO_ 1251 ESR_Output_InPath: 8 ESR + SG_ CAN_TX_PATH_ID_ACC_MOVE : 15|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_TRUCK_TARGET_DET : 7|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_SIDELOBE_BLOCKATE : 5|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_ROLLING_COUNT_3 : 1|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_PATH_ID_FCW_STAT : 47|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_PATH_ID_FCW_MOVE : 39|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_PATH_ID_CMBB_STAT : 31|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_PATH_ID_CMBB_MOVE : 23|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_PATH_ID_ACC_STAT : 63|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_PARTIAL_BLOCKAGE : 4|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_LR_ONLY_GRATING_LOBE_DET : 6|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_LMR_LR_MODE : 3|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_AUTO_ALIGN_ANGLE : 55|8@0- (0.0625,0) [-8|7.9375] "" Vector__XXX + +BO_ 1250 ESR_SW: 8 ESR + SG_ CAN_TX_SW_VERSION_PLD : 63|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_TX_SW_VERSION_HOST : 15|24@0+ (1,0) [0|16777215] "" Vector__XXX + SG_ CAN_TX_SERIAL_NUM : 39|24@0+ (1,0) [0|16777215] "" Vector__XXX + SG_ CAN_TX_INTERFACE_VERSION : 7|4@0+ (1,0) [0|15] "" Vector__XXX + SG_ CAN_TX_HW_VERSION : 3|4@0+ (1,0) [0|15] "" Vector__XXX + +BO_ 1249 ESR_Status2: 8 ESR + SG_ CAN_TX_YAW_RATE_BIAS : 47|8@0- (0.125,0) [-16|15.875] "" Vector__XXX + SG_ CAN_TX_XCVR_OPERATIONAL : 12|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_VEH_SPD_COMP_FACTOR : 39|6@0- (0.00195,1) [0.9376|1.06045] "" Vector__XXX + SG_ CAN_TX_TEMPERATURE : 31|8@0- (1,0) [-128|127] "degC" Vector__XXX + SG_ CAN_TX_SW_VERSION_DSP : 55|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_TX_STEERING_ANGLE_ACK : 10|11@0+ (1,0) [0|2047] "deg" Vector__XXX + SG_ CAN_TX_ROLLING_COUNT_2 : 1|2@0+ (1,0) [0|3] "" Vector__XXX + SG_ CAN_TX_RAW_DATA_MODE : 11|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_RANGE_PERF_ERROR : 14|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_OVERHEAT_ERROR : 15|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_MAXIMUM_TRACKS_ACK : 7|6@0+ (1,1) [1|64] "" Vector__XXX + SG_ CAN_TX_INTERNAL_ERROR : 13|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_TX_GROUPING_MODE : 33|2@0+ (1,0) [0|3] "" Vector__XXX + +BO_ 1248 ESR_Status: 8 ESR + SG_ CAN_TX_COMM_ERROR : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_TX_RADIUS_CURVATURE_CALC : 13|14@0- (1,0) [-8192|8191] "" Vector__XXX + SG_ CAN_TX_YAW_RATE_CALC : 47|12@0- (0.0625,0) [-128|127.9375] "deg/s" Vector__XXX + SG_ CAN_TX_VEHICLE_SPEED_CALC : 50|11@0+ (0.0625,0) [0|127.9375] "m/s" Vector__XXX + SG_ CAN_TX_DSP_TIMESTAMP : 5|7@0+ (2,0) [0|254] "ms" Vector__XXX + SG_ CAN_TX_SCAN_INDEX : 31|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_TX_ROLLING_COUNT_1 : 6|2@1+ (1,0) [0|3] "" Vector__XXX + + + +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "BusType" "CAN"; +VAL_ 1264 CAN_RX_YAW_RATE_VALIDITY 1 "Valid" 0 "Invalid" ; +VAL_ 1264 CAN_RX_VEHICLE_SPEED_DIRECTION 1 "Reverse" 0 "Forward" ; +VAL_ 1264 CAN_RX_STEERING_VALIDITY 1 "True" 0 "False" ; +VAL_ 1264 CAN_RX_STEERING_ANGLE_SIGN 1 "Right Clockwise" 0 "Left CounterClockwise" ; +VAL_ 1264 CAN_RX_STEERING_ANGLE_RATE_SIGN 1 "Right Clockwise" 0 "Left CounterClockwise" ; + diff --git a/opendbc/FORD_CADS.dbc b/opendbc/FORD_CADS.dbc new file mode 100644 index 000000000..aab4b8d28 --- /dev/null +++ b/opendbc/FORD_CADS.dbc @@ -0,0 +1,3544 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: +BU_: MRR +BO_ 1073741824 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX + SG_ New_Signal_943 : 0|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ CAN_SENSOR_VANGLE_OFFSET : 0|8@0+ (0.0625,-8) [-8|7.9375] "deg" Vector__XXX + SG_ CAN_SENSOR_FOV_VER : 0|8@0+ (1,0) [0|255] "deg" Vector__XXX + SG_ CAN_AUTO_ALIGN_VANGLE_QF : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_AUTO_ALIGN_VANGLE_REF : 0|10@0+ (0.03125,-10) [-10|21.9688] "deg" Vector__XXX + SG_ CAN_AUTO_ALIGN_VANGLE : 0|10@0+ (0.03125,-10) [-10|21.9688] "deg" Vector__XXX + SG_ CAN_MMIC_Temp4 : 0|8@0+ (1,-50) [-50|205] "C" Vector__XXX + SG_ CAN_MMIC_Temp3 : 0|8@0+ (1,-50) [-50|205] "C" Vector__XXX + SG_ CAN_MMIC_Temp2 : 0|8@0+ (1,-50) [-50|205] "C" Vector__XXX + SG_ CAN_Processor_Temp2 : 0|8@0+ (1,-50) [-50|205] "C" Vector__XXX + SG_ CAN_CHECKSUM : 0|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ CAN_COUNTER : 0|4@0+ (1,0) [0|15] "" Vector__XXX + SG_ CAN_VEHICLE_MODE : 0|4@0+ (1,0) [0|15] "" Vector__XXX + SG_ CAN_USC_CAL_VER_MAJOR : 0|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_USC_CAL_VER_MINOR : 0|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_SMC_CAL_VER_MAJOR : 0|16@0+ (1,0) [0|65535] "" Vector__XXX + SG_ CAN_HW_VERSION : 0|32@0+ (1,0) [0|4.29497e+09] "" Vector__XXX + SG_ CAN_FAC_TGT_MTG_SPACE_VER : 0|8@0+ (1,-128) [-128|127] "cm" Vector__XXX + SG_ CAN_ANGLE_MISALIGNMENT_VER : 0|10@0+ (0.03125,-10) [-10|21.9688] "deg" Vector__XXX + SG_ CAN_ANGLE_MOUNTING_VOFFSET : 0|8@0+ (0.0625,-8) [-8|7.9375] "deg" Vector__XXX + SG_ CAN_LATCH_FAULTS : 0|64@0+ (1,0) [0|100] "" Vector__XXX + SG_ CAN_ACTIVE_FAULTS : 0|64@0+ (1,0) [0|1.84467e+19] "" Vector__XXX + SG_ CAN_HISTORY_FAULTS : 0|64@0+ (1,0) [0|1.84467e+19] "" Vector__XXX + SG_ CAN_SERV_ALIGN_ENABLE : 0|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ CAN_LONG_MOUNTING_OFFSET : 0|8@0+ (0.015625,-2) [-2|1.98438] "" Vector__XXX + SG_ CAN_BEAMWIDTH_VERT : 0|7@0+ (0.125,0) [0|15.875] "deg" Vector__XXX + SG_ CAN_VEHICLE_SPEED_CALC_QF : 0|2@0+ (1,0) [0|3] "" Vector__XXX + +BO_ 34 Active_Fault_Latched_2: 8 MRR + SG_ IPMA_PCAN_DataRangeCheck : 4|1@1+ (1,0) [0|1] "" External_Tool + SG_ IPMA_PCAN_MissingMsg : 3|1@1+ (1,0) [0|1] "" External_Tool + SG_ VINSignalCompareFailure : 2|1@1+ (1,0) [0|1] "" External_Tool + SG_ ModuleNotConfiguredError : 1|1@1+ (1,0) [0|1] "" External_Tool + SG_ CarCfgNotConfiguredError : 0|1@1+ (1,0) [0|1] "" External_Tool + +BO_ 33 Active_Fault_Latched_1: 8 MRR + SG_ Active_Flt_Latched_byte7_bit7 : 63|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte7_bit6 : 62|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte7_bit5 : 61|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte7_bit4 : 60|1@1+ (1,0) [0|1] "" External_Tool + SG_ ARMtoDSPChksumFault : 59|1@1+ (1,0) [0|1] "" External_Tool + SG_ DSPtoArmChksumFault : 58|1@1+ (1,0) [0|1] "" External_Tool + SG_ HostToArmChksumFault : 57|1@1+ (1,0) [0|1] "" External_Tool + SG_ ARMtoHostChksumFault : 56|1@1+ (1,0) [0|1] "" External_Tool + SG_ LoopBWOutOfRange : 55|1@1+ (1,0) [0|1] "" External_Tool + SG_ DSPOverrunFault : 54|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte6_bit5 : 53|1@1+ (1,0) [0|1] "" External_Tool + SG_ TuningSensitivityFault : 52|1@1+ (1,0) [0|1] "" External_Tool + SG_ SaturatedTuningFreqFault : 51|1@1+ (1,0) [0|1] "" External_Tool + SG_ LocalOscPowerFault : 50|1@1+ (1,0) [0|1] "" External_Tool + SG_ TransmitterPowerFault : 49|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte6_bit0 : 48|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte5_bit7 : 47|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte5_bit6 : 46|1@1+ (1,0) [0|1] "" External_Tool + SG_ XCVRDeviceSPIFault : 45|1@1+ (1,0) [0|1] "" External_Tool + SG_ FreqSynthesizerSPIFault : 44|1@1+ (1,0) [0|1] "" External_Tool + SG_ AnalogConverterDevicSPIFault : 43|1@1+ (1,0) [0|1] "" External_Tool + SG_ SidelobeBlockage : 42|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte5_bit1 : 41|1@1+ (1,0) [0|1] "" External_Tool + SG_ MNRBlocked : 40|1@1+ (1,0) [0|1] "" External_Tool + SG_ ECUTempHighFault : 39|1@1+ (1,0) [0|1] "" External_Tool + SG_ TransmitterTempHighFault : 38|1@1+ (1,0) [0|1] "" External_Tool + SG_ AlignmentRoutineFailedFault : 37|1@1+ (1,0) [0|1] "" External_Tool + SG_ UnreasonableRadarData : 36|1@1+ (1,0) [0|1] "" External_Tool + SG_ MicroprocessorTempHighFault : 35|1@1+ (1,0) [0|1] "" External_Tool + SG_ VerticalAlignmentOutOfRange : 34|1@1+ (1,0) [0|1] "" External_Tool + SG_ HorizontalAlignmentOutOfRange : 33|1@1+ (1,0) [0|1] "" External_Tool + SG_ FactoryAlignmentMode : 32|1@1+ (1,0) [0|1] "" External_Tool + SG_ BatteryLowFault : 31|1@1+ (1,0) [0|1] "" External_Tool + SG_ BatteryHighFault : 30|1@1+ (1,0) [0|1] "" External_Tool + SG_ v_1p25SupplyOutOfRange : 29|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte3_bit4 : 28|1@1+ (1,0) [0|1] "" External_Tool + SG_ ThermistorOutOfRange : 27|1@1+ (1,0) [0|1] "" External_Tool + SG_ v_3p3DACSupplyOutOfRange : 26|1@1+ (1,0) [0|1] "" External_Tool + SG_ v_3p3RAWSupplyOutOfRange : 25|1@1+ (1,0) [0|1] "" External_Tool + SG_ v_5_SupplyOutOfRange : 24|1@1+ (1,0) [0|1] "" External_Tool + SG_ TransmitterIDFault : 23|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte2_bit6 : 22|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte2_bit5 : 21|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte2_bit4 : 20|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte2_bit3 : 19|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte2_bit2 : 18|1@1+ (1,0) [0|1] "" External_Tool + SG_ PCANMissingMsgFault : 17|1@1+ (1,0) [0|1] "" External_Tool + SG_ PCANBusOff : 16|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte1_bit7 : 15|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte1_bit6 : 14|1@1+ (1,0) [0|1] "" External_Tool + SG_ InstructionSetCheckFault : 13|1@1+ (1,0) [0|1] "" External_Tool + SG_ StackOverflowFault : 12|1@1+ (1,0) [0|1] "" External_Tool + SG_ WatchdogFault : 11|1@1+ (1,0) [0|1] "" External_Tool + SG_ PLLLockFault : 10|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte1_bit1 : 9|1@1+ (1,0) [0|1] "" External_Tool + SG_ RAMMemoryTestFault : 8|1@1+ (1,0) [0|1] "" External_Tool + SG_ USCValidationFault : 7|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte0_bit6 : 6|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte0_bit5 : 5|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte0_bit4 : 4|1@1+ (1,0) [0|1] "" External_Tool + SG_ Active_Flt_Latched_byte0_bit3 : 3|1@1+ (1,0) [0|1] "" External_Tool + SG_ KeepAliveChecksumFault : 2|1@1+ (1,0) [0|1] "" External_Tool + SG_ ProgramCalibrationFlashChecksum : 1|1@1+ (1,0) [0|1] "" External_Tool + SG_ ApplicationFlashChecksumFault : 0|1@1+ (1,0) [0|1] "" External_Tool + +BO_ 500 XCP_MRR_DAQ_RESP: 8 MRR + SG_ MRR_xcp_daq_resp_byte7 : 63|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte6 : 55|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte5 : 47|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte4 : 39|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte3 : 31|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte2 : 23|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte1 : 15|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_daq_resp_byte0 : 7|8@0+ (1,0) [0|255] "" External_Tool + +BO_ 499 XCP_MRR_DTO_RESP: 8 MRR + SG_ MRR_xcp_dto_resp_byte7 : 63|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte6 : 55|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte5 : 47|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte4 : 39|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte3 : 31|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte2 : 23|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte1 : 15|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_dto_resp_byte0 : 7|8@0+ (1,0) [0|255] "" External_Tool + +BO_ 497 XCP_MRR_CTO_RESP: 8 MRR + SG_ MRR_xcp_cto_resp_byte7 : 63|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte6 : 55|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte5 : 47|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte4 : 39|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte3 : 31|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte2 : 23|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte1 : 15|8@0+ (1,0) [0|255] "" External_Tool + SG_ MRR_xcp_cto_resp_byte0 : 7|8@0+ (1,0) [0|255] "" External_Tool + +BO_ 1900 Ford_Diag_Resp_Phys: 8 MRR + SG_ TesterPhysicalResCCM : 7|64@0+ (1,0) [0|1.84467e+19] "" IFV_Host + +BO_ 261 MRR_Status_SerialNumber: 8 MRR + SG_ CAN_SEQUENCE_NUMBER : 55|16@0+ (1,0) [0|65535] "" External_Tool + SG_ CAN_SERIAL_NUMBER : 7|40@0+ (1,0) [0|1.09951e+12] "" External_Tool + +BO_ 264 MRR_Status_SwVersion: 8 MRR + SG_ CAN_PBL_Field_Revision : 47|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_PBL_Promote_Revision : 39|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_SW_Field_Revision : 23|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_SW_Promote_Revision : 15|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_SW_Release_Revision : 7|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_PBL_Release_Revision : 31|8@0+ (1,0) [0|255] "" External_Tool + +BO_ 373 MRR_Header_SensorPosition: 8 MRR + SG_ CAN_SENSOR_POLARITY : 55|1@0+ (1,0) [0|1] "" External_Tool + SG_ CAN_SENSOR_LAT_OFFSET : 39|16@0+ (0.01,0) [0|655.35] "cm" External_Tool + SG_ CAN_SENSOR_LONG_OFFSET : 23|16@0+ (0.01,0) [0|655.35] "cm" External_Tool + SG_ CAN_SENSOR_HANGLE_OFFSET : 7|8@0+ (0.0625,-8) [-8|7.9375] "deg" External_Tool + +BO_ 372 MRR_Header_SensorCoverage: 8 MRR + SG_ CAN_SENSOR_FOV_HOR : 39|8@0+ (1,0) [0|255] "deg" IFV_VFP + SG_ CAN_DOPPLER_COVERAGE : 23|8@0+ (1,-128) [-128|127] "m/s" IFV_VFP + SG_ CAN_RANGE_COVERAGE : 7|8@0+ (1,0) [0|255] "m" IFV_VFP + +BO_ 371 MRR_Header_AlignmentState: 8 MRR + SG_ CAN_AUTO_ALIGN_HANGLE_QF : 13|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_ALIGNMENT_STATUS : 51|4@0+ (1,0) [0|11] "" IFV_VFP + SG_ CAN_ALIGNMENT_STATE : 55|3@0+ (1,0) [0|7] "" IFV_VFP + SG_ CAN_AUTO_ALIGN_HANGLE_REF : 11|10@0+ (0.000341218,-0.174533) [-0.174533|0.174533] "rad" IFV_VFP + SG_ CAN_AUTO_ALIGN_HANGLE : 7|10@0+ (0.000341218,-0.174533) [-0.174533|0.174533] "rad" IFV_VFP + +BO_ 369 MRR_Header_Timestamps: 8 MRR + SG_ CAN_DET_TIME_SINCE_MEAS : 39|11@0+ (0.1,0) [0|204.7] "ms" IFV_Host + SG_ CAN_SENSOR_TIME_STAMP : 7|32@0+ (0.1,0) [0|4.29497e+08] "ms" IFV_VFP + +BO_ 368 MRR_Header_InformationDetections: 8 MRR + SG_ CAN_ALIGN_UPDATES_DONE : 55|16@0+ (1,0) [0|65535] "" IFV_VFP + SG_ CAN_SCAN_INDEX : 31|16@0+ (1,0) [0|65535] "" IFV_VFP + SG_ CAN_NUMBER_OF_DET : 47|8@0+ (1,0) [0|255] "" External_Tool + SG_ CAN_LOOK_ID : 23|2@0+ (1,0) [0|3] "" External_Tool + SG_ CAN_LOOK_INDEX : 7|16@0+ (1,0) [0|65535] "" External_Tool + +BO_ 265 MRR_Status_Temp_Volt: 8 MRR + SG_ CAN_BATT_VOLTS : 63|8@0+ (0.08,0) [0|20.4] "V" External_Tool + SG_ CAN_1_25_V : 55|8@0+ (0.08,0) [0|20.4] "V" External_Tool + SG_ CAN_5_V : 47|8@0+ (0.08,0) [0|20.4] "V" External_Tool + SG_ CAN_3_3_V_RAW : 31|8@0+ (0.08,0) [0|20.4] "V" External_Tool + SG_ CAN_3_3_V_DAC : 15|8@0+ (0.08,0) [0|20.4] "V" External_Tool + SG_ CAN_MMIC_Temp1 : 39|8@0+ (1,-50) [-50|205] "C" External_Tool + SG_ CAN_Processor_Thermistor : 23|8@0+ (1,-50) [-50|205] "C" External_Tool + SG_ CAN_Processor_Temp1 : 7|8@0+ (1,-50) [-50|205] "C" External_Tool + +BO_ 291 MRR_Detection_004: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_04 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_04 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_04 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_04 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_04 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_04 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_04 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_04 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_04 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_04 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 351 MRR_Detection_064: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_64 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_64 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_64 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_64 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_64 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_64 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_64 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_64 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_64 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_64 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 350 MRR_Detection_063: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_63 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_63 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_63 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_63 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_63 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_63 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_63 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_63 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_63 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_63 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 349 MRR_Detection_062: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_62 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_62 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_62 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_62 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_62 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_62 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_62 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_62 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_62 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_62 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 348 MRR_Detection_061: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_61 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_61 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_61 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_61 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_61 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_61 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_61 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_61 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_61 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_61 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 347 MRR_Detection_060: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_60 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_60 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_60 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_60 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_60 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_60 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_60 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_60 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_60 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_60 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 346 MRR_Detection_059: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_59 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_59 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_59 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_59 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_59 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_59 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_59 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_59 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_59 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_59 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 345 MRR_Detection_058: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_58 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_58 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_58 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_58 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_58 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_58 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_58 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_58 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_58 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_58 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 344 MRR_Detection_057: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_57 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_57 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_57 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_57 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_57 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_57 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_57 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_57 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_57 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_57 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 343 MRR_Detection_056: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_56 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_56 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_56 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_56 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_56 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_56 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_56 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_56 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_56 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_56 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 342 MRR_Detection_055: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_55 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_55 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_55 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_55 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_55 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_55 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_55 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_55 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_55 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_55 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 335 MRR_Detection_048: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_48 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_48 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_48 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_48 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_48 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_48 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_48 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_48 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_48 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_48 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 334 MRR_Detection_047: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_47 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_47 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_47 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_47 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_47 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_47 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_47 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_47 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_47 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_47 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 333 MRR_Detection_046: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_46 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_46 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_46 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_46 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_46 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_46 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_46 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_46 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_46 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_46 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 332 MRR_Detection_045: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_45 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_45 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_45 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_45 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_45 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_45 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_45 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_45 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_45 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_45 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 331 MRR_Detection_044: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_44 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_44 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_44 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_44 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_44 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_44 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_44 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_44 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_44 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_44 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 330 MRR_Detection_043: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_43 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_43 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_43 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_43 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_43 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_43 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_43 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_43 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_43 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_43 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 329 MRR_Detection_042: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_42 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_42 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_42 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_42 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_42 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_42 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_42 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_42 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_42 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_42 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 328 MRR_Detection_041: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_41 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_41 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_41 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_41 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_41 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_41 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_41 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_41 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_41 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_41 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 327 MRR_Detection_040: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_40 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_40 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_40 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_40 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_40 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_40 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_40 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_40 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_40 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_40 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 325 MRR_Detection_038: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_38 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_38 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_38 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_38 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_38 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_38 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_38 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_38 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_38 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_38 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 324 MRR_Detection_037: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_37 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_37 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_37 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_37 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_37 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_37 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_37 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_37 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_37 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_37 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 323 MRR_Detection_036: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_36 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_36 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_36 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_36 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_36 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_36 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_36 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_36 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_36 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_36 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 322 MRR_Detection_035: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_35 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_35 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_35 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_35 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_35 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_35 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_35 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_35 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_35 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_35 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 321 MRR_Detection_034: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_34 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_34 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_34 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_34 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_34 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_34 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_34 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_34 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_34 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_34 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 320 MRR_Detection_033: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_33 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_33 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_33 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_33 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_33 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_33 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_33 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_33 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_33 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_33 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 319 MRR_Detection_032: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_32 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_32 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_32 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_32 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_32 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_32 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_32 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_32 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_32 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_32 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 318 MRR_Detection_031: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_31 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_31 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_31 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_31 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_31 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_31 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_31 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_31 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_31 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_31 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 317 MRR_Detection_030: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_30 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_30 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_30 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_30 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_30 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_30 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_30 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_30 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_30 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_30 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 316 MRR_Detection_029: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_29 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_29 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_29 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_29 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_29 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_29 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_29 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_29 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_29 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_29 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 314 MRR_Detection_027: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_27 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_27 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_27 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_27 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_27 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_27 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_27 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_27 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_27 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_27 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 313 MRR_Detection_026: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_26 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_26 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_26 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_26 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_26 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_26 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_26 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_26 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_26 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_26 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 312 MRR_Detection_025: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_25 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_25 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_25 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_25 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_25 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_25 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_25 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_25 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_25 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_25 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 311 MRR_Detection_024: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_24 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_24 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_24 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_24 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_24 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_24 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_24 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_24 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_24 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_24 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 310 MRR_Detection_023: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_23 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_23 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_23 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_23 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_23 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_23 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_23 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_23 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_23 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_23 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 309 MRR_Detection_022: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_22 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_22 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_22 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_22 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_22 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_22 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_22 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_22 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_22 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_22 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 308 MRR_Detection_021: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_21 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_21 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_21 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_21 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_21 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_21 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_21 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_21 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_21 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_21 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 307 MRR_Detection_020: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_20 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_20 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_20 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_20 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_20 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_20 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_20 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_20 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_20 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_20 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 306 MRR_Detection_019: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_19 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_19 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_19 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_19 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_19 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_19 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_19 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_19 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_19 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_19 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 305 MRR_Detection_018: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_18 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_18 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_18 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_18 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_18 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_18 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_18 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_18 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_18 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_18 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 341 MRR_Detection_054: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_54 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_54 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_54 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_54 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_54 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_54 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_54 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_54 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_54 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_54 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 340 MRR_Detection_053: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_53 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_53 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_53 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_53 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_53 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_53 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_53 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_53 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_53 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_53 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 339 MRR_Detection_052: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_52 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_52 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_52 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_52 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_52 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_52 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_52 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_52 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_52 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_52 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 338 MRR_Detection_051: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_51 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_51 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_51 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_51 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_51 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_51 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_51 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_51 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_51 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_51 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 337 MRR_Detection_050: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_50 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_50 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_50 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_50 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_50 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_50 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_50 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_50 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_50 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_50 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 336 MRR_Detection_049: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_49 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_49 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_49 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_49 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_49 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_49 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_49 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_49 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_49 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_49 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 326 MRR_Detection_039: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_39 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_39 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_39 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_39 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_39 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_39 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_39 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_39 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_39 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_39 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 315 MRR_Detection_028: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_28 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_28 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_28 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_28 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_28 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_28 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_28 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_28 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_28 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_28 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 304 MRR_Detection_017: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_17 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_17 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_17 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_17 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_17 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_17 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_17 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_17 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_17 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_17 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 303 MRR_Detection_016: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_16 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_16 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_16 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_16 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_16 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_16 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_16 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_16 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_16 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_16 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 302 MRR_Detection_015: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_15 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_15 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_15 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_15 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_15 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_15 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_15 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_15 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_15 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_15 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 301 MRR_Detection_014: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_14 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_14 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_14 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_14 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_14 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_14 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_14 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_14 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_14 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_14 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 300 MRR_Detection_013: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_13 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_13 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_13 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_13 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_13 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_13 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_13 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_13 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_13 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_13 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 299 MRR_Detection_012: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_12 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_12 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_12 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_12 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_12 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_12 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_12 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_12 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_12 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_12 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 298 MRR_Detection_011: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_11 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_11 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_11 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_11 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_11 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_11 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_11 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_11 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_11 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_11 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 297 MRR_Detection_010: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_10 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_10 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_10 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_10 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_10 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_10 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_10 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_10 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_10 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_10 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 296 MRR_Detection_009: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_09 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_09 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_09 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_09 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_09 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_09 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_09 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_09 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_09 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_09 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 295 MRR_Detection_008: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_08 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_08 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_08 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_08 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_08 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_08 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_08 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_08 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_08 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_08 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 294 MRR_Detection_007: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_07 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_07 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_07 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_07 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_07 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_07 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_07 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_07 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_07 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_07 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 293 MRR_Detection_006: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_06 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_06 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_06 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_06 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_06 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_06 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_06 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_06 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_06 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_06 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 292 MRR_Detection_005: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_05 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_05 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_05 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_05 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_05 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_05 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_05 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_05 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_05 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_05 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 290 MRR_Detection_003: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_03 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_03 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_03 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_03 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_03 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_03 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_03 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_03 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_03 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_03 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 289 MRR_Detection_002: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_02 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_02 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_02 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_02 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_02 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_02 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_02 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_02 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_02 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_02 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BO_ 256 MRR_Status_CANVersion: 8 MRR + SG_ CAN_USC_SECTION_COMPATIBILITY : 23|16@0+ (1,0) [0|65535] "" External_Tool + SG_ CAN_PCAN_MINOR_MRR : 7|8@0+ (1,0) [0|255] "" IFV_VFP + SG_ CAN_PCAN_MAJOR_MRR : 15|8@0+ (1,0) [0|255] "" IFV_VFP + +BO_ 257 MRR_Status_Radar: 8 MRR + SG_ CAN_INTERFERENCE_TYPE : 11|2@0+ (1,0) [0|3] "" IFV_Host + SG_ CAN_RECOMMEND_UNCONVERGE : 9|1@0+ (1,0) [0|1] "" IFV_Host + SG_ CAN_BLOCKAGE_SIDELOBE_FILTER_VAL : 15|4@0+ (1,0) [0|15] "" IFV_Host + SG_ CAN_RADAR_ALIGN_INCOMPLETE : 8|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_BLOCKAGE_SIDELOBE : 4|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_BLOCKAGE_MNR : 5|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_RADAR_EXT_COND_NOK : 1|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_RADAR_ALIGN_OUT_RANGE : 2|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_RADAR_ALIGN_NOT_START : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_RADAR_OVERHEAT_ERROR : 3|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_RADAR_NOT_OP : 6|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_XCVR_OPERATIONAL : 7|1@0+ (1,0) [0|1] "" IFV_VFP + +BO_ 288 MRR_Detection_001: 8 MRR + SG_ CAN_DET_CONFID_AZIMUTH_01 : 33|2@0+ (1,0) [0|3] "" IFV_VFP + SG_ CAN_DET_SUPER_RES_TARGET_01 : 56|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_ND_TARGET_01 : 48|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_HOST_VEH_CLUTTER_01 : 49|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_VALID_LEVEL_01 : 0|1@0+ (1,0) [0|1] "" IFV_VFP + SG_ CAN_DET_AZIMUTH_01 : 47|14@0+ (0.0003834,-3.1416) [-3.1416|3.13964] "rad" IFV_VFP + SG_ CAN_DET_RANGE_01 : 31|14@0+ (0.015625,0) [0|255.984] "m" IFV_VFP + SG_ CAN_DET_RANGE_RATE_01 : 15|14@0+ (0.015625,-128) [-128|127.984] "m/s" IFV_VFP + SG_ CAN_DET_AMPLITUDE_01 : 7|7@0+ (1,-64) [-64|63] "dBsm" IFV_VFP + SG_ CAN_SCAN_INDEX_2LSB_01 : 17|2@0+ (1,0) [0|3] "" IFV_VFP + +BA_DEF_ SG_ "CrossOver_InfoCAN" ENUM "No","Yes"; +BA_DEF_ SG_ "CrossOver_LIN" ENUM "No","Yes","No","Yes"; +BA_DEF_ SG_ "UsedOnPgmDBC" ENUM "No","Yes","No","Yes","No","Yes"; +BA_DEF_ SG_ "ContentDependant" ENUM "No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ SG_ "GenSigTimeoutTime_RCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_GWM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_OCS" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ABS_ESC" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_CCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_IPMA" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_TSTR" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_SCCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_PSCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime__delete" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_Generic_BCM" INT 0 100000; +BA_DEF_ BO_ "NmMessage" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "DiagResponse" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "DiagRequest" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "TpTxIndex" INT 0 255; +BA_DEF_ BO_ "DiagState" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "TpApplType" STRING ; +BA_DEF_ BO_ "NmAsrMessage" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "Mulitplexer" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "ConfiguredTransmitter" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "EventRateOfChange" INT 10 10000; +BA_DEF_ BO_ "GenMsgHandlingTypeDoc" STRING ; +BA_DEF_ BO_ "GenMsgHandlingTypeCode" STRING ; +BA_DEF_ BO_ "GenMsgMarked" STRING ; +BA_DEF_ SG_ "GenSigMarked" STRING ; +BA_DEF_ SG_ "GenSigVtIndex" STRING ; +BA_DEF_ SG_ "GenSigVtName" STRING ; +BA_DEF_ SG_ "GenSigVtEn" STRING ; +BA_DEF_ SG_ "GenSigSNA" STRING ; +BA_DEF_ SG_ "GenSigCmt" STRING ; +BA_DEF_ BO_ "GenMsgCmt" STRING ; +BA_DEF_ SG_ "GenSigSendType" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType"; +BA_DEF_ SG_ "GenSigInactiveValue" INT 0 100000; +BA_DEF_ SG_ "GenSigMissingSourceValue" INT 0 1e+09; +BA_DEF_ SG_ "WakeupSignal" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes"; +BA_DEF_ SG_ "GenSigStartValue" INT 0 1e+09; +BA_DEF_ BO_ "GenMsgILSupport" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes"; +BA_DEF_ BO_ "NetworkInitializationCommand" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BO_ "GenMsgSendType" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType"; +BA_DEF_ BO_ "GenMsgCycleTime" INT 0 100000; +BA_DEF_ BO_ "GenMsgCycleTimeFast" INT 0 100000; +BA_DEF_ BO_ "GenMsgDelayTime" INT 0 1000; +BA_DEF_ BO_ "GenMsgNrOfRepetition" INT 0 100; +BA_DEF_ BO_ "GenMsgStartDelayTime" INT 0 10000; +BA_DEF_ BO_ "NetworkInitialization" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType","No","Yes"; +BA_DEF_ BO_ "MessageGateway" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType","No","Yes","No","Yes"; +BA_DEF_ BU_ "ILUsed" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BU_ "NetworkInitializationUsed" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType","No","Yes","No","Yes","No","Yes","No","Yes"; +BA_DEF_ BU_ "PowerType" ENUM "No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","No","Yes","Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType","No","Yes","No","Yes","No","Yes","FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType","No","Yes","No","Yes","No","Yes","No","Yes","Switched","Latched","Sleep","vector_leerstring","vector_leerstring"; +BA_DEF_ BU_ "NodeStartUpTime" INT 0 10000; +BA_DEF_ BU_ "NodeWakeUpTime" INT 0 10000; +BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ; +BA_DEF_ BO_ "GenMsgForegroundColor" STRING ; +BA_ "GenMsgCycleTime" BO_ 34 1000; +BA_ "GenMsgSendType" BO_ 34 0; +BA_ "GenSigVtEn" SG_ 34 IPMA_PCAN_DataRangeCheck "IPMA_PCAN_DataRangeCheck"; +BA_ "GenSigVtName" SG_ 34 IPMA_PCAN_DataRangeCheck "IPMA_PCAN_DataRangeCheck"; +BA_ "GenSigVtEn" SG_ 34 IPMA_PCAN_MissingMsg "IPMA_PCAN_MissingMsg"; +BA_ "GenSigVtName" SG_ 34 IPMA_PCAN_MissingMsg "IPMA_PCAN_MissingMsg"; +BA_ "GenSigVtEn" SG_ 34 VINSignalCompareFailure "VINSignalCompareFailure"; +BA_ "GenSigVtName" SG_ 34 VINSignalCompareFailure "VINSignalCompareFailure"; +BA_ "GenSigVtEn" SG_ 34 ModuleNotConfiguredError "ModuleNotConfiguredError"; +BA_ "GenSigVtName" SG_ 34 ModuleNotConfiguredError "ModuleNotConfiguredError"; +BA_ "GenSigVtEn" SG_ 34 CarCfgNotConfiguredError "CarCfgNotConfiguredError"; +BA_ "GenSigVtName" SG_ 34 CarCfgNotConfiguredError "CarCfgNotConfiguredError"; +BA_ "GenMsgCycleTime" BO_ 33 1000; +BA_ "GenMsgSendType" BO_ 33 0; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte7_bit7 "Active_Flt_Latched_byte7_bit7"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte7_bit7 "Active_Flt_Latched_byte7_bit7"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte7_bit6 "Active_Flt_Latched_byte7_bit6"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte7_bit6 "Active_Flt_Latched_byte7_bit6"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte7_bit5 "Active_Flt_Latched_byte7_bit5"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte7_bit5 "Active_Flt_Latched_byte7_bit5"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte7_bit4 "Active_Flt_Latched_byte7_bit4"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte7_bit4 "Active_Flt_Latched_byte7_bit4"; +BA_ "GenSigVtEn" SG_ 33 ARMtoDSPChksumFault "ARMtoDSPChksumFault"; +BA_ "GenSigVtName" SG_ 33 ARMtoDSPChksumFault "ARMtoDSPChksumFault"; +BA_ "GenSigVtEn" SG_ 33 DSPtoArmChksumFault "DSPtoArmChksumFault"; +BA_ "GenSigVtName" SG_ 33 DSPtoArmChksumFault "DSPtoArmChksumFault"; +BA_ "GenSigVtEn" SG_ 33 HostToArmChksumFault "HostToArmChksumFault"; +BA_ "GenSigVtName" SG_ 33 HostToArmChksumFault "HostToArmChksumFault"; +BA_ "GenSigVtEn" SG_ 33 ARMtoHostChksumFault "ARMtoHostChksumFault"; +BA_ "GenSigVtName" SG_ 33 ARMtoHostChksumFault "ARMtoHostChksumFault"; +BA_ "GenSigVtEn" SG_ 33 LoopBWOutOfRange "LoopBWOutOfRange"; +BA_ "GenSigVtName" SG_ 33 LoopBWOutOfRange "LoopBWOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 DSPOverrunFault "DSPOverrunFault"; +BA_ "GenSigVtName" SG_ 33 DSPOverrunFault "DSPOverrunFault"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte6_bit5 "Active_Flt_Latched_byte6_bit5"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte6_bit5 "Active_Flt_Latched_byte6_bit5"; +BA_ "GenSigVtEn" SG_ 33 TuningSensitivityFault "TuningSensitivityFault"; +BA_ "GenSigVtName" SG_ 33 TuningSensitivityFault "TuningSensitivityFault"; +BA_ "GenSigVtEn" SG_ 33 SaturatedTuningFreqFault "SaturatedTuningFreqFault"; +BA_ "GenSigVtName" SG_ 33 SaturatedTuningFreqFault "SaturatedTuningFreqFault"; +BA_ "GenSigVtEn" SG_ 33 LocalOscPowerFault "LocalOscPowerFault"; +BA_ "GenSigVtName" SG_ 33 LocalOscPowerFault "LocalOscPowerFault"; +BA_ "GenSigVtEn" SG_ 33 TransmitterPowerFault "TransmitterPowerFault"; +BA_ "GenSigVtName" SG_ 33 TransmitterPowerFault "TransmitterPowerFault"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte6_bit0 "Active_Flt_Latched_byte6_bit0"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte6_bit0 "Active_Flt_Latched_byte6_bit0"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte5_bit7 "Active_Flt_Latched_byte5_bit7"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte5_bit7 "Active_Flt_Latched_byte5_bit7"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte5_bit6 "Active_Flt_Latched_byte5_bit6"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte5_bit6 "Active_Flt_Latched_byte5_bit6"; +BA_ "GenSigVtEn" SG_ 33 XCVRDeviceSPIFault "XCVRDeviceSPIFault"; +BA_ "GenSigVtName" SG_ 33 XCVRDeviceSPIFault "XCVRDeviceSPIFault"; +BA_ "GenSigVtEn" SG_ 33 FreqSynthesizerSPIFault "FreqSynthesizerSPIFault"; +BA_ "GenSigVtName" SG_ 33 FreqSynthesizerSPIFault "FreqSynthesizerSPIFault"; +BA_ "GenSigVtEn" SG_ 33 AnalogConverterDevicSPIFault "AnalogConverterDevicSPIFault"; +BA_ "GenSigVtName" SG_ 33 AnalogConverterDevicSPIFault "AnalogConverterDevicSPIFault"; +BA_ "GenSigVtEn" SG_ 33 SidelobeBlockage "SidelobeBlockage"; +BA_ "GenSigVtName" SG_ 33 SidelobeBlockage "SidelobeBlockage"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte5_bit1 "Active_Flt_Latched_byte5_bit1"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte5_bit1 "Active_Flt_Latched_byte5_bit1"; +BA_ "GenSigVtEn" SG_ 33 MNRBlocked "MNRBlocked"; +BA_ "GenSigVtName" SG_ 33 MNRBlocked "MNRBlocked"; +BA_ "GenSigVtEn" SG_ 33 ECUTempHighFault "ECUTempHighFault"; +BA_ "GenSigVtName" SG_ 33 ECUTempHighFault "ECUTempHighFault"; +BA_ "GenSigVtEn" SG_ 33 TransmitterTempHighFault "TransmitterTempHighFault"; +BA_ "GenSigVtName" SG_ 33 TransmitterTempHighFault "TransmitterTempHighFault"; +BA_ "GenSigVtEn" SG_ 33 AlignmentRoutineFailedFault "AlignmentRoutineFailedFault"; +BA_ "GenSigVtName" SG_ 33 AlignmentRoutineFailedFault "AlignmentRoutineFailedFault"; +BA_ "GenSigVtEn" SG_ 33 UnreasonableRadarData "UnreasonableRadarData"; +BA_ "GenSigVtName" SG_ 33 UnreasonableRadarData "UnreasonableRadarData"; +BA_ "GenSigVtEn" SG_ 33 MicroprocessorTempHighFault "MicroprocessorTempHighFault"; +BA_ "GenSigVtName" SG_ 33 MicroprocessorTempHighFault "MicroprocessorTempHighFault"; +BA_ "GenSigVtEn" SG_ 33 VerticalAlignmentOutOfRange "VerticalAlignmentOutOfRange"; +BA_ "GenSigVtName" SG_ 33 VerticalAlignmentOutOfRange "VerticalAlignmentOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 HorizontalAlignmentOutOfRange "HorizontalAlignmentOutOfRange"; +BA_ "GenSigVtName" SG_ 33 HorizontalAlignmentOutOfRange "HorizontalAlignmentOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 FactoryAlignmentMode "FactoryAlignmentMode"; +BA_ "GenSigVtName" SG_ 33 FactoryAlignmentMode "FactoryAlignmentMode"; +BA_ "GenSigVtEn" SG_ 33 BatteryLowFault "BatteryLowFault"; +BA_ "GenSigVtName" SG_ 33 BatteryLowFault "BatteryLowFault"; +BA_ "GenSigVtEn" SG_ 33 BatteryHighFault "BatteryHighFault"; +BA_ "GenSigVtName" SG_ 33 BatteryHighFault "BatteryHighFault"; +BA_ "GenSigVtEn" SG_ 33 v_1p25SupplyOutOfRange "v_1p25SupplyOutOfRange"; +BA_ "GenSigVtName" SG_ 33 v_1p25SupplyOutOfRange "v_1p25SupplyOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte3_bit4 "Active_Flt_Latched_byte3_bit4"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte3_bit4 "Active_Flt_Latched_byte3_bit4"; +BA_ "GenSigVtEn" SG_ 33 ThermistorOutOfRange "ThermistorOutOfRange"; +BA_ "GenSigVtName" SG_ 33 ThermistorOutOfRange "ThermistorOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 v_3p3DACSupplyOutOfRange "v_3p3DACSupplyOutOfRange"; +BA_ "GenSigVtName" SG_ 33 v_3p3DACSupplyOutOfRange "v_3p3DACSupplyOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 v_3p3RAWSupplyOutOfRange "v_3p3RAWSupplyOutOfRange"; +BA_ "GenSigVtName" SG_ 33 v_3p3RAWSupplyOutOfRange "v_3p3RAWSupplyOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 v_5_SupplyOutOfRange "v_5_SupplyOutOfRange"; +BA_ "GenSigVtName" SG_ 33 v_5_SupplyOutOfRange "v_5_SupplyOutOfRange"; +BA_ "GenSigVtEn" SG_ 33 TransmitterIDFault "TransmitterIDFault"; +BA_ "GenSigVtName" SG_ 33 TransmitterIDFault "TransmitterIDFault"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte2_bit6 "Active_Flt_Latched_byte2_bit6"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte2_bit6 "Active_Flt_Latched_byte2_bit6"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte2_bit5 "Active_Flt_Latched_byte2_bit5"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte2_bit5 "Active_Flt_Latched_byte2_bit5"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte2_bit4 "Active_Flt_Latched_byte2_bit4"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte2_bit4 "Active_Flt_Latched_byte2_bit4"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte2_bit3 "Active_Flt_Latched_byte2_bit3"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte2_bit3 "Active_Flt_Latched_byte2_bit3"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte2_bit2 "Active_Flt_Latched_byte2_bit2"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte2_bit2 "Active_Flt_Latched_byte2_bit2"; +BA_ "GenSigVtEn" SG_ 33 PCANMissingMsgFault "PCANMissingMsgFault"; +BA_ "GenSigVtName" SG_ 33 PCANMissingMsgFault "PCANMissingMsgFault"; +BA_ "GenSigVtEn" SG_ 33 PCANBusOff "PCANBusOff"; +BA_ "GenSigVtName" SG_ 33 PCANBusOff "PCANBusOff"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte1_bit7 "Active_Flt_Latched_byte1_bit7"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte1_bit7 "Active_Flt_Latched_byte1_bit7"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte1_bit6 "Active_Flt_Latched_byte1_bit6"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte1_bit6 "Active_Flt_Latched_byte1_bit6"; +BA_ "GenSigVtEn" SG_ 33 InstructionSetCheckFault "InstructionSetCheckFault"; +BA_ "GenSigVtName" SG_ 33 InstructionSetCheckFault "InstructionSetCheckFault"; +BA_ "GenSigVtEn" SG_ 33 StackOverflowFault "StackOverflowFault"; +BA_ "GenSigVtName" SG_ 33 StackOverflowFault "StackOverflowFault"; +BA_ "GenSigVtEn" SG_ 33 WatchdogFault "WatchdogFault"; +BA_ "GenSigVtName" SG_ 33 WatchdogFault "WatchdogFault"; +BA_ "GenSigVtEn" SG_ 33 PLLLockFault "PLLLockFault"; +BA_ "GenSigVtName" SG_ 33 PLLLockFault "PLLLockFault"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte1_bit1 "Active_Flt_Latched_byte1_bit1"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte1_bit1 "Active_Flt_Latched_byte1_bit1"; +BA_ "GenSigVtEn" SG_ 33 RAMMemoryTestFault "RAMMemoryTestFault"; +BA_ "GenSigVtName" SG_ 33 RAMMemoryTestFault "RAMMemoryTestFault"; +BA_ "GenSigVtName" SG_ 33 USCValidationFault "USCValidationFault"; +BA_ "GenSigVtEn" SG_ 33 USCValidationFault "USCValidationFault"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte0_bit6 "Active_Flt_Latched_byte0_bit6"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte0_bit6 "Active_Flt_Latched_byte0_bit6"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte0_bit5 "Active_Flt_Latched_byte0_bit5"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte0_bit5 "Active_Flt_Latched_byte0_bit5"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte0_bit4 "Active_Flt_Latched_byte0_bit4"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte0_bit4 "Active_Flt_Latched_byte0_bit4"; +BA_ "GenSigVtEn" SG_ 33 Active_Flt_Latched_byte0_bit3 "Active_Flt_Latched_byte0_bit3"; +BA_ "GenSigVtName" SG_ 33 Active_Flt_Latched_byte0_bit3 "Active_Flt_Latched_byte0_bit3"; +BA_ "GenSigVtEn" SG_ 33 KeepAliveChecksumFault "KeepAliveChecksumFault"; +BA_ "GenSigVtName" SG_ 33 KeepAliveChecksumFault "KeepAliveChecksumFault"; +BA_ "GenSigVtEn" SG_ 33 ProgramCalibrationFlashChecksum "ProgramCalibrationFlashChecksum"; +BA_ "GenSigVtName" SG_ 33 ProgramCalibrationFlashChecksum "ProgramCalibrationFlashChecksum"; +BA_ "GenSigVtEn" SG_ 33 ApplicationFlashChecksumFault "ApplicationFlashChecksumFault"; +BA_ "GenSigVtName" SG_ 33 ApplicationFlashChecksumFault "ApplicationFlashChecksumFault"; +BA_ "GenMsgNrOfRepetition" BO_ 500 0; +BA_ "GenMsgSendType" BO_ 500 1; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte7 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte7 "MRR_xcp_daq_resp_byte7"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte6 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte6 "MRR_xcp_daq_resp_byte6"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte5 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte5 "MRR_xcp_daq_resp_byte5"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte4 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte4 "MRR_xcp_daq_resp_byte4"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte3 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte3 "MRR_xcp_daq_resp_byte3"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte2 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte2 "MRR_xcp_daq_resp_byte2"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte1 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte1 "MRR_xcp_daq_resp_byte1"; +BA_ "GenSigSendType" SG_ 500 MRR_xcp_daq_resp_byte0 0; +BA_ "GenSigCmt" SG_ 500 MRR_xcp_daq_resp_byte0 "MRR_xcp_daq_resp_byte0"; +BA_ "GenMsgNrOfRepetition" BO_ 499 0; +BA_ "GenMsgSendType" BO_ 499 1; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte7 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte7 "MRR_xcp_dto_resp_byte7"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte6 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte6 "MRR_xcp_dto_resp_byte6"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte5 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte5 "MRR_xcp_dto_resp_byte5"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte4 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte4 "MRR_xcp_dto_resp_byte4"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte3 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte3 "MRR_xcp_dto_resp_byte3"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte2 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte2 "MRR_xcp_dto_resp_byte2"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte1 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte1 "MRR_xcp_dto_resp_byte1"; +BA_ "GenSigSendType" SG_ 499 MRR_xcp_dto_resp_byte0 0; +BA_ "GenSigCmt" SG_ 499 MRR_xcp_dto_resp_byte0 "MRR_xcp_dto_resp_byte0"; +BA_ "GenMsgNrOfRepetition" BO_ 497 0; +BA_ "GenMsgSendType" BO_ 497 1; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte7 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte7 "MRR_xcp_cto_resp_byte7"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte6 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte6 "MRR_xcp_cto_resp_byte6"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte5 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte5 "MRR_xcp_cto_resp_byte5"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte4 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte4 "MRR_xcp_cto_resp_byte4"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte3 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte3 "MRR_xcp_cto_resp_byte3"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte2 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte2 "MRR_xcp_cto_resp_byte2"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte1 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte1 "MRR_xcp_cto_resp_byte1"; +BA_ "GenSigSendType" SG_ 497 MRR_xcp_cto_resp_byte0 0; +BA_ "GenSigCmt" SG_ 497 MRR_xcp_cto_resp_byte0 "MRR_xcp_cto_resp_byte0"; +BA_ "GenMsgSendType" BO_ 1900 1; +BA_ "GenMsgNrOfRepetition" BO_ 1900 0; +BA_ "DiagResponse" BO_ 1900 1; +BA_ "GenSigCmt" SG_ 1900 TesterPhysicalResCCM "TesterPhysicalResCCM"; +BA_ "GenSigSendType" SG_ 1900 TesterPhysicalResCCM 0; +BA_ "GenMsgSendType" BO_ 261 0; +BA_ "GenMsgCycleTime" BO_ 261 1000; +BA_ "GenMsgNrOfRepetition" BO_ 261 0; +BA_ "GenSigCmt" SG_ 261 CAN_SEQUENCE_NUMBER "CAN_SEQUENCE_NUMBER"; +BA_ "GenSigCmt" SG_ 261 CAN_SERIAL_NUMBER "CAN_SERIAL_NUMBER"; +BA_ "GenSigSendType" SG_ 261 CAN_SERIAL_NUMBER 0; +BA_ "GenMsgSendType" BO_ 264 1; +BA_ "GenMsgNrOfRepetition" BO_ 264 0; +BA_ "GenSigSendType" SG_ 264 CAN_PBL_Field_Revision 0; +BA_ "GenSigSendType" SG_ 264 CAN_PBL_Promote_Revision 0; +BA_ "GenSigSendType" SG_ 264 CAN_SW_Field_Revision 0; +BA_ "GenSigSendType" SG_ 264 CAN_SW_Promote_Revision 0; +BA_ "GenSigSendType" SG_ 264 CAN_SW_Release_Revision 0; +BA_ "GenSigSendType" SG_ 264 CAN_PBL_Release_Revision 0; +BA_ "GenMsgSendType" BO_ 373 1; +BA_ "NetworkInitialization" BO_ 373 0; +BA_ "GenMsgNrOfRepetition" BO_ 373 0; +BA_ "GenSigSendType" SG_ 373 CAN_SENSOR_POLARITY 0; +BA_ "GenSigCmt" SG_ 373 CAN_SENSOR_POLARITY "CAN_SENSOR_POLARITY"; +BA_ "GenSigSendType" SG_ 373 CAN_SENSOR_LAT_OFFSET 0; +BA_ "GenSigCmt" SG_ 373 CAN_SENSOR_LAT_OFFSET "CAN_SENSOR_LAT_OFFSET"; +BA_ "GenSigSendType" SG_ 373 CAN_SENSOR_LONG_OFFSET 0; +BA_ "GenSigCmt" SG_ 373 CAN_SENSOR_LONG_OFFSET "CAN_SENSOR_LONG_OFFSET"; +BA_ "GenSigSendType" SG_ 373 CAN_SENSOR_HANGLE_OFFSET 0; +BA_ "GenSigCmt" SG_ 373 CAN_SENSOR_HANGLE_OFFSET "CAN_SENSOR_HANGLE_OFFSET"; +BA_ "GenSigStartValue" SG_ 373 CAN_SENSOR_HANGLE_OFFSET 0; +BA_ "GenMsgSendType" BO_ 372 1; +BA_ "NetworkInitialization" BO_ 372 0; +BA_ "GenMsgNrOfRepetition" BO_ 372 0; +BA_ "GenSigSendType" SG_ 372 CAN_SENSOR_FOV_HOR 0; +BA_ "GenSigCmt" SG_ 372 CAN_SENSOR_FOV_HOR "CAN_SENSOR_FOV_HOR"; +BA_ "GenSigStartValue" SG_ 372 CAN_SENSOR_FOV_HOR 0; +BA_ "GenSigSendType" SG_ 372 CAN_DOPPLER_COVERAGE 0; +BA_ "GenSigCmt" SG_ 372 CAN_DOPPLER_COVERAGE "CAN_DOPPLER_COVERAGE"; +BA_ "GenSigStartValue" SG_ 372 CAN_DOPPLER_COVERAGE 0; +BA_ "GenSigSendType" SG_ 372 CAN_RANGE_COVERAGE 0; +BA_ "GenSigCmt" SG_ 372 CAN_RANGE_COVERAGE "CAN_RANGE_COVERAGE"; +BA_ "GenMsgSendType" BO_ 371 1; +BA_ "NetworkInitialization" BO_ 371 0; +BA_ "GenMsgNrOfRepetition" BO_ 371 0; +BA_ "GenSigVtEn" SG_ 371 CAN_AUTO_ALIGN_HANGLE_QF "CAN_AUTO_ALIGN_HANGLE_QF"; +BA_ "GenSigVtName" SG_ 371 CAN_AUTO_ALIGN_HANGLE_QF "CAN_AUTO_ALIGN_HANGLE_QF"; +BA_ "GenSigSendType" SG_ 371 CAN_AUTO_ALIGN_HANGLE_QF 0; +BA_ "GenSigCmt" SG_ 371 CAN_AUTO_ALIGN_HANGLE_QF "CAN_AUTO_ALIGN_HANGLE_QF"; +BA_ "GenSigVtEn" SG_ 371 CAN_ALIGNMENT_STATUS "CAN_ALIGNMENT_STATUS"; +BA_ "GenSigVtName" SG_ 371 CAN_ALIGNMENT_STATUS "CAN_ALIGNMENT_STATUS"; +BA_ "GenSigSendType" SG_ 371 CAN_ALIGNMENT_STATUS 0; +BA_ "GenSigCmt" SG_ 371 CAN_ALIGNMENT_STATUS "CAN_ALIGNMENT_STATUS"; +BA_ "GenSigVtEn" SG_ 371 CAN_ALIGNMENT_STATE "CAN_ALIGNMENT_STATE"; +BA_ "GenSigVtName" SG_ 371 CAN_ALIGNMENT_STATE "CAN_ALIGNMENT_STATE"; +BA_ "GenSigSendType" SG_ 371 CAN_ALIGNMENT_STATE 0; +BA_ "GenSigCmt" SG_ 371 CAN_ALIGNMENT_STATE "CAN_ALIGNMENT_STATE"; +BA_ "GenSigSendType" SG_ 371 CAN_AUTO_ALIGN_HANGLE_REF 0; +BA_ "GenSigStartValue" SG_ 371 CAN_AUTO_ALIGN_HANGLE_REF 0; +BA_ "GenSigCmt" SG_ 371 CAN_AUTO_ALIGN_HANGLE_REF "CAN_AUTO_ALIGN_HANGLE_REF"; +BA_ "GenSigStartValue" SG_ 371 CAN_AUTO_ALIGN_HANGLE 0; +BA_ "GenSigSendType" SG_ 371 CAN_AUTO_ALIGN_HANGLE 0; +BA_ "GenSigCmt" SG_ 371 CAN_AUTO_ALIGN_HANGLE "CAN_AUTO_ALIGN_HANGLE"; +BA_ "GenMsgSendType" BO_ 369 1; +BA_ "NetworkInitialization" BO_ 369 0; +BA_ "GenMsgNrOfRepetition" BO_ 369 0; +BA_ "GenSigCmt" SG_ 369 CAN_DET_TIME_SINCE_MEAS "CAN_DET_TIME_SINCE_MEAS"; +BA_ "GenSigSendType" SG_ 369 CAN_DET_TIME_SINCE_MEAS 0; +BA_ "GenSigSendType" SG_ 369 CAN_SENSOR_TIME_STAMP 0; +BA_ "GenSigCmt" SG_ 369 CAN_SENSOR_TIME_STAMP "CAN_SENSOR_TIME_STAMP"; +BA_ "GenMsgSendType" BO_ 368 1; +BA_ "NetworkInitialization" BO_ 368 0; +BA_ "GenMsgNrOfRepetition" BO_ 368 0; +BA_ "GenSigSendType" SG_ 368 CAN_ALIGN_UPDATES_DONE 0; +BA_ "GenSigCmt" SG_ 368 CAN_ALIGN_UPDATES_DONE "CAN_ALIGN_UPDATES_DONE"; +BA_ "GenSigSendType" SG_ 368 CAN_SCAN_INDEX 0; +BA_ "GenSigCmt" SG_ 368 CAN_SCAN_INDEX "CAN_SCAN_INDEX"; +BA_ "GenSigSendType" SG_ 368 CAN_NUMBER_OF_DET 0; +BA_ "GenSigCmt" SG_ 368 CAN_NUMBER_OF_DET "CAN_NUMBER_OF_DET"; +BA_ "GenSigSendType" SG_ 368 CAN_LOOK_ID 0; +BA_ "GenSigCmt" SG_ 368 CAN_LOOK_ID "CAN_LOOK_ID"; +BA_ "GenSigSendType" SG_ 368 CAN_LOOK_INDEX 0; +BA_ "GenSigCmt" SG_ 368 CAN_LOOK_INDEX "CAN_LOOK_INDEX"; +BA_ "GenMsgSendType" BO_ 265 1; +BA_ "NetworkInitialization" BO_ 265 0; +BA_ "GenMsgNrOfRepetition" BO_ 265 0; +BA_ "GenSigCmt" SG_ 265 CAN_BATT_VOLTS "CAN_BATT_VOLTS"; +BA_ "GenSigCmt" SG_ 265 CAN_1_25_V "CAN_1_25_V"; +BA_ "GenSigCmt" SG_ 265 CAN_5_V "CAN_5_V"; +BA_ "GenSigCmt" SG_ 265 CAN_3_3_V_RAW "CAN_3_3_V_RAW"; +BA_ "GenSigCmt" SG_ 265 CAN_3_3_V_DAC "CAN_3_3_V_DAC"; +BA_ "GenSigSendType" SG_ 265 CAN_MMIC_Temp1 0; +BA_ "GenSigCmt" SG_ 265 CAN_MMIC_Temp1 "CAN_MMIC_Temp1"; +BA_ "GenSigStartValue" SG_ 265 CAN_MMIC_Temp1 0; +BA_ "GenSigSendType" SG_ 265 CAN_Processor_Thermistor 0; +BA_ "GenSigCmt" SG_ 265 CAN_Processor_Thermistor "CAN_Processor_Thermistor"; +BA_ "GenSigStartValue" SG_ 265 CAN_Processor_Thermistor 0; +BA_ "GenSigSendType" SG_ 265 CAN_Processor_Temp1 0; +BA_ "GenSigCmt" SG_ 265 CAN_Processor_Temp1 "CAN_Processor_Temp1"; +BA_ "GenSigStartValue" SG_ 265 CAN_Processor_Temp1 0; +BA_ "GenMsgSendType" BO_ 291 1; +BA_ "GenMsgILSupport" BO_ 291 1; +BA_ "GenMsgNrOfRepetition" BO_ 291 0; +BA_ "GenMsgCycleTime" BO_ 291 0; +BA_ "NetworkInitialization" BO_ 291 0; +BA_ "GenMsgDelayTime" BO_ 291 0; +BA_ "GenSigVtEn" SG_ 291 CAN_DET_CONFID_AZIMUTH_04 "CAN_DET_CONFID_AZIMUTH_04"; +BA_ "GenSigVtName" SG_ 291 CAN_DET_CONFID_AZIMUTH_04 "CAN_DET_CONFID_AZIMUTH_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_CONFID_AZIMUTH_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_CONFID_AZIMUTH_04 "CAN_DET_CONFID_AZIMUTH_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_SUPER_RES_TARGET_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_SUPER_RES_TARGET_04 "CAN_DET_SUPER_RES_TARGET_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_ND_TARGET_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_ND_TARGET_04 "CAN_DET_ND_TARGET_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_HOST_VEH_CLUTTER_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_HOST_VEH_CLUTTER_04 "CAN_DET_HOST_VEH_CLUTTER_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_VALID_LEVEL_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_VALID_LEVEL_04 "CAN_DET_VALID_LEVEL_04"; +BA_ "GenSigStartValue" SG_ 291 CAN_DET_AZIMUTH_04 0; +BA_ "GenSigSendType" SG_ 291 CAN_DET_AZIMUTH_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_AZIMUTH_04 "CAN_DET_AZIMUTH_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_RANGE_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_RANGE_04 "CAN_DET_RANGE_04"; +BA_ "GenSigStartValue" SG_ 291 CAN_DET_RANGE_RATE_04 0; +BA_ "GenSigSendType" SG_ 291 CAN_DET_RANGE_RATE_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_RANGE_RATE_04 "CAN_DET_RANGE_RATE_04"; +BA_ "GenSigSendType" SG_ 291 CAN_DET_AMPLITUDE_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_DET_AMPLITUDE_04 "CAN_DET_AMPLITUDE_04"; +BA_ "GenSigSendType" SG_ 291 CAN_SCAN_INDEX_2LSB_04 0; +BA_ "GenSigCmt" SG_ 291 CAN_SCAN_INDEX_2LSB_04 "CAN_SCAN_INDEX_2LSB_04"; +BA_ "GenMsgSendType" BO_ 351 1; +BA_ "GenMsgILSupport" BO_ 351 1; +BA_ "GenMsgNrOfRepetition" BO_ 351 0; +BA_ "GenMsgCycleTime" BO_ 351 0; +BA_ "NetworkInitialization" BO_ 351 0; +BA_ "GenMsgDelayTime" BO_ 351 0; +BA_ "GenSigVtEn" SG_ 351 CAN_DET_CONFID_AZIMUTH_64 "CAN_DET_CONFID_AZIMUTH_64"; +BA_ "GenSigVtName" SG_ 351 CAN_DET_CONFID_AZIMUTH_64 "CAN_DET_CONFID_AZIMUTH_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_CONFID_AZIMUTH_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_CONFID_AZIMUTH_64 "CAN_DET_CONFID_AZIMUTH_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_SUPER_RES_TARGET_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_SUPER_RES_TARGET_64 "CAN_DET_SUPER_RES_TARGET_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_ND_TARGET_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_ND_TARGET_64 "CAN_DET_ND_TARGET_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_HOST_VEH_CLUTTER_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_HOST_VEH_CLUTTER_64 "CAN_DET_HOST_VEH_CLUTTER_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_VALID_LEVEL_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_VALID_LEVEL_64 "CAN_DET_VALID_LEVEL_64"; +BA_ "GenSigStartValue" SG_ 351 CAN_DET_AZIMUTH_64 0; +BA_ "GenSigSendType" SG_ 351 CAN_DET_AZIMUTH_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_AZIMUTH_64 "CAN_DET_AZIMUTH_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_RANGE_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_RANGE_64 "CAN_DET_RANGE_64"; +BA_ "GenSigStartValue" SG_ 351 CAN_DET_RANGE_RATE_64 0; +BA_ "GenSigSendType" SG_ 351 CAN_DET_RANGE_RATE_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_RANGE_RATE_64 "CAN_DET_RANGE_RATE_64"; +BA_ "GenSigSendType" SG_ 351 CAN_DET_AMPLITUDE_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_DET_AMPLITUDE_64 "CAN_DET_AMPLITUDE_64"; +BA_ "GenSigSendType" SG_ 351 CAN_SCAN_INDEX_2LSB_64 0; +BA_ "GenSigCmt" SG_ 351 CAN_SCAN_INDEX_2LSB_64 "CAN_SCAN_INDEX_2LSB_64"; +BA_ "GenMsgSendType" BO_ 350 1; +BA_ "GenMsgILSupport" BO_ 350 1; +BA_ "GenMsgNrOfRepetition" BO_ 350 0; +BA_ "GenMsgCycleTime" BO_ 350 0; +BA_ "NetworkInitialization" BO_ 350 0; +BA_ "GenMsgDelayTime" BO_ 350 0; +BA_ "GenSigVtEn" SG_ 350 CAN_DET_CONFID_AZIMUTH_63 "CAN_DET_CONFID_AZIMUTH_63"; +BA_ "GenSigVtName" SG_ 350 CAN_DET_CONFID_AZIMUTH_63 "CAN_DET_CONFID_AZIMUTH_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_CONFID_AZIMUTH_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_CONFID_AZIMUTH_63 "CAN_DET_CONFID_AZIMUTH_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_SUPER_RES_TARGET_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_SUPER_RES_TARGET_63 "CAN_DET_SUPER_RES_TARGET_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_ND_TARGET_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_ND_TARGET_63 "CAN_DET_ND_TARGET_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_HOST_VEH_CLUTTER_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_HOST_VEH_CLUTTER_63 "CAN_DET_HOST_VEH_CLUTTER_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_VALID_LEVEL_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_VALID_LEVEL_63 "CAN_DET_VALID_LEVEL_63"; +BA_ "GenSigStartValue" SG_ 350 CAN_DET_AZIMUTH_63 0; +BA_ "GenSigSendType" SG_ 350 CAN_DET_AZIMUTH_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_AZIMUTH_63 "CAN_DET_AZIMUTH_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_RANGE_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_RANGE_63 "CAN_DET_RANGE_63"; +BA_ "GenSigStartValue" SG_ 350 CAN_DET_RANGE_RATE_63 0; +BA_ "GenSigSendType" SG_ 350 CAN_DET_RANGE_RATE_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_RANGE_RATE_63 "CAN_DET_RANGE_RATE_63"; +BA_ "GenSigSendType" SG_ 350 CAN_DET_AMPLITUDE_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_DET_AMPLITUDE_63 "CAN_DET_AMPLITUDE_63"; +BA_ "GenSigSendType" SG_ 350 CAN_SCAN_INDEX_2LSB_63 0; +BA_ "GenSigCmt" SG_ 350 CAN_SCAN_INDEX_2LSB_63 "CAN_SCAN_INDEX_2LSB_63"; +BA_ "GenMsgSendType" BO_ 349 1; +BA_ "GenMsgILSupport" BO_ 349 1; +BA_ "GenMsgNrOfRepetition" BO_ 349 0; +BA_ "GenMsgCycleTime" BO_ 349 0; +BA_ "NetworkInitialization" BO_ 349 0; +BA_ "GenMsgDelayTime" BO_ 349 0; +BA_ "GenSigVtEn" SG_ 349 CAN_DET_CONFID_AZIMUTH_62 "CAN_DET_CONFID_AZIMUTH_62"; +BA_ "GenSigVtName" SG_ 349 CAN_DET_CONFID_AZIMUTH_62 "CAN_DET_CONFID_AZIMUTH_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_CONFID_AZIMUTH_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_CONFID_AZIMUTH_62 "CAN_DET_CONFID_AZIMUTH_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_SUPER_RES_TARGET_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_SUPER_RES_TARGET_62 "CAN_DET_SUPER_RES_TARGET_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_ND_TARGET_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_ND_TARGET_62 "CAN_DET_ND_TARGET_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_HOST_VEH_CLUTTER_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_HOST_VEH_CLUTTER_62 "CAN_DET_HOST_VEH_CLUTTER_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_VALID_LEVEL_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_VALID_LEVEL_62 "CAN_DET_VALID_LEVEL_62"; +BA_ "GenSigStartValue" SG_ 349 CAN_DET_AZIMUTH_62 0; +BA_ "GenSigSendType" SG_ 349 CAN_DET_AZIMUTH_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_AZIMUTH_62 "CAN_DET_AZIMUTH_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_RANGE_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_RANGE_62 "CAN_DET_RANGE_62"; +BA_ "GenSigStartValue" SG_ 349 CAN_DET_RANGE_RATE_62 0; +BA_ "GenSigSendType" SG_ 349 CAN_DET_RANGE_RATE_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_RANGE_RATE_62 "CAN_DET_RANGE_RATE_62"; +BA_ "GenSigSendType" SG_ 349 CAN_DET_AMPLITUDE_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_DET_AMPLITUDE_62 "CAN_DET_AMPLITUDE_62"; +BA_ "GenSigSendType" SG_ 349 CAN_SCAN_INDEX_2LSB_62 0; +BA_ "GenSigCmt" SG_ 349 CAN_SCAN_INDEX_2LSB_62 "CAN_SCAN_INDEX_2LSB_62"; +BA_ "GenMsgSendType" BO_ 348 1; +BA_ "GenMsgILSupport" BO_ 348 1; +BA_ "GenMsgNrOfRepetition" BO_ 348 0; +BA_ "GenMsgCycleTime" BO_ 348 0; +BA_ "NetworkInitialization" BO_ 348 0; +BA_ "GenMsgDelayTime" BO_ 348 0; +BA_ "GenSigVtEn" SG_ 348 CAN_DET_CONFID_AZIMUTH_61 "CAN_DET_CONFID_AZIMUTH_61"; +BA_ "GenSigVtName" SG_ 348 CAN_DET_CONFID_AZIMUTH_61 "CAN_DET_CONFID_AZIMUTH_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_CONFID_AZIMUTH_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_CONFID_AZIMUTH_61 "CAN_DET_CONFID_AZIMUTH_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_SUPER_RES_TARGET_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_SUPER_RES_TARGET_61 "CAN_DET_SUPER_RES_TARGET_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_ND_TARGET_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_ND_TARGET_61 "CAN_DET_ND_TARGET_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_HOST_VEH_CLUTTER_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_HOST_VEH_CLUTTER_61 "CAN_DET_HOST_VEH_CLUTTER_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_VALID_LEVEL_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_VALID_LEVEL_61 "CAN_DET_VALID_LEVEL_61"; +BA_ "GenSigStartValue" SG_ 348 CAN_DET_AZIMUTH_61 0; +BA_ "GenSigSendType" SG_ 348 CAN_DET_AZIMUTH_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_AZIMUTH_61 "CAN_DET_AZIMUTH_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_RANGE_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_RANGE_61 "CAN_DET_RANGE_61"; +BA_ "GenSigStartValue" SG_ 348 CAN_DET_RANGE_RATE_61 0; +BA_ "GenSigSendType" SG_ 348 CAN_DET_RANGE_RATE_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_RANGE_RATE_61 "CAN_DET_RANGE_RATE_61"; +BA_ "GenSigSendType" SG_ 348 CAN_DET_AMPLITUDE_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_DET_AMPLITUDE_61 "CAN_DET_AMPLITUDE_61"; +BA_ "GenSigSendType" SG_ 348 CAN_SCAN_INDEX_2LSB_61 0; +BA_ "GenSigCmt" SG_ 348 CAN_SCAN_INDEX_2LSB_61 "CAN_SCAN_INDEX_2LSB_61"; +BA_ "GenMsgSendType" BO_ 347 1; +BA_ "GenMsgILSupport" BO_ 347 1; +BA_ "GenMsgNrOfRepetition" BO_ 347 0; +BA_ "GenMsgCycleTime" BO_ 347 0; +BA_ "NetworkInitialization" BO_ 347 0; +BA_ "GenMsgDelayTime" BO_ 347 0; +BA_ "GenSigVtEn" SG_ 347 CAN_DET_CONFID_AZIMUTH_60 "CAN_DET_CONFID_AZIMUTH_60"; +BA_ "GenSigVtName" SG_ 347 CAN_DET_CONFID_AZIMUTH_60 "CAN_DET_CONFID_AZIMUTH_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_CONFID_AZIMUTH_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_CONFID_AZIMUTH_60 "CAN_DET_CONFID_AZIMUTH_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_SUPER_RES_TARGET_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_SUPER_RES_TARGET_60 "CAN_DET_SUPER_RES_TARGET_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_ND_TARGET_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_ND_TARGET_60 "CAN_DET_ND_TARGET_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_HOST_VEH_CLUTTER_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_HOST_VEH_CLUTTER_60 "CAN_DET_HOST_VEH_CLUTTER_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_VALID_LEVEL_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_VALID_LEVEL_60 "CAN_DET_VALID_LEVEL_60"; +BA_ "GenSigStartValue" SG_ 347 CAN_DET_AZIMUTH_60 0; +BA_ "GenSigSendType" SG_ 347 CAN_DET_AZIMUTH_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_AZIMUTH_60 "CAN_DET_AZIMUTH_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_RANGE_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_RANGE_60 "CAN_DET_RANGE_60"; +BA_ "GenSigStartValue" SG_ 347 CAN_DET_RANGE_RATE_60 0; +BA_ "GenSigSendType" SG_ 347 CAN_DET_RANGE_RATE_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_RANGE_RATE_60 "CAN_DET_RANGE_RATE_60"; +BA_ "GenSigSendType" SG_ 347 CAN_DET_AMPLITUDE_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_DET_AMPLITUDE_60 "CAN_DET_AMPLITUDE_60"; +BA_ "GenSigSendType" SG_ 347 CAN_SCAN_INDEX_2LSB_60 0; +BA_ "GenSigCmt" SG_ 347 CAN_SCAN_INDEX_2LSB_60 "CAN_SCAN_INDEX_2LSB_60"; +BA_ "GenMsgSendType" BO_ 346 1; +BA_ "GenMsgILSupport" BO_ 346 1; +BA_ "GenMsgNrOfRepetition" BO_ 346 0; +BA_ "GenMsgCycleTime" BO_ 346 0; +BA_ "NetworkInitialization" BO_ 346 0; +BA_ "GenMsgDelayTime" BO_ 346 0; +BA_ "GenSigVtEn" SG_ 346 CAN_DET_CONFID_AZIMUTH_59 "CAN_DET_CONFID_AZIMUTH_59"; +BA_ "GenSigVtName" SG_ 346 CAN_DET_CONFID_AZIMUTH_59 "CAN_DET_CONFID_AZIMUTH_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_CONFID_AZIMUTH_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_CONFID_AZIMUTH_59 "CAN_DET_CONFID_AZIMUTH_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_SUPER_RES_TARGET_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_SUPER_RES_TARGET_59 "CAN_DET_SUPER_RES_TARGET_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_ND_TARGET_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_ND_TARGET_59 "CAN_DET_ND_TARGET_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_HOST_VEH_CLUTTER_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_HOST_VEH_CLUTTER_59 "CAN_DET_HOST_VEH_CLUTTER_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_VALID_LEVEL_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_VALID_LEVEL_59 "CAN_DET_VALID_LEVEL_59"; +BA_ "GenSigStartValue" SG_ 346 CAN_DET_AZIMUTH_59 0; +BA_ "GenSigSendType" SG_ 346 CAN_DET_AZIMUTH_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_AZIMUTH_59 "CAN_DET_AZIMUTH_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_RANGE_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_RANGE_59 "CAN_DET_RANGE_59"; +BA_ "GenSigStartValue" SG_ 346 CAN_DET_RANGE_RATE_59 0; +BA_ "GenSigSendType" SG_ 346 CAN_DET_RANGE_RATE_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_RANGE_RATE_59 "CAN_DET_RANGE_RATE_59"; +BA_ "GenSigSendType" SG_ 346 CAN_DET_AMPLITUDE_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_DET_AMPLITUDE_59 "CAN_DET_AMPLITUDE_59"; +BA_ "GenSigSendType" SG_ 346 CAN_SCAN_INDEX_2LSB_59 0; +BA_ "GenSigCmt" SG_ 346 CAN_SCAN_INDEX_2LSB_59 "CAN_SCAN_INDEX_2LSB_59"; +BA_ "GenMsgSendType" BO_ 345 1; +BA_ "GenMsgILSupport" BO_ 345 1; +BA_ "GenMsgNrOfRepetition" BO_ 345 0; +BA_ "GenMsgCycleTime" BO_ 345 0; +BA_ "NetworkInitialization" BO_ 345 0; +BA_ "GenMsgDelayTime" BO_ 345 0; +BA_ "GenSigVtEn" SG_ 345 CAN_DET_CONFID_AZIMUTH_58 "CAN_DET_CONFID_AZIMUTH_58"; +BA_ "GenSigVtName" SG_ 345 CAN_DET_CONFID_AZIMUTH_58 "CAN_DET_CONFID_AZIMUTH_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_CONFID_AZIMUTH_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_CONFID_AZIMUTH_58 "CAN_DET_CONFID_AZIMUTH_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_SUPER_RES_TARGET_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_SUPER_RES_TARGET_58 "CAN_DET_SUPER_RES_TARGET_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_ND_TARGET_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_ND_TARGET_58 "CAN_DET_ND_TARGET_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_HOST_VEH_CLUTTER_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_HOST_VEH_CLUTTER_58 "CAN_DET_HOST_VEH_CLUTTER_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_VALID_LEVEL_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_VALID_LEVEL_58 "CAN_DET_VALID_LEVEL_58"; +BA_ "GenSigStartValue" SG_ 345 CAN_DET_AZIMUTH_58 0; +BA_ "GenSigSendType" SG_ 345 CAN_DET_AZIMUTH_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_AZIMUTH_58 "CAN_DET_AZIMUTH_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_RANGE_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_RANGE_58 "CAN_DET_RANGE_58"; +BA_ "GenSigStartValue" SG_ 345 CAN_DET_RANGE_RATE_58 0; +BA_ "GenSigSendType" SG_ 345 CAN_DET_RANGE_RATE_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_RANGE_RATE_58 "CAN_DET_RANGE_RATE_58"; +BA_ "GenSigSendType" SG_ 345 CAN_DET_AMPLITUDE_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_DET_AMPLITUDE_58 "CAN_DET_AMPLITUDE_58"; +BA_ "GenSigSendType" SG_ 345 CAN_SCAN_INDEX_2LSB_58 0; +BA_ "GenSigCmt" SG_ 345 CAN_SCAN_INDEX_2LSB_58 "CAN_SCAN_INDEX_2LSB_58"; +BA_ "GenMsgSendType" BO_ 344 1; +BA_ "GenMsgILSupport" BO_ 344 1; +BA_ "GenMsgNrOfRepetition" BO_ 344 0; +BA_ "GenMsgCycleTime" BO_ 344 0; +BA_ "NetworkInitialization" BO_ 344 0; +BA_ "GenMsgDelayTime" BO_ 344 0; +BA_ "GenSigVtEn" SG_ 344 CAN_DET_CONFID_AZIMUTH_57 "CAN_DET_CONFID_AZIMUTH_57"; +BA_ "GenSigVtName" SG_ 344 CAN_DET_CONFID_AZIMUTH_57 "CAN_DET_CONFID_AZIMUTH_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_CONFID_AZIMUTH_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_CONFID_AZIMUTH_57 "CAN_DET_CONFID_AZIMUTH_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_SUPER_RES_TARGET_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_SUPER_RES_TARGET_57 "CAN_DET_SUPER_RES_TARGET_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_ND_TARGET_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_ND_TARGET_57 "CAN_DET_ND_TARGET_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_HOST_VEH_CLUTTER_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_HOST_VEH_CLUTTER_57 "CAN_DET_HOST_VEH_CLUTTER_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_VALID_LEVEL_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_VALID_LEVEL_57 "CAN_DET_VALID_LEVEL_57"; +BA_ "GenSigStartValue" SG_ 344 CAN_DET_AZIMUTH_57 0; +BA_ "GenSigSendType" SG_ 344 CAN_DET_AZIMUTH_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_AZIMUTH_57 "CAN_DET_AZIMUTH_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_RANGE_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_RANGE_57 "CAN_DET_RANGE_57"; +BA_ "GenSigStartValue" SG_ 344 CAN_DET_RANGE_RATE_57 0; +BA_ "GenSigSendType" SG_ 344 CAN_DET_RANGE_RATE_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_RANGE_RATE_57 "CAN_DET_RANGE_RATE_57"; +BA_ "GenSigSendType" SG_ 344 CAN_DET_AMPLITUDE_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_DET_AMPLITUDE_57 "CAN_DET_AMPLITUDE_57"; +BA_ "GenSigSendType" SG_ 344 CAN_SCAN_INDEX_2LSB_57 0; +BA_ "GenSigCmt" SG_ 344 CAN_SCAN_INDEX_2LSB_57 "CAN_SCAN_INDEX_2LSB_57"; +BA_ "GenMsgSendType" BO_ 343 1; +BA_ "GenMsgILSupport" BO_ 343 1; +BA_ "GenMsgNrOfRepetition" BO_ 343 0; +BA_ "GenMsgCycleTime" BO_ 343 0; +BA_ "NetworkInitialization" BO_ 343 0; +BA_ "GenMsgDelayTime" BO_ 343 0; +BA_ "GenSigVtEn" SG_ 343 CAN_DET_CONFID_AZIMUTH_56 "CAN_DET_CONFID_AZIMUTH_56"; +BA_ "GenSigVtName" SG_ 343 CAN_DET_CONFID_AZIMUTH_56 "CAN_DET_CONFID_AZIMUTH_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_CONFID_AZIMUTH_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_CONFID_AZIMUTH_56 "CAN_DET_CONFID_AZIMUTH_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_SUPER_RES_TARGET_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_SUPER_RES_TARGET_56 "CAN_DET_SUPER_RES_TARGET_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_ND_TARGET_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_ND_TARGET_56 "CAN_DET_ND_TARGET_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_HOST_VEH_CLUTTER_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_HOST_VEH_CLUTTER_56 "CAN_DET_HOST_VEH_CLUTTER_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_VALID_LEVEL_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_VALID_LEVEL_56 "CAN_DET_VALID_LEVEL_56"; +BA_ "GenSigStartValue" SG_ 343 CAN_DET_AZIMUTH_56 0; +BA_ "GenSigSendType" SG_ 343 CAN_DET_AZIMUTH_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_AZIMUTH_56 "CAN_DET_AZIMUTH_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_RANGE_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_RANGE_56 "CAN_DET_RANGE_56"; +BA_ "GenSigStartValue" SG_ 343 CAN_DET_RANGE_RATE_56 0; +BA_ "GenSigSendType" SG_ 343 CAN_DET_RANGE_RATE_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_RANGE_RATE_56 "CAN_DET_RANGE_RATE_56"; +BA_ "GenSigSendType" SG_ 343 CAN_DET_AMPLITUDE_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_DET_AMPLITUDE_56 "CAN_DET_AMPLITUDE_56"; +BA_ "GenSigSendType" SG_ 343 CAN_SCAN_INDEX_2LSB_56 0; +BA_ "GenSigCmt" SG_ 343 CAN_SCAN_INDEX_2LSB_56 "CAN_SCAN_INDEX_2LSB_56"; +BA_ "GenMsgSendType" BO_ 342 1; +BA_ "GenMsgILSupport" BO_ 342 1; +BA_ "GenMsgNrOfRepetition" BO_ 342 0; +BA_ "GenMsgCycleTime" BO_ 342 0; +BA_ "NetworkInitialization" BO_ 342 0; +BA_ "GenMsgDelayTime" BO_ 342 0; +BA_ "GenSigVtEn" SG_ 342 CAN_DET_CONFID_AZIMUTH_55 "CAN_DET_CONFID_AZIMUTH_55"; +BA_ "GenSigVtName" SG_ 342 CAN_DET_CONFID_AZIMUTH_55 "CAN_DET_CONFID_AZIMUTH_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_CONFID_AZIMUTH_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_CONFID_AZIMUTH_55 "CAN_DET_CONFID_AZIMUTH_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_SUPER_RES_TARGET_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_SUPER_RES_TARGET_55 "CAN_DET_SUPER_RES_TARGET_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_ND_TARGET_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_ND_TARGET_55 "CAN_DET_ND_TARGET_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_HOST_VEH_CLUTTER_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_HOST_VEH_CLUTTER_55 "CAN_DET_HOST_VEH_CLUTTER_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_VALID_LEVEL_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_VALID_LEVEL_55 "CAN_DET_VALID_LEVEL_55"; +BA_ "GenSigStartValue" SG_ 342 CAN_DET_AZIMUTH_55 0; +BA_ "GenSigSendType" SG_ 342 CAN_DET_AZIMUTH_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_AZIMUTH_55 "CAN_DET_AZIMUTH_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_RANGE_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_RANGE_55 "CAN_DET_RANGE_55"; +BA_ "GenSigStartValue" SG_ 342 CAN_DET_RANGE_RATE_55 0; +BA_ "GenSigSendType" SG_ 342 CAN_DET_RANGE_RATE_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_RANGE_RATE_55 "CAN_DET_RANGE_RATE_55"; +BA_ "GenSigSendType" SG_ 342 CAN_DET_AMPLITUDE_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_DET_AMPLITUDE_55 "CAN_DET_AMPLITUDE_55"; +BA_ "GenSigSendType" SG_ 342 CAN_SCAN_INDEX_2LSB_55 0; +BA_ "GenSigCmt" SG_ 342 CAN_SCAN_INDEX_2LSB_55 "CAN_SCAN_INDEX_2LSB_55"; +BA_ "GenMsgSendType" BO_ 335 1; +BA_ "GenMsgILSupport" BO_ 335 1; +BA_ "GenMsgNrOfRepetition" BO_ 335 0; +BA_ "GenMsgCycleTime" BO_ 335 0; +BA_ "NetworkInitialization" BO_ 335 0; +BA_ "GenMsgDelayTime" BO_ 335 0; +BA_ "GenSigVtEn" SG_ 335 CAN_DET_CONFID_AZIMUTH_48 "CAN_DET_CONFID_AZIMUTH_48"; +BA_ "GenSigVtName" SG_ 335 CAN_DET_CONFID_AZIMUTH_48 "CAN_DET_CONFID_AZIMUTH_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_CONFID_AZIMUTH_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_CONFID_AZIMUTH_48 "CAN_DET_CONFID_AZIMUTH_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_SUPER_RES_TARGET_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_SUPER_RES_TARGET_48 "CAN_DET_SUPER_RES_TARGET_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_ND_TARGET_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_ND_TARGET_48 "CAN_DET_ND_TARGET_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_HOST_VEH_CLUTTER_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_HOST_VEH_CLUTTER_48 "CAN_DET_HOST_VEH_CLUTTER_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_VALID_LEVEL_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_VALID_LEVEL_48 "CAN_DET_VALID_LEVEL_48"; +BA_ "GenSigStartValue" SG_ 335 CAN_DET_AZIMUTH_48 0; +BA_ "GenSigSendType" SG_ 335 CAN_DET_AZIMUTH_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_AZIMUTH_48 "CAN_DET_AZIMUTH_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_RANGE_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_RANGE_48 "CAN_DET_RANGE_48"; +BA_ "GenSigStartValue" SG_ 335 CAN_DET_RANGE_RATE_48 0; +BA_ "GenSigSendType" SG_ 335 CAN_DET_RANGE_RATE_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_RANGE_RATE_48 "CAN_DET_RANGE_RATE_48"; +BA_ "GenSigSendType" SG_ 335 CAN_DET_AMPLITUDE_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_DET_AMPLITUDE_48 "CAN_DET_AMPLITUDE_48"; +BA_ "GenSigSendType" SG_ 335 CAN_SCAN_INDEX_2LSB_48 0; +BA_ "GenSigCmt" SG_ 335 CAN_SCAN_INDEX_2LSB_48 "CAN_SCAN_INDEX_2LSB_48"; +BA_ "GenMsgSendType" BO_ 334 1; +BA_ "GenMsgILSupport" BO_ 334 1; +BA_ "GenMsgNrOfRepetition" BO_ 334 0; +BA_ "GenMsgCycleTime" BO_ 334 0; +BA_ "NetworkInitialization" BO_ 334 0; +BA_ "GenMsgDelayTime" BO_ 334 0; +BA_ "GenSigVtEn" SG_ 334 CAN_DET_CONFID_AZIMUTH_47 "CAN_DET_CONFID_AZIMUTH_47"; +BA_ "GenSigVtName" SG_ 334 CAN_DET_CONFID_AZIMUTH_47 "CAN_DET_CONFID_AZIMUTH_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_CONFID_AZIMUTH_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_CONFID_AZIMUTH_47 "CAN_DET_CONFID_AZIMUTH_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_SUPER_RES_TARGET_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_SUPER_RES_TARGET_47 "CAN_DET_SUPER_RES_TARGET_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_ND_TARGET_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_ND_TARGET_47 "CAN_DET_ND_TARGET_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_HOST_VEH_CLUTTER_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_HOST_VEH_CLUTTER_47 "CAN_DET_HOST_VEH_CLUTTER_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_VALID_LEVEL_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_VALID_LEVEL_47 "CAN_DET_VALID_LEVEL_47"; +BA_ "GenSigStartValue" SG_ 334 CAN_DET_AZIMUTH_47 0; +BA_ "GenSigSendType" SG_ 334 CAN_DET_AZIMUTH_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_AZIMUTH_47 "CAN_DET_AZIMUTH_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_RANGE_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_RANGE_47 "CAN_DET_RANGE_47"; +BA_ "GenSigStartValue" SG_ 334 CAN_DET_RANGE_RATE_47 0; +BA_ "GenSigSendType" SG_ 334 CAN_DET_RANGE_RATE_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_RANGE_RATE_47 "CAN_DET_RANGE_RATE_47"; +BA_ "GenSigSendType" SG_ 334 CAN_DET_AMPLITUDE_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_DET_AMPLITUDE_47 "CAN_DET_AMPLITUDE_47"; +BA_ "GenSigSendType" SG_ 334 CAN_SCAN_INDEX_2LSB_47 0; +BA_ "GenSigCmt" SG_ 334 CAN_SCAN_INDEX_2LSB_47 "CAN_SCAN_INDEX_2LSB_47"; +BA_ "GenMsgSendType" BO_ 333 1; +BA_ "GenMsgILSupport" BO_ 333 1; +BA_ "GenMsgNrOfRepetition" BO_ 333 0; +BA_ "GenMsgCycleTime" BO_ 333 0; +BA_ "NetworkInitialization" BO_ 333 0; +BA_ "GenMsgDelayTime" BO_ 333 0; +BA_ "GenSigVtEn" SG_ 333 CAN_DET_CONFID_AZIMUTH_46 "CAN_DET_CONFID_AZIMUTH_46"; +BA_ "GenSigVtName" SG_ 333 CAN_DET_CONFID_AZIMUTH_46 "CAN_DET_CONFID_AZIMUTH_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_CONFID_AZIMUTH_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_CONFID_AZIMUTH_46 "CAN_DET_CONFID_AZIMUTH_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_SUPER_RES_TARGET_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_SUPER_RES_TARGET_46 "CAN_DET_SUPER_RES_TARGET_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_ND_TARGET_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_ND_TARGET_46 "CAN_DET_ND_TARGET_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_HOST_VEH_CLUTTER_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_HOST_VEH_CLUTTER_46 "CAN_DET_HOST_VEH_CLUTTER_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_VALID_LEVEL_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_VALID_LEVEL_46 "CAN_DET_VALID_LEVEL_46"; +BA_ "GenSigStartValue" SG_ 333 CAN_DET_AZIMUTH_46 0; +BA_ "GenSigSendType" SG_ 333 CAN_DET_AZIMUTH_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_AZIMUTH_46 "CAN_DET_AZIMUTH_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_RANGE_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_RANGE_46 "CAN_DET_RANGE_46"; +BA_ "GenSigStartValue" SG_ 333 CAN_DET_RANGE_RATE_46 0; +BA_ "GenSigSendType" SG_ 333 CAN_DET_RANGE_RATE_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_RANGE_RATE_46 "CAN_DET_RANGE_RATE_46"; +BA_ "GenSigSendType" SG_ 333 CAN_DET_AMPLITUDE_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_DET_AMPLITUDE_46 "CAN_DET_AMPLITUDE_46"; +BA_ "GenSigSendType" SG_ 333 CAN_SCAN_INDEX_2LSB_46 0; +BA_ "GenSigCmt" SG_ 333 CAN_SCAN_INDEX_2LSB_46 "CAN_SCAN_INDEX_2LSB_46"; +BA_ "GenMsgSendType" BO_ 332 1; +BA_ "GenMsgILSupport" BO_ 332 1; +BA_ "GenMsgNrOfRepetition" BO_ 332 0; +BA_ "GenMsgCycleTime" BO_ 332 0; +BA_ "NetworkInitialization" BO_ 332 0; +BA_ "GenMsgDelayTime" BO_ 332 0; +BA_ "GenSigVtEn" SG_ 332 CAN_DET_CONFID_AZIMUTH_45 "CAN_DET_CONFID_AZIMUTH_45"; +BA_ "GenSigVtName" SG_ 332 CAN_DET_CONFID_AZIMUTH_45 "CAN_DET_CONFID_AZIMUTH_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_CONFID_AZIMUTH_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_CONFID_AZIMUTH_45 "CAN_DET_CONFID_AZIMUTH_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_SUPER_RES_TARGET_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_SUPER_RES_TARGET_45 "CAN_DET_SUPER_RES_TARGET_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_ND_TARGET_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_ND_TARGET_45 "CAN_DET_ND_TARGET_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_HOST_VEH_CLUTTER_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_HOST_VEH_CLUTTER_45 "CAN_DET_HOST_VEH_CLUTTER_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_VALID_LEVEL_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_VALID_LEVEL_45 "CAN_DET_VALID_LEVEL_45"; +BA_ "GenSigStartValue" SG_ 332 CAN_DET_AZIMUTH_45 0; +BA_ "GenSigSendType" SG_ 332 CAN_DET_AZIMUTH_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_AZIMUTH_45 "CAN_DET_AZIMUTH_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_RANGE_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_RANGE_45 "CAN_DET_RANGE_45"; +BA_ "GenSigStartValue" SG_ 332 CAN_DET_RANGE_RATE_45 0; +BA_ "GenSigSendType" SG_ 332 CAN_DET_RANGE_RATE_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_RANGE_RATE_45 "CAN_DET_RANGE_RATE_45"; +BA_ "GenSigSendType" SG_ 332 CAN_DET_AMPLITUDE_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_DET_AMPLITUDE_45 "CAN_DET_AMPLITUDE_45"; +BA_ "GenSigSendType" SG_ 332 CAN_SCAN_INDEX_2LSB_45 0; +BA_ "GenSigCmt" SG_ 332 CAN_SCAN_INDEX_2LSB_45 "CAN_SCAN_INDEX_2LSB_45"; +BA_ "GenMsgSendType" BO_ 331 1; +BA_ "GenMsgILSupport" BO_ 331 1; +BA_ "GenMsgNrOfRepetition" BO_ 331 0; +BA_ "GenMsgCycleTime" BO_ 331 0; +BA_ "NetworkInitialization" BO_ 331 0; +BA_ "GenMsgDelayTime" BO_ 331 0; +BA_ "GenSigVtEn" SG_ 331 CAN_DET_CONFID_AZIMUTH_44 "CAN_DET_CONFID_AZIMUTH_44"; +BA_ "GenSigVtName" SG_ 331 CAN_DET_CONFID_AZIMUTH_44 "CAN_DET_CONFID_AZIMUTH_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_CONFID_AZIMUTH_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_CONFID_AZIMUTH_44 "CAN_DET_CONFID_AZIMUTH_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_SUPER_RES_TARGET_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_SUPER_RES_TARGET_44 "CAN_DET_SUPER_RES_TARGET_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_ND_TARGET_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_ND_TARGET_44 "CAN_DET_ND_TARGET_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_HOST_VEH_CLUTTER_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_HOST_VEH_CLUTTER_44 "CAN_DET_HOST_VEH_CLUTTER_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_VALID_LEVEL_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_VALID_LEVEL_44 "CAN_DET_VALID_LEVEL_44"; +BA_ "GenSigStartValue" SG_ 331 CAN_DET_AZIMUTH_44 0; +BA_ "GenSigSendType" SG_ 331 CAN_DET_AZIMUTH_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_AZIMUTH_44 "CAN_DET_AZIMUTH_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_RANGE_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_RANGE_44 "CAN_DET_RANGE_44"; +BA_ "GenSigStartValue" SG_ 331 CAN_DET_RANGE_RATE_44 0; +BA_ "GenSigSendType" SG_ 331 CAN_DET_RANGE_RATE_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_RANGE_RATE_44 "CAN_DET_RANGE_RATE_44"; +BA_ "GenSigSendType" SG_ 331 CAN_DET_AMPLITUDE_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_DET_AMPLITUDE_44 "CAN_DET_AMPLITUDE_44"; +BA_ "GenSigSendType" SG_ 331 CAN_SCAN_INDEX_2LSB_44 0; +BA_ "GenSigCmt" SG_ 331 CAN_SCAN_INDEX_2LSB_44 "CAN_SCAN_INDEX_2LSB_44"; +BA_ "GenMsgSendType" BO_ 330 1; +BA_ "GenMsgILSupport" BO_ 330 1; +BA_ "GenMsgNrOfRepetition" BO_ 330 0; +BA_ "GenMsgCycleTime" BO_ 330 0; +BA_ "NetworkInitialization" BO_ 330 0; +BA_ "GenMsgDelayTime" BO_ 330 0; +BA_ "GenSigVtEn" SG_ 330 CAN_DET_CONFID_AZIMUTH_43 "CAN_DET_CONFID_AZIMUTH_43"; +BA_ "GenSigVtName" SG_ 330 CAN_DET_CONFID_AZIMUTH_43 "CAN_DET_CONFID_AZIMUTH_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_CONFID_AZIMUTH_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_CONFID_AZIMUTH_43 "CAN_DET_CONFID_AZIMUTH_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_SUPER_RES_TARGET_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_SUPER_RES_TARGET_43 "CAN_DET_SUPER_RES_TARGET_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_ND_TARGET_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_ND_TARGET_43 "CAN_DET_ND_TARGET_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_HOST_VEH_CLUTTER_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_HOST_VEH_CLUTTER_43 "CAN_DET_HOST_VEH_CLUTTER_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_VALID_LEVEL_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_VALID_LEVEL_43 "CAN_DET_VALID_LEVEL_43"; +BA_ "GenSigStartValue" SG_ 330 CAN_DET_AZIMUTH_43 0; +BA_ "GenSigSendType" SG_ 330 CAN_DET_AZIMUTH_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_AZIMUTH_43 "CAN_DET_AZIMUTH_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_RANGE_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_RANGE_43 "CAN_DET_RANGE_43"; +BA_ "GenSigStartValue" SG_ 330 CAN_DET_RANGE_RATE_43 0; +BA_ "GenSigSendType" SG_ 330 CAN_DET_RANGE_RATE_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_RANGE_RATE_43 "CAN_DET_RANGE_RATE_43"; +BA_ "GenSigSendType" SG_ 330 CAN_DET_AMPLITUDE_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_DET_AMPLITUDE_43 "CAN_DET_AMPLITUDE_43"; +BA_ "GenSigSendType" SG_ 330 CAN_SCAN_INDEX_2LSB_43 0; +BA_ "GenSigCmt" SG_ 330 CAN_SCAN_INDEX_2LSB_43 "CAN_SCAN_INDEX_2LSB_43"; +BA_ "GenMsgSendType" BO_ 329 1; +BA_ "GenMsgILSupport" BO_ 329 1; +BA_ "GenMsgNrOfRepetition" BO_ 329 0; +BA_ "GenMsgCycleTime" BO_ 329 0; +BA_ "NetworkInitialization" BO_ 329 0; +BA_ "GenMsgDelayTime" BO_ 329 0; +BA_ "GenSigVtEn" SG_ 329 CAN_DET_CONFID_AZIMUTH_42 "CAN_DET_CONFID_AZIMUTH_42"; +BA_ "GenSigVtName" SG_ 329 CAN_DET_CONFID_AZIMUTH_42 "CAN_DET_CONFID_AZIMUTH_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_CONFID_AZIMUTH_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_CONFID_AZIMUTH_42 "CAN_DET_CONFID_AZIMUTH_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_SUPER_RES_TARGET_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_SUPER_RES_TARGET_42 "CAN_DET_SUPER_RES_TARGET_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_ND_TARGET_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_ND_TARGET_42 "CAN_DET_ND_TARGET_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_HOST_VEH_CLUTTER_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_HOST_VEH_CLUTTER_42 "CAN_DET_HOST_VEH_CLUTTER_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_VALID_LEVEL_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_VALID_LEVEL_42 "CAN_DET_VALID_LEVEL_42"; +BA_ "GenSigStartValue" SG_ 329 CAN_DET_AZIMUTH_42 0; +BA_ "GenSigSendType" SG_ 329 CAN_DET_AZIMUTH_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_AZIMUTH_42 "CAN_DET_AZIMUTH_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_RANGE_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_RANGE_42 "CAN_DET_RANGE_42"; +BA_ "GenSigStartValue" SG_ 329 CAN_DET_RANGE_RATE_42 0; +BA_ "GenSigSendType" SG_ 329 CAN_DET_RANGE_RATE_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_RANGE_RATE_42 "CAN_DET_RANGE_RATE_42"; +BA_ "GenSigSendType" SG_ 329 CAN_DET_AMPLITUDE_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_DET_AMPLITUDE_42 "CAN_DET_AMPLITUDE_42"; +BA_ "GenSigSendType" SG_ 329 CAN_SCAN_INDEX_2LSB_42 0; +BA_ "GenSigCmt" SG_ 329 CAN_SCAN_INDEX_2LSB_42 "CAN_SCAN_INDEX_2LSB_42"; +BA_ "GenMsgSendType" BO_ 328 1; +BA_ "GenMsgILSupport" BO_ 328 1; +BA_ "GenMsgNrOfRepetition" BO_ 328 0; +BA_ "GenMsgCycleTime" BO_ 328 0; +BA_ "NetworkInitialization" BO_ 328 0; +BA_ "GenMsgDelayTime" BO_ 328 0; +BA_ "GenSigVtEn" SG_ 328 CAN_DET_CONFID_AZIMUTH_41 "CAN_DET_CONFID_AZIMUTH_41"; +BA_ "GenSigVtName" SG_ 328 CAN_DET_CONFID_AZIMUTH_41 "CAN_DET_CONFID_AZIMUTH_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_CONFID_AZIMUTH_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_CONFID_AZIMUTH_41 "CAN_DET_CONFID_AZIMUTH_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_SUPER_RES_TARGET_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_SUPER_RES_TARGET_41 "CAN_DET_SUPER_RES_TARGET_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_ND_TARGET_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_ND_TARGET_41 "CAN_DET_ND_TARGET_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_HOST_VEH_CLUTTER_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_HOST_VEH_CLUTTER_41 "CAN_DET_HOST_VEH_CLUTTER_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_VALID_LEVEL_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_VALID_LEVEL_41 "CAN_DET_VALID_LEVEL_41"; +BA_ "GenSigStartValue" SG_ 328 CAN_DET_AZIMUTH_41 0; +BA_ "GenSigSendType" SG_ 328 CAN_DET_AZIMUTH_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_AZIMUTH_41 "CAN_DET_AZIMUTH_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_RANGE_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_RANGE_41 "CAN_DET_RANGE_41"; +BA_ "GenSigStartValue" SG_ 328 CAN_DET_RANGE_RATE_41 0; +BA_ "GenSigSendType" SG_ 328 CAN_DET_RANGE_RATE_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_RANGE_RATE_41 "CAN_DET_RANGE_RATE_41"; +BA_ "GenSigSendType" SG_ 328 CAN_DET_AMPLITUDE_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_DET_AMPLITUDE_41 "CAN_DET_AMPLITUDE_41"; +BA_ "GenSigSendType" SG_ 328 CAN_SCAN_INDEX_2LSB_41 0; +BA_ "GenSigCmt" SG_ 328 CAN_SCAN_INDEX_2LSB_41 "CAN_SCAN_INDEX_2LSB_41"; +BA_ "GenMsgSendType" BO_ 327 1; +BA_ "GenMsgILSupport" BO_ 327 1; +BA_ "GenMsgNrOfRepetition" BO_ 327 0; +BA_ "GenMsgCycleTime" BO_ 327 0; +BA_ "NetworkInitialization" BO_ 327 0; +BA_ "GenMsgDelayTime" BO_ 327 0; +BA_ "GenSigVtEn" SG_ 327 CAN_DET_CONFID_AZIMUTH_40 "CAN_DET_CONFID_AZIMUTH_40"; +BA_ "GenSigVtName" SG_ 327 CAN_DET_CONFID_AZIMUTH_40 "CAN_DET_CONFID_AZIMUTH_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_CONFID_AZIMUTH_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_CONFID_AZIMUTH_40 "CAN_DET_CONFID_AZIMUTH_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_SUPER_RES_TARGET_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_SUPER_RES_TARGET_40 "CAN_DET_SUPER_RES_TARGET_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_ND_TARGET_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_ND_TARGET_40 "CAN_DET_ND_TARGET_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_HOST_VEH_CLUTTER_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_HOST_VEH_CLUTTER_40 "CAN_DET_HOST_VEH_CLUTTER_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_VALID_LEVEL_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_VALID_LEVEL_40 "CAN_DET_VALID_LEVEL_40"; +BA_ "GenSigStartValue" SG_ 327 CAN_DET_AZIMUTH_40 0; +BA_ "GenSigSendType" SG_ 327 CAN_DET_AZIMUTH_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_AZIMUTH_40 "CAN_DET_AZIMUTH_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_RANGE_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_RANGE_40 "CAN_DET_RANGE_40"; +BA_ "GenSigStartValue" SG_ 327 CAN_DET_RANGE_RATE_40 0; +BA_ "GenSigSendType" SG_ 327 CAN_DET_RANGE_RATE_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_RANGE_RATE_40 "CAN_DET_RANGE_RATE_40"; +BA_ "GenSigSendType" SG_ 327 CAN_DET_AMPLITUDE_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_DET_AMPLITUDE_40 "CAN_DET_AMPLITUDE_40"; +BA_ "GenSigSendType" SG_ 327 CAN_SCAN_INDEX_2LSB_40 0; +BA_ "GenSigCmt" SG_ 327 CAN_SCAN_INDEX_2LSB_40 "CAN_SCAN_INDEX_2LSB_40"; +BA_ "GenMsgSendType" BO_ 325 1; +BA_ "GenMsgILSupport" BO_ 325 1; +BA_ "GenMsgNrOfRepetition" BO_ 325 0; +BA_ "GenMsgCycleTime" BO_ 325 0; +BA_ "NetworkInitialization" BO_ 325 0; +BA_ "GenMsgDelayTime" BO_ 325 0; +BA_ "GenSigVtEn" SG_ 325 CAN_DET_CONFID_AZIMUTH_38 "CAN_DET_CONFID_AZIMUTH_38"; +BA_ "GenSigVtName" SG_ 325 CAN_DET_CONFID_AZIMUTH_38 "CAN_DET_CONFID_AZIMUTH_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_CONFID_AZIMUTH_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_CONFID_AZIMUTH_38 "CAN_DET_CONFID_AZIMUTH_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_SUPER_RES_TARGET_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_SUPER_RES_TARGET_38 "CAN_DET_SUPER_RES_TARGET_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_ND_TARGET_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_ND_TARGET_38 "CAN_DET_ND_TARGET_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_HOST_VEH_CLUTTER_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_HOST_VEH_CLUTTER_38 "CAN_DET_HOST_VEH_CLUTTER_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_VALID_LEVEL_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_VALID_LEVEL_38 "CAN_DET_VALID_LEVEL_38"; +BA_ "GenSigStartValue" SG_ 325 CAN_DET_AZIMUTH_38 0; +BA_ "GenSigSendType" SG_ 325 CAN_DET_AZIMUTH_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_AZIMUTH_38 "CAN_DET_AZIMUTH_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_RANGE_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_RANGE_38 "CAN_DET_RANGE_38"; +BA_ "GenSigStartValue" SG_ 325 CAN_DET_RANGE_RATE_38 0; +BA_ "GenSigSendType" SG_ 325 CAN_DET_RANGE_RATE_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_RANGE_RATE_38 "CAN_DET_RANGE_RATE_38"; +BA_ "GenSigSendType" SG_ 325 CAN_DET_AMPLITUDE_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_DET_AMPLITUDE_38 "CAN_DET_AMPLITUDE_38"; +BA_ "GenSigSendType" SG_ 325 CAN_SCAN_INDEX_2LSB_38 0; +BA_ "GenSigCmt" SG_ 325 CAN_SCAN_INDEX_2LSB_38 "CAN_SCAN_INDEX_2LSB_38"; +BA_ "GenMsgSendType" BO_ 324 1; +BA_ "GenMsgILSupport" BO_ 324 1; +BA_ "GenMsgNrOfRepetition" BO_ 324 0; +BA_ "GenMsgCycleTime" BO_ 324 0; +BA_ "NetworkInitialization" BO_ 324 0; +BA_ "GenMsgDelayTime" BO_ 324 0; +BA_ "GenSigVtEn" SG_ 324 CAN_DET_CONFID_AZIMUTH_37 "CAN_DET_CONFID_AZIMUTH_37"; +BA_ "GenSigVtName" SG_ 324 CAN_DET_CONFID_AZIMUTH_37 "CAN_DET_CONFID_AZIMUTH_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_CONFID_AZIMUTH_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_CONFID_AZIMUTH_37 "CAN_DET_CONFID_AZIMUTH_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_SUPER_RES_TARGET_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_SUPER_RES_TARGET_37 "CAN_DET_SUPER_RES_TARGET_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_ND_TARGET_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_ND_TARGET_37 "CAN_DET_ND_TARGET_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_HOST_VEH_CLUTTER_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_HOST_VEH_CLUTTER_37 "CAN_DET_HOST_VEH_CLUTTER_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_VALID_LEVEL_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_VALID_LEVEL_37 "CAN_DET_VALID_LEVEL_37"; +BA_ "GenSigStartValue" SG_ 324 CAN_DET_AZIMUTH_37 0; +BA_ "GenSigSendType" SG_ 324 CAN_DET_AZIMUTH_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_AZIMUTH_37 "CAN_DET_AZIMUTH_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_RANGE_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_RANGE_37 "CAN_DET_RANGE_37"; +BA_ "GenSigStartValue" SG_ 324 CAN_DET_RANGE_RATE_37 0; +BA_ "GenSigSendType" SG_ 324 CAN_DET_RANGE_RATE_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_RANGE_RATE_37 "CAN_DET_RANGE_RATE_37"; +BA_ "GenSigSendType" SG_ 324 CAN_DET_AMPLITUDE_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_DET_AMPLITUDE_37 "CAN_DET_AMPLITUDE_37"; +BA_ "GenSigSendType" SG_ 324 CAN_SCAN_INDEX_2LSB_37 0; +BA_ "GenSigCmt" SG_ 324 CAN_SCAN_INDEX_2LSB_37 "CAN_SCAN_INDEX_2LSB_37"; +BA_ "GenMsgSendType" BO_ 323 1; +BA_ "GenMsgILSupport" BO_ 323 1; +BA_ "GenMsgNrOfRepetition" BO_ 323 0; +BA_ "GenMsgCycleTime" BO_ 323 0; +BA_ "NetworkInitialization" BO_ 323 0; +BA_ "GenMsgDelayTime" BO_ 323 0; +BA_ "GenSigVtEn" SG_ 323 CAN_DET_CONFID_AZIMUTH_36 "CAN_DET_CONFID_AZIMUTH_36"; +BA_ "GenSigVtName" SG_ 323 CAN_DET_CONFID_AZIMUTH_36 "CAN_DET_CONFID_AZIMUTH_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_CONFID_AZIMUTH_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_CONFID_AZIMUTH_36 "CAN_DET_CONFID_AZIMUTH_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_SUPER_RES_TARGET_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_SUPER_RES_TARGET_36 "CAN_DET_SUPER_RES_TARGET_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_ND_TARGET_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_ND_TARGET_36 "CAN_DET_ND_TARGET_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_HOST_VEH_CLUTTER_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_HOST_VEH_CLUTTER_36 "CAN_DET_HOST_VEH_CLUTTER_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_VALID_LEVEL_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_VALID_LEVEL_36 "CAN_DET_VALID_LEVEL_36"; +BA_ "GenSigStartValue" SG_ 323 CAN_DET_AZIMUTH_36 0; +BA_ "GenSigSendType" SG_ 323 CAN_DET_AZIMUTH_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_AZIMUTH_36 "CAN_DET_AZIMUTH_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_RANGE_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_RANGE_36 "CAN_DET_RANGE_36"; +BA_ "GenSigStartValue" SG_ 323 CAN_DET_RANGE_RATE_36 0; +BA_ "GenSigSendType" SG_ 323 CAN_DET_RANGE_RATE_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_RANGE_RATE_36 "CAN_DET_RANGE_RATE_36"; +BA_ "GenSigSendType" SG_ 323 CAN_DET_AMPLITUDE_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_DET_AMPLITUDE_36 "CAN_DET_AMPLITUDE_36"; +BA_ "GenSigSendType" SG_ 323 CAN_SCAN_INDEX_2LSB_36 0; +BA_ "GenSigCmt" SG_ 323 CAN_SCAN_INDEX_2LSB_36 "CAN_SCAN_INDEX_2LSB_36"; +BA_ "GenMsgSendType" BO_ 322 1; +BA_ "GenMsgILSupport" BO_ 322 1; +BA_ "GenMsgNrOfRepetition" BO_ 322 0; +BA_ "GenMsgCycleTime" BO_ 322 0; +BA_ "NetworkInitialization" BO_ 322 0; +BA_ "GenMsgDelayTime" BO_ 322 0; +BA_ "GenSigVtEn" SG_ 322 CAN_DET_CONFID_AZIMUTH_35 "CAN_DET_CONFID_AZIMUTH_35"; +BA_ "GenSigVtName" SG_ 322 CAN_DET_CONFID_AZIMUTH_35 "CAN_DET_CONFID_AZIMUTH_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_CONFID_AZIMUTH_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_CONFID_AZIMUTH_35 "CAN_DET_CONFID_AZIMUTH_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_SUPER_RES_TARGET_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_SUPER_RES_TARGET_35 "CAN_DET_SUPER_RES_TARGET_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_ND_TARGET_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_ND_TARGET_35 "CAN_DET_ND_TARGET_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_HOST_VEH_CLUTTER_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_HOST_VEH_CLUTTER_35 "CAN_DET_HOST_VEH_CLUTTER_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_VALID_LEVEL_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_VALID_LEVEL_35 "CAN_DET_VALID_LEVEL_35"; +BA_ "GenSigStartValue" SG_ 322 CAN_DET_AZIMUTH_35 0; +BA_ "GenSigSendType" SG_ 322 CAN_DET_AZIMUTH_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_AZIMUTH_35 "CAN_DET_AZIMUTH_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_RANGE_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_RANGE_35 "CAN_DET_RANGE_35"; +BA_ "GenSigStartValue" SG_ 322 CAN_DET_RANGE_RATE_35 0; +BA_ "GenSigSendType" SG_ 322 CAN_DET_RANGE_RATE_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_RANGE_RATE_35 "CAN_DET_RANGE_RATE_35"; +BA_ "GenSigSendType" SG_ 322 CAN_DET_AMPLITUDE_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_DET_AMPLITUDE_35 "CAN_DET_AMPLITUDE_35"; +BA_ "GenSigSendType" SG_ 322 CAN_SCAN_INDEX_2LSB_35 0; +BA_ "GenSigCmt" SG_ 322 CAN_SCAN_INDEX_2LSB_35 "CAN_SCAN_INDEX_2LSB_35"; +BA_ "GenMsgSendType" BO_ 321 1; +BA_ "GenMsgILSupport" BO_ 321 1; +BA_ "GenMsgNrOfRepetition" BO_ 321 0; +BA_ "GenMsgCycleTime" BO_ 321 0; +BA_ "NetworkInitialization" BO_ 321 0; +BA_ "GenMsgDelayTime" BO_ 321 0; +BA_ "GenSigVtEn" SG_ 321 CAN_DET_CONFID_AZIMUTH_34 "CAN_DET_CONFID_AZIMUTH_34"; +BA_ "GenSigVtName" SG_ 321 CAN_DET_CONFID_AZIMUTH_34 "CAN_DET_CONFID_AZIMUTH_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_CONFID_AZIMUTH_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_CONFID_AZIMUTH_34 "CAN_DET_CONFID_AZIMUTH_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_SUPER_RES_TARGET_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_SUPER_RES_TARGET_34 "CAN_DET_SUPER_RES_TARGET_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_ND_TARGET_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_ND_TARGET_34 "CAN_DET_ND_TARGET_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_HOST_VEH_CLUTTER_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_HOST_VEH_CLUTTER_34 "CAN_DET_HOST_VEH_CLUTTER_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_VALID_LEVEL_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_VALID_LEVEL_34 "CAN_DET_VALID_LEVEL_34"; +BA_ "GenSigStartValue" SG_ 321 CAN_DET_AZIMUTH_34 0; +BA_ "GenSigSendType" SG_ 321 CAN_DET_AZIMUTH_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_AZIMUTH_34 "CAN_DET_AZIMUTH_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_RANGE_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_RANGE_34 "CAN_DET_RANGE_34"; +BA_ "GenSigStartValue" SG_ 321 CAN_DET_RANGE_RATE_34 0; +BA_ "GenSigSendType" SG_ 321 CAN_DET_RANGE_RATE_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_RANGE_RATE_34 "CAN_DET_RANGE_RATE_34"; +BA_ "GenSigSendType" SG_ 321 CAN_DET_AMPLITUDE_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_DET_AMPLITUDE_34 "CAN_DET_AMPLITUDE_34"; +BA_ "GenSigSendType" SG_ 321 CAN_SCAN_INDEX_2LSB_34 0; +BA_ "GenSigCmt" SG_ 321 CAN_SCAN_INDEX_2LSB_34 "CAN_SCAN_INDEX_2LSB_34"; +BA_ "GenMsgSendType" BO_ 320 1; +BA_ "GenMsgILSupport" BO_ 320 1; +BA_ "GenMsgNrOfRepetition" BO_ 320 0; +BA_ "GenMsgCycleTime" BO_ 320 0; +BA_ "NetworkInitialization" BO_ 320 0; +BA_ "GenMsgDelayTime" BO_ 320 0; +BA_ "GenSigVtEn" SG_ 320 CAN_DET_CONFID_AZIMUTH_33 "CAN_DET_CONFID_AZIMUTH_33"; +BA_ "GenSigVtName" SG_ 320 CAN_DET_CONFID_AZIMUTH_33 "CAN_DET_CONFID_AZIMUTH_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_CONFID_AZIMUTH_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_CONFID_AZIMUTH_33 "CAN_DET_CONFID_AZIMUTH_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_SUPER_RES_TARGET_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_SUPER_RES_TARGET_33 "CAN_DET_SUPER_RES_TARGET_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_ND_TARGET_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_ND_TARGET_33 "CAN_DET_ND_TARGET_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_HOST_VEH_CLUTTER_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_HOST_VEH_CLUTTER_33 "CAN_DET_HOST_VEH_CLUTTER_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_VALID_LEVEL_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_VALID_LEVEL_33 "CAN_DET_VALID_LEVEL_33"; +BA_ "GenSigStartValue" SG_ 320 CAN_DET_AZIMUTH_33 0; +BA_ "GenSigSendType" SG_ 320 CAN_DET_AZIMUTH_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_AZIMUTH_33 "CAN_DET_AZIMUTH_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_RANGE_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_RANGE_33 "CAN_DET_RANGE_33"; +BA_ "GenSigStartValue" SG_ 320 CAN_DET_RANGE_RATE_33 0; +BA_ "GenSigSendType" SG_ 320 CAN_DET_RANGE_RATE_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_RANGE_RATE_33 "CAN_DET_RANGE_RATE_33"; +BA_ "GenSigSendType" SG_ 320 CAN_DET_AMPLITUDE_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_DET_AMPLITUDE_33 "CAN_DET_AMPLITUDE_33"; +BA_ "GenSigSendType" SG_ 320 CAN_SCAN_INDEX_2LSB_33 0; +BA_ "GenSigCmt" SG_ 320 CAN_SCAN_INDEX_2LSB_33 "CAN_SCAN_INDEX_2LSB_33"; +BA_ "GenMsgSendType" BO_ 319 1; +BA_ "GenMsgILSupport" BO_ 319 1; +BA_ "GenMsgNrOfRepetition" BO_ 319 0; +BA_ "GenMsgCycleTime" BO_ 319 0; +BA_ "NetworkInitialization" BO_ 319 0; +BA_ "GenMsgDelayTime" BO_ 319 0; +BA_ "GenSigVtEn" SG_ 319 CAN_DET_CONFID_AZIMUTH_32 "CAN_DET_CONFID_AZIMUTH_32"; +BA_ "GenSigVtName" SG_ 319 CAN_DET_CONFID_AZIMUTH_32 "CAN_DET_CONFID_AZIMUTH_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_CONFID_AZIMUTH_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_CONFID_AZIMUTH_32 "CAN_DET_CONFID_AZIMUTH_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_SUPER_RES_TARGET_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_SUPER_RES_TARGET_32 "CAN_DET_SUPER_RES_TARGET_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_ND_TARGET_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_ND_TARGET_32 "CAN_DET_ND_TARGET_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_HOST_VEH_CLUTTER_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_HOST_VEH_CLUTTER_32 "CAN_DET_HOST_VEH_CLUTTER_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_VALID_LEVEL_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_VALID_LEVEL_32 "CAN_DET_VALID_LEVEL_32"; +BA_ "GenSigStartValue" SG_ 319 CAN_DET_AZIMUTH_32 0; +BA_ "GenSigSendType" SG_ 319 CAN_DET_AZIMUTH_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_AZIMUTH_32 "CAN_DET_AZIMUTH_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_RANGE_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_RANGE_32 "CAN_DET_RANGE_32"; +BA_ "GenSigStartValue" SG_ 319 CAN_DET_RANGE_RATE_32 0; +BA_ "GenSigSendType" SG_ 319 CAN_DET_RANGE_RATE_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_RANGE_RATE_32 "CAN_DET_RANGE_RATE_32"; +BA_ "GenSigSendType" SG_ 319 CAN_DET_AMPLITUDE_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_DET_AMPLITUDE_32 "CAN_DET_AMPLITUDE_32"; +BA_ "GenSigSendType" SG_ 319 CAN_SCAN_INDEX_2LSB_32 0; +BA_ "GenSigCmt" SG_ 319 CAN_SCAN_INDEX_2LSB_32 "CAN_SCAN_INDEX_2LSB_32"; +BA_ "GenMsgSendType" BO_ 318 1; +BA_ "GenMsgILSupport" BO_ 318 1; +BA_ "GenMsgNrOfRepetition" BO_ 318 0; +BA_ "GenMsgCycleTime" BO_ 318 0; +BA_ "NetworkInitialization" BO_ 318 0; +BA_ "GenMsgDelayTime" BO_ 318 0; +BA_ "GenSigVtEn" SG_ 318 CAN_DET_CONFID_AZIMUTH_31 "CAN_DET_CONFID_AZIMUTH_31"; +BA_ "GenSigVtName" SG_ 318 CAN_DET_CONFID_AZIMUTH_31 "CAN_DET_CONFID_AZIMUTH_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_CONFID_AZIMUTH_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_CONFID_AZIMUTH_31 "CAN_DET_CONFID_AZIMUTH_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_SUPER_RES_TARGET_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_SUPER_RES_TARGET_31 "CAN_DET_SUPER_RES_TARGET_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_ND_TARGET_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_ND_TARGET_31 "CAN_DET_ND_TARGET_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_HOST_VEH_CLUTTER_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_HOST_VEH_CLUTTER_31 "CAN_DET_HOST_VEH_CLUTTER_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_VALID_LEVEL_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_VALID_LEVEL_31 "CAN_DET_VALID_LEVEL_31"; +BA_ "GenSigStartValue" SG_ 318 CAN_DET_AZIMUTH_31 0; +BA_ "GenSigSendType" SG_ 318 CAN_DET_AZIMUTH_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_AZIMUTH_31 "CAN_DET_AZIMUTH_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_RANGE_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_RANGE_31 "CAN_DET_RANGE_31"; +BA_ "GenSigStartValue" SG_ 318 CAN_DET_RANGE_RATE_31 0; +BA_ "GenSigSendType" SG_ 318 CAN_DET_RANGE_RATE_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_RANGE_RATE_31 "CAN_DET_RANGE_RATE_31"; +BA_ "GenSigSendType" SG_ 318 CAN_DET_AMPLITUDE_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_DET_AMPLITUDE_31 "CAN_DET_AMPLITUDE_31"; +BA_ "GenSigSendType" SG_ 318 CAN_SCAN_INDEX_2LSB_31 0; +BA_ "GenSigCmt" SG_ 318 CAN_SCAN_INDEX_2LSB_31 "CAN_SCAN_INDEX_2LSB_31"; +BA_ "GenMsgSendType" BO_ 317 1; +BA_ "GenMsgILSupport" BO_ 317 1; +BA_ "GenMsgNrOfRepetition" BO_ 317 0; +BA_ "GenMsgCycleTime" BO_ 317 0; +BA_ "NetworkInitialization" BO_ 317 0; +BA_ "GenMsgDelayTime" BO_ 317 0; +BA_ "GenSigVtEn" SG_ 317 CAN_DET_CONFID_AZIMUTH_30 "CAN_DET_CONFID_AZIMUTH_30"; +BA_ "GenSigVtName" SG_ 317 CAN_DET_CONFID_AZIMUTH_30 "CAN_DET_CONFID_AZIMUTH_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_CONFID_AZIMUTH_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_CONFID_AZIMUTH_30 "CAN_DET_CONFID_AZIMUTH_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_SUPER_RES_TARGET_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_SUPER_RES_TARGET_30 "CAN_DET_SUPER_RES_TARGET_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_ND_TARGET_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_ND_TARGET_30 "CAN_DET_ND_TARGET_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_HOST_VEH_CLUTTER_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_HOST_VEH_CLUTTER_30 "CAN_DET_HOST_VEH_CLUTTER_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_VALID_LEVEL_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_VALID_LEVEL_30 "CAN_DET_VALID_LEVEL_30"; +BA_ "GenSigStartValue" SG_ 317 CAN_DET_AZIMUTH_30 0; +BA_ "GenSigSendType" SG_ 317 CAN_DET_AZIMUTH_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_AZIMUTH_30 "CAN_DET_AZIMUTH_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_RANGE_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_RANGE_30 "CAN_DET_RANGE_30"; +BA_ "GenSigStartValue" SG_ 317 CAN_DET_RANGE_RATE_30 0; +BA_ "GenSigSendType" SG_ 317 CAN_DET_RANGE_RATE_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_RANGE_RATE_30 "CAN_DET_RANGE_RATE_30"; +BA_ "GenSigSendType" SG_ 317 CAN_DET_AMPLITUDE_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_DET_AMPLITUDE_30 "CAN_DET_AMPLITUDE_30"; +BA_ "GenSigSendType" SG_ 317 CAN_SCAN_INDEX_2LSB_30 0; +BA_ "GenSigCmt" SG_ 317 CAN_SCAN_INDEX_2LSB_30 "CAN_SCAN_INDEX_2LSB_30"; +BA_ "GenMsgSendType" BO_ 316 1; +BA_ "GenMsgILSupport" BO_ 316 1; +BA_ "GenMsgNrOfRepetition" BO_ 316 0; +BA_ "GenMsgCycleTime" BO_ 316 0; +BA_ "NetworkInitialization" BO_ 316 0; +BA_ "GenMsgDelayTime" BO_ 316 0; +BA_ "GenSigVtEn" SG_ 316 CAN_DET_CONFID_AZIMUTH_29 "CAN_DET_CONFID_AZIMUTH_29"; +BA_ "GenSigVtName" SG_ 316 CAN_DET_CONFID_AZIMUTH_29 "CAN_DET_CONFID_AZIMUTH_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_CONFID_AZIMUTH_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_CONFID_AZIMUTH_29 "CAN_DET_CONFID_AZIMUTH_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_SUPER_RES_TARGET_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_SUPER_RES_TARGET_29 "CAN_DET_SUPER_RES_TARGET_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_ND_TARGET_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_ND_TARGET_29 "CAN_DET_ND_TARGET_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_HOST_VEH_CLUTTER_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_HOST_VEH_CLUTTER_29 "CAN_DET_HOST_VEH_CLUTTER_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_VALID_LEVEL_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_VALID_LEVEL_29 "CAN_DET_VALID_LEVEL_29"; +BA_ "GenSigStartValue" SG_ 316 CAN_DET_AZIMUTH_29 0; +BA_ "GenSigSendType" SG_ 316 CAN_DET_AZIMUTH_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_AZIMUTH_29 "CAN_DET_AZIMUTH_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_RANGE_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_RANGE_29 "CAN_DET_RANGE_29"; +BA_ "GenSigStartValue" SG_ 316 CAN_DET_RANGE_RATE_29 0; +BA_ "GenSigSendType" SG_ 316 CAN_DET_RANGE_RATE_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_RANGE_RATE_29 "CAN_DET_RANGE_RATE_29"; +BA_ "GenSigSendType" SG_ 316 CAN_DET_AMPLITUDE_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_DET_AMPLITUDE_29 "CAN_DET_AMPLITUDE_29"; +BA_ "GenSigSendType" SG_ 316 CAN_SCAN_INDEX_2LSB_29 0; +BA_ "GenSigCmt" SG_ 316 CAN_SCAN_INDEX_2LSB_29 "CAN_SCAN_INDEX_2LSB_29"; +BA_ "GenMsgSendType" BO_ 314 1; +BA_ "GenMsgILSupport" BO_ 314 1; +BA_ "GenMsgNrOfRepetition" BO_ 314 0; +BA_ "GenMsgCycleTime" BO_ 314 0; +BA_ "NetworkInitialization" BO_ 314 0; +BA_ "GenMsgDelayTime" BO_ 314 0; +BA_ "GenSigVtEn" SG_ 314 CAN_DET_CONFID_AZIMUTH_27 "CAN_DET_CONFID_AZIMUTH_27"; +BA_ "GenSigVtName" SG_ 314 CAN_DET_CONFID_AZIMUTH_27 "CAN_DET_CONFID_AZIMUTH_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_CONFID_AZIMUTH_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_CONFID_AZIMUTH_27 "CAN_DET_CONFID_AZIMUTH_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_SUPER_RES_TARGET_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_SUPER_RES_TARGET_27 "CAN_DET_SUPER_RES_TARGET_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_ND_TARGET_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_ND_TARGET_27 "CAN_DET_ND_TARGET_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_HOST_VEH_CLUTTER_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_HOST_VEH_CLUTTER_27 "CAN_DET_HOST_VEH_CLUTTER_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_VALID_LEVEL_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_VALID_LEVEL_27 "CAN_DET_VALID_LEVEL_27"; +BA_ "GenSigStartValue" SG_ 314 CAN_DET_AZIMUTH_27 0; +BA_ "GenSigSendType" SG_ 314 CAN_DET_AZIMUTH_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_AZIMUTH_27 "CAN_DET_AZIMUTH_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_RANGE_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_RANGE_27 "CAN_DET_RANGE_27"; +BA_ "GenSigStartValue" SG_ 314 CAN_DET_RANGE_RATE_27 0; +BA_ "GenSigSendType" SG_ 314 CAN_DET_RANGE_RATE_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_RANGE_RATE_27 "CAN_DET_RANGE_RATE_27"; +BA_ "GenSigSendType" SG_ 314 CAN_DET_AMPLITUDE_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_DET_AMPLITUDE_27 "CAN_DET_AMPLITUDE_27"; +BA_ "GenSigSendType" SG_ 314 CAN_SCAN_INDEX_2LSB_27 0; +BA_ "GenSigCmt" SG_ 314 CAN_SCAN_INDEX_2LSB_27 "CAN_SCAN_INDEX_2LSB_27"; +BA_ "GenMsgSendType" BO_ 313 1; +BA_ "GenMsgILSupport" BO_ 313 1; +BA_ "GenMsgNrOfRepetition" BO_ 313 0; +BA_ "GenMsgCycleTime" BO_ 313 0; +BA_ "NetworkInitialization" BO_ 313 0; +BA_ "GenMsgDelayTime" BO_ 313 0; +BA_ "GenSigVtEn" SG_ 313 CAN_DET_CONFID_AZIMUTH_26 "CAN_DET_CONFID_AZIMUTH_26"; +BA_ "GenSigVtName" SG_ 313 CAN_DET_CONFID_AZIMUTH_26 "CAN_DET_CONFID_AZIMUTH_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_CONFID_AZIMUTH_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_CONFID_AZIMUTH_26 "CAN_DET_CONFID_AZIMUTH_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_SUPER_RES_TARGET_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_SUPER_RES_TARGET_26 "CAN_DET_SUPER_RES_TARGET_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_ND_TARGET_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_ND_TARGET_26 "CAN_DET_ND_TARGET_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_HOST_VEH_CLUTTER_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_HOST_VEH_CLUTTER_26 "CAN_DET_HOST_VEH_CLUTTER_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_VALID_LEVEL_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_VALID_LEVEL_26 "CAN_DET_VALID_LEVEL_26"; +BA_ "GenSigStartValue" SG_ 313 CAN_DET_AZIMUTH_26 0; +BA_ "GenSigSendType" SG_ 313 CAN_DET_AZIMUTH_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_AZIMUTH_26 "CAN_DET_AZIMUTH_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_RANGE_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_RANGE_26 "CAN_DET_RANGE_26"; +BA_ "GenSigStartValue" SG_ 313 CAN_DET_RANGE_RATE_26 0; +BA_ "GenSigSendType" SG_ 313 CAN_DET_RANGE_RATE_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_RANGE_RATE_26 "CAN_DET_RANGE_RATE_26"; +BA_ "GenSigSendType" SG_ 313 CAN_DET_AMPLITUDE_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_DET_AMPLITUDE_26 "CAN_DET_AMPLITUDE_26"; +BA_ "GenSigSendType" SG_ 313 CAN_SCAN_INDEX_2LSB_26 0; +BA_ "GenSigCmt" SG_ 313 CAN_SCAN_INDEX_2LSB_26 "CAN_SCAN_INDEX_2LSB_26"; +BA_ "GenMsgSendType" BO_ 312 1; +BA_ "GenMsgILSupport" BO_ 312 1; +BA_ "GenMsgNrOfRepetition" BO_ 312 0; +BA_ "GenMsgCycleTime" BO_ 312 0; +BA_ "NetworkInitialization" BO_ 312 0; +BA_ "GenMsgDelayTime" BO_ 312 0; +BA_ "GenSigVtEn" SG_ 312 CAN_DET_CONFID_AZIMUTH_25 "CAN_DET_CONFID_AZIMUTH_25"; +BA_ "GenSigVtName" SG_ 312 CAN_DET_CONFID_AZIMUTH_25 "CAN_DET_CONFID_AZIMUTH_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_CONFID_AZIMUTH_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_CONFID_AZIMUTH_25 "CAN_DET_CONFID_AZIMUTH_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_SUPER_RES_TARGET_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_SUPER_RES_TARGET_25 "CAN_DET_SUPER_RES_TARGET_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_ND_TARGET_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_ND_TARGET_25 "CAN_DET_ND_TARGET_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_HOST_VEH_CLUTTER_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_HOST_VEH_CLUTTER_25 "CAN_DET_HOST_VEH_CLUTTER_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_VALID_LEVEL_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_VALID_LEVEL_25 "CAN_DET_VALID_LEVEL_25"; +BA_ "GenSigStartValue" SG_ 312 CAN_DET_AZIMUTH_25 0; +BA_ "GenSigSendType" SG_ 312 CAN_DET_AZIMUTH_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_AZIMUTH_25 "CAN_DET_AZIMUTH_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_RANGE_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_RANGE_25 "CAN_DET_RANGE_25"; +BA_ "GenSigStartValue" SG_ 312 CAN_DET_RANGE_RATE_25 0; +BA_ "GenSigSendType" SG_ 312 CAN_DET_RANGE_RATE_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_RANGE_RATE_25 "CAN_DET_RANGE_RATE_25"; +BA_ "GenSigSendType" SG_ 312 CAN_DET_AMPLITUDE_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_DET_AMPLITUDE_25 "CAN_DET_AMPLITUDE_25"; +BA_ "GenSigSendType" SG_ 312 CAN_SCAN_INDEX_2LSB_25 0; +BA_ "GenSigCmt" SG_ 312 CAN_SCAN_INDEX_2LSB_25 "CAN_SCAN_INDEX_2LSB_25"; +BA_ "GenMsgSendType" BO_ 311 1; +BA_ "GenMsgILSupport" BO_ 311 1; +BA_ "GenMsgNrOfRepetition" BO_ 311 0; +BA_ "GenMsgCycleTime" BO_ 311 0; +BA_ "NetworkInitialization" BO_ 311 0; +BA_ "GenMsgDelayTime" BO_ 311 0; +BA_ "GenSigVtEn" SG_ 311 CAN_DET_CONFID_AZIMUTH_24 "CAN_DET_CONFID_AZIMUTH_24"; +BA_ "GenSigVtName" SG_ 311 CAN_DET_CONFID_AZIMUTH_24 "CAN_DET_CONFID_AZIMUTH_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_CONFID_AZIMUTH_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_CONFID_AZIMUTH_24 "CAN_DET_CONFID_AZIMUTH_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_SUPER_RES_TARGET_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_SUPER_RES_TARGET_24 "CAN_DET_SUPER_RES_TARGET_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_ND_TARGET_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_ND_TARGET_24 "CAN_DET_ND_TARGET_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_HOST_VEH_CLUTTER_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_HOST_VEH_CLUTTER_24 "CAN_DET_HOST_VEH_CLUTTER_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_VALID_LEVEL_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_VALID_LEVEL_24 "CAN_DET_VALID_LEVEL_24"; +BA_ "GenSigStartValue" SG_ 311 CAN_DET_AZIMUTH_24 0; +BA_ "GenSigSendType" SG_ 311 CAN_DET_AZIMUTH_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_AZIMUTH_24 "CAN_DET_AZIMUTH_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_RANGE_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_RANGE_24 "CAN_DET_RANGE_24"; +BA_ "GenSigStartValue" SG_ 311 CAN_DET_RANGE_RATE_24 0; +BA_ "GenSigSendType" SG_ 311 CAN_DET_RANGE_RATE_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_RANGE_RATE_24 "CAN_DET_RANGE_RATE_24"; +BA_ "GenSigSendType" SG_ 311 CAN_DET_AMPLITUDE_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_DET_AMPLITUDE_24 "CAN_DET_AMPLITUDE_24"; +BA_ "GenSigSendType" SG_ 311 CAN_SCAN_INDEX_2LSB_24 0; +BA_ "GenSigCmt" SG_ 311 CAN_SCAN_INDEX_2LSB_24 "CAN_SCAN_INDEX_2LSB_24"; +BA_ "GenMsgSendType" BO_ 310 1; +BA_ "GenMsgILSupport" BO_ 310 1; +BA_ "GenMsgNrOfRepetition" BO_ 310 0; +BA_ "GenMsgCycleTime" BO_ 310 0; +BA_ "NetworkInitialization" BO_ 310 0; +BA_ "GenMsgDelayTime" BO_ 310 0; +BA_ "GenSigVtEn" SG_ 310 CAN_DET_CONFID_AZIMUTH_23 "CAN_DET_CONFID_AZIMUTH_23"; +BA_ "GenSigVtName" SG_ 310 CAN_DET_CONFID_AZIMUTH_23 "CAN_DET_CONFID_AZIMUTH_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_CONFID_AZIMUTH_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_CONFID_AZIMUTH_23 "CAN_DET_CONFID_AZIMUTH_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_SUPER_RES_TARGET_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_SUPER_RES_TARGET_23 "CAN_DET_SUPER_RES_TARGET_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_ND_TARGET_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_ND_TARGET_23 "CAN_DET_ND_TARGET_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_HOST_VEH_CLUTTER_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_HOST_VEH_CLUTTER_23 "CAN_DET_HOST_VEH_CLUTTER_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_VALID_LEVEL_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_VALID_LEVEL_23 "CAN_DET_VALID_LEVEL_23"; +BA_ "GenSigStartValue" SG_ 310 CAN_DET_AZIMUTH_23 0; +BA_ "GenSigSendType" SG_ 310 CAN_DET_AZIMUTH_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_AZIMUTH_23 "CAN_DET_AZIMUTH_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_RANGE_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_RANGE_23 "CAN_DET_RANGE_23"; +BA_ "GenSigStartValue" SG_ 310 CAN_DET_RANGE_RATE_23 0; +BA_ "GenSigSendType" SG_ 310 CAN_DET_RANGE_RATE_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_RANGE_RATE_23 "CAN_DET_RANGE_RATE_23"; +BA_ "GenSigSendType" SG_ 310 CAN_DET_AMPLITUDE_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_DET_AMPLITUDE_23 "CAN_DET_AMPLITUDE_23"; +BA_ "GenSigSendType" SG_ 310 CAN_SCAN_INDEX_2LSB_23 0; +BA_ "GenSigCmt" SG_ 310 CAN_SCAN_INDEX_2LSB_23 "CAN_SCAN_INDEX_2LSB_23"; +BA_ "GenMsgSendType" BO_ 309 1; +BA_ "GenMsgILSupport" BO_ 309 1; +BA_ "GenMsgNrOfRepetition" BO_ 309 0; +BA_ "GenMsgCycleTime" BO_ 309 0; +BA_ "NetworkInitialization" BO_ 309 0; +BA_ "GenMsgDelayTime" BO_ 309 0; +BA_ "GenSigVtEn" SG_ 309 CAN_DET_CONFID_AZIMUTH_22 "CAN_DET_CONFID_AZIMUTH_22"; +BA_ "GenSigVtName" SG_ 309 CAN_DET_CONFID_AZIMUTH_22 "CAN_DET_CONFID_AZIMUTH_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_CONFID_AZIMUTH_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_CONFID_AZIMUTH_22 "CAN_DET_CONFID_AZIMUTH_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_SUPER_RES_TARGET_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_SUPER_RES_TARGET_22 "CAN_DET_SUPER_RES_TARGET_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_ND_TARGET_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_ND_TARGET_22 "CAN_DET_ND_TARGET_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_HOST_VEH_CLUTTER_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_HOST_VEH_CLUTTER_22 "CAN_DET_HOST_VEH_CLUTTER_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_VALID_LEVEL_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_VALID_LEVEL_22 "CAN_DET_VALID_LEVEL_22"; +BA_ "GenSigStartValue" SG_ 309 CAN_DET_AZIMUTH_22 0; +BA_ "GenSigSendType" SG_ 309 CAN_DET_AZIMUTH_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_AZIMUTH_22 "CAN_DET_AZIMUTH_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_RANGE_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_RANGE_22 "CAN_DET_RANGE_22"; +BA_ "GenSigStartValue" SG_ 309 CAN_DET_RANGE_RATE_22 0; +BA_ "GenSigSendType" SG_ 309 CAN_DET_RANGE_RATE_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_RANGE_RATE_22 "CAN_DET_RANGE_RATE_22"; +BA_ "GenSigSendType" SG_ 309 CAN_DET_AMPLITUDE_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_DET_AMPLITUDE_22 "CAN_DET_AMPLITUDE_22"; +BA_ "GenSigSendType" SG_ 309 CAN_SCAN_INDEX_2LSB_22 0; +BA_ "GenSigCmt" SG_ 309 CAN_SCAN_INDEX_2LSB_22 "CAN_SCAN_INDEX_2LSB_22"; +BA_ "GenMsgSendType" BO_ 308 1; +BA_ "GenMsgILSupport" BO_ 308 1; +BA_ "GenMsgNrOfRepetition" BO_ 308 0; +BA_ "GenMsgCycleTime" BO_ 308 0; +BA_ "NetworkInitialization" BO_ 308 0; +BA_ "GenMsgDelayTime" BO_ 308 0; +BA_ "GenSigVtEn" SG_ 308 CAN_DET_CONFID_AZIMUTH_21 "CAN_DET_CONFID_AZIMUTH_21"; +BA_ "GenSigVtName" SG_ 308 CAN_DET_CONFID_AZIMUTH_21 "CAN_DET_CONFID_AZIMUTH_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_CONFID_AZIMUTH_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_CONFID_AZIMUTH_21 "CAN_DET_CONFID_AZIMUTH_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_SUPER_RES_TARGET_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_SUPER_RES_TARGET_21 "CAN_DET_SUPER_RES_TARGET_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_ND_TARGET_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_ND_TARGET_21 "CAN_DET_ND_TARGET_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_HOST_VEH_CLUTTER_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_HOST_VEH_CLUTTER_21 "CAN_DET_HOST_VEH_CLUTTER_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_VALID_LEVEL_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_VALID_LEVEL_21 "CAN_DET_VALID_LEVEL_21"; +BA_ "GenSigStartValue" SG_ 308 CAN_DET_AZIMUTH_21 0; +BA_ "GenSigSendType" SG_ 308 CAN_DET_AZIMUTH_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_AZIMUTH_21 "CAN_DET_AZIMUTH_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_RANGE_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_RANGE_21 "CAN_DET_RANGE_21"; +BA_ "GenSigStartValue" SG_ 308 CAN_DET_RANGE_RATE_21 0; +BA_ "GenSigSendType" SG_ 308 CAN_DET_RANGE_RATE_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_RANGE_RATE_21 "CAN_DET_RANGE_RATE_21"; +BA_ "GenSigSendType" SG_ 308 CAN_DET_AMPLITUDE_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_DET_AMPLITUDE_21 "CAN_DET_AMPLITUDE_21"; +BA_ "GenSigSendType" SG_ 308 CAN_SCAN_INDEX_2LSB_21 0; +BA_ "GenSigCmt" SG_ 308 CAN_SCAN_INDEX_2LSB_21 "CAN_SCAN_INDEX_2LSB_21"; +BA_ "GenMsgSendType" BO_ 307 1; +BA_ "GenMsgILSupport" BO_ 307 1; +BA_ "GenMsgNrOfRepetition" BO_ 307 0; +BA_ "GenMsgCycleTime" BO_ 307 0; +BA_ "NetworkInitialization" BO_ 307 0; +BA_ "GenMsgDelayTime" BO_ 307 0; +BA_ "GenSigVtEn" SG_ 307 CAN_DET_CONFID_AZIMUTH_20 "CAN_DET_CONFID_AZIMUTH_20"; +BA_ "GenSigVtName" SG_ 307 CAN_DET_CONFID_AZIMUTH_20 "CAN_DET_CONFID_AZIMUTH_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_CONFID_AZIMUTH_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_CONFID_AZIMUTH_20 "CAN_DET_CONFID_AZIMUTH_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_SUPER_RES_TARGET_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_SUPER_RES_TARGET_20 "CAN_DET_SUPER_RES_TARGET_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_ND_TARGET_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_ND_TARGET_20 "CAN_DET_ND_TARGET_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_HOST_VEH_CLUTTER_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_HOST_VEH_CLUTTER_20 "CAN_DET_HOST_VEH_CLUTTER_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_VALID_LEVEL_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_VALID_LEVEL_20 "CAN_DET_VALID_LEVEL_20"; +BA_ "GenSigStartValue" SG_ 307 CAN_DET_AZIMUTH_20 0; +BA_ "GenSigSendType" SG_ 307 CAN_DET_AZIMUTH_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_AZIMUTH_20 "CAN_DET_AZIMUTH_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_RANGE_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_RANGE_20 "CAN_DET_RANGE_20"; +BA_ "GenSigStartValue" SG_ 307 CAN_DET_RANGE_RATE_20 0; +BA_ "GenSigSendType" SG_ 307 CAN_DET_RANGE_RATE_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_RANGE_RATE_20 "CAN_DET_RANGE_RATE_20"; +BA_ "GenSigSendType" SG_ 307 CAN_DET_AMPLITUDE_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_DET_AMPLITUDE_20 "CAN_DET_AMPLITUDE_20"; +BA_ "GenSigSendType" SG_ 307 CAN_SCAN_INDEX_2LSB_20 0; +BA_ "GenSigCmt" SG_ 307 CAN_SCAN_INDEX_2LSB_20 "CAN_SCAN_INDEX_2LSB_20"; +BA_ "GenMsgSendType" BO_ 306 1; +BA_ "GenMsgILSupport" BO_ 306 1; +BA_ "GenMsgNrOfRepetition" BO_ 306 0; +BA_ "GenMsgCycleTime" BO_ 306 0; +BA_ "NetworkInitialization" BO_ 306 0; +BA_ "GenMsgDelayTime" BO_ 306 0; +BA_ "GenSigVtEn" SG_ 306 CAN_DET_CONFID_AZIMUTH_19 "CAN_DET_CONFID_AZIMUTH_19"; +BA_ "GenSigVtName" SG_ 306 CAN_DET_CONFID_AZIMUTH_19 "CAN_DET_CONFID_AZIMUTH_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_CONFID_AZIMUTH_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_CONFID_AZIMUTH_19 "CAN_DET_CONFID_AZIMUTH_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_SUPER_RES_TARGET_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_SUPER_RES_TARGET_19 "CAN_DET_SUPER_RES_TARGET_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_ND_TARGET_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_ND_TARGET_19 "CAN_DET_ND_TARGET_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_HOST_VEH_CLUTTER_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_HOST_VEH_CLUTTER_19 "CAN_DET_HOST_VEH_CLUTTER_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_VALID_LEVEL_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_VALID_LEVEL_19 "CAN_DET_VALID_LEVEL_19"; +BA_ "GenSigStartValue" SG_ 306 CAN_DET_AZIMUTH_19 0; +BA_ "GenSigSendType" SG_ 306 CAN_DET_AZIMUTH_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_AZIMUTH_19 "CAN_DET_AZIMUTH_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_RANGE_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_RANGE_19 "CAN_DET_RANGE_19"; +BA_ "GenSigStartValue" SG_ 306 CAN_DET_RANGE_RATE_19 0; +BA_ "GenSigSendType" SG_ 306 CAN_DET_RANGE_RATE_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_RANGE_RATE_19 "CAN_DET_RANGE_RATE_19"; +BA_ "GenSigSendType" SG_ 306 CAN_DET_AMPLITUDE_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_DET_AMPLITUDE_19 "CAN_DET_AMPLITUDE_19"; +BA_ "GenSigSendType" SG_ 306 CAN_SCAN_INDEX_2LSB_19 0; +BA_ "GenSigCmt" SG_ 306 CAN_SCAN_INDEX_2LSB_19 "CAN_SCAN_INDEX_2LSB_19"; +BA_ "GenMsgSendType" BO_ 305 1; +BA_ "GenMsgILSupport" BO_ 305 1; +BA_ "GenMsgNrOfRepetition" BO_ 305 0; +BA_ "GenMsgCycleTime" BO_ 305 0; +BA_ "NetworkInitialization" BO_ 305 0; +BA_ "GenMsgDelayTime" BO_ 305 0; +BA_ "GenSigVtEn" SG_ 305 CAN_DET_CONFID_AZIMUTH_18 "CAN_DET_CONFID_AZIMUTH_18"; +BA_ "GenSigVtName" SG_ 305 CAN_DET_CONFID_AZIMUTH_18 "CAN_DET_CONFID_AZIMUTH_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_CONFID_AZIMUTH_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_CONFID_AZIMUTH_18 "CAN_DET_CONFID_AZIMUTH_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_SUPER_RES_TARGET_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_SUPER_RES_TARGET_18 "CAN_DET_SUPER_RES_TARGET_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_ND_TARGET_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_ND_TARGET_18 "CAN_DET_ND_TARGET_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_HOST_VEH_CLUTTER_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_HOST_VEH_CLUTTER_18 "CAN_DET_HOST_VEH_CLUTTER_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_VALID_LEVEL_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_VALID_LEVEL_18 "CAN_DET_VALID_LEVEL_18"; +BA_ "GenSigStartValue" SG_ 305 CAN_DET_AZIMUTH_18 0; +BA_ "GenSigSendType" SG_ 305 CAN_DET_AZIMUTH_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_AZIMUTH_18 "CAN_DET_AZIMUTH_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_RANGE_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_RANGE_18 "CAN_DET_RANGE_18"; +BA_ "GenSigStartValue" SG_ 305 CAN_DET_RANGE_RATE_18 0; +BA_ "GenSigSendType" SG_ 305 CAN_DET_RANGE_RATE_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_RANGE_RATE_18 "CAN_DET_RANGE_RATE_18"; +BA_ "GenSigSendType" SG_ 305 CAN_DET_AMPLITUDE_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_DET_AMPLITUDE_18 "CAN_DET_AMPLITUDE_18"; +BA_ "GenSigSendType" SG_ 305 CAN_SCAN_INDEX_2LSB_18 0; +BA_ "GenSigCmt" SG_ 305 CAN_SCAN_INDEX_2LSB_18 "CAN_SCAN_INDEX_2LSB_18"; +BA_ "GenMsgSendType" BO_ 341 1; +BA_ "GenMsgILSupport" BO_ 341 1; +BA_ "GenMsgNrOfRepetition" BO_ 341 0; +BA_ "GenMsgCycleTime" BO_ 341 0; +BA_ "NetworkInitialization" BO_ 341 0; +BA_ "GenMsgDelayTime" BO_ 341 0; +BA_ "GenSigVtEn" SG_ 341 CAN_DET_CONFID_AZIMUTH_54 "CAN_DET_CONFID_AZIMUTH_54"; +BA_ "GenSigVtName" SG_ 341 CAN_DET_CONFID_AZIMUTH_54 "CAN_DET_CONFID_AZIMUTH_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_CONFID_AZIMUTH_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_CONFID_AZIMUTH_54 "CAN_DET_CONFID_AZIMUTH_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_SUPER_RES_TARGET_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_SUPER_RES_TARGET_54 "CAN_DET_SUPER_RES_TARGET_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_ND_TARGET_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_ND_TARGET_54 "CAN_DET_ND_TARGET_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_HOST_VEH_CLUTTER_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_HOST_VEH_CLUTTER_54 "CAN_DET_HOST_VEH_CLUTTER_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_VALID_LEVEL_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_VALID_LEVEL_54 "CAN_DET_VALID_LEVEL_54"; +BA_ "GenSigStartValue" SG_ 341 CAN_DET_AZIMUTH_54 0; +BA_ "GenSigSendType" SG_ 341 CAN_DET_AZIMUTH_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_AZIMUTH_54 "CAN_DET_AZIMUTH_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_RANGE_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_RANGE_54 "CAN_DET_RANGE_54"; +BA_ "GenSigStartValue" SG_ 341 CAN_DET_RANGE_RATE_54 0; +BA_ "GenSigSendType" SG_ 341 CAN_DET_RANGE_RATE_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_RANGE_RATE_54 "CAN_DET_RANGE_RATE_54"; +BA_ "GenSigSendType" SG_ 341 CAN_DET_AMPLITUDE_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_DET_AMPLITUDE_54 "CAN_DET_AMPLITUDE_54"; +BA_ "GenSigSendType" SG_ 341 CAN_SCAN_INDEX_2LSB_54 0; +BA_ "GenSigCmt" SG_ 341 CAN_SCAN_INDEX_2LSB_54 "CAN_SCAN_INDEX_2LSB_54"; +BA_ "GenMsgSendType" BO_ 340 1; +BA_ "GenMsgILSupport" BO_ 340 1; +BA_ "GenMsgNrOfRepetition" BO_ 340 0; +BA_ "GenMsgCycleTime" BO_ 340 0; +BA_ "NetworkInitialization" BO_ 340 0; +BA_ "GenMsgDelayTime" BO_ 340 0; +BA_ "GenSigVtEn" SG_ 340 CAN_DET_CONFID_AZIMUTH_53 "CAN_DET_CONFID_AZIMUTH_53"; +BA_ "GenSigVtName" SG_ 340 CAN_DET_CONFID_AZIMUTH_53 "CAN_DET_CONFID_AZIMUTH_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_CONFID_AZIMUTH_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_CONFID_AZIMUTH_53 "CAN_DET_CONFID_AZIMUTH_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_SUPER_RES_TARGET_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_SUPER_RES_TARGET_53 "CAN_DET_SUPER_RES_TARGET_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_ND_TARGET_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_ND_TARGET_53 "CAN_DET_ND_TARGET_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_HOST_VEH_CLUTTER_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_HOST_VEH_CLUTTER_53 "CAN_DET_HOST_VEH_CLUTTER_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_VALID_LEVEL_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_VALID_LEVEL_53 "CAN_DET_VALID_LEVEL_53"; +BA_ "GenSigStartValue" SG_ 340 CAN_DET_AZIMUTH_53 0; +BA_ "GenSigSendType" SG_ 340 CAN_DET_AZIMUTH_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_AZIMUTH_53 "CAN_DET_AZIMUTH_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_RANGE_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_RANGE_53 "CAN_DET_RANGE_53"; +BA_ "GenSigStartValue" SG_ 340 CAN_DET_RANGE_RATE_53 0; +BA_ "GenSigSendType" SG_ 340 CAN_DET_RANGE_RATE_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_RANGE_RATE_53 "CAN_DET_RANGE_RATE_53"; +BA_ "GenSigSendType" SG_ 340 CAN_DET_AMPLITUDE_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_DET_AMPLITUDE_53 "CAN_DET_AMPLITUDE_53"; +BA_ "GenSigSendType" SG_ 340 CAN_SCAN_INDEX_2LSB_53 0; +BA_ "GenSigCmt" SG_ 340 CAN_SCAN_INDEX_2LSB_53 "CAN_SCAN_INDEX_2LSB_53"; +BA_ "GenMsgSendType" BO_ 339 1; +BA_ "GenMsgILSupport" BO_ 339 1; +BA_ "GenMsgNrOfRepetition" BO_ 339 0; +BA_ "GenMsgCycleTime" BO_ 339 0; +BA_ "NetworkInitialization" BO_ 339 0; +BA_ "GenMsgDelayTime" BO_ 339 0; +BA_ "GenSigVtEn" SG_ 339 CAN_DET_CONFID_AZIMUTH_52 "CAN_DET_CONFID_AZIMUTH_52"; +BA_ "GenSigVtName" SG_ 339 CAN_DET_CONFID_AZIMUTH_52 "CAN_DET_CONFID_AZIMUTH_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_CONFID_AZIMUTH_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_CONFID_AZIMUTH_52 "CAN_DET_CONFID_AZIMUTH_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_SUPER_RES_TARGET_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_SUPER_RES_TARGET_52 "CAN_DET_SUPER_RES_TARGET_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_ND_TARGET_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_ND_TARGET_52 "CAN_DET_ND_TARGET_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_HOST_VEH_CLUTTER_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_HOST_VEH_CLUTTER_52 "CAN_DET_HOST_VEH_CLUTTER_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_VALID_LEVEL_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_VALID_LEVEL_52 "CAN_DET_VALID_LEVEL_52"; +BA_ "GenSigStartValue" SG_ 339 CAN_DET_AZIMUTH_52 0; +BA_ "GenSigSendType" SG_ 339 CAN_DET_AZIMUTH_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_AZIMUTH_52 "CAN_DET_AZIMUTH_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_RANGE_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_RANGE_52 "CAN_DET_RANGE_52"; +BA_ "GenSigStartValue" SG_ 339 CAN_DET_RANGE_RATE_52 0; +BA_ "GenSigSendType" SG_ 339 CAN_DET_RANGE_RATE_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_RANGE_RATE_52 "CAN_DET_RANGE_RATE_52"; +BA_ "GenSigSendType" SG_ 339 CAN_DET_AMPLITUDE_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_DET_AMPLITUDE_52 "CAN_DET_AMPLITUDE_52"; +BA_ "GenSigSendType" SG_ 339 CAN_SCAN_INDEX_2LSB_52 0; +BA_ "GenSigCmt" SG_ 339 CAN_SCAN_INDEX_2LSB_52 "CAN_SCAN_INDEX_2LSB_52"; +BA_ "GenMsgSendType" BO_ 338 1; +BA_ "GenMsgILSupport" BO_ 338 1; +BA_ "GenMsgNrOfRepetition" BO_ 338 0; +BA_ "GenMsgCycleTime" BO_ 338 0; +BA_ "NetworkInitialization" BO_ 338 0; +BA_ "GenMsgDelayTime" BO_ 338 0; +BA_ "GenSigVtEn" SG_ 338 CAN_DET_CONFID_AZIMUTH_51 "CAN_DET_CONFID_AZIMUTH_51"; +BA_ "GenSigVtName" SG_ 338 CAN_DET_CONFID_AZIMUTH_51 "CAN_DET_CONFID_AZIMUTH_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_CONFID_AZIMUTH_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_CONFID_AZIMUTH_51 "CAN_DET_CONFID_AZIMUTH_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_SUPER_RES_TARGET_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_SUPER_RES_TARGET_51 "CAN_DET_SUPER_RES_TARGET_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_ND_TARGET_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_ND_TARGET_51 "CAN_DET_ND_TARGET_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_HOST_VEH_CLUTTER_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_HOST_VEH_CLUTTER_51 "CAN_DET_HOST_VEH_CLUTTER_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_VALID_LEVEL_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_VALID_LEVEL_51 "CAN_DET_VALID_LEVEL_51"; +BA_ "GenSigStartValue" SG_ 338 CAN_DET_AZIMUTH_51 0; +BA_ "GenSigSendType" SG_ 338 CAN_DET_AZIMUTH_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_AZIMUTH_51 "CAN_DET_AZIMUTH_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_RANGE_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_RANGE_51 "CAN_DET_RANGE_51"; +BA_ "GenSigStartValue" SG_ 338 CAN_DET_RANGE_RATE_51 0; +BA_ "GenSigSendType" SG_ 338 CAN_DET_RANGE_RATE_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_RANGE_RATE_51 "CAN_DET_RANGE_RATE_51"; +BA_ "GenSigSendType" SG_ 338 CAN_DET_AMPLITUDE_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_DET_AMPLITUDE_51 "CAN_DET_AMPLITUDE_51"; +BA_ "GenSigSendType" SG_ 338 CAN_SCAN_INDEX_2LSB_51 0; +BA_ "GenSigCmt" SG_ 338 CAN_SCAN_INDEX_2LSB_51 "CAN_SCAN_INDEX_2LSB_51"; +BA_ "GenMsgSendType" BO_ 337 1; +BA_ "GenMsgILSupport" BO_ 337 1; +BA_ "GenMsgNrOfRepetition" BO_ 337 0; +BA_ "GenMsgCycleTime" BO_ 337 0; +BA_ "NetworkInitialization" BO_ 337 0; +BA_ "GenMsgDelayTime" BO_ 337 0; +BA_ "GenSigVtEn" SG_ 337 CAN_DET_CONFID_AZIMUTH_50 "CAN_DET_CONFID_AZIMUTH_50"; +BA_ "GenSigVtName" SG_ 337 CAN_DET_CONFID_AZIMUTH_50 "CAN_DET_CONFID_AZIMUTH_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_CONFID_AZIMUTH_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_CONFID_AZIMUTH_50 "CAN_DET_CONFID_AZIMUTH_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_SUPER_RES_TARGET_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_SUPER_RES_TARGET_50 "CAN_DET_SUPER_RES_TARGET_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_ND_TARGET_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_ND_TARGET_50 "CAN_DET_ND_TARGET_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_HOST_VEH_CLUTTER_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_HOST_VEH_CLUTTER_50 "CAN_DET_HOST_VEH_CLUTTER_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_VALID_LEVEL_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_VALID_LEVEL_50 "CAN_DET_VALID_LEVEL_50"; +BA_ "GenSigStartValue" SG_ 337 CAN_DET_AZIMUTH_50 0; +BA_ "GenSigSendType" SG_ 337 CAN_DET_AZIMUTH_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_AZIMUTH_50 "CAN_DET_AZIMUTH_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_RANGE_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_RANGE_50 "CAN_DET_RANGE_50"; +BA_ "GenSigStartValue" SG_ 337 CAN_DET_RANGE_RATE_50 0; +BA_ "GenSigSendType" SG_ 337 CAN_DET_RANGE_RATE_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_RANGE_RATE_50 "CAN_DET_RANGE_RATE_50"; +BA_ "GenSigSendType" SG_ 337 CAN_DET_AMPLITUDE_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_DET_AMPLITUDE_50 "CAN_DET_AMPLITUDE_50"; +BA_ "GenSigSendType" SG_ 337 CAN_SCAN_INDEX_2LSB_50 0; +BA_ "GenSigCmt" SG_ 337 CAN_SCAN_INDEX_2LSB_50 "CAN_SCAN_INDEX_2LSB_50"; +BA_ "GenMsgSendType" BO_ 336 1; +BA_ "GenMsgILSupport" BO_ 336 1; +BA_ "GenMsgNrOfRepetition" BO_ 336 0; +BA_ "GenMsgCycleTime" BO_ 336 0; +BA_ "NetworkInitialization" BO_ 336 0; +BA_ "GenMsgDelayTime" BO_ 336 0; +BA_ "GenSigVtEn" SG_ 336 CAN_DET_CONFID_AZIMUTH_49 "CAN_DET_CONFID_AZIMUTH_49"; +BA_ "GenSigVtName" SG_ 336 CAN_DET_CONFID_AZIMUTH_49 "CAN_DET_CONFID_AZIMUTH_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_CONFID_AZIMUTH_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_CONFID_AZIMUTH_49 "CAN_DET_CONFID_AZIMUTH_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_SUPER_RES_TARGET_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_SUPER_RES_TARGET_49 "CAN_DET_SUPER_RES_TARGET_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_ND_TARGET_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_ND_TARGET_49 "CAN_DET_ND_TARGET_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_HOST_VEH_CLUTTER_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_HOST_VEH_CLUTTER_49 "CAN_DET_HOST_VEH_CLUTTER_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_VALID_LEVEL_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_VALID_LEVEL_49 "CAN_DET_VALID_LEVEL_49"; +BA_ "GenSigStartValue" SG_ 336 CAN_DET_AZIMUTH_49 0; +BA_ "GenSigSendType" SG_ 336 CAN_DET_AZIMUTH_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_AZIMUTH_49 "CAN_DET_AZIMUTH_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_RANGE_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_RANGE_49 "CAN_DET_RANGE_49"; +BA_ "GenSigStartValue" SG_ 336 CAN_DET_RANGE_RATE_49 0; +BA_ "GenSigSendType" SG_ 336 CAN_DET_RANGE_RATE_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_RANGE_RATE_49 "CAN_DET_RANGE_RATE_49"; +BA_ "GenSigSendType" SG_ 336 CAN_DET_AMPLITUDE_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_DET_AMPLITUDE_49 "CAN_DET_AMPLITUDE_49"; +BA_ "GenSigSendType" SG_ 336 CAN_SCAN_INDEX_2LSB_49 0; +BA_ "GenSigCmt" SG_ 336 CAN_SCAN_INDEX_2LSB_49 "CAN_SCAN_INDEX_2LSB_49"; +BA_ "GenMsgSendType" BO_ 326 1; +BA_ "GenMsgILSupport" BO_ 326 1; +BA_ "GenMsgNrOfRepetition" BO_ 326 0; +BA_ "GenMsgCycleTime" BO_ 326 0; +BA_ "NetworkInitialization" BO_ 326 0; +BA_ "GenMsgDelayTime" BO_ 326 0; +BA_ "GenSigVtEn" SG_ 326 CAN_DET_CONFID_AZIMUTH_39 "CAN_DET_CONFID_AZIMUTH_39"; +BA_ "GenSigVtName" SG_ 326 CAN_DET_CONFID_AZIMUTH_39 "CAN_DET_CONFID_AZIMUTH_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_CONFID_AZIMUTH_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_CONFID_AZIMUTH_39 "CAN_DET_CONFID_AZIMUTH_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_SUPER_RES_TARGET_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_SUPER_RES_TARGET_39 "CAN_DET_SUPER_RES_TARGET_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_ND_TARGET_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_ND_TARGET_39 "CAN_DET_ND_TARGET_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_HOST_VEH_CLUTTER_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_HOST_VEH_CLUTTER_39 "CAN_DET_HOST_VEH_CLUTTER_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_VALID_LEVEL_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_VALID_LEVEL_39 "CAN_DET_VALID_LEVEL_39"; +BA_ "GenSigStartValue" SG_ 326 CAN_DET_AZIMUTH_39 0; +BA_ "GenSigSendType" SG_ 326 CAN_DET_AZIMUTH_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_AZIMUTH_39 "CAN_DET_AZIMUTH_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_RANGE_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_RANGE_39 "CAN_DET_RANGE_39"; +BA_ "GenSigStartValue" SG_ 326 CAN_DET_RANGE_RATE_39 0; +BA_ "GenSigSendType" SG_ 326 CAN_DET_RANGE_RATE_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_RANGE_RATE_39 "CAN_DET_RANGE_RATE_39"; +BA_ "GenSigSendType" SG_ 326 CAN_DET_AMPLITUDE_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_DET_AMPLITUDE_39 "CAN_DET_AMPLITUDE_39"; +BA_ "GenSigSendType" SG_ 326 CAN_SCAN_INDEX_2LSB_39 0; +BA_ "GenSigCmt" SG_ 326 CAN_SCAN_INDEX_2LSB_39 "CAN_SCAN_INDEX_2LSB_39"; +BA_ "GenMsgSendType" BO_ 315 1; +BA_ "GenMsgILSupport" BO_ 315 1; +BA_ "GenMsgNrOfRepetition" BO_ 315 0; +BA_ "GenMsgCycleTime" BO_ 315 0; +BA_ "NetworkInitialization" BO_ 315 0; +BA_ "GenMsgDelayTime" BO_ 315 0; +BA_ "GenSigVtEn" SG_ 315 CAN_DET_CONFID_AZIMUTH_28 "CAN_DET_CONFID_AZIMUTH_28"; +BA_ "GenSigVtName" SG_ 315 CAN_DET_CONFID_AZIMUTH_28 "CAN_DET_CONFID_AZIMUTH_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_CONFID_AZIMUTH_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_CONFID_AZIMUTH_28 "CAN_DET_CONFID_AZIMUTH_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_SUPER_RES_TARGET_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_SUPER_RES_TARGET_28 "CAN_DET_SUPER_RES_TARGET_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_ND_TARGET_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_ND_TARGET_28 "CAN_DET_ND_TARGET_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_HOST_VEH_CLUTTER_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_HOST_VEH_CLUTTER_28 "CAN_DET_HOST_VEH_CLUTTER_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_VALID_LEVEL_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_VALID_LEVEL_28 "CAN_DET_VALID_LEVEL_28"; +BA_ "GenSigStartValue" SG_ 315 CAN_DET_AZIMUTH_28 0; +BA_ "GenSigSendType" SG_ 315 CAN_DET_AZIMUTH_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_AZIMUTH_28 "CAN_DET_AZIMUTH_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_RANGE_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_RANGE_28 "CAN_DET_RANGE_28"; +BA_ "GenSigStartValue" SG_ 315 CAN_DET_RANGE_RATE_28 0; +BA_ "GenSigSendType" SG_ 315 CAN_DET_RANGE_RATE_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_RANGE_RATE_28 "CAN_DET_RANGE_RATE_28"; +BA_ "GenSigSendType" SG_ 315 CAN_DET_AMPLITUDE_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_DET_AMPLITUDE_28 "CAN_DET_AMPLITUDE_28"; +BA_ "GenSigSendType" SG_ 315 CAN_SCAN_INDEX_2LSB_28 0; +BA_ "GenSigCmt" SG_ 315 CAN_SCAN_INDEX_2LSB_28 "CAN_SCAN_INDEX_2LSB_28"; +BA_ "GenMsgSendType" BO_ 304 1; +BA_ "GenMsgILSupport" BO_ 304 1; +BA_ "GenMsgNrOfRepetition" BO_ 304 0; +BA_ "GenMsgCycleTime" BO_ 304 0; +BA_ "NetworkInitialization" BO_ 304 0; +BA_ "GenMsgDelayTime" BO_ 304 0; +BA_ "GenSigVtEn" SG_ 304 CAN_DET_CONFID_AZIMUTH_17 "CAN_DET_CONFID_AZIMUTH_17"; +BA_ "GenSigVtName" SG_ 304 CAN_DET_CONFID_AZIMUTH_17 "CAN_DET_CONFID_AZIMUTH_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_CONFID_AZIMUTH_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_CONFID_AZIMUTH_17 "CAN_DET_CONFID_AZIMUTH_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_SUPER_RES_TARGET_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_SUPER_RES_TARGET_17 "CAN_DET_SUPER_RES_TARGET_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_ND_TARGET_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_ND_TARGET_17 "CAN_DET_ND_TARGET_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_HOST_VEH_CLUTTER_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_HOST_VEH_CLUTTER_17 "CAN_DET_HOST_VEH_CLUTTER_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_VALID_LEVEL_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_VALID_LEVEL_17 "CAN_DET_VALID_LEVEL_17"; +BA_ "GenSigStartValue" SG_ 304 CAN_DET_AZIMUTH_17 0; +BA_ "GenSigSendType" SG_ 304 CAN_DET_AZIMUTH_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_AZIMUTH_17 "CAN_DET_AZIMUTH_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_RANGE_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_RANGE_17 "CAN_DET_RANGE_17"; +BA_ "GenSigStartValue" SG_ 304 CAN_DET_RANGE_RATE_17 0; +BA_ "GenSigSendType" SG_ 304 CAN_DET_RANGE_RATE_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_RANGE_RATE_17 "CAN_DET_RANGE_RATE_17"; +BA_ "GenSigSendType" SG_ 304 CAN_DET_AMPLITUDE_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_DET_AMPLITUDE_17 "CAN_DET_AMPLITUDE_17"; +BA_ "GenSigSendType" SG_ 304 CAN_SCAN_INDEX_2LSB_17 0; +BA_ "GenSigCmt" SG_ 304 CAN_SCAN_INDEX_2LSB_17 "CAN_SCAN_INDEX_2LSB_17"; +BA_ "GenMsgSendType" BO_ 303 1; +BA_ "GenMsgILSupport" BO_ 303 1; +BA_ "GenMsgNrOfRepetition" BO_ 303 0; +BA_ "GenMsgCycleTime" BO_ 303 0; +BA_ "NetworkInitialization" BO_ 303 0; +BA_ "GenMsgDelayTime" BO_ 303 0; +BA_ "GenSigVtEn" SG_ 303 CAN_DET_CONFID_AZIMUTH_16 "CAN_DET_CONFID_AZIMUTH_16"; +BA_ "GenSigVtName" SG_ 303 CAN_DET_CONFID_AZIMUTH_16 "CAN_DET_CONFID_AZIMUTH_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_CONFID_AZIMUTH_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_CONFID_AZIMUTH_16 "CAN_DET_CONFID_AZIMUTH_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_SUPER_RES_TARGET_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_SUPER_RES_TARGET_16 "CAN_DET_SUPER_RES_TARGET_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_ND_TARGET_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_ND_TARGET_16 "CAN_DET_ND_TARGET_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_HOST_VEH_CLUTTER_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_HOST_VEH_CLUTTER_16 "CAN_DET_HOST_VEH_CLUTTER_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_VALID_LEVEL_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_VALID_LEVEL_16 "CAN_DET_VALID_LEVEL_16"; +BA_ "GenSigStartValue" SG_ 303 CAN_DET_AZIMUTH_16 0; +BA_ "GenSigSendType" SG_ 303 CAN_DET_AZIMUTH_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_AZIMUTH_16 "CAN_DET_AZIMUTH_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_RANGE_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_RANGE_16 "CAN_DET_RANGE_16"; +BA_ "GenSigStartValue" SG_ 303 CAN_DET_RANGE_RATE_16 0; +BA_ "GenSigSendType" SG_ 303 CAN_DET_RANGE_RATE_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_RANGE_RATE_16 "CAN_DET_RANGE_RATE_16"; +BA_ "GenSigSendType" SG_ 303 CAN_DET_AMPLITUDE_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_DET_AMPLITUDE_16 "CAN_DET_AMPLITUDE_16"; +BA_ "GenSigSendType" SG_ 303 CAN_SCAN_INDEX_2LSB_16 0; +BA_ "GenSigCmt" SG_ 303 CAN_SCAN_INDEX_2LSB_16 "CAN_SCAN_INDEX_2LSB_16"; +BA_ "GenMsgSendType" BO_ 302 1; +BA_ "GenMsgILSupport" BO_ 302 1; +BA_ "GenMsgNrOfRepetition" BO_ 302 0; +BA_ "GenMsgCycleTime" BO_ 302 0; +BA_ "NetworkInitialization" BO_ 302 0; +BA_ "GenMsgDelayTime" BO_ 302 0; +BA_ "GenSigVtEn" SG_ 302 CAN_DET_CONFID_AZIMUTH_15 "CAN_DET_CONFID_AZIMUTH_15"; +BA_ "GenSigVtName" SG_ 302 CAN_DET_CONFID_AZIMUTH_15 "CAN_DET_CONFID_AZIMUTH_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_CONFID_AZIMUTH_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_CONFID_AZIMUTH_15 "CAN_DET_CONFID_AZIMUTH_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_SUPER_RES_TARGET_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_SUPER_RES_TARGET_15 "CAN_DET_SUPER_RES_TARGET_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_ND_TARGET_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_ND_TARGET_15 "CAN_DET_ND_TARGET_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_HOST_VEH_CLUTTER_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_HOST_VEH_CLUTTER_15 "CAN_DET_HOST_VEH_CLUTTER_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_VALID_LEVEL_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_VALID_LEVEL_15 "CAN_DET_VALID_LEVEL_15"; +BA_ "GenSigStartValue" SG_ 302 CAN_DET_AZIMUTH_15 0; +BA_ "GenSigSendType" SG_ 302 CAN_DET_AZIMUTH_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_AZIMUTH_15 "CAN_DET_AZIMUTH_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_RANGE_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_RANGE_15 "CAN_DET_RANGE_15"; +BA_ "GenSigStartValue" SG_ 302 CAN_DET_RANGE_RATE_15 0; +BA_ "GenSigSendType" SG_ 302 CAN_DET_RANGE_RATE_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_RANGE_RATE_15 "CAN_DET_RANGE_RATE_15"; +BA_ "GenSigSendType" SG_ 302 CAN_DET_AMPLITUDE_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_DET_AMPLITUDE_15 "CAN_DET_AMPLITUDE_15"; +BA_ "GenSigSendType" SG_ 302 CAN_SCAN_INDEX_2LSB_15 0; +BA_ "GenSigCmt" SG_ 302 CAN_SCAN_INDEX_2LSB_15 "CAN_SCAN_INDEX_2LSB_15"; +BA_ "GenMsgSendType" BO_ 301 1; +BA_ "GenMsgILSupport" BO_ 301 1; +BA_ "GenMsgNrOfRepetition" BO_ 301 0; +BA_ "GenMsgCycleTime" BO_ 301 0; +BA_ "NetworkInitialization" BO_ 301 0; +BA_ "GenMsgDelayTime" BO_ 301 0; +BA_ "GenSigVtEn" SG_ 301 CAN_DET_CONFID_AZIMUTH_14 "CAN_DET_CONFID_AZIMUTH_14"; +BA_ "GenSigVtName" SG_ 301 CAN_DET_CONFID_AZIMUTH_14 "CAN_DET_CONFID_AZIMUTH_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_CONFID_AZIMUTH_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_CONFID_AZIMUTH_14 "CAN_DET_CONFID_AZIMUTH_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_SUPER_RES_TARGET_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_SUPER_RES_TARGET_14 "CAN_DET_SUPER_RES_TARGET_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_ND_TARGET_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_ND_TARGET_14 "CAN_DET_ND_TARGET_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_HOST_VEH_CLUTTER_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_HOST_VEH_CLUTTER_14 "CAN_DET_HOST_VEH_CLUTTER_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_VALID_LEVEL_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_VALID_LEVEL_14 "CAN_DET_VALID_LEVEL_14"; +BA_ "GenSigStartValue" SG_ 301 CAN_DET_AZIMUTH_14 0; +BA_ "GenSigSendType" SG_ 301 CAN_DET_AZIMUTH_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_AZIMUTH_14 "CAN_DET_AZIMUTH_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_RANGE_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_RANGE_14 "CAN_DET_RANGE_14"; +BA_ "GenSigStartValue" SG_ 301 CAN_DET_RANGE_RATE_14 0; +BA_ "GenSigSendType" SG_ 301 CAN_DET_RANGE_RATE_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_RANGE_RATE_14 "CAN_DET_RANGE_RATE_14"; +BA_ "GenSigSendType" SG_ 301 CAN_DET_AMPLITUDE_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_DET_AMPLITUDE_14 "CAN_DET_AMPLITUDE_14"; +BA_ "GenSigSendType" SG_ 301 CAN_SCAN_INDEX_2LSB_14 0; +BA_ "GenSigCmt" SG_ 301 CAN_SCAN_INDEX_2LSB_14 "CAN_SCAN_INDEX_2LSB_14"; +BA_ "GenMsgSendType" BO_ 300 1; +BA_ "GenMsgILSupport" BO_ 300 1; +BA_ "GenMsgNrOfRepetition" BO_ 300 0; +BA_ "GenMsgCycleTime" BO_ 300 0; +BA_ "NetworkInitialization" BO_ 300 0; +BA_ "GenMsgDelayTime" BO_ 300 0; +BA_ "GenSigVtEn" SG_ 300 CAN_DET_CONFID_AZIMUTH_13 "CAN_DET_CONFID_AZIMUTH_13"; +BA_ "GenSigVtName" SG_ 300 CAN_DET_CONFID_AZIMUTH_13 "CAN_DET_CONFID_AZIMUTH_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_CONFID_AZIMUTH_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_CONFID_AZIMUTH_13 "CAN_DET_CONFID_AZIMUTH_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_SUPER_RES_TARGET_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_SUPER_RES_TARGET_13 "CAN_DET_SUPER_RES_TARGET_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_ND_TARGET_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_ND_TARGET_13 "CAN_DET_ND_TARGET_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_HOST_VEH_CLUTTER_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_HOST_VEH_CLUTTER_13 "CAN_DET_HOST_VEH_CLUTTER_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_VALID_LEVEL_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_VALID_LEVEL_13 "CAN_DET_VALID_LEVEL_13"; +BA_ "GenSigStartValue" SG_ 300 CAN_DET_AZIMUTH_13 0; +BA_ "GenSigSendType" SG_ 300 CAN_DET_AZIMUTH_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_AZIMUTH_13 "CAN_DET_AZIMUTH_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_RANGE_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_RANGE_13 "CAN_DET_RANGE_13"; +BA_ "GenSigStartValue" SG_ 300 CAN_DET_RANGE_RATE_13 0; +BA_ "GenSigSendType" SG_ 300 CAN_DET_RANGE_RATE_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_RANGE_RATE_13 "CAN_DET_RANGE_RATE_13"; +BA_ "GenSigSendType" SG_ 300 CAN_DET_AMPLITUDE_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_DET_AMPLITUDE_13 "CAN_DET_AMPLITUDE_13"; +BA_ "GenSigSendType" SG_ 300 CAN_SCAN_INDEX_2LSB_13 0; +BA_ "GenSigCmt" SG_ 300 CAN_SCAN_INDEX_2LSB_13 "CAN_SCAN_INDEX_2LSB_13"; +BA_ "GenMsgSendType" BO_ 299 1; +BA_ "GenMsgILSupport" BO_ 299 1; +BA_ "GenMsgNrOfRepetition" BO_ 299 0; +BA_ "GenMsgCycleTime" BO_ 299 0; +BA_ "NetworkInitialization" BO_ 299 0; +BA_ "GenMsgDelayTime" BO_ 299 0; +BA_ "GenSigVtEn" SG_ 299 CAN_DET_CONFID_AZIMUTH_12 "CAN_DET_CONFID_AZIMUTH_12"; +BA_ "GenSigVtName" SG_ 299 CAN_DET_CONFID_AZIMUTH_12 "CAN_DET_CONFID_AZIMUTH_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_CONFID_AZIMUTH_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_CONFID_AZIMUTH_12 "CAN_DET_CONFID_AZIMUTH_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_SUPER_RES_TARGET_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_SUPER_RES_TARGET_12 "CAN_DET_SUPER_RES_TARGET_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_ND_TARGET_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_ND_TARGET_12 "CAN_DET_ND_TARGET_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_HOST_VEH_CLUTTER_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_HOST_VEH_CLUTTER_12 "CAN_DET_HOST_VEH_CLUTTER_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_VALID_LEVEL_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_VALID_LEVEL_12 "CAN_DET_VALID_LEVEL_12"; +BA_ "GenSigStartValue" SG_ 299 CAN_DET_AZIMUTH_12 0; +BA_ "GenSigSendType" SG_ 299 CAN_DET_AZIMUTH_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_AZIMUTH_12 "CAN_DET_AZIMUTH_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_RANGE_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_RANGE_12 "CAN_DET_RANGE_12"; +BA_ "GenSigStartValue" SG_ 299 CAN_DET_RANGE_RATE_12 0; +BA_ "GenSigSendType" SG_ 299 CAN_DET_RANGE_RATE_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_RANGE_RATE_12 "CAN_DET_RANGE_RATE_12"; +BA_ "GenSigSendType" SG_ 299 CAN_DET_AMPLITUDE_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_DET_AMPLITUDE_12 "CAN_DET_AMPLITUDE_12"; +BA_ "GenSigSendType" SG_ 299 CAN_SCAN_INDEX_2LSB_12 0; +BA_ "GenSigCmt" SG_ 299 CAN_SCAN_INDEX_2LSB_12 "CAN_SCAN_INDEX_2LSB_12"; +BA_ "GenMsgSendType" BO_ 298 1; +BA_ "GenMsgILSupport" BO_ 298 1; +BA_ "GenMsgNrOfRepetition" BO_ 298 0; +BA_ "GenMsgCycleTime" BO_ 298 0; +BA_ "NetworkInitialization" BO_ 298 0; +BA_ "GenMsgDelayTime" BO_ 298 0; +BA_ "GenSigVtEn" SG_ 298 CAN_DET_CONFID_AZIMUTH_11 "CAN_DET_CONFID_AZIMUTH_11"; +BA_ "GenSigVtName" SG_ 298 CAN_DET_CONFID_AZIMUTH_11 "CAN_DET_CONFID_AZIMUTH_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_CONFID_AZIMUTH_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_CONFID_AZIMUTH_11 "CAN_DET_CONFID_AZIMUTH_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_SUPER_RES_TARGET_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_SUPER_RES_TARGET_11 "CAN_DET_SUPER_RES_TARGET_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_ND_TARGET_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_ND_TARGET_11 "CAN_DET_ND_TARGET_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_HOST_VEH_CLUTTER_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_HOST_VEH_CLUTTER_11 "CAN_DET_HOST_VEH_CLUTTER_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_VALID_LEVEL_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_VALID_LEVEL_11 "CAN_DET_VALID_LEVEL_11"; +BA_ "GenSigStartValue" SG_ 298 CAN_DET_AZIMUTH_11 0; +BA_ "GenSigSendType" SG_ 298 CAN_DET_AZIMUTH_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_AZIMUTH_11 "CAN_DET_AZIMUTH_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_RANGE_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_RANGE_11 "CAN_DET_RANGE_11"; +BA_ "GenSigStartValue" SG_ 298 CAN_DET_RANGE_RATE_11 0; +BA_ "GenSigSendType" SG_ 298 CAN_DET_RANGE_RATE_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_RANGE_RATE_11 "CAN_DET_RANGE_RATE_11"; +BA_ "GenSigSendType" SG_ 298 CAN_DET_AMPLITUDE_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_DET_AMPLITUDE_11 "CAN_DET_AMPLITUDE_11"; +BA_ "GenSigSendType" SG_ 298 CAN_SCAN_INDEX_2LSB_11 0; +BA_ "GenSigCmt" SG_ 298 CAN_SCAN_INDEX_2LSB_11 "CAN_SCAN_INDEX_2LSB_11"; +BA_ "GenMsgSendType" BO_ 297 1; +BA_ "GenMsgILSupport" BO_ 297 1; +BA_ "GenMsgNrOfRepetition" BO_ 297 0; +BA_ "GenMsgCycleTime" BO_ 297 0; +BA_ "NetworkInitialization" BO_ 297 0; +BA_ "GenMsgDelayTime" BO_ 297 0; +BA_ "GenSigVtEn" SG_ 297 CAN_DET_CONFID_AZIMUTH_10 "CAN_DET_CONFID_AZIMUTH_10"; +BA_ "GenSigVtName" SG_ 297 CAN_DET_CONFID_AZIMUTH_10 "CAN_DET_CONFID_AZIMUTH_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_CONFID_AZIMUTH_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_CONFID_AZIMUTH_10 "CAN_DET_CONFID_AZIMUTH_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_SUPER_RES_TARGET_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_SUPER_RES_TARGET_10 "CAN_DET_SUPER_RES_TARGET_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_ND_TARGET_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_ND_TARGET_10 "CAN_DET_ND_TARGET_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_HOST_VEH_CLUTTER_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_HOST_VEH_CLUTTER_10 "CAN_DET_HOST_VEH_CLUTTER_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_VALID_LEVEL_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_VALID_LEVEL_10 "CAN_DET_VALID_LEVEL_10"; +BA_ "GenSigStartValue" SG_ 297 CAN_DET_AZIMUTH_10 0; +BA_ "GenSigSendType" SG_ 297 CAN_DET_AZIMUTH_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_AZIMUTH_10 "CAN_DET_AZIMUTH_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_RANGE_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_RANGE_10 "CAN_DET_RANGE_10"; +BA_ "GenSigStartValue" SG_ 297 CAN_DET_RANGE_RATE_10 0; +BA_ "GenSigSendType" SG_ 297 CAN_DET_RANGE_RATE_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_RANGE_RATE_10 "CAN_DET_RANGE_RATE_10"; +BA_ "GenSigSendType" SG_ 297 CAN_DET_AMPLITUDE_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_DET_AMPLITUDE_10 "CAN_DET_AMPLITUDE_10"; +BA_ "GenSigSendType" SG_ 297 CAN_SCAN_INDEX_2LSB_10 0; +BA_ "GenSigCmt" SG_ 297 CAN_SCAN_INDEX_2LSB_10 "CAN_SCAN_INDEX_2LSB_10"; +BA_ "GenMsgSendType" BO_ 296 1; +BA_ "GenMsgILSupport" BO_ 296 1; +BA_ "GenMsgNrOfRepetition" BO_ 296 0; +BA_ "GenMsgCycleTime" BO_ 296 0; +BA_ "NetworkInitialization" BO_ 296 0; +BA_ "GenMsgDelayTime" BO_ 296 0; +BA_ "GenSigVtEn" SG_ 296 CAN_DET_CONFID_AZIMUTH_09 "CAN_DET_CONFID_AZIMUTH_09"; +BA_ "GenSigVtName" SG_ 296 CAN_DET_CONFID_AZIMUTH_09 "CAN_DET_CONFID_AZIMUTH_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_CONFID_AZIMUTH_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_CONFID_AZIMUTH_09 "CAN_DET_CONFID_AZIMUTH_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_SUPER_RES_TARGET_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_SUPER_RES_TARGET_09 "CAN_DET_SUPER_RES_TARGET_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_ND_TARGET_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_ND_TARGET_09 "CAN_DET_ND_TARGET_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_HOST_VEH_CLUTTER_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_HOST_VEH_CLUTTER_09 "CAN_DET_HOST_VEH_CLUTTER_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_VALID_LEVEL_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_VALID_LEVEL_09 "CAN_DET_VALID_LEVEL_09"; +BA_ "GenSigStartValue" SG_ 296 CAN_DET_AZIMUTH_09 0; +BA_ "GenSigSendType" SG_ 296 CAN_DET_AZIMUTH_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_AZIMUTH_09 "CAN_DET_AZIMUTH_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_RANGE_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_RANGE_09 "CAN_DET_RANGE_09"; +BA_ "GenSigStartValue" SG_ 296 CAN_DET_RANGE_RATE_09 0; +BA_ "GenSigSendType" SG_ 296 CAN_DET_RANGE_RATE_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_RANGE_RATE_09 "CAN_DET_RANGE_RATE_09"; +BA_ "GenSigSendType" SG_ 296 CAN_DET_AMPLITUDE_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_DET_AMPLITUDE_09 "CAN_DET_AMPLITUDE_09"; +BA_ "GenSigSendType" SG_ 296 CAN_SCAN_INDEX_2LSB_09 0; +BA_ "GenSigCmt" SG_ 296 CAN_SCAN_INDEX_2LSB_09 "CAN_SCAN_INDEX_2LSB_09"; +BA_ "GenMsgSendType" BO_ 295 1; +BA_ "GenMsgILSupport" BO_ 295 1; +BA_ "GenMsgNrOfRepetition" BO_ 295 0; +BA_ "GenMsgCycleTime" BO_ 295 0; +BA_ "NetworkInitialization" BO_ 295 0; +BA_ "GenMsgDelayTime" BO_ 295 0; +BA_ "GenSigVtEn" SG_ 295 CAN_DET_CONFID_AZIMUTH_08 "CAN_DET_CONFID_AZIMUTH_08"; +BA_ "GenSigVtName" SG_ 295 CAN_DET_CONFID_AZIMUTH_08 "CAN_DET_CONFID_AZIMUTH_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_CONFID_AZIMUTH_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_CONFID_AZIMUTH_08 "CAN_DET_CONFID_AZIMUTH_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_SUPER_RES_TARGET_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_SUPER_RES_TARGET_08 "CAN_DET_SUPER_RES_TARGET_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_ND_TARGET_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_ND_TARGET_08 "CAN_DET_ND_TARGET_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_HOST_VEH_CLUTTER_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_HOST_VEH_CLUTTER_08 "CAN_DET_HOST_VEH_CLUTTER_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_VALID_LEVEL_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_VALID_LEVEL_08 "CAN_DET_VALID_LEVEL_08"; +BA_ "GenSigStartValue" SG_ 295 CAN_DET_AZIMUTH_08 0; +BA_ "GenSigSendType" SG_ 295 CAN_DET_AZIMUTH_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_AZIMUTH_08 "CAN_DET_AZIMUTH_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_RANGE_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_RANGE_08 "CAN_DET_RANGE_08"; +BA_ "GenSigStartValue" SG_ 295 CAN_DET_RANGE_RATE_08 0; +BA_ "GenSigSendType" SG_ 295 CAN_DET_RANGE_RATE_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_RANGE_RATE_08 "CAN_DET_RANGE_RATE_08"; +BA_ "GenSigSendType" SG_ 295 CAN_DET_AMPLITUDE_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_DET_AMPLITUDE_08 "CAN_DET_AMPLITUDE_08"; +BA_ "GenSigSendType" SG_ 295 CAN_SCAN_INDEX_2LSB_08 0; +BA_ "GenSigCmt" SG_ 295 CAN_SCAN_INDEX_2LSB_08 "CAN_SCAN_INDEX_2LSB_08"; +BA_ "GenMsgSendType" BO_ 294 1; +BA_ "GenMsgILSupport" BO_ 294 1; +BA_ "GenMsgNrOfRepetition" BO_ 294 0; +BA_ "GenMsgCycleTime" BO_ 294 0; +BA_ "NetworkInitialization" BO_ 294 0; +BA_ "GenMsgDelayTime" BO_ 294 0; +BA_ "GenSigVtEn" SG_ 294 CAN_DET_CONFID_AZIMUTH_07 "CAN_DET_CONFID_AZIMUTH_07"; +BA_ "GenSigVtName" SG_ 294 CAN_DET_CONFID_AZIMUTH_07 "CAN_DET_CONFID_AZIMUTH_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_CONFID_AZIMUTH_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_CONFID_AZIMUTH_07 "CAN_DET_CONFID_AZIMUTH_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_SUPER_RES_TARGET_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_SUPER_RES_TARGET_07 "CAN_DET_SUPER_RES_TARGET_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_ND_TARGET_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_ND_TARGET_07 "CAN_DET_ND_TARGET_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_HOST_VEH_CLUTTER_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_HOST_VEH_CLUTTER_07 "CAN_DET_HOST_VEH_CLUTTER_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_VALID_LEVEL_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_VALID_LEVEL_07 "CAN_DET_VALID_LEVEL_07"; +BA_ "GenSigStartValue" SG_ 294 CAN_DET_AZIMUTH_07 0; +BA_ "GenSigSendType" SG_ 294 CAN_DET_AZIMUTH_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_AZIMUTH_07 "CAN_DET_AZIMUTH_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_RANGE_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_RANGE_07 "CAN_DET_RANGE_07"; +BA_ "GenSigStartValue" SG_ 294 CAN_DET_RANGE_RATE_07 0; +BA_ "GenSigSendType" SG_ 294 CAN_DET_RANGE_RATE_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_RANGE_RATE_07 "CAN_DET_RANGE_RATE_07"; +BA_ "GenSigSendType" SG_ 294 CAN_DET_AMPLITUDE_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_DET_AMPLITUDE_07 "CAN_DET_AMPLITUDE_07"; +BA_ "GenSigSendType" SG_ 294 CAN_SCAN_INDEX_2LSB_07 0; +BA_ "GenSigCmt" SG_ 294 CAN_SCAN_INDEX_2LSB_07 "CAN_SCAN_INDEX_2LSB_07"; +BA_ "GenMsgSendType" BO_ 293 1; +BA_ "GenMsgILSupport" BO_ 293 1; +BA_ "GenMsgNrOfRepetition" BO_ 293 0; +BA_ "GenMsgCycleTime" BO_ 293 0; +BA_ "NetworkInitialization" BO_ 293 0; +BA_ "GenMsgDelayTime" BO_ 293 0; +BA_ "GenSigVtEn" SG_ 293 CAN_DET_CONFID_AZIMUTH_06 "CAN_DET_CONFID_AZIMUTH_06"; +BA_ "GenSigVtName" SG_ 293 CAN_DET_CONFID_AZIMUTH_06 "CAN_DET_CONFID_AZIMUTH_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_CONFID_AZIMUTH_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_CONFID_AZIMUTH_06 "CAN_DET_CONFID_AZIMUTH_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_SUPER_RES_TARGET_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_SUPER_RES_TARGET_06 "CAN_DET_SUPER_RES_TARGET_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_ND_TARGET_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_ND_TARGET_06 "CAN_DET_ND_TARGET_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_HOST_VEH_CLUTTER_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_HOST_VEH_CLUTTER_06 "CAN_DET_HOST_VEH_CLUTTER_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_VALID_LEVEL_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_VALID_LEVEL_06 "CAN_DET_VALID_LEVEL_06"; +BA_ "GenSigStartValue" SG_ 293 CAN_DET_AZIMUTH_06 0; +BA_ "GenSigSendType" SG_ 293 CAN_DET_AZIMUTH_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_AZIMUTH_06 "CAN_DET_AZIMUTH_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_RANGE_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_RANGE_06 "CAN_DET_RANGE_06"; +BA_ "GenSigStartValue" SG_ 293 CAN_DET_RANGE_RATE_06 0; +BA_ "GenSigSendType" SG_ 293 CAN_DET_RANGE_RATE_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_RANGE_RATE_06 "CAN_DET_RANGE_RATE_06"; +BA_ "GenSigSendType" SG_ 293 CAN_DET_AMPLITUDE_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_DET_AMPLITUDE_06 "CAN_DET_AMPLITUDE_06"; +BA_ "GenSigSendType" SG_ 293 CAN_SCAN_INDEX_2LSB_06 0; +BA_ "GenSigCmt" SG_ 293 CAN_SCAN_INDEX_2LSB_06 "CAN_SCAN_INDEX_2LSB_06"; +BA_ "GenMsgSendType" BO_ 292 1; +BA_ "GenMsgILSupport" BO_ 292 1; +BA_ "GenMsgNrOfRepetition" BO_ 292 0; +BA_ "GenMsgCycleTime" BO_ 292 0; +BA_ "NetworkInitialization" BO_ 292 0; +BA_ "GenMsgDelayTime" BO_ 292 0; +BA_ "GenSigVtEn" SG_ 292 CAN_DET_CONFID_AZIMUTH_05 "CAN_DET_CONFID_AZIMUTH_05"; +BA_ "GenSigVtName" SG_ 292 CAN_DET_CONFID_AZIMUTH_05 "CAN_DET_CONFID_AZIMUTH_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_CONFID_AZIMUTH_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_CONFID_AZIMUTH_05 "CAN_DET_CONFID_AZIMUTH_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_SUPER_RES_TARGET_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_SUPER_RES_TARGET_05 "CAN_DET_SUPER_RES_TARGET_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_ND_TARGET_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_ND_TARGET_05 "CAN_DET_ND_TARGET_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_HOST_VEH_CLUTTER_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_HOST_VEH_CLUTTER_05 "CAN_DET_HOST_VEH_CLUTTER_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_VALID_LEVEL_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_VALID_LEVEL_05 "CAN_DET_VALID_LEVEL_05"; +BA_ "GenSigStartValue" SG_ 292 CAN_DET_AZIMUTH_05 0; +BA_ "GenSigSendType" SG_ 292 CAN_DET_AZIMUTH_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_AZIMUTH_05 "CAN_DET_AZIMUTH_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_RANGE_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_RANGE_05 "CAN_DET_RANGE_05"; +BA_ "GenSigStartValue" SG_ 292 CAN_DET_RANGE_RATE_05 0; +BA_ "GenSigSendType" SG_ 292 CAN_DET_RANGE_RATE_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_RANGE_RATE_05 "CAN_DET_RANGE_RATE_05"; +BA_ "GenSigSendType" SG_ 292 CAN_DET_AMPLITUDE_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_DET_AMPLITUDE_05 "CAN_DET_AMPLITUDE_05"; +BA_ "GenSigSendType" SG_ 292 CAN_SCAN_INDEX_2LSB_05 0; +BA_ "GenSigCmt" SG_ 292 CAN_SCAN_INDEX_2LSB_05 "CAN_SCAN_INDEX_2LSB_05"; +BA_ "GenMsgSendType" BO_ 290 1; +BA_ "GenMsgILSupport" BO_ 290 1; +BA_ "GenMsgNrOfRepetition" BO_ 290 0; +BA_ "GenMsgCycleTime" BO_ 290 0; +BA_ "NetworkInitialization" BO_ 290 0; +BA_ "GenMsgDelayTime" BO_ 290 0; +BA_ "GenSigVtEn" SG_ 290 CAN_DET_CONFID_AZIMUTH_03 "CAN_DET_CONFID_AZIMUTH_03"; +BA_ "GenSigVtName" SG_ 290 CAN_DET_CONFID_AZIMUTH_03 "CAN_DET_CONFID_AZIMUTH_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_CONFID_AZIMUTH_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_CONFID_AZIMUTH_03 "CAN_DET_CONFID_AZIMUTH_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_SUPER_RES_TARGET_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_SUPER_RES_TARGET_03 "CAN_DET_SUPER_RES_TARGET_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_ND_TARGET_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_ND_TARGET_03 "CAN_DET_ND_TARGET_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_HOST_VEH_CLUTTER_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_HOST_VEH_CLUTTER_03 "CAN_DET_HOST_VEH_CLUTTER_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_VALID_LEVEL_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_VALID_LEVEL_03 "CAN_DET_VALID_LEVEL_03"; +BA_ "GenSigStartValue" SG_ 290 CAN_DET_AZIMUTH_03 0; +BA_ "GenSigSendType" SG_ 290 CAN_DET_AZIMUTH_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_AZIMUTH_03 "CAN_DET_AZIMUTH_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_RANGE_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_RANGE_03 "CAN_DET_RANGE_03"; +BA_ "GenSigStartValue" SG_ 290 CAN_DET_RANGE_RATE_03 0; +BA_ "GenSigSendType" SG_ 290 CAN_DET_RANGE_RATE_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_RANGE_RATE_03 "CAN_DET_RANGE_RATE_03"; +BA_ "GenSigSendType" SG_ 290 CAN_DET_AMPLITUDE_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_DET_AMPLITUDE_03 "CAN_DET_AMPLITUDE_03"; +BA_ "GenSigSendType" SG_ 290 CAN_SCAN_INDEX_2LSB_03 0; +BA_ "GenSigCmt" SG_ 290 CAN_SCAN_INDEX_2LSB_03 "CAN_SCAN_INDEX_2LSB_03"; +BA_ "GenMsgSendType" BO_ 289 1; +BA_ "GenMsgILSupport" BO_ 289 1; +BA_ "GenMsgNrOfRepetition" BO_ 289 0; +BA_ "GenMsgCycleTime" BO_ 289 0; +BA_ "NetworkInitialization" BO_ 289 0; +BA_ "GenMsgDelayTime" BO_ 289 0; +BA_ "GenSigVtEn" SG_ 289 CAN_DET_CONFID_AZIMUTH_02 "CAN_DET_CONFID_AZIMUTH_02"; +BA_ "GenSigVtName" SG_ 289 CAN_DET_CONFID_AZIMUTH_02 "CAN_DET_CONFID_AZIMUTH_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_CONFID_AZIMUTH_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_CONFID_AZIMUTH_02 "CAN_DET_CONFID_AZIMUTH_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_SUPER_RES_TARGET_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_SUPER_RES_TARGET_02 "CAN_DET_SUPER_RES_TARGET_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_ND_TARGET_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_ND_TARGET_02 "CAN_DET_ND_TARGET_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_HOST_VEH_CLUTTER_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_HOST_VEH_CLUTTER_02 "CAN_DET_HOST_VEH_CLUTTER_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_VALID_LEVEL_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_VALID_LEVEL_02 "CAN_DET_VALID_LEVEL_02"; +BA_ "GenSigStartValue" SG_ 289 CAN_DET_AZIMUTH_02 0; +BA_ "GenSigSendType" SG_ 289 CAN_DET_AZIMUTH_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_AZIMUTH_02 "CAN_DET_AZIMUTH_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_RANGE_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_RANGE_02 "CAN_DET_RANGE_02"; +BA_ "GenSigStartValue" SG_ 289 CAN_DET_RANGE_RATE_02 0; +BA_ "GenSigSendType" SG_ 289 CAN_DET_RANGE_RATE_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_RANGE_RATE_02 "CAN_DET_RANGE_RATE_02"; +BA_ "GenSigSendType" SG_ 289 CAN_DET_AMPLITUDE_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_DET_AMPLITUDE_02 "CAN_DET_AMPLITUDE_02"; +BA_ "GenSigSendType" SG_ 289 CAN_SCAN_INDEX_2LSB_02 0; +BA_ "GenSigCmt" SG_ 289 CAN_SCAN_INDEX_2LSB_02 "CAN_SCAN_INDEX_2LSB_02"; +BA_ "GenMsgSendType" BO_ 256 1; +BA_ "GenMsgILSupport" BO_ 256 1; +BA_ "GenMsgNrOfRepetition" BO_ 256 0; +BA_ "NetworkInitialization" BO_ 256 0; +BA_ "GenSigCmt" SG_ 256 CAN_PCAN_MINOR_MRR "CAN_PCAN_MINOR_MRR"; +BA_ "GenSigSendType" SG_ 256 CAN_PCAN_MINOR_MRR 0; +BA_ "GenSigCmt" SG_ 256 CAN_PCAN_MAJOR_MRR "CAN_PCAN_MAJOR_MRR"; +BA_ "GenSigSendType" SG_ 256 CAN_PCAN_MAJOR_MRR 0; +BA_ "GenMsgCycleTime" BO_ 257 30; +BA_ "GenMsgSendType" BO_ 257 0; +BA_ "GenMsgILSupport" BO_ 257 1; +BA_ "GenMsgNrOfRepetition" BO_ 257 0; +BA_ "NetworkInitialization" BO_ 257 0; +BA_ "GenSigCmt" SG_ 257 CAN_INTERFERENCE_TYPE "CAN_INTERFERENCE_TYPE"; +BA_ "GenSigVtEn" SG_ 257 CAN_INTERFERENCE_TYPE "CAN_INTERFERENCE_TYPE"; +BA_ "GenSigVtName" SG_ 257 CAN_INTERFERENCE_TYPE "CAN_INTERFERENCE_TYPE"; +BA_ "GenSigVtName" SG_ 257 CAN_RECOMMEND_UNCONVERGE "CAN_RECOMMEND_UNCONVERGE"; +BA_ "GenSigVtEn" SG_ 257 CAN_RECOMMEND_UNCONVERGE "CAN_RECOMMEND_UNCONVERGE"; +BA_ "GenSigCmt" SG_ 257 CAN_RECOMMEND_UNCONVERGE "CAN_RECOMMEND_UNCONVERGE"; +BA_ "GenSigStartValue" SG_ 257 CAN_BLOCKAGE_SIDELOBE_FILTER_VAL 0; +BA_ "GenSigSendType" SG_ 257 CAN_BLOCKAGE_SIDELOBE_FILTER_VAL 0; +BA_ "GenSigCmt" SG_ 257 CAN_BLOCKAGE_SIDELOBE_FILTER_VAL "CAN_BLOCKAGE_SIDELOBE_FILTER_VAL"; +BA_ "GenSigVtEn" SG_ 257 CAN_BLOCKAGE_SIDELOBE_FILTER_VAL "CAN_BLOCKAGE_SIDELOBE_FILTER_VAL"; +BA_ "GenSigVtName" SG_ 257 CAN_BLOCKAGE_SIDELOBE_FILTER_VAL "CAN_BLOCKAGE_SIDELOBE_FILTER_VAL"; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_ALIGN_INCOMPLETE "CAN_RADAR_ALIGN_INCOMPLETE"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_ALIGN_INCOMPLETE "CAN_RADAR_ALIGN_INCOMPLETE"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_ALIGN_INCOMPLETE "CAN_RADAR_ALIGN_INCOMPLETE"; +BA_ "GenSigCmt" SG_ 257 CAN_BLOCKAGE_SIDELOBE "CAN_BLOCKAGE_SIDELOBE"; +BA_ "GenSigVtEn" SG_ 257 CAN_BLOCKAGE_SIDELOBE "CAN_BLOCKAGE_SIDELOBE"; +BA_ "GenSigVtName" SG_ 257 CAN_BLOCKAGE_SIDELOBE "CAN_BLOCKAGE_SIDELOBE"; +BA_ "GenSigSendType" SG_ 257 CAN_BLOCKAGE_SIDELOBE 0; +BA_ "GenSigCmt" SG_ 257 CAN_BLOCKAGE_MNR "CAN_BLOCKAGE_MNR"; +BA_ "GenSigVtEn" SG_ 257 CAN_BLOCKAGE_MNR "CAN_BLOCKAGE_MNR"; +BA_ "GenSigVtName" SG_ 257 CAN_BLOCKAGE_MNR "CAN_BLOCKAGE_MNR"; +BA_ "GenSigSendType" SG_ 257 CAN_BLOCKAGE_MNR 0; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_EXT_COND_NOK "CAN_RADAR_EXT_COND_NOK"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_EXT_COND_NOK "CAN_RADAR_EXT_COND_NOK"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_EXT_COND_NOK "CAN_RADAR_EXT_COND_NOK"; +BA_ "GenSigSendType" SG_ 257 CAN_RADAR_EXT_COND_NOK 0; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_ALIGN_OUT_RANGE "CAN_RADAR_ALIGN_OUT_RANGE"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_ALIGN_OUT_RANGE "CAN_RADAR_ALIGN_OUT_RANGE"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_ALIGN_OUT_RANGE "CAN_RADAR_ALIGN_OUT_RANGE"; +BA_ "GenSigSendType" SG_ 257 CAN_RADAR_ALIGN_OUT_RANGE 0; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_ALIGN_NOT_START "CAN_RADAR_ALIGN_NOT_START"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_ALIGN_NOT_START "CAN_RADAR_ALIGN_NOT_START"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_ALIGN_NOT_START "CAN_RADAR_ALIGN_NOT_START"; +BA_ "GenSigSendType" SG_ 257 CAN_RADAR_ALIGN_NOT_START 0; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_OVERHEAT_ERROR "CAN_RADAR_OVERHEAT_ERROR"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_OVERHEAT_ERROR "CAN_RADAR_OVERHEAT_ERROR"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_OVERHEAT_ERROR "CAN_RADAR_OVERHEAT_ERROR"; +BA_ "GenSigSendType" SG_ 257 CAN_RADAR_OVERHEAT_ERROR 0; +BA_ "GenSigCmt" SG_ 257 CAN_RADAR_NOT_OP "CAN_RADAR_NOT_OP"; +BA_ "GenSigVtEn" SG_ 257 CAN_RADAR_NOT_OP "CAN_RADAR_NOT_OP"; +BA_ "GenSigVtName" SG_ 257 CAN_RADAR_NOT_OP "CAN_RADAR_NOT_OP"; +BA_ "GenSigSendType" SG_ 257 CAN_RADAR_NOT_OP 0; +BA_ "GenSigCmt" SG_ 257 CAN_XCVR_OPERATIONAL "CAN_XCVR_OPERATIONAL"; +BA_ "GenSigVtEn" SG_ 257 CAN_XCVR_OPERATIONAL "CAN_XCVR_OPERATIONAL"; +BA_ "GenSigVtName" SG_ 257 CAN_XCVR_OPERATIONAL "CAN_XCVR_OPERATIONAL"; +BA_ "GenSigSendType" SG_ 257 CAN_XCVR_OPERATIONAL 0; +BA_ "GenMsgSendType" BO_ 288 1; +BA_ "GenMsgILSupport" BO_ 288 1; +BA_ "GenMsgNrOfRepetition" BO_ 288 0; +BA_ "GenMsgCycleTime" BO_ 288 0; +BA_ "NetworkInitialization" BO_ 288 0; +BA_ "GenMsgDelayTime" BO_ 288 0; +BA_ "GenSigVtEn" SG_ 288 CAN_DET_CONFID_AZIMUTH_01 "CAN_DET_CONFID_AZIMUTH_01"; +BA_ "GenSigVtName" SG_ 288 CAN_DET_CONFID_AZIMUTH_01 "CAN_DET_CONFID_AZIMUTH_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_CONFID_AZIMUTH_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_CONFID_AZIMUTH_01 "CAN_DET_CONFID_AZIMUTH_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_SUPER_RES_TARGET_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_SUPER_RES_TARGET_01 "CAN_DET_SUPER_RES_TARGET_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_ND_TARGET_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_ND_TARGET_01 "CAN_DET_ND_TARGET_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_HOST_VEH_CLUTTER_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_HOST_VEH_CLUTTER_01 "CAN_DET_HOST_VEH_CLUTTER_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_VALID_LEVEL_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_VALID_LEVEL_01 "CAN_DET_VALID_LEVEL_01"; +BA_ "GenSigStartValue" SG_ 288 CAN_DET_AZIMUTH_01 0; +BA_ "GenSigSendType" SG_ 288 CAN_DET_AZIMUTH_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_AZIMUTH_01 "CAN_DET_AZIMUTH_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_RANGE_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_RANGE_01 "CAN_DET_RANGE_01"; +BA_ "GenSigStartValue" SG_ 288 CAN_DET_RANGE_RATE_01 0; +BA_ "GenSigSendType" SG_ 288 CAN_DET_RANGE_RATE_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_RANGE_RATE_01 "CAN_DET_RANGE_RATE_01"; +BA_ "GenSigSendType" SG_ 288 CAN_DET_AMPLITUDE_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_DET_AMPLITUDE_01 "CAN_DET_AMPLITUDE_01"; +BA_ "GenSigSendType" SG_ 288 CAN_SCAN_INDEX_2LSB_01 0; +BA_ "GenSigCmt" SG_ 288 CAN_SCAN_INDEX_2LSB_01 "CAN_SCAN_INDEX_2LSB_01"; +BA_DEF_DEF_ "CrossOver_InfoCAN" "No"; +BA_DEF_DEF_ "CrossOver_LIN" "No"; +BA_DEF_DEF_ "UsedOnPgmDBC" "Yes"; +BA_DEF_DEF_ "ContentDependant" "No"; +BA_DEF_DEF_ "GenSigTimeoutTime_RCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_GWM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_OCS" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ABS_ESC" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_CCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_IPMA" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_TSTR" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_SCCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_PSCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime__delete" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_Generic_BCM" 0; +BA_DEF_DEF_ "NmMessage" "No"; +BA_DEF_DEF_ "DiagResponse" "No"; +BA_DEF_DEF_ "DiagRequest" "No"; +BA_DEF_DEF_ "TpTxIndex" 0; +BA_DEF_DEF_ "DiagState" "No"; +BA_DEF_DEF_ "TpApplType" ""; +BA_DEF_DEF_ "NmAsrMessage" "No"; +BA_DEF_DEF_ "Mulitplexer" "No"; +BA_DEF_DEF_ "ConfiguredTransmitter" "No"; +BA_DEF_DEF_ "EventRateOfChange" 10000; +BA_DEF_DEF_ "GenMsgHandlingTypeDoc" ""; +BA_DEF_DEF_ "GenMsgHandlingTypeCode" ""; +BA_DEF_DEF_ "GenMsgMarked" ""; +BA_DEF_DEF_ "GenSigMarked" ""; +BA_DEF_DEF_ "GenSigVtIndex" ""; +BA_DEF_DEF_ "GenSigVtName" ""; +BA_DEF_DEF_ "GenSigVtEn" ""; +BA_DEF_DEF_ "GenSigSNA" ""; +BA_DEF_DEF_ "GenSigCmt" ""; +BA_DEF_DEF_ "GenMsgCmt" ""; +BA_DEF_DEF_ "GenSigSendType" "NoSigSendType"; +BA_DEF_DEF_ "GenSigInactiveValue" 0; +BA_DEF_DEF_ "GenSigMissingSourceValue" 0; +BA_DEF_DEF_ "WakeupSignal" "No"; +BA_DEF_DEF_ "GenSigStartValue" 0; +BA_DEF_DEF_ "GenMsgILSupport" "Yes"; +BA_DEF_DEF_ "NetworkInitializationCommand" "No"; +BA_DEF_DEF_ "GenMsgSendType" "NoMsgSendType"; +BA_DEF_DEF_ "GenMsgCycleTime" 0; +BA_DEF_DEF_ "GenMsgCycleTimeFast" 0; +BA_DEF_DEF_ "GenMsgDelayTime" 0; +BA_DEF_DEF_ "GenMsgNrOfRepetition" 0; +BA_DEF_DEF_ "GenMsgStartDelayTime" 0; +BA_DEF_DEF_ "NetworkInitialization" "No"; +BA_DEF_DEF_ "MessageGateway" "No"; +BA_DEF_DEF_ "ILUsed" "Yes"; +BA_DEF_DEF_ "NetworkInitializationUsed" "No"; +BA_DEF_DEF_ "PowerType" "Switched"; +BA_DEF_DEF_ "NodeStartUpTime" 250; +BA_DEF_DEF_ "NodeWakeUpTime" 10; +BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff"; +BA_DEF_DEF_ "GenMsgForegroundColor" "#000000"; +VAL_ 34 IPMA_PCAN_DataRangeCheck 1 "Fault Present" 0 "No Fault"; +VAL_ 34 IPMA_PCAN_MissingMsg 1 "Fault Present" 0 "No Fault "; +VAL_ 34 VINSignalCompareFailure 1 "Fault Present" 0 "No Fault"; +VAL_ 34 ModuleNotConfiguredError 1 "Fault Present" 0 "No Fault"; +VAL_ 34 CarCfgNotConfiguredError 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte7_bit7 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte7_bit6 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte7_bit5 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte7_bit4 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ARMtoDSPChksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 DSPtoArmChksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 HostToArmChksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ARMtoHostChksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 LoopBWOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 DSPOverrunFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte6_bit5 1 "Fault Present" 0 "No Fault"; +VAL_ 33 TuningSensitivityFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 SaturatedTuningFreqFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 LocalOscPowerFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 TransmitterPowerFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte6_bit0 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte5_bit7 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte5_bit6 1 "Fault Present" 0 "No Fault"; +VAL_ 33 XCVRDeviceSPIFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 FreqSynthesizerSPIFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 AnalogConverterDevicSPIFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 SidelobeBlockage 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte5_bit1 1 "Fault Present" 0 "No Fault"; +VAL_ 33 MNRBlocked 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ECUTempHighFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 TransmitterTempHighFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 AlignmentRoutineFailedFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 UnreasonableRadarData 1 "Fault Present" 0 "No Fault"; +VAL_ 33 MicroprocessorTempHighFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 VerticalAlignmentOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 HorizontalAlignmentOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 FactoryAlignmentMode 1 "Fault Present" 0 "No Fault"; +VAL_ 33 BatteryLowFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 BatteryHighFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 v_1p25SupplyOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte3_bit4 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ThermistorOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 v_3p3DACSupplyOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 v_3p3RAWSupplyOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 v_5_SupplyOutOfRange 1 "Fault Present" 0 "No Fault"; +VAL_ 33 TransmitterIDFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte2_bit6 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte2_bit5 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte2_bit4 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte2_bit3 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte2_bit2 1 "Fault Present" 0 "No Fault"; +VAL_ 33 PCANMissingMsgFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 PCANBusOff 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte1_bit7 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte1_bit6 1 "Fault Present" 0 "No Fault"; +VAL_ 33 InstructionSetCheckFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 StackOverflowFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 WatchdogFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 PLLLockFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte1_bit1 1 "Fault Present" 0 "No Fault"; +VAL_ 33 RAMMemoryTestFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 USCValidationFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte0_bit6 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte0_bit5 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte0_bit4 1 "Fault Present" 0 "No Fault"; +VAL_ 33 Active_Flt_Latched_byte0_bit3 1 "Fault Present" 0 "No Fault"; +VAL_ 33 KeepAliveChecksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ProgramCalibrationFlashChecksum 1 "Fault Present" 0 "No Fault"; +VAL_ 33 ApplicationFlashChecksumFault 1 "Fault Present" 0 "No Fault"; +VAL_ 371 CAN_AUTO_ALIGN_HANGLE_QF 3 "Accurate" 2 "Innacurate" 1 "Temporarily undefined" 0 "Undefined"; +VAL_ 371 CAN_ALIGNMENT_STATUS 15 "Undefined_2" 14 "Undefined_1" 13 "Low Amplitude (Flat-plate only)" 12 "No Peak (Flat-plate only)" 11 "Fail Ver and Hor OutOfRange" 10 "Fail Vertical Align OutOfRange" 9 "Fail Horizontal Align OutOfRange" 8 "Fail Time Out" 7 "Fail Only Right Target Found" 6 "Fail Only Left Target Found" 5 "Fail Variance Too Large" 4 "Fail Deviation Too Large" 3 "Fail No Target" 2 "Success" 1 "Busy" 0 "Off"; +VAL_ 371 CAN_ALIGNMENT_STATE 6 "Static alignment flat-plate" 5 "Static alignment 2-target" 4 "Static alignment 1-target" 3 "Service alignment" 2 "Short track alignment" 1 "Auto alignment" 0 "Off"; +VAL_ 291 CAN_DET_CONFID_AZIMUTH_04 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 351 CAN_DET_CONFID_AZIMUTH_64 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 350 CAN_DET_CONFID_AZIMUTH_63 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 349 CAN_DET_CONFID_AZIMUTH_62 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 348 CAN_DET_CONFID_AZIMUTH_61 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 347 CAN_DET_CONFID_AZIMUTH_60 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 346 CAN_DET_CONFID_AZIMUTH_59 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 345 CAN_DET_CONFID_AZIMUTH_58 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 344 CAN_DET_CONFID_AZIMUTH_57 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 343 CAN_DET_CONFID_AZIMUTH_56 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 342 CAN_DET_CONFID_AZIMUTH_55 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 335 CAN_DET_CONFID_AZIMUTH_48 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 334 CAN_DET_CONFID_AZIMUTH_47 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 333 CAN_DET_CONFID_AZIMUTH_46 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 332 CAN_DET_CONFID_AZIMUTH_45 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 331 CAN_DET_CONFID_AZIMUTH_44 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 330 CAN_DET_CONFID_AZIMUTH_43 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 329 CAN_DET_CONFID_AZIMUTH_42 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 328 CAN_DET_CONFID_AZIMUTH_41 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 327 CAN_DET_CONFID_AZIMUTH_40 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 325 CAN_DET_CONFID_AZIMUTH_38 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 324 CAN_DET_CONFID_AZIMUTH_37 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 323 CAN_DET_CONFID_AZIMUTH_36 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 322 CAN_DET_CONFID_AZIMUTH_35 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 321 CAN_DET_CONFID_AZIMUTH_34 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 320 CAN_DET_CONFID_AZIMUTH_33 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 319 CAN_DET_CONFID_AZIMUTH_32 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 318 CAN_DET_CONFID_AZIMUTH_31 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 317 CAN_DET_CONFID_AZIMUTH_30 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 316 CAN_DET_CONFID_AZIMUTH_29 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 314 CAN_DET_CONFID_AZIMUTH_27 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 313 CAN_DET_CONFID_AZIMUTH_26 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 312 CAN_DET_CONFID_AZIMUTH_25 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 311 CAN_DET_CONFID_AZIMUTH_24 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 310 CAN_DET_CONFID_AZIMUTH_23 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 309 CAN_DET_CONFID_AZIMUTH_22 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 308 CAN_DET_CONFID_AZIMUTH_21 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 307 CAN_DET_CONFID_AZIMUTH_20 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 306 CAN_DET_CONFID_AZIMUTH_19 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 305 CAN_DET_CONFID_AZIMUTH_18 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 341 CAN_DET_CONFID_AZIMUTH_54 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 340 CAN_DET_CONFID_AZIMUTH_53 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 339 CAN_DET_CONFID_AZIMUTH_52 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 338 CAN_DET_CONFID_AZIMUTH_51 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 337 CAN_DET_CONFID_AZIMUTH_50 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 336 CAN_DET_CONFID_AZIMUTH_49 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 326 CAN_DET_CONFID_AZIMUTH_39 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 315 CAN_DET_CONFID_AZIMUTH_28 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 304 CAN_DET_CONFID_AZIMUTH_17 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 303 CAN_DET_CONFID_AZIMUTH_16 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 302 CAN_DET_CONFID_AZIMUTH_15 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 301 CAN_DET_CONFID_AZIMUTH_14 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 300 CAN_DET_CONFID_AZIMUTH_13 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 299 CAN_DET_CONFID_AZIMUTH_12 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 298 CAN_DET_CONFID_AZIMUTH_11 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 297 CAN_DET_CONFID_AZIMUTH_10 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 296 CAN_DET_CONFID_AZIMUTH_09 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 295 CAN_DET_CONFID_AZIMUTH_08 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 294 CAN_DET_CONFID_AZIMUTH_07 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 293 CAN_DET_CONFID_AZIMUTH_06 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 292 CAN_DET_CONFID_AZIMUTH_05 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 290 CAN_DET_CONFID_AZIMUTH_03 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 289 CAN_DET_CONFID_AZIMUTH_02 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; +VAL_ 257 CAN_INTERFERENCE_TYPE 2 "Star PD-Like" 1 "Slow FMCW" 0 "No Interference"; +VAL_ 257 CAN_RECOMMEND_UNCONVERGE 1 "Recommended" 0 "Not Recommended"; +VAL_ 257 CAN_RADAR_ALIGN_INCOMPLETE 1 "Alignment Incomplete" 0 "Alignment Completed"; +VAL_ 257 CAN_BLOCKAGE_SIDELOBE 1 "Radar Blockage" 0 "No Radar Blockage"; +VAL_ 257 CAN_BLOCKAGE_MNR 1 "Radar Blockage" 0 "No Radar Blockage"; +VAL_ 257 CAN_RADAR_EXT_COND_NOK 1 "Too high temp or insufficient pw" 0 "External conditions OK"; +VAL_ 257 CAN_RADAR_ALIGN_OUT_RANGE 1 "Radar out of range" 0 "Radar within range"; +VAL_ 257 CAN_RADAR_ALIGN_NOT_START 1 "Radar align not started" 0 "Radar align started"; +VAL_ 257 CAN_RADAR_OVERHEAT_ERROR 1 "Radar overheat condition" 0 "No Overheat"; +VAL_ 257 CAN_RADAR_NOT_OP 1 "Radar not operational" 0 "Radar operational"; +VAL_ 257 CAN_XCVR_OPERATIONAL 1 "On" 0 "Off "; +VAL_ 288 CAN_DET_CONFID_AZIMUTH_01 3 "Low" 2 "Medium_Low" 1 "Medium_High" 0 "High"; diff --git a/opendbc/LICENSE b/opendbc/LICENSE new file mode 100644 index 000000000..f1fd199c6 --- /dev/null +++ b/opendbc/LICENSE @@ -0,0 +1,7 @@ +Copyright (c) 2020, Comma.ai, Inc. + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/opendbc/README.md b/opendbc/README.md new file mode 100644 index 000000000..3733052a8 --- /dev/null +++ b/opendbc/README.md @@ -0,0 +1,49 @@ +## DBC file basics + +A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file. +Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) and [Here](https://github.com/stefanhoelzl/CANpy/blob/master/docs/DBC_Specification.md) a couple of good overviews. + +## How to start reverse engineering cars + +[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/). + +Use [panda](https://github.com/commaai/panda) to connect your car to a computer. + +## How to use reverse engineered DBC +To create custom CAN simulations or send reverse engineered signals back to the car you can use [CANdevStudio](https://github.com/GENIVI/CANdevStudio) project. + +## DBC file preprocessor + +DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated. + +## Good practices for contributing to opendbc + +- Comments: the best way to store comments is to add them directly to the DBC files. For example: + ``` + CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; + ``` + is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages. + +- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better. +For example: + ``` + SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM + ``` + is better than: + ``` + SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM + ``` + However, the cleanest option is really: + ``` + SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM + ``` + +- Signal size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as: + ``` + SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM + ``` + However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is: + ``` + SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM + ``` + which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else. diff --git a/opendbc/__init__.py b/opendbc/__init__.py new file mode 100644 index 000000000..a74a06029 --- /dev/null +++ b/opendbc/__init__.py @@ -0,0 +1,2 @@ +import os +DBC_PATH = os.path.dirname(os.path.abspath(__file__)) diff --git a/opendbc/acura_ilx_2016_can_generated.dbc b/opendbc/acura_ilx_2016_can_generated.dbc new file mode 100644 index 000000000..854c36ee0 --- /dev/null +++ b/opendbc/acura_ilx_2016_can_generated.dbc @@ -0,0 +1,338 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "acura_ilx_2016_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ; +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ; +VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ; diff --git a/opendbc/acura_ilx_2016_nidec.dbc b/opendbc/acura_ilx_2016_nidec.dbc new file mode 100644 index 000000000..e73fcc422 --- /dev/null +++ b/opendbc/acura_ilx_2016_nidec.dbc @@ -0,0 +1,185 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: ADAS RADAR NEO XXX + + +BO_ 768 VEHICLE_STATE: 8 ADAS + SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX + +BO_ 769 VEHICLE_STATE2: 8 ADAS + SG_ SET_ME_0F18510 : 7|28@0+ (1,0) [0|268435455] "" Vector__XXX + SG_ SET_ME_25A0000 : 27|28@0+ (1,0) [0|268435455] "" Vector__XXX + +BO_ 1024 RADAR_DIAGNOSTIC: 8 RADAR + SG_ RADAR_STATE : 7|8@0+ (1,0) [0|255] "" NEO + +BO_ 1040 XXX_101: 8 RADAR + +BO_ 1041 XXX_102: 8 RADAR + +BO_ 1042 XXX_103: 8 RADAR + +BO_ 1043 XXX_104: 8 RADAR + +BO_ 1044 XXX_105: 8 RADAR + +BO_ 1045 XXX_106: 8 RADAR + +BO_ 1046 XXX_107: 8 RADAR + +BO_ 1047 XXX_108: 8 RADAR + +BO_ 1056 XXX_109: 8 RADAR + +BO_ 1057 XXX_110: 8 RADAR + +BO_ 1058 XXX_111: 8 RADAR + +BO_ 1059 XXX_112: 8 RADAR + +BO_ 1060 XXX_113: 8 RADAR + +BO_ 1072 TRACK_0: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1073 TRACK_1: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1074 TRACK_2: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1075 TRACK_3: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1076 TRACK_4: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1077 TRACK_5: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1078 TRACK_6: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1079 TRACK_7: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1080 TRACK_8: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1081 TRACK_9: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1088 TRACK_10: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1089 TRACK_11: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1090 TRACK_12: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1091 TRACK_13: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1092 TRACK_14: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1093 TRACK_15: 8 RADAR + SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO + SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO + SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO + SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO + +BO_ 1279 XXX_114: 8 RADAR + +BO_ 1280 XXX_115: 8 RADAR + +BO_ 1296 XXX_116: 8 RADAR + +BO_ 1297 XXX_117: 8 RADAR + +BO_TX_BU_ 768 : NEO,ADAS; +BO_TX_BU_ 769 : NEO,ADAS; + + +CM_ SG_ 1024 RADAR_STATE "need to find out more diagnostic values"; +VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted" 105 "wrong_config"; diff --git a/opendbc/acura_rdx_2018_can_generated.dbc b/opendbc/acura_rdx_2018_can_generated.dbc new file mode 100644 index 000000000..c9a8dd6d7 --- /dev/null +++ b/opendbc/acura_rdx_2018_can_generated.dbc @@ -0,0 +1,334 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "acura_rdx_2018_can.dbc starts here"; + +BO_ 392 GEARBOX: 6 XXX + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX + SG_ GEAR_SHIFTER : 27|4@0+ (1,0) [0|15] "" EON + SG_ GEAR : 36|5@0+ (1,0) [0|31] "" EON + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ PARKING_BRAKE_LIGHT : 2|1@0+ (1,0) [0|1] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break"; +VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ; +VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; diff --git a/opendbc/acura_rdx_2020_can_generated.dbc b/opendbc/acura_rdx_2020_can_generated.dbc new file mode 100644 index 000000000..0b8162f05 --- /dev/null +++ b/opendbc/acura_rdx_2020_can_generated.dbc @@ -0,0 +1,493 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _bosch_adas_2018.dbc starts here"; +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "acura_rdx_2020_can.dbc starts here"; + +BO_ 419 GEARBOX: 8 PCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/bmw_e9x_e8x.dbc b/opendbc/bmw_e9x_e8x.dbc new file mode 100644 index 000000000..0bcd876a0 --- /dev/null +++ b/opendbc/bmw_e9x_e8x.dbc @@ -0,0 +1,907 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: EON XXX RDC SZL VGSG JBBF RFK FLA RAD1 CAS CID AHM HKL HUD EKP DWA DSC SM_BF GWS VDM DDE1 ACI CCC DSC SM_FA CTM LDM RSE MRSZ VDA EDCK ZBE EGS ACC_Sensor Kombi IHKA ARS ACSM FZD PGS NVC AFS DME FRMFA EMF FKA VSW EPS PDC DKG EHC Diagnosetool_PT_CAN Diagnosetool_K_CAN_System Vector__XXX + + +BO_ 170 AccPedal: 8 DME + SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX + SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX + SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX + SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX + SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX + SG_ Counter_170 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ EngineSpeed : 32|16@1- (0.25,0) [0|65535] "U/min" XXX + SG_ Checksum_170 : 0|8@1- (1,0) [0|65535] "" XXX + +BO_ 404 CruiseControl: 4 SZL + SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX + SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX + SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX + SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX + SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX + SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX + SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX + SG_ Counter_404 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ Checksum_404 : 7|8@0+ (1,0) [0|15] "" XXX + +BO_ 512 CruiseControlStatus: 8 DME + SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX + SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX + SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX + +BO_ 168 EngineAndBrake: 8 DME + SG_ Checksum_EngineAndBrake : 0|8@1+ (1,0) [0|0] "" XXX + SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX + SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ST_RCPT_ENG_DSC : 52|2@1+ (1,0) [0|0] "" XXX + SG_ ST_RCPT_ENG_ARS : 50|2@1+ (1,0) [0|0] "" XXX + SG_ ST_RCPT_ENG_ACC : 48|2@1+ (1,0) [0|0] "" XXX + SG_ ST_RCPT_ENG_EGS : 54|2@1+ (1,0) [0|0] "" XXX + SG_ ST_DMEA_SWO : 44|2@1+ (1,0) [0|0] "" XXX + SG_ EngineTorque : 12|12@1- (0.03125,0) [-1024|1023] "" XXX + SG_ ALIV_TORQ_1_DME : 8|4@1+ (1,0) [0|15] "" XXX + SG_ EngineTorqueWoInterv : 24|16@1- (0.03125,0) [-1024|1023.96875] "" XXX + +BO_ 470 SteeringButtons: 2 SZL + SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX + SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX + SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX + SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX + SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX + SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 403 DynamicCruiseControlStatus: 8 DSC + SG_ Counter_403 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX + SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "kph/mph" XXX + +BO_ 201 SteeringWheelAngle_DSC: 8 SZL + SG_ Counter_201 : 20|4@1+ (1,0) [0|15] "" DSC + SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" DSC + SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "deg" DSC + +BO_ 206 WheelSpeeds: 8 DSC + SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX + SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX + SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX + SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX + +BO_ 884 WheelToleranceAdjustment: 8 DSC + +BO_ 678 WiperSwitch: 8 SZL + SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX + +BO_ 304 TerminalStatus: 8 CAS + SG_ AccOn : 23|1@1+ (1,0) [0|255] "" XXX + SG_ IgnitionOff : 22|1@1+ (1,0) [0|3] "" XXX + SG_ Counter_304 : 32|4@1+ (1,0) [0|15] "" XXX + SG_ Checksum_304 : 36|4@1+ (1,0) [0|255] "" XXX + +BO_ 169 Torque2: 8 DME + SG_ TORQ_AVL_SPAR_POS : 52|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX + SG_ TORQ_AVL_SPAR_NEG : 40|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX + SG_ TORQ_AVL_MAX : 28|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX + SG_ TORQ_AVL_MIN : 16|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX + SG_ ST_INFS : 14|2@1+ (1,0) [0|0] "" XXX + SG_ ST_SW_LEV_RPM : 12|2@1+ (1,0) [0|0] "" XXX + SG_ ALIV_TORQ_2_DME : 8|4@1+ (1,0) [0|0] "" XXX + SG_ CHKSM_TORQ_2_DME : 0|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 184 TorqueTransmisionRequest: 8 LDM + SG_ Checksum_184 : 0|8@1+ (1,0) [0|15] "" XXX + SG_ Counter_184 : 8|4@1+ (1,0) [0|15] "" XXX + +BO_ 196 SteeringWheelAngle: 7 DSC + SG_ SteeringSpeed : 24|16@1- (0.0428316886,0) [0|255] "degree/s" XXX + SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "degree" XXX + +BO_ 180 WheelTorqueDriveTrain1: 8 DME + +BO_ 182 DynamicCruiseControlTorqueDemand: 8 DSC + SG_ TORQ_TAR_DSC : 12|12@1- (0.5,0) [0|1000] "" XXX + SG_ Counter_182 : 8|4@1+ (1,0) [0|14] "" XXX + SG_ Checksum_182 : 0|8@1+ (1,0) [0|15] "" XXX + +BO_ 186 TransmissionData: 8 EGS + SG_ Counter_186 : 48|4@1+ (1,0) [0|14] "" XXX + SG_ Checksum_186 : 40|8@1+ (1,0) [0|15] "" XXX + +BO_ 191 RequestedWheelTorqueDriveTrain: 8 LDM + SG_ Checksum_191 : 0|8@1+ (1,0) [0|19] "" XXX + SG_ Counter_191 : 8|4@1- (1,0) [0|255] "" XXX + SG_ TorqueReq : 16|12@1- (0.5,350) [-1024|1023.96875] "" XXX + +BO_ 414 StatusDSC_KCAN: 8 DSC + SG_ BrakePressure : 48|8@1- (1,0) [0|255] "" XXX + SG_ BrakeStates : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Checksum_414 : 56|8@1+ (1,0) [0|15] "" XXX + SG_ Counter_414 : 20|4@1+ (1,0) [0|15] "" XXX + SG_ DTC_on : 12|1@1+ (1,0) [0|3] "" XXX + SG_ DSC_full_off : 8|4@1+ (1,0) [0|15] "" XXX + +BO_ 416 Speed: 8 DSC + SG_ AccX : 28|12@1- (1,0) [0|15] "" XXX + SG_ YawRate : 40|12@1- (1,0) [0|255] "" XXX + SG_ VehicleSpeed : 0|12@1- (0.103,0) [0|255] "kph" XXX + SG_ MovingReverse : 13|1@1+ (1,0) [0|3] "" XXX + SG_ AccY : 16|12@1- (1,0) [0|255] "" XXX + SG_ Counter_416 : 52|4@1+ (1,0) [0|14] "" XXX + SG_ Checksum_416 : 56|8@1+ (1,0) [0|15] "" XXX + SG_ MovingForward : 12|1@1+ (1,0) [0|15] "" XXX + +BO_ 418 TransimissionData2: 8 EGS + SG_ ManualMode : 50|1@0+ (1,0) [0|255] "" XXX + SG_ Counter_418 : 28|4@1+ (1,0) [0|14] "" XXX + SG_ Checksum_418 : 56|8@1+ (1,0) [0|15] "" XXX + +BO_ 690 WheelPressure_KCAN: 8 DSC + +BO_ 691 AccelerationData: 8 DSC + +BO_ 402 GearSelectorSwitch_1: 4 XXX + SG_ Counter_402 : 24|4@1+ (1,0) [0|14] "" XXX + +BO_ 408 GearSelectorSwitch: 8 GWS + SG_ ParkButtonSecond : 26|2@1+ (1,0) [0|3] "" XXX + SG_ SideButton : 28|2@1+ (1,0) [0|3] "" XXX + SG_ SportButtonPressed : 34|2@1+ (1,0) [0|255] "" XXX + SG_ M3_button : 36|2@1+ (1,0) [0|3] "" XXX + SG_ SideButtonXOR11 : 30|2@1+ (1,0) [0|3] "" XXX + SG_ param1XOR11 : 22|2@1+ (1,0) [0|3] "" XXX + SG_ m3ShifterPositionXOR1111 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ always11 : 38|2@1+ (1,0) [0|3] "" XXX + SG_ m3ShifterPosition : 4|4@1+ (1,0) [0|15] "" XXX + SG_ param1 : 20|2@1+ (1,0) [0|3] "" XXX + SG_ param5 : 32|2@1+ (1,0) [0|3] "" XXX + SG_ Counter_408 : 0|4@1+ (1,0) [0|14] "" XXX + SG_ ParkButtonFirst : 24|2@1+ (1,0) [0|3] "" XXX + SG_ ShifterPositionXOR1111 : 16|4@1+ (1,0) [0|15] "" XXX + SG_ ShifterPosition : 12|4@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 422 DistanceRoute: 8 DSC + +BO_ 436 InstrumentClusterStatus_KOMBI: 8 CCC + +BO_ 464 EngineData: 8 DME + SG_ RPM_IDLG_TAR : 56|8@1+ (5,0) [0|1270] "1/min" XXX + SG_ CTR_SLCK : 48|2@1+ (1,0) [0|0] "" XXX + SG_ IJV_FU : 32|16@1+ (1,-48) [0|0] "C" XXX + SG_ AIP_ENG : 24|8@1+ (2,598) [600|1106] "hPa" XXX + SG_ ST_SW_WAUP : 22|2@1+ (1,0) [0|0] "" XXX + SG_ ST_ENG_RUN : 20|2@1+ (1,0) [0|0] "" XXX + SG_ Counter_464 : 16|4@0+ (1,0) [0|14] "" XXX + SG_ TEMP_EOI : 8|8@1+ (1,-48) [0|0] "C" XXX + SG_ TEMP_ENG : 0|8@1+ (1,-48) [0|0] "C" XXX + +BO_ 945 TransmissionData3: 8 DKG + SG_ Checksum_946 : 0|8@1+ (1,0) [0|19] "" XXX + SG_ Counter_945 : 8|4@1+ (1,0) [0|14] "" XXX + +BO_ 200 SteeringWheelAngle_slow: 6 SZL + SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "degree" XXX + SG_ SteeringSpeed : 24|16@1- (0.0428316886,0) [-65535|65535] "degree/s" XXX + SG_ Counter_200 : 20|4@1+ (1,0) [0|15] "" XXX + +BO_ 466 TransmissionDataDisplay: 8 EGS + SG_ ShiftLeverMode : 32|2@1+ (1,0) [0|3] "" XXX + SG_ GearRelated_TBD : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Counter_466 : 28|4@1+ (1,0) [0|14] "" XXX + SG_ ShiftLeverPosition : 0|4@1+ (1,0) [0|8] "" XXX + SG_ xFF : 40|8@1+ (1,0) [0|255] "" XXX + SG_ ShiftLeverPositionXOR : 4|4@1+ (1,0) [0|0] "" Vector__XXX + SG_ SportButtonState : 26|1@1+ (1,0) [0|1] "" XXX + +BO_ 437 HeatFlow_LoadTorqueClimate: 8 IHKA + +BO_ 1152 NetworkManagment1: 8 XXX + +BO_ 1170 NetworkManagment2: 8 XXX + +BO_ 1175 NetworkManagment3: 8 XXX + +BO_ 1176 NetworkManagment4: 8 XXX + +BO_ 1193 NetworkManagment5: 8 XXX + +BO_ 1246 GWS_ShiftLeverHeartbeat: 8 XXX + SG_ IgnOff : 12|1@0+ (1,0) [0|3] "" XXX + +BO_ 438 HeatFlowEngine: 8 DME + +BO_ 784 AmbientTemperature_RelativeTime: 8 Kombi + +BO_ 821 ElectricFuelPumpStatus: 8 EKP + +BO_ 1007 EngineOBD_data: 8 DME + +BO_ 1432 ServicesDKG: 8 XXX + +BO_ 309 CrashDisconnectControl: 8 ACSM + +BO_ 502 TurnSignals: 2 FRMFA + SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX + SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX + SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX + +BO_ 514 Dimming: 8 FRMFA + +BO_ 538 LampStatus: 8 FRMFA + +BO_ 550 RainSensorWiperSpeed: 8 FZD + +BO_ 578 ClimateFrontStatus: 8 IHKA + +BO_ 704 LCD_lighting: 8 Kombi + +BO_ 758 LightControl: 8 FRMFA + +BO_ 760 Time_Date: 8 Kombi + +BO_ 762 OccupancySeatBeltContact: 8 ACSM + SG_ NEW_SIGNAL_1 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 0|8@1+ (1,0) [0|15] "" XXX + +BO_ 764 TrunkStatus: 8 CAS + +BO_ 797 TirePressureStatus: 8 DSC + +BO_ 816 Range_Mileage: 8 Kombi + +BO_ 823 StatusFuelControl: 8 DME + +BO_ 897 EngineOilLevel: 8 DME + +BO_ 940 RunOnTimeTerminal30: 8 JBBF + +BO_ 947 PowerManagmentConsumptionControl: 8 DME + +BO_ 948 PowerBatteryVoltage: 8 DME + SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX + +BO_ 958 PowerRunningTime: 8 CAS + +BO_ 1408 ServicesKGM: 8 XXX + +BO_ 1426 ServicesDME: 8 XXX + +BO_ 1449 ServicesDSC: 8 XXX + +BO_ 1504 ServicesKOMBI: 8 XXX + +BO_ 1522 ServicesKBM: 8 XXX + +BO_ 209 Accelerometer1: 8 XXX + SG_ Counter_209 : 52|4@1+ (1,0) [0|255] "" XXX + SG_ Unknown : 16|16@1- (1,0) [0|65535] "" XXX + SG_ YawRate : 0|16@1- (1,0) [0|7] "" XXX + SG_ PitchRate : 32|16@1- (1,0) [0|65535] "" XXX + SG_ CRC8_209 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 172 WheelTorqueDrivetrain2: 8 DME + +BO_ 128 SYNC: 5 XXX + SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX + SG_ State1 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ Counter_128 : 28|4@1+ (1,0) [0|15] "" XXX + +BO_ 320 Unknown140: 2 XXX + SG_ State : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 212 Unknown_d4: 8 XXX + SG_ State1 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Counter_212 : 52|4@1+ (1,0) [0|255] "" XXX + SG_ Checksum_212 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 205 Accelerometer2: 8 XXX + SG_ Counter_205 : 52|4@1+ (1,0) [0|255] "" XXX + SG_ LateralAcceleration : 32|16@1- (1,0) [0|255] "" XXX + SG_ YawRate : 0|16@1- (1,0) [0|255] "" XXX + SG_ CRC8_205 : 16|16@1- (1,0) [0|65535] "" XXX + +BO_ 790 OperationPushButtonDTC: 2 JBBF + SG_ setMe_0x3FFF : 2|14@1+ (1,0) [0|63] "" DSC + SG_ DTC_pressed : 0|1@1+ (1,0) [0|3] "" DSC + +BO_ 1577 Unknown_629: 8 XXX + +BO_ 133 Synchronization_SC_VDA: 8 DSC + +BO_ 173 Delay_request_ACC: 8 LDM + +BO_ 177 Torque_request_steering: 8 DSC + +BO_ 181 Torque_request_EGS: 8 EGS + SG_ Checksum_Torque_request_EGS : 0|8@1+ (1,0) [0|0] "" XXX + SG_ Gearbox_temperature : 56|8@1+ (1,0) [0|0] "C" XXX + +BO_ 183 Torque_request_ACC: 8 LDM + +BO_ 187 Target_torque_request: 8 DSC + +BO_ 188 Status_target_torque_conversion: 8 VGSG + +BO_ 190 Alive_Counter: 8 ARS + +BO_ 192 Alive_Central_Gateway: 8 JBBF + +BO_ 193 Alive_counter_telephone: 8 CCC + +BO_ 213 Request_wheel_torque_brake: 8 DSC + +BO_ 215 Alive_Counter_Security: 8 ACSM + +BO_ 216 CLU1_VDA: 8 VDA + +BO_ 225 Wheel_torque_brake: 8 DSC + +BO_ 226 Status_central_locking_BFT: 8 JBBF + +BO_ 227 CLU2_VDA: 8 VDA + +BO_ 230 Status_central_locking_BFTH: 8 JBBF + +BO_ 234 Status_central_locking_FAT: 8 JBBF + +BO_ 238 Central_locking_status_FATH: 8 JBBF + +BO_ 242 Status_central_locking_HK: 8 JBBF + +BO_ 244 CLU3_VDA: 8 VDA + +BO_ 247 lateral_dynamics_ARS_VDM: 8 ARS + +BO_ 249 Vertical_dynamics_VDM_ARS: 8 VDM + +BO_ 250 Control_window_lifter_FAT: 8 FRMFA + +BO_ 251 Control_window_lifter_BFT: 8 JBBF + +BO_ 252 Control_window_lifter_FATH: 8 JBBF + +BO_ 253 Control_window_lifter_BFTH: 8 JBBF + +BO_ 254 Voltage_level_sensors: 8 VDM + +BO_ 280 Exchange_AFS_DSC: 8 AFS + +BO_ 286 Control_interventions_DSC_AFS: 8 DSC + +BO_ 288 Status_partial_setpoints_AFS_DSC_2: 8 AFS + +BO_ 298 Sensor_data_ROSE: 8 ASCM + +BO_ 300 input_data_ROSE: 8 DSC + +BO_ 336 Request_1_ACC: 8 LDM + +BO_ 339 Request_2_ACC: 8 LDM + +BO_ 345 Object_data_ACC: 8 ACC_Sensor + +BO_ 348 Status_ACC: 8 ACC_Sensor + +BO_ 351 Requirement_angle_FFP: 8 LDM + +BO_ 357 CLU_Status_VDA: 8 VDA + +BO_ 370 Acknowledgment_request_Kombination: 8 CCC + +BO_ 373 Display_motor_data: 8 DME + +BO_ 400 display_ACC: 8 LDM + +BO_ 405 Operation_push_button_MSA: 8 IHKA + +BO_ 419 Raw_data_longitudinal_acceleration: 8 DSC + +BO_ 423 actuation_request_EMF: 8 DSC + +BO_ 426 Effect_ErgoCommander: 8 CCC + +BO_ 428 Status_ARS_module: 8 ARS + +BO_ 440 Operation_ErgoCommander: 8 ZBE + +BO_ 450 Distance_message_PDC: 8 PDC + +BO_ 451 Distance_message_2_PDC: 8 PDC + +BO_ 454 Acoustic_message_PDC: 8 PDC + +BO_ 472 Operation_air_conditioning_air_distribution_FA: 8 CCC + +BO_ 473 Operation_pushbutton_MDrive: 8 SZL + +BO_ 474 Climate_control_remote_control: 8 CAS + +BO_ 476 Operation_stratification_seat_heating: 8 CCC + +BO_ 478 Air_conditioning_controls_rear: 8 CCC + +BO_ 480 Operation_air_conditioning_air_distribution_BF: 8 CCC + +BO_ 482 Operation_air_conditioning_front: 8 CCC + +BO_ 483 Operation_pushbutton_interior_lighting: 8 FZD + +BO_ 487 Operation_seat_heating_seat_climate_FA: 8 IHKA + +BO_ 488 Operation_seat_heating_seat_climate_BF: 8 IHKA + +BO_ 490 Steering_column_adjustment_control: 8 IHKA + +BO_ 491 Operation_active_seat_FA: 8 IHKA + +BO_ 492 Operation_active_seat_BF: 8 IHKA + +BO_ 494 Steering_column_switch_operation: 8 FRMFA + +BO_ 499 Operation_seat_memory_FA: 8 XXX + +BO_ 504 Operation_SHD_MDS: 8 FZD + +BO_ 507 Status_EPS: 8 EPS + +BO_ 508 Status_AFS: 8 AFS + +BO_ 509 Status_request_EMF_KCAN: 8 EMF + +BO_ 510 Crash: 8 ACSM + +BO_ 513 Status_EMF_KCAN: 8 EMF + +BO_ 517 Acoustic_request_Kombi: 8 Kombi + +BO_ 518 Control_Display_Shiftlights: 8 DME + +BO_ 523 Memory_adjustment: 8 SM_FA + +BO_ 524 Steering_column_control: 8 SM_FA + +BO_ 525 Position_steering_column: 8 IHKA + +BO_ 528 Operation_HUD: 8 CCC + +BO_ 529 Status_HUD: 8 HUD + +BO_ 530 Height_levels_air_spring: 8 EHC + +BO_ 540 Operation_NightVision: 8 CCC + +BO_ 542 Status_NightVision: 8 NVC + +BO_ 548 Operation_push_button_NSW: 8 FRMFA + +BO_ 552 Operation_special_function: 8 CCC + +BO_ 554 Status_BFS: 8 JBBF + +BO_ 556 Operation_push_button_NSL: 8 FRMFA + +BO_ 558 Status_BFSH: 8 XXX + +BO_ 562 Status_FAS: 8 JBBF + +BO_ 566 Status_FASH: 8 XXX + +BO_ 570 Status_radio_key: 8 CAS + +BO_ 571 Status_climate_front_extended: 8 IHKA + +BO_ 573 Request_display_climate: 8 IHKA + +BO_ 574 Status_Klima_Fond: 8 FKA + +BO_ 582 Status_air_conditioning_front_control_unit: 8 IHKA + +BO_ 584 Status_rear_view_camera: 8 RFK + +BO_ 585 Control_rear_view_camera: 8 CCC + +BO_ 586 Status_PDC: 8 PDC + +BO_ 587 Status_door_sensors: 8 FRMFA + +BO_ 594 Wiper_status: 8 JBBF + +BO_ 598 Challenge_Passive_Access: 8 CAS + +BO_ 600 Status_Transmission_Passive_Access: 8 PGS + +BO_ 604 Operation_of_climate_additional_programs: 8 CCC + +BO_ 621 Operation_blinds_MK: 8 IHKA + +BO_ 622 Control_FH_SHD_central_comfort: 8 CAS + +BO_ 635 Status_Shiftlights: 8 Kombi + +BO_ 637 Status_convertible_top_manual_convertible: 8 CAS + +BO_ 638 Status_convertible_top_convertible: 8 CTM + +BO_ 639 Status_central_locking_convertible_top: 8 JBBF + +BO_ 642 Control_security_vehicle_2: 8 XXX + +BO_ 644 Control_remote_start_safety_vehicle: 8 CAS + +BO_ 646 Electrochromic_control: 8 FZD + +BO_ 652 Pushbutton_vertical_dynamics: 8 GWS + +BO_ 653 Operation_pushbutton_sport: 8 GWS + +BO_ 656 Control_response_hydrogen_vehicle: 8 XXX + +BO_ 658 Control_high_beam_assistant: 8 FLA + +BO_ 670 Central_locking_control_for_security_vehicle: 8 XXX + +BO_ 671 Remote_control_FondCommander: 8 CAS + +BO_ 672 Central_locking_control: 8 CAS + +BO_ 674 Operation_of_climate_stand_functions: 8 CCC + +BO_ 676 Operation_personalization: 8 Kombi + +BO_ 692 DWA_Alarm: 8 DWA + +BO_ 694 Control_horn_DWA: 8 DWA + +BO_ 696 Operation_onboard_computer: 8 CCC + +BO_ 697 Operation_RSE: 8 CCC + +BO_ 698 Stopwatch: 8 Kombi + +BO_ 701 Request_switching_display: 8 CCC + +BO_ 702 Switch_status_display: 8 VSW + +BO_ 703 Water_valve_control: 8 IHKA + +BO_ 706 Temperatur_Ist_Fond: 8 FKA + +BO_ 711 Display_Kombination_extended: 8 DME + +BO_ 714 Outside_temperature: 8 Kombi + +BO_ 716 Control_monitor_rear: 8 RSE + +BO_ 718 Control_monitor: 8 CCC + +BO_ 719 Status_of_auxiliary_water_pump: 8 JBBF + +BO_ 720 Status_Sensor_AUC: 8 JBBF + +BO_ 721 Status_fitting_window_V: 8 FZD + +BO_ 722 Status_pressure_refrigeration_circuit: 8 JBBF + +BO_ 723 Status_stratification_rear: 8 JBBF + +BO_ 725 Status_heating_rear_window: 8 JBBF + +BO_ 726 Status_valve_air_conditioning_compressor: 8 JBBF + +BO_ 730 Status_tailgate_lift: 8 HKL + +BO_ 734 Switch_control_display: 8 VSW + +BO_ 738 Status_setting_video_night_vision: 8 NVC + +BO_ 739 Status_setting_video_rear_view_camera: 8 RFK + +BO_ 740 Status_trailer: 8 AHM + +BO_ 742 Status_of_air_distribution_FA: 8 IHKA + +BO_ 746 Status_air_distribution_BF: 8 IHKA + +BO_ 750 Status_climate_additional_programs: 8 IHKA + +BO_ 752 Status_air_condition_functions: 8 IHKA + +BO_ 753 Status_driver_detection: 8 MRSZ + +BO_ 755 Display_switching_instruction: 8 DME + +BO_ 756 Air_conditioning_control_SH_ZH_auxiliary_water_pump: 8 IHKA + +BO_ 759 Units: 8 Kombi + +BO_ 768 Status_RSE: 8 RSE + +BO_ 772 Status_Gang: 8 EGS + +BO_ 773 Operation_button_convertible_top: 8 IHKA + +BO_ 774 Vehicle_tilt: 8 FRMFA + +BO_ 775 Operation_button_flap_convertible_top: 8 IHKA + +BO_ 776 Status_MSA: 8 DME + +BO_ 785 Refill_quantity: 8 Kombi + +BO_ 786 Service_Call_Teleservice: 8 Kombi + +BO_ 787 Status_Service_Call_Teleservice: 8 CCC + +BO_ 788 Status_driving_light: 8 FZD + +BO_ 789 Vehicle_mode: 8 JBBF + +BO_ 791 Operation_button_parking_aids: 8 IHKA + +BO_ 792 Status_antennas_Passive_Access: 8 PGS + +BO_ 793 Operation_push_button_RDC: 8 JBBF + +BO_ 794 Operation_button_HDC: 8 IHKA + +BO_ 795 Operation_of_tailgate_interior_button: 8 IHKA + +BO_ 796 Status_tire_pressure: 8 RDC + +BO_ 801 Operation_button_camera_BF: 8 IHKA + +BO_ 802 Damper_current: 8 EDCK + +BO_ 806 Status_damper_program: 8 VDM + +BO_ 808 Relativzeit: 8 Kombi + +BO_ 813 Display_HDC: 8 DSC + +BO_ 814 Status_climate_internal_control_info: 8 IHKA + +BO_ 817 Programming_of_step_cruise_control: 8 CCC + +BO_ 818 Driver_display_speed_range: 8 DME + +BO_ 822 Display_check_control_message_role: 8 Kombi + +BO_ 824 Control_display_check_control_message: 8 Kombi + +BO_ 825 Status_display_climate: 8 CCC + +BO_ 826 Status_Monitor_Front: 8 CID + +BO_ 828 Status_Monitor_Fond_1: 8 CID + +BO_ 830 Status_Monitor_Fond_2: 8 CID + +BO_ 841 Raw_data_level_tank: 8 JBBF + +BO_ 843 Seat_back_lock_status_FA: 8 SM_FA + +BO_ 845 Status_seat_back_lock_BF: 8 SM_BF + +BO_ 847 Status_contact_handbrake: 8 JBBF + +BO_ 858 Appointment_Condition_Based_Service: 8 CCC + +BO_ 860 Status_onboard_computer: 8 Kombi + +BO_ 862 Onboard_computer_data_trip_data: 8 Kombi + +BO_ 864 Data_onboard_computer_start_of_journey: 8 Kombi + +BO_ 866 Data_onboard_computer_average_values: 8 Kombi + +BO_ 868 Data_onboard_computer_arrival: 8 Kombi + +BO_ 869 Status_terminal_request: 8 CAS + +BO_ 870 Display_Kombination_external_display: 8 Kombi + +BO_ 871 Control_display_of_demand_oriented_service: 8 Kombi + +BO_ 877 Setting_the_driving_dynamics_switch: 8 JBBF + +BO_ 886 Status_wear_lamella: 8 VGSG + +BO_ 893 Status_DKG: 8 DKG + +BO_ 894 Temperatur_Bremse: 8 DSC + +BO_ 895 Range_of_diesel_exhaust_gas_additive: 8 DDE1 + +BO_ 896 chassis_number: 8 CAS + +BO_ 898 Electronic_engine_oil_dipstick_M: 8 DME + +BO_ 899 Motor_data_2: 8 DME + +BO_ 904 Vehicle_type: 8 CAS + +BO_ 907 Status_battery: 8 DME + +BO_ 910 Start_speed: 8 DME + +BO_ 914 Status_System_AFS: 8 AFS + +BO_ 916 RDA_request_data_storage: 8 Kombi + +BO_ 917 Coding_power_management: 8 CAS + +BO_ 920 Operation_chassis: 8 CCC + +BO_ 921 Status_MDrive: 6 DME + +BO_ 926 Operation_time_date: 8 CCC + +BO_ 928 Vehicle_state: 8 JBBF + +BO_ 931 Request_Remote_Services: 8 CCC + +BO_ 937 Status_motor_control_CKM: 8 DME + +BO_ 939 Status_Shiftlights_CKM: 8 Kombi + +BO_ 944 Status_gear_reverse: 8 FRMFA + +BO_ 949 Status_water_valve: 8 JBBF + +BO_ 950 Position_window_lifter_FAT: 8 FRMFA + +BO_ 951 Position_window_lifter_FATH: 8 JBBF + +BO_ 952 Position_window_regulator_BFT: 8 FRMFA + +BO_ 953 Position_window_regulator_BFTH: 8 JBBF + +BO_ 954 Position_SHD: 8 FZD + +BO_ 956 Position_window_lifter_security_vehicle: 8 XXX + +BO_ 957 Status_consumer_shutdown: 8 FRMFA + +BO_ 959 Position_window_rear_window: 8 CTM + +BO_ 960 Configuration_FAS: 8 SM_FA + +BO_ 961 Configuration_BFS: 8 SM_BF + +BO_ 964 Status_EDCK_CKM: 8 JBBF + +BO_ 967 Access_radio: 8 RAD1 + +BO_ 968 Operation_push_button_radio: 8 RAD1 + +BO_ 974 Radio_audio_control_interface_display: 8 ACI + +BO_ 975 Acknowledgment_access_radio_audio_control_interface: 8 ACI + +BO_ 979 Status_solar_sensor: 8 FZD + +BO_ 980 Configuration_of_central_locking_CKM: 8 Kombi + +BO_ 981 Status_central_locking_CKM: 8 CAS + +BO_ 982 Configuration_DWA_CKM: 8 Kombi + +BO_ 983 Status_DWA_CKM: 8 FZD + +BO_ 984 Configuration_RLS_CKM: 8 Kombi + +BO_ 985 Status_RLS_CKM: 8 FZD + +BO_ 986 Configuration_of_memory_positions_CKM: 8 Kombi + +BO_ 987 Status_memory_positions_CKM: 8 SM_FA + +BO_ 988 Configuration_light_CKM: 8 Kombi + +BO_ 989 Status_light_CKM: 8 FRMFA + +BO_ 990 Configuration_Climate_CKM: 8 CCC + +BO_ 991 Status_Klima_CKM: 8 IHKA + +BO_ 994 Configuration_of_tailgate_CKM: 8 CCC + +BO_ 995 Status_tailgate_CKM: 8 HKL + +BO_ 996 Configuration_rear_view_camera_CKM: 8 CCC + + + + +CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control: drives"; +CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal"; +CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted"; + +CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed"; +CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed"; +CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed"; +CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed"; +CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed"; +CM_ SG_ 404 Counter_404 "Message is sent at higher rate when cruise stalk is pressed"; + +CM_ SG_ 168 BrakePressed "Brake when driver presses the brake or hill hold"; +CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque"; +CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention"; +CM_ SG_ 168 ALIV_TORQ_1_DME "Counter TORQ_1"; + +CM_ SG_ 169 ALIV_TORQ_2_DME "Counter TORQ_2"; + +CM_ SG_ 182 TORQ_TAR_DSC "torque target DSC"; + +CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target - unit depends on locale"; + +CM_ SG_ 414 DSC_full_off "0x4 enabling, 0xA enabled. TBD"; + +CM_ SG_ 416 YawRate "Lateral Acceleration"; + +CM_ SG_ 408 ParkButtonSecond "Redundant buton. 0x1 = pressed;"; +CM_ SG_ 408 SideButton "0x1 = pressed;"; +CM_ SG_ 408 SportButtonPressed "0x1 = pressed;"; +CM_ SG_ 408 M3_button "M3 POWER (?)"; +CM_ SG_ 408 SideButtonXOR11 "Complement value"; +CM_ SG_ 408 param1 "can not be 0x03. Always 0 in 135i."; +CM_ SG_ 408 param5 "Always 0 in 135i."; +CM_ SG_ 408 ParkButtonFirst "0x1 = pressed"; +CM_ SG_ 408 ShifterPosition "0001 = N|R, 0010 = R, 0011 = N|D, 0100 = D, 0101 = -1, 0110 = +1, 0111 = ManualMode, 1000 = inBetween,"; + +CM_ SG_ 466 ShiftLeverMode "On the dashboard, there are displayed: D1...D7 in Normal. S1...S6 in Sport. M1..M7 in Manual"; + +CM_ SG_ 502 TurnSignalIdle "Turn signal off"; +CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning"; +CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker"; +CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker"; +CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk"; + +CM_ SG_ 790 setMe_0x3FFF "All ones"; +CM_ SG_ 790 DTC_pressed "Traction control off. Message transmitted when pressed. Few presses may be required followed by off."; + +VAL_ 408 ShifterPosition 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ; + +VAL_ 464 ST_SW_WAUP 3 "signal invalid" 2 "EGS forced switching active" 1 "engine warm" 0 "warming up" ; +VAL_ 464 ST_ENG_RUN 3 "signal invalid" 2 "engine running" 1 "engine starting" 0 "engine off" ; +VAL_ 464 CTR_SLCK 3 "signal invalid" 2 "requirement Shiftlock" 1 "no requirement Shiftlock" 0 "not allowed" ; + +VAL_ 466 ShiftLeverMode 0 "Normal" 1 "Sport" 2 "Manual" ; +VAL_ 466 ShiftLeverPosition 0 "Off" 1 "P" 2 "R" 4 "N" 8 "D" ; diff --git a/opendbc/cadillac_ct6_chassis.dbc b/opendbc/cadillac_ct6_chassis.dbc new file mode 100644 index 000000000..9de969d76 --- /dev/null +++ b/opendbc/cadillac_ct6_chassis.dbc @@ -0,0 +1,95 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K182_PACM K43_PSCM K17_EBCM NEO K124_ASCM + + + +BO_ 823 PACMParkAssitCmd: 7 NEO + SG_ RollingCounter : 35|2@0+ (1,0) [0|0] "" NEO + SG_ SteeringWheelChecksum : 47|16@0+ (1,0) [0|0] "" NEO + SG_ SteeringWheelCmd : 23|16@0+ (1,0) [0|0] "" NEO + +BO_ 560 EBCMRegen: 6 K17_EBCM + SG_ Regen : 1|10@0+ (1,0) [0|0] "" NEO + +BO_ 338 ASCMLKASteeringCmd: 6 NEO + SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO + SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO + SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO + SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO + SG_ LKASMode : 36|2@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO + +BO_ 340 ASCMBLKASteeringCmd: 6 NEO + SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO + SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO + SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO + SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO + SG_ LKASteeringCmdActive2 : 35|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO + +BO_ 368 EBCMFrictionBrakeStatus: 8 K17_EBCM + SG_ FrictionBrakePressure : 23|16@0+ (1,0) [0|0] "" NEO + +BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM + SG_ RollingCounter : 37|6@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO + +BO_TX_BU_ 823 : K43_PSCM,NEO; +BO_TX_BU_ 789 : NEO,K17_EBCM; + + +CM_ BU_ K182_PACM "Parking Assist Control Module"; +CM_ BU_ K43_PSCM "Power Steering Control Module"; +CM_ BU_ K17_EBCM "Electronic Brake Control Module"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "UseGMParameterIDs" 0; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; + +VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ; diff --git a/opendbc/cadillac_ct6_object.dbc b/opendbc/cadillac_ct6_object.dbc new file mode 100644 index 000000000..3f7cf64cd --- /dev/null +++ b/opendbc/cadillac_ct6_object.dbc @@ -0,0 +1,3470 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: RRSRR_FO LRSRR_FO CIPM_FO _DOFIMU2_FO _DOFIMU1_FO DMS_FO AMM_FO EOCM2B_IMX6_FO EOCM2B_K2_FO EOCM2B_K1_FO EOCM2A_IMX6_FO EOCM2A_K2_FO EOCM2A_K1_FO NVS_FO Dummy_FO TestTool_FO LRR_FO RFSRR_FO LFSRR_FO RSRR_FO VIS_FO EOCM_F_FO VIS2_FO +VAL_TABLE_ vt_BooleanValues 1 "true" 0 "false" ; +VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ; +VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ; +VAL_TABLE_ DrvrMonSysEngSt 7 "Unused and Reserved 1" 6 "Recovering" 5 "Tracking" 4 "Searching" 3 "Video test port only" 2 "Idle" 1 "Invalid state" 0 "Does not exist or DME" ; +VAL_TABLE_ DrvrMonEngUnrecvrFltCod 7 "Unused and Reserved 3" 6 "Unused and Reserved 2" 5 "Unused and Reserved 1" 4 "Vehicle power supply Errors" 3 "Problem with LED illuminators" 2 "Vehicle input signals Errors" 1 "Problem with imager" 0 "Ok" ; +VAL_TABLE_ DrvrMonEngRecvrFltCod 3 "Engine is unable to find a face" 2 "Input Images too dark" 1 "Input images too bright" 0 "Ok" ; +VAL_TABLE_ DrvrMntrSysVTP 1 "Video test port active" 0 "Video test port inactive" ; +VAL_TABLE_ DrvrAttnStatCnfdc 3 "High" 2 "Medium" 1 "Low" 0 "Lowest" ; +VAL_TABLE_ DrvrAttnStat 7 "Invalid" 6 "Driver is exhibiting sleep" 5 "Driver is exhibiting microsleep" 4 "Attention is Center Console" 3 "Attention is Drivers Lap" 2 "Attention is Off Road" 1 "Attention is On Road" 0 "Unknown" ; +VAL_TABLE_ PPSMd 7 "GNSS and RTX and DR and MM" 6 "DR ONLY" 5 "GNSS and RTX and DR" 4 "GNSS and SBAS and DR" 3 "GNSS and DR" 2 "GNSS and RTX" 1 "GNSS and SBAS" 0 "GNSS Standalone" ; +VAL_TABLE_ AdvDrvAstMpPrfShrtAcur 3 "Accuracy Is Unknown" 2 "Lowest Accuracy" 1 "Medium Accuracy" 0 "Highest Accuracy" ; +VAL_TABLE_ AdvDrAstMpStbRtOfWay 3 "Not Applicable" 2 "Unknown" 1 "Sub Path Has Right Of Way Over Path" 0 "Path Has Right Of Way Over Sub Path" ; +VAL_TABLE_ AdvDrAstMpStbPrtCalRut 3 "Not Applicable" 2 "Unknown" 1 "Path From This Point On Is Part Of Calculated Route" 0 "Path From This Point On Is Not Part Of Calculated Route" ; +VAL_TABLE_ AdvDrAstMpStbMsgTyp 7 "Unused and Reserved 2" 6 "Metadata" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Unused and Reserved 1" ; +VAL_TABLE_ AdvDrAstMpStbFmOfWay 15 "Not Applicable" 14 "Pedestrian Zone" 13 "Entrance To Or Exit To Service" 12 "Entrance To Or Exit Of A Car Park" 11 "Service Road Or Frontage Road" 10 "Slip Road per Ramp" 9 "Slip Road per Ramp On A Freeway Or Controlled Access Road" 8 "Parallel Road" 7 "Unused and Reserved 2" 6 "Unused and Reserved 1" 5 "Traffic Square per Special Traffic Figure" 4 "Roundabout Circle" 3 "Single Carriageway" 2 "Multiple Carriageway Or Multiply Digitized Road" 1 "Freeway Or Controlled Access Road That Is Not A Slip Road Or Ramp" 0 "Unknown" ; +VAL_TABLE_ AdvDrAstMpStbCmplxInsct 3 "Not Applicable" 2 "Unknown" 1 "Stub Is Part Of Complex Intersection" 0 "Stub Is Not Part Of Complex Intersection" ; +VAL_TABLE_ AdvDrAstMpSegTunl 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Tunnel" 0 "Segment Is Not A Part Of Tunnel" ; +VAL_TABLE_ AdvDrAstMpSegPrtCalRut 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Calculated Route" 0 "Segment Is Not Part Of Calculated Route" ; +VAL_TABLE_ AdvDrAstMpSegMsgTyp 7 "Unused and Reserved 2" 6 "Metadata" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Unused and Reserved 1" ; +VAL_TABLE_ AdvDrAstMpSegFrmOfWay 15 "Not Applicable" 14 "Pedestrian Zone" 13 "Entrance To Or Exit To Service" 12 "Entrance To Or Exit Of A Car Park" 11 "Service Road Or Frontage Road" 10 "Slip Road per Ramp" 9 "Slip Road per Ramp On A Freeway Or Controlled Access Road" 8 "Parallel Road" 7 "Unused and Reserved 2" 6 "Unused and Reserved 1" 5 "Traffic Square per Special Traffic Figure" 4 "Roundabout Circle" 3 "Single Carriageway" 2 "Multiple Carriageway Or Multiply Digitized Road" 1 "Freeway Or Controlled Access Road That Is Not A Slip Road or Ramp" 0 "Unknown" ; +VAL_TABLE_ AdvDrAstMpSegEffSdLmtTp 7 "Not Applicable" 6 "Explicit Snow" 5 "Explicit Rain" 4 "Explicit Time Of Day" 3 "Explicit By Day" 2 "Explicit By Night" 1 "Explicit On Traffic Sign" 0 "Implicit" ; +VAL_TABLE_ AdvDrAstMpSegDivdRd 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Divided Road" 0 "Segment Is Not Part Of Divided Road" ; +VAL_TABLE_ AdvDrAstMpSegCmplxInsct 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Complex Intersection" 0 "Segment Is Not Part Of Complex Intersection" ; +VAL_TABLE_ AdvDrAstMpSegBrdg 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Bridge" 0 "Segment Not Part Of Bridge" ; +VAL_TABLE_ AdvDrAstMpSegBldUpAra 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Built Up Area" 0 "Segment Is Not Part Of Built Up Area" ; +VAL_TABLE_ AdvDrAstMpMtdtSpdUnt 1 "Miles Per Hour" 0 "Kilometers Per Hour" ; +VAL_TABLE_ AdvDrAstMpMtdtDrvSd 1 "Driving Side Right" 0 "Driving Side Left" ; +VAL_TABLE_ WSMR_WiFiAssnReq 3 "Unexpected Undefined Connection Behavior" 2 "Wi Fi association failed with available credentials" 1 "Failed to receive Wi Fi credentials after 255 attempts" 0 "SSID and Passphrase Request" ; +VAL_TABLE_ StrgColCommsFlt 2 "Disabled Communications DTC" 1 "No Communications Fault" 0 "Communications Fault" ; +VAL_TABLE_ CPMAPINFO4 1 "Hardware Or Software Error" 0 "No Hardware Or Software Error" ; +VAL_TABLE_ AdvDrvAstMpPrfShrt2Acur 3 "Accuracy Is Unknown" 2 "Lowest Accuracy" 1 "Medium Accuracy" 0 "Highest Accuracy" ; +VAL_TABLE_ InterLghtStat 1 "Interior Lights On" 0 "Interior Light Off" ; +VAL_TABLE_ VehLnStatConf 2 "High Confidence" 1 "Low Confidence" 0 "No Confidence" 3 "Very High Confidence" ; +VAL_TABLE_ VehLnStat 3 "Lane Change To Right" 2 "Lane Change To Left" 1 "Staying in Lane" 0 "Unknown" ; +VAL_TABLE_ HrznPrvdRstRq 1 "Reset Not Required" 0 "Reset Required" ; +VAL_TABLE_ ExptNxtTrnstnDirConf 3 "Very High Confidence" 2 "High Confidence" 1 "Low Confidence" 0 "No Confidence" ; +VAL_TABLE_ ExptNxtTrnstnDir 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Traversing Middle Transition" 2 "Traversing Next Transition Right" 1 "Traversing Next Transition Left" 0 "Unknown" ; +VAL_TABLE_ ADASISMsgTypRetrans 7 "GM System Specific" 6 "Meta Data" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Checksum" ; +VAL_TABLE_ NVSysStat 7 "Needs Headlights" 6 "Temporarily Unavailable" 5 "Not Dark" 4 "Needs Service" 3 "Active" 2 "Inactive" 1 "Initializing" 0 "Unknown" ; +VAL_TABLE_ NVSysPedWrnIndReq 3 "Unused & Reserved" 2 "Pedestrian Alert" 1 "Pedestrian Detected" 0 "None" ; +VAL_TABLE_ NVSysPedDetCstReq 2 "On" 1 "Off" 0 "No Value" ; +VAL_TABLE_ NVSysPedDetCsCrStVal 2 "On" 1 "Off" 0 "No Value" ; +VAL_TABLE_ FwVsnCinCoutPotT9Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT8Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT7Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT6Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT5Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT4Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT3Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT2Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT1Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT12Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT11Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT10Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ GFHBObjDirTrk8 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk7 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk6 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk5 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk4 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk3 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk2 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBObjDirTrk1 1 "Ahead Traffic" 0 "Incoming Traffic" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk8 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk7 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk6 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk5 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk4 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk3 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk2 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnRelLaneTrk1 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk8 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk7 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk6 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk5 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk4 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk3 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk2 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnMesStatTrk1 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk8 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk7 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk6 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk5 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk4 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk3 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk2 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; +VAL_TABLE_ GFHBFwVsnCnfdncTrk1 0 "Invalid" 3 "Confident" 2 "Speculative" 1 "Highly Speculative" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev8 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev7 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev6 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev5 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev4 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev3 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev2 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; +VAL_TABLE_ GFHBFVsnObjTypTrkRev1 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car" 0 "Unknown" ; +VAL_TABLE_ CRL_Cnfdnc 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Best" 2 "Marking Present" 1 "Weak Marking" 0 "No Lane" ; +VAL_TABLE_ CLL_Cnfdnc 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Best" 2 "Marking Present" 1 "Weak Marking" 0 "No Lane" ; +VAL_TABLE_ VBBrkCtrlSt 4 "Release Control" 3 "Hold Vehicle" 2 "Apply Brake" 1 "Decrease Torque" 0 "No Action" ; +VAL_TABLE_ ObstacleType 6 "NO_OBJECT" 5 "OBJ_GUARDRAIL" 4 "OBJ_TUNNEL " 3 "OBJ_TRAFFIC_SIGN" 2 "OBJ_VEHICLE" 1 "OBJ_BRIDGE " 0 "OBJ_UNKNOWN" ; +VAL_TABLE_ VpathMode 2 "Mid Hi Speed" 1 "Low Speed" 0 "Disabled" ; +VAL_TABLE_ LaneChngStatus 2 "Lane Change Right" 1 "Lane Change Left" 0 "Idle" ; +VAL_TABLE_ TravelDirection 3 "Other (excessive side slip)" 2 "reverse / stopped in rvrs gear" 1 "Forward / stopped in frwd gear" 0 "Unknown" ; +VAL_TABLE_ TrueOrFalse 1 "true" 0 "false" ; +VAL_TABLE_ ModeCommand 5 "Sensing with Reduced Power" 4 "Undefined" 3 "Radio Silent" 2 "Sensing" 1 "Not Sensing" 0 "Undefined" ; +VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ; +VAL_TABLE_ LnSnsRLnPosValid 1 "Invalid" 0 "Valid" ; +VAL_TABLE_ Elevation 3 "Low " 2 "mid (reserved)" 1 "high " 0 "Unknown" ; +VAL_TABLE_ ModeCommandFdbk 5 "Sensing with reduced power" 4 "Undefined" 3 "Radio Silent" 2 "Sensing" 1 "Not Sensing" 0 "Undefined" ; +VAL_TABLE_ relativeLane 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; +VAL_TABLE_ RoadTypeInfo 5 "Constiction Zone Exit" 4 "Construction Zone Entry" 3 "Highway" 2 "Secondary Road" 1 "City" 0 "Unknown" ; +VAL_TABLE_ ObjectLossInfo 2 "elevation conditions" 1 "tight curve" 0 "not lost" ; +VAL_TABLE_ MeasurementStatus 3 "Measured this cycle" 2 "Latent track not detctd this cyc" 1 "New Object" 0 "No Object" ; +VAL_TABLE_ ObjectType 7 "no object present" 6 "fixed roadside object" 5 "fixed overhead object" 4 "pedestrian" 3 "motocycle / bicycle" 2 "Large vehicle (semi)" 1 "4 Wheel Vehicle (car, small trk)" 0 "Unknown" ; +VAL_TABLE_ Confidence 3 "confident" 2 "speculative" 1 "highly speculative" 0 "invalid" ; +VAL_TABLE_ DynamicProp 4 "Moving in opposite direction" 3 "Moving in same direction as host" 2 "Has moved but currently stopped" 1 "Has never moved" 0 "Unknown" ; +VAL_TABLE_ DrvWndPosSt 6 "Fully Opened" 5 "Open More Than C" 4 "Position C" 3 "Position B" 2 "Position A" 1 "Open Less Than A" 0 "Fully Closed" ; +VAL_TABLE_ VehMovSta 4 "Invalid" 3 "Reverse" 2 "Forward" 1 "Neutral" 0 "Parked" ; +VAL_TABLE_ OtsdAmbtLtLvlStat 2 "Day" 1 "Night" 0 "Unknown" ; +VAL_TABLE_ RtTrnLmpAtv 2 "On with telltale" 1 "On without telltale" 0 "Off" ; +VAL_TABLE_ LftTrnLmpAtv 2 "On with telltale" 1 "On without telltale" 0 "Off" ; +VAL_TABLE_ HdlmpBmSelectStat 2 "High Beams" 1 "Low Beams" 0 "Unknown" ; +VAL_TABLE_ DTCI_DTCFaultType 3 "Type C" 2 "Type B" 1 "Type A" 0 "Not Supported" ; +VAL_TABLE_ TrnsShftLvrPos 13 "Forward Range J" 12 "Forward Range I" 15 "Lever Position Unknown" 11 "Forward Range H" 10 "Forward Range G" 9 "Forward Range F" 8 "Forward Range E" 7 "Forward Range D" 6 "Forward Range C" 5 "Forward Range B" 4 "Forward Range A" 3 "Neutral Range" 2 "Reverse Range" 1 "Park Range" 0 "Between Ranges" ; +VAL_TABLE_ SysPwrMd 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off" ; +VAL_TABLE_ ValidityStates 1 "Invalid" 0 "Valid" ; + + +BO_ 1548 ADAS_Profile_Short2_FO: 8 AMM_FO + SG_ AdvDrvAstMpPrfShrt2Val1 : 1|10@0+ (1,0) [0|1023] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Val0 : 33|10@0+ (1,0) [0|1023] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Updt : 39|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2RTrns : 3|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Typ : 38|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2PthIdx : 23|6@0+ (1,0) [0|63] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Ofst : 52|13@0+ (1,0) [0|8191] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2MsgTp : 55|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Dist1 : 17|10@0+ (1,0) [0|1023] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2CycCnt : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2CtlPt : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpPrfShrt2Acur : 5|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 1547 ADAS_Profile_Long2_FO: 8 AMM_FO + SG_ AdvDrAstMpProfLng2Val : 39|32@0+ (1,0) [0|4294967295] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2Updt : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2RTrns : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2PrfTyp : 4|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2PthIdx : 13|6@0+ (1,0) [0|63] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2Ofst : 20|13@0+ (1,0) [0|8191] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2MgTyp : 23|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2CycCt : 15|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLng2CtrlPt : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 1630 USDT_Resp_From_EOCM2B_K2_FO: 8 EOCM2B_K2_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1374 UUDT_Resp_From_EOCM2B_K2_FO: 8 EOCM2B_K2_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 606 USDT_Req_to_EOCM2B_K2_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2B_K2_FO + +BO_ 328 Vehicle_Info_FO: 5 EOCM2A_K1_FO + SG_ StrWhAngGrd : 27|12@0- (1,0) [-2048|2047] "deg/sec" DMS_FO + SG_ TrnsShftLvrPos : 31|4@0+ (1,0) [0|15] "" DMS_FO + SG_ StrWhAng_148 : 15|16@0- (0.0625,0) [-2048|2047.9375] "deg" DMS_FO + SG_ TrnsShftLvrPosV : 3|1@0+ (1,0) [0|1] "" DMS_FO + SG_ StrWhAngV_148 : 4|1@0+ (1,0) [0|1] "" DMS_FO + SG_ StrWhAngMsk_148 : 5|1@0+ (1,0) [0|1] "" DMS_FO + SG_ StrWhAngGrdV : 6|1@0+ (1,0) [0|1] "" DMS_FO + SG_ StrWhAngGrdMsk : 7|1@0+ (1,0) [0|1] "" DMS_FO + +BO_ 1930 DTC_Triggered_78A_FO: 7 LRSRR_FO + SG_ DTCI_CodeSupported_78A : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_78A : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_78A : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_78A : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_78A : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_78A : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_78A : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_78A : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_78A : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_78A : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_78A : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_78A : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_78A : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_78A : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_78A : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_78A : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_78A : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_78A : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_78A : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_78A : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1624 USDT_Resp_From_LRSRR: 8 LRSRR_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1368 UUDT_Resp_From_LRSRR: 8 LRSRR_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 600 USDT_Req_to_LRSRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LRSRR_FO + +BO_ 613 PPS_QualMetrics_FO: 8 EOCM2A_K1_FO + SG_ PPSPstnDilPrcs : 47|10@0+ (0.1,0) [0|102.3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSMd : 53|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPS3DAbsPosErrEstmt : 9|10@0+ (0.1,0) [0|102.3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSAbsHdngErrEstmt : 0|7@0+ (0.5,0) [0|63.5] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSAbsVelErrEstmt : 30|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSPosQltyMtrcsChksm : 50|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPS2DAbsPosErrEstmt : 25|10@0+ (0.1,0) [0|102.3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSPosQltyMtcBrstID : 2|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPS2DAbsPosErrEstmtV : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPS3DAbsPosErrEstmtV : 4|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSAbsHdngErrEstmtV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSAbsVelErrEstmtV : 31|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSMdV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSPstnDilPrcsV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 612 PPS_Time_FO: 8 EOCM2A_K1_FO + SG_ PPSTmdayV : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSCldrDayV : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSCldrDay : 8|9@0+ (1,0) [0|511] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSTmBrstID : 52|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSTmday : 31|27@0+ (1,0) [0|134217727] "ms" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSTmChksm : 50|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSCldrYrV : 1|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSCldrYr : 15|7@0+ (1,2014) [2014|2141] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 611 PPS_SigAcqTime_FO: 6 EOCM2A_K1_FO + SG_ PPSSigAqTmBrstID : 38|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSSigAcqTmV : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSSigAcqTm : 7|32@0+ (1,0) [0|4294967295] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSSigAqTmChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 610 PPS_PosLong_FO: 6 EOCM2A_K1_FO + SG_ PPSLongBrstID : 39|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLong : 6|31@0- (1,0) [-1073741824|1073741823] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLongV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLongChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 609 PPS_PosLat_FO: 6 EOCM2A_K1_FO + SG_ PPSLatV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLatChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLatBrstID : 36|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSLat : 5|30@0- (1,0) [-536870912|536870911] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 1160 PassPhrase_3_AMM_FO: 8 EOCM2A_K1_FO + SG_ WiFiPssPhrsDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1159 PassPhrase_2_AMM_FO: 8 EOCM2A_K1_FO + SG_ WiFiPssPhrsDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1158 PassPhrase_1_AMM_FO: 8 EOCM2A_K1_FO + SG_ WiFiPssPhrsDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1546 ADAS_Protection_FO: 4 AMM_FO + SG_ AdvDrAstMpPrfLng2Avbl : 11|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPosAvbl : 15|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpHwFlt : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtAvbl : 8|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpProtChksm : 23|16@0+ (1,0) [0|65535] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpProtRTrns : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpProtCycCtMsg : 2|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbAvbl : 9|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpSegAvbl : 10|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfShrtAvbl : 14|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfShrt2Avbl : 13|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrAstMpPrfLngAvbl : 12|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ AdvDrvAstMpInpSigFld : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1545 ADAS_Metadata_FO: 8 AMM_FO + SG_ AdvDrAstMpMtdtVerYrQtr : 60|2@0+ (1,1) [1|4] "Qtr" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtVerYr : 53|6@0+ (1,2000) [2000|2063] "Year" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtSpdUnt : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtPrvdr : 7|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtMsgTyp : 58|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtMnrPrtVr : 23|4@0+ (1,0) [0|15] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtCycCnt : 18|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtRgnCd : 38|15@0+ (1,0) [0|32767] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtHwVer : 16|9@0+ (1,0) [0|511] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtMnrPrtSbVr : 4|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtMjrPrtVr : 55|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtDrvSd : 19|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpMtdtCntryCd : 1|10@0+ (1,0) [0|1023] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1543 ADAS_Profile_Long_FO: 8 AMM_FO + SG_ AdvDrAstMpPrfLngUpdt : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngRTrns : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngCtlPt : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngTyp : 4|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngCycCt : 15|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngPthIdx : 13|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngMsgTp : 23|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngOfst : 20|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPrfLngVal : 39|32@0+ (1,0) [0|4294967295] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1544 ADAS_Profile_Short_FO: 8 AMM_FO + SG_ AdvDrvAstMpPrfShrtVal1 : 1|10@0+ (1,0) [0|1023] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtVal0 : 33|10@0+ (1,0) [0|1023] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtDist1 : 17|10@0+ (1,0) [0|1023] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtCycCnt : 7|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtAcur : 5|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtCtlPt : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtRetr : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtTyp : 38|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtUpdt : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtPthIdx : 23|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtMsgTp : 55|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrvAstMpPrfShrtOfst : 52|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1542 ADAS_Stub_FO: 8 AMM_FO + SG_ AdvDrAstMpStbSubPthIdx : 63|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbUpdt : 55|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbPrtCalRut : 57|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbNmLnDrvDir : 54|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbCycCnt : 51|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbCmplxInsct : 49|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbTrnAngl : 47|8@0+ (1.417,0) [0|361.335] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbRtOfWay : 38|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbRelProb : 36|5@0+ (3.333,0) [0|103.323] "%" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbRetr : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbNmLnOppDir : 31|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbPathIdx : 29|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbLstStbOfst : 23|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbMsgTyp : 22|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbFmOfWay : 19|4@0+ (1,0) [0|15] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbFuncRdCls : 7|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpStbOfst : 4|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1541 ADAS_Segment_FO: 8 AMM_FO + SG_ AdvDrAstMpSegRelProb : 12|5@0+ (3.333,0) [0|103.323] "%" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegUpdt : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegTunl : 25|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegCycCnt : 39|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegCmplxInsct : 37|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegBldUpAra : 43|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegBrdg : 41|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegRTrns : 1|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegDivdRd : 31|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegPthIdx : 7|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegPrtCalRut : 27|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegNmLnOppDir : 29|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegNmLnDrvDir : 55|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegMsgTyp : 46|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegFunRdCls : 23|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegFrmOfWay : 35|4@0+ (1,0) [0|15] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegEffSpdLmt : 20|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegEffSdLmtTp : 15|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpSegOffset : 52|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 608 PPS_ElevHdSpd_FO: 8 EOCM2A_K1_FO + SG_ PPSVel : 31|8@0+ (1,0) [0|255] "km / h" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSVelV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSElvHedngSpdBrstID : 5|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSElvHdengSpdChksm : 50|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSHedngV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSHedng : 2|19@0+ (0.001,0) [0|524.287] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSElvtnV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + SG_ PPSElvtn : 39|21@0+ (1,-100000) [-100000|1997151] "cm" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO + +BO_ 1168 WiFi_Station_AMM_FO: 5 AMM_FO + SG_ WSMR_WiFiStnMpMACAddr : 15|32@0+ (1,0) [0|4294967295] "" EOCM2B_K1_FO,EOCM2A_K1_FO + SG_ WSMR_WiFiAssnReq : 1|2@0+ (1,0) [0|3] "" EOCM2B_K1_FO,EOCM2A_K1_FO + +BO_ 1161 WiFi_AP_Data_AMM_FO: 2 EOCM2A_K1_FO + SG_ WAPDM_SecurityType : 15|4@0+ (1,0) [0|15] "" EOCM2B_K1_FO,AMM_FO + SG_ WAPDM_WiFiEnStat : 0|1@0+ (1,0) [0|1] "" EOCM2B_K1_FO,AMM_FO + SG_ WAPDM_EncrptnType : 11|4@0+ (1,0) [0|15] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1157 SSID_AMM_3_FO: 8 EOCM2A_K1_FO + SG_ WiFiSSIDDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 326 DMS_Eye_AOI_Info_FO: 6 DMS_FO + SG_ DrvrMontSysInit : 1|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMontSysAvlbl : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMontMdlDatFlshProgrs : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonEngRecvrFltCodARC : 36|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrAttnStatChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrAttnStat : 39|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrAttnStatPrd : 22|15@0+ (0.025,0) [0|819.175] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonEngRecvrFltCodV : 23|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonEngUnrecvrFltCod : 10|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonEngUnrecvrFltCodV : 11|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrAttnStatCnfdc : 13|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonEngRecvrFltCod : 15|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrAttnStatV : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 324 DMS_RawMeasurement_Info2_FO: 8 DMS_FO + SG_ DrvrMonFrmNum : 47|8@0+ (1,0) [0|255] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMntrSysVTP : 29|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonSysEngStV : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonSysEngSt : 28|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonFrmNumV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrHeadRotAngZV : 4|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrHeadRotAngYV : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrHeadRotAngXV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrHeadRotAngARC : 52|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonLatV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrMonLat : 50|11@0+ (0.001,0) [0|2.047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvHeadRotAngZ : 25|10@0- (0.00625,0) [-3.2|3.19375] "rad" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvHeadRotAngY : 23|10@0- (0.00625,0) [-3.2|3.19375] "rad" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvrHeadRotAngX : 1|10@0- (0.00625,0) [-3.2|3.19375] "rad" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 322 DMS_RawMeasurement_Info1_FO: 8 DMS_FO + SG_ DrvrEyeClosrRt : 47|8@0+ (0.005,0) [0|1.275] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrEyeClosrLft : 39|8@0+ (0.005,0) [0|1.275] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvHeadPosZV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvHeadPosYV : 4|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvHeadPosXV : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrEyeClosrRtV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrEyeClosrLftV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvrEyeClosrARC : 52|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ DrvHeadPosZ : 50|11@0- (0.005,0) [-5.12|5.115] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvHeadPosY : 18|11@0- (0.005,0) [-5.12|5.115] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvHeadPosX : 2|11@0- (0.005,0) [-5.12|5.115] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 320 Inertial2_Rates_FO: 8 _DOFIMU2_FO + SG_ MstrTgrSyncInrtl2Rte : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2YawRteV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2YawRte : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2RollRteV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2RollRte : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2RteChksum : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2PitchRteV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2PitchRte : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 308 Inertial1_Rates_FO: 8 _DOFIMU1_FO + SG_ MstrTrgrSyncInrtl1Rte : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1YawRteV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1YawRte : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1RollRteV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1RollRte : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1RteChksum : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1PitchRteV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial1PitchRte : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 312 Inertial2_Accel2_FO: 8 _DOFIMU2_FO + SG_ MstrTrigSyncInrtl22 : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSns2AccFrm2Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2YawAccV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2YawAcc : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2RollAccV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2RollAcc : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2PtchAccV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr2PtchAcc : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 306 Inertial1_Accel2_FO: 8 _DOFIMU1_FO + SG_ MstrTrigSyncInrtl12 : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1AccelFrm2Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1YawAccV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1YawAcc : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1RollAccV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1RollAcc : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1PtchAccV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1PtchAcc : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 310 Inertial2_Accel1_FO: 8 _DOFIMU2_FO + SG_ MstrTrigSyncInrtl21 : 7|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2VertAccV : 34|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2VertAcc : 33|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2LonAccV : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2LonAcc : 1|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2LatAccV : 18|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ Inertial2LatAcc : 17|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ IntlSnsr2AcelFm1Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 304 Inertial1_Accel1_FO: 8 _DOFIMU1_FO + SG_ MstrTrigSyncInrtl11 : 7|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1VertAccV : 34|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1VertAcc : 33|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1LonAccV : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1LonAcc : 1|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1LatAccV : 18|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InrtlSnsr1LatAcc : 17|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ IntlSnsr1AcelFm1Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 356 Map_Pos_Correction_FO: 4 EOCM2A_K1_FO + SG_ LongErrPstn : 7|8@0- (0.5,0) [-64|63.5] "m" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ LatErrPstn : 15|8@0- (0.5,0) [-64|63.5] "m" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ PstnErrChcksm : 18|11@0+ (1,0) [0|2047] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ PstnErrARC : 20|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 354 Map_Retrans_Request_FO: 1 EOCM2A_K1_FO + SG_ HrznPrvdRstRq : 2|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ ADASISRwDtMplxdCycCnt : 7|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ ADASISMsgTypRetrans : 5|3@0+ (1,0) [0|7] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 352 Map_Path_Correction_FO: 6 EOCM2A_K1_FO + SG_ ExptNxtTrnstnDir : 37|3@0+ (1,0) [0|7] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ MstProbLnV : 15|1@0+ (1,0) [0|1] "" AMM_FO + SG_ MstProbLn : 14|5@0+ (1,0) [0|31] "" AMM_FO + SG_ PathCrtnChcksm : 34|11@0+ (1,0) [0|2047] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ PathCrtnARC : 4|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ EgoLnCurvV : 2|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ EgoLnCurv : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m^2" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ VehLnStatV : 1|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ VehLnStatConf : 6|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ VehLnStat : 9|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ ExptNxtTransDirV : 0|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ ExptNxtTrnstnDirConf : 39|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 264 Inertial_Trigger_FO: 1 EOCM2A_K1_FO + SG_ InrtlSnsrMstrTrgrSync : 7|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,_DOFIMU2_FO,_DOFIMU1_FO + +BO_ 1156 SSID_AMM_2_FO: 8 EOCM2A_K1_FO + SG_ WiFiSSIDDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1155 SSID_AMM_1_FO: 8 EOCM2A_K1_FO + SG_ WiFiSSIDDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO + +BO_ 1927 DTC_Triggered_787_FO: 7 DMS_FO + SG_ DTCI_CodeSupported_787 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_787 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_787 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_787 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_787 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_787 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_787 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_787 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_787 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_787 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_787 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_787 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_787 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_787 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_787 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_787 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_787 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_787 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_787 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_787 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1926 DTC_Triggered_786_FO: 7 AMM_FO + SG_ DTCI_CodeSupported_786 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_786 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_786 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_786 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_786 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_786 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_786 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_786 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_786 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_786 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_786 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_786 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_786 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_786 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_786 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_786 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_786 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_786 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_786 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_786 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1928 DTC_Triggered_788_FO: 7 _DOFIMU1_FO + SG_ DTCI_CodeSupported_788 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_788 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_788 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_788 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_788 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_788 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_788 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_788 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_788 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_788 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_788 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_788 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_788 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_788 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_788 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_788 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_788 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_788 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_788 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_788 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1929 DTC_Triggered_789_FO: 7 _DOFIMU2_FO + SG_ DTCI_CodeSupported_789 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_789 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_789 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_789 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_789 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_789 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_789 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_789 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_789 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_789 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_789 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_789 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_789 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_789 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_789 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_789 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_789 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_789 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_789 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_789 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1352 UUDT_Resp_From_6DOFIMU2_FO: 8 _DOFIMU2_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 588 USDT_Req_to_EOCM2B_K1_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2B_K1_FO + +BO_ 1356 UUDT_Resp_From_EOCM2B_K1_FO: 8 EOCM2B_K1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1612 USDT_Resp_From_EOCM2B_K1_FO: 8 EOCM2B_K1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1616 USDT_Resp_From_EOCM2A_IMX6_FO: 8 EOCM2A_IMX6_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1360 UUDT_Resp_From_EOCM2A_IMX6_FO: 8 EOCM2A_IMX6_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 592 USDT_Req_to_EOCM2A_IMX6_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2A_IMX6_FO + +BO_ 1610 USDT_Resp_From_EOCM2A_K1_FO: 8 EOCM2A_K1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1354 UUDT_Resp_From_EOCM2A_K1_FO: 8 EOCM2A_K1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 586 USDT_Req_to_EOCM2A_K1_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2A_K1_FO + +BO_ 1925 DTC_Triggered_785_FO: 7 NVS_FO + SG_ DTCI_CodeSupported_785 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_785 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_785 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_785 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_785 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_785 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_785 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_785 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_785 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_785 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_785 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_785 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_785 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_785 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_785 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_785 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_785 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_785 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_785 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_785 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1859 VIN_Digits_10_to_17_FO: 8 EOCM_F_FO + SG_ VehIdNmDig10_17 : 7|64@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO + +BO_ 1857 VIN_Digits_2_to_9_FO: 8 EOCM_F_FO + SG_ VehIdNmDig2_9 : 7|64@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO + +BO_ 771 Outside_Air_Temperature_FO: 2 EOCM_F_FO + SG_ OtsAirTmpCrValV : 0|1@0+ (1,0) [0|1] "" NVS_FO + SG_ OtsAirTmpCrVal : 15|8@0+ (0.5,-40) [-40|87.5] "deg C" NVS_FO + +BO_ 777 Night_Vision_System_Ped_FO: 1 NVS_FO + SG_ NVSysStat : 3|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ NVSysPedWrnIndReq : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ NVSysPedDetCsCrStVal : 5|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ NVSysPedDetCstStAvl : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 607 USDT_Req_to_NVS_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" NVS_FO + +BO_ 1631 USDT_Resp_From_NVS_FO: 8 NVS_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1375 UUDT_Resp_From_NVS_FO: 8 NVS_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1540 ADAS_Position_FO: 8 AMM_FO + SG_ AdvDrAstMpLatOffst : 40|9@0+ (1,-256) [-256|255] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnIndx : 63|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnCnf : 61|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPsnIdxCrLn : 58|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnPthIndx : 46|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnProb : 31|5@0+ (3.333,0) [0|103.323] "%" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnCycCnt : 26|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnAge : 24|9@0+ (5,0) [0|2555] "ms" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnRelHd : 23|8@0+ (1.417,0) [0|361.335] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnMsgTyp : 7|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + SG_ AdvDrAstMpPstnOfst : 4|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO + +BO_ 1608 USDT_Resp_From_6DOFIMU2_FO: 8 _DOFIMU2_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 871 LGT_ObjectDetect_Info_8_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk8 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk8 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk8 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev8 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev8 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev8 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk8 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk8 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk8 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 870 LGT_ObjectDetect_Info_7_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk7 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk7 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk7 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev7 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev7 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev7 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk7 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk7 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk7 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 869 LGT_ObjectDetect_Info_6_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk6 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk6 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk6 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev6 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev6 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev6 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk6 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk6 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk6 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 868 LGT_ObjectDetect_Info_5_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk5 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk5 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk5 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev5 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev5 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev5 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk5 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk5 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk5 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 867 LGT_ObjectDetect_Info_4_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk4 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk4 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk4 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev4 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev4 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev4 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk4 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk4 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk4 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 866 LGT_ObjectDetect_Info_3_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk3 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk3 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk3 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev3 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev3 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev3 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk3 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk3 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk3 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 865 LGT_ObjectDetect_Info_2_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk2 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk2 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk2 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev2 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev2 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev2 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBObjDirTrk2 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk2 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 864 LGT_ObjectDetect_Info_1_FO: 8 VIS2_FO + SG_ GFHBFwVsnWidthTrk1 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO + SG_ GFHBFwVsnVertPosTrk1 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO + SG_ GFHBFwVsnRelLaneTrk1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnAzmthRtTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ GFHBFwVsnCnfdncTrk1 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnRngTrkRev1 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO + SG_ GFHBFwVsnAzmthTrkRev1 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO + SG_ GFHBFVsnObjTypTrkRev1 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ GFHBObjDirTrk1 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ GFHBFwVsnMesStatTrk1 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ GFHBFwVsnObjIDTrk1 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1915 DTC_Triggered_77B_FO: 7 VIS_FO + SG_ DTCI_DTCFaultType_77B : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_CodeSupported_77B : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_77B : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_77B : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_77B : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_77B : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_77B : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_77B : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_77B : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_77B : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_77B : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_77B : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_77B : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_77B : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_77B : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_77B : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_77B : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_77B : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_77B : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_77B : 7|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1923 DTC_Triggered_783_FO: 7 RSRR_FO + SG_ DTCI_WrnIndRqdSt_783 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_783 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_783 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_783 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_783 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_783 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCTriggered_783 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCSource_783 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_783 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCFaultType_783 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFailType_783 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_CurrentStatus_783 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CodeSupported_783 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_783 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_783 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_783 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_783 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_783 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_783 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_783 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1924 DTC_Triggered_784_FO: 7 RRSRR_FO + SG_ DTCI_HistStat_784 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_784 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_784 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_784 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_784 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_784 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_784 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_784 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_784 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_784 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_784 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_784 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_784 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CodeSupported_784 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CurrentStatus_784 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCFailType_784 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFaultType_784 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_784 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCSource_784 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCTriggered_784 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1922 DTC_Triggered_782_FO: 7 RFSRR_FO + SG_ DTCI_WrnIndRqdSt_782 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_782 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_782 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_782 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_782 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_782 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_782 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_782 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_782 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_782 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_782 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_782 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_782 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCTriggered_782 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCSource_782 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_782 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCFaultType_782 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFailType_782 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_CurrentStatus_782 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_CodeSupported_782 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1920 DTC_Triggered_780_FO: 7 LRR_FO + SG_ DTCI_CurrentStatus_780 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_780 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_780 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_780 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_780 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_780 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_780 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_780 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_780 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_780 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_780 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_780 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_780 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_780 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCTriggered_780 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCSource_780 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_780 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCFaultType_780 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFailType_780 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_CodeSupported_780 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1921 DTC_Triggered_781_FO: 7 LFSRR_FO + SG_ DTCI_CurrentStatus_781 : 41|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_WrnIndRqdSt_781 : 47|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused7_781 : 1|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused6_781 : 2|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused5_781 : 3|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused4_781 : 4|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused3_781 : 5|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused2_781 : 6|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCIUnused1_781 : 7|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdPwrUpSt_781 : 45|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstNPsdCdClrdSt_781 : 42|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldPwrUpSt_781 : 46|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_TstFldCdClrdStat_781 : 43|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_HistStat_781 : 44|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCTriggered_781 : 0|1@0+ (1,0) [0|1] "" TestTool_FO + SG_ DTCI_DTCSource_781 : 15|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCNumber_781 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO + SG_ DTCI_DTCFaultType_781 : 55|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_DTCFailType_781 : 39|8@0+ (1,0) [0|255] "" TestTool_FO + SG_ DTCI_CodeSupported_781 : 40|1@0+ (1,0) [0|1] "" TestTool_FO + +BO_ 1034 Curvature_Right_Line_FO: 7 VIS2_FO + SG_ CRL_Cnfdnc : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CRL_ViewRng : 33|15@0+ (0.0039064,0) [0|128.0010088] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CRL_CoefdA : 17|16@0- (3.6622E-009,0) [-0.0001200029696|0.0001199993074] "1/m^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CRL_CoefA : 1|16@0- (6.1036E-007,0) [-0.02000027648|0.01999966612] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 1033 Curvature_Left_Line_FO: 7 VIS2_FO + SG_ CLL_Cnfdnc : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CLL_ViewRng : 33|15@0+ (0.0039064,0) [0|128.0010088] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CLL_CoefdA : 17|16@0- (3.6622E-009,0) [-0.0001200029696|0.0001199993074] "1/m^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ CLL_CoefA : 1|16@0- (6.1036E-007,0) [-0.02000027648|0.01999966612] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + +BO_ 1365 UUDT_Resp_From_VIS2_FO: 8 VIS2_FO + SG_ DgnInf_OBJ555 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1621 USDT_Resp_From_VIS2_FO: 8 VIS2_FO + SG_ DgnInf_OBJ655 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1094 F_Vision_Obj_Track_12: 8 VIS2_FO + SG_ FwdVsnObjTypTr12Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk12Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk12Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FVisionWidthTrk12 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FVisionMeasStatTrk12 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk12 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionRelLaneTrk12 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk12 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec" EOCM_F_FO + SG_ FVisionConfTrk12 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ ObjDirTrk12 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk12 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk12 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1093 F_Vision_Obj_Track_11: 8 VIS2_FO + SG_ FwdVsnObjTypTr11Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk11Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk11Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FVisionWidthTrk11 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FVisionMeasStatTrk11 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk11 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionRelLaneTrk11 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk11 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec" EOCM_F_FO + SG_ FVisionConfTrk11 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ ObjDirTrk11 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk11 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk11 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1100 F_Vision_Obj_Track_12_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT12Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk12 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk12 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk12 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk12 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr12 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk12 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo12 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1099 F_Vision_Obj_Track_11_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT11Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk11 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk11 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk11 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk11 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr11 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk11 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo11 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1098 F_Vision_Obj_Track_10_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT10Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk10 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk10 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk10 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk10 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr10 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk10 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo10 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1097 F_Vision_Obj_Track_9_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT9Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk9 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk9 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk9 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk9 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr9 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk9 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo9 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1096 F_Vision_Obj_Track_8_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT8Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk8 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk8 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk8 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk8 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr8 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk8 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo8 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1095 F_Vision_Obj_Track_7_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT7Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk7 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk7 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk7 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk7 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr7 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk7 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo7 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 863 F_Vision_GFHB_Data_FO: 8 VIS2_FO + SG_ RgDtLgtSrcHrtAngl : 49|10@0- (0.04,0) [-20.48|20.44] "deg" EOCM_F_FO + SG_ RgDtLgtSrcHrtAngVcty : 55|6@0- (1,0) [-32|31] "deg/sec" EOCM_F_FO + SG_ LfDtLgtSrcHrtAngl : 33|10@0- (0.04,0) [-20.48|20.44] "deg" EOCM_F_FO + SG_ LfDtLgtSrcHrtAnVcty : 39|6@0- (1,0) [-32|31] "deg/sec" EOCM_F_FO + SG_ AdvWthrStat : 25|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ DtctdLghtSrcDstnc : 22|7@0+ (10,0) [0|1270] "m" EOCM_F_FO + SG_ DtctdLghtSrcVrtclAngl : 1|10@0- (0.04,0) [-20.48|20.44] "deg" EOCM_F_FO + SG_ IntLghtRngAct : 2|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ DtctdLghtSrcDstncV : 3|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ TwnDtctnSts : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ DtctdLghtSrcDrvngDrctn : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 862 LGT_ControlHighBeamGlare_FO: 2 VIS2_FO + SG_ FwdCamSysOpStat : 10|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ EnvIllum : 2|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RdTyp : 5|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ AutoHgBmSts : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1068 F_Vision_Obj_Track_6_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT6Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk6 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk6 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk6 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk6 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr6 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk6 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo6 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1067 F_Vision_Obj_Track_5_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT5Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk5 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk5 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk5 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk5 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr5 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk5 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo5 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1066 F_Vision_Obj_Track_4_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT4Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk4 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk4 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk4 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk4 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr4 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk4 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo4 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1065 F_Vision_Obj_Track_3_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT3Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk3 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk3 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk3 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk3 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr3 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk3 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo3 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1064 F_Vision_Obj_Track_2_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT2Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk2 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk2 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk2 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk2 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr2 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk2 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo2 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1063 F_Vision_Obj_Track_1_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT1Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk1 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FwdVsnObjAgeTrk1 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk1 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk1 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk1 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr1 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo1 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1151 Long_Range_Radar_add_Info_5_FO: 8 LRR_FO + SG_ FrtRdrRdEdgLtLatRdEdgDst : 63|8@0- (0.1,0) [-12.8|12.7] "m/m" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvtPrvDst : 5|4@0+ (10,0) [0|150] "" EOCM_F_FO + SG_ FrtRdrRdEdgLtTanHdgAng : 15|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvtV : 48|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvtGradV : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvtGrad : 39|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvtConf : 55|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM_F_FO + SG_ FrtRdrRdEdgLtCrvt : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM_F_FO + SG_ FrtRdrRdEdgLtTanHdgAngV : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAddInfo5BurstID : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1150 Long_Range_Radar_add_Info_4_FO: 8 LRR_FO + SG_ FrtRdrRdEdgRtLatRdEdgDst : 63|8@0- (0.1,0) [-12.8|12.7] "m/m" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvtPrvDst : 5|4@0+ (10,0) [0|150] "" EOCM_F_FO + SG_ FrtRdrRdEdgRtTanHdgAngV : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtRdrRdEdgRtTanHdgAng : 15|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvtV : 48|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvtGradV : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvtGrad : 39|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvtConf : 55|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM_F_FO + SG_ FrtRdrRdEdgRtCrvt : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM_F_FO + SG_ FLRRAddInfo4BurstID : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1088 F_Vision_Obj_Header_2: 8 VIS2_FO + SG_ FrntVsnInPthVehBrkNwSt : 35|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrntVsnClostPedBrkNwSt : 39|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrntVsnClostPedObjID : 29|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FrntVsnClostPedAlrtNwFlg : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrntVsnClostPedNotftnFlg : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrntVsnInPthVehAlrtNwFlg : 2|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnVldTgtNum2 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrtVsnTmStmp2V : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnTmStmp2 : 10|11@0+ (1,0) [0|2047] "" EOCM_F_FO + SG_ FrtVsnRollCnt2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FrtVsnBrstChksum2 : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + +BO_ 854 F_Vision_Environment_7: 3 VIS2_FO + SG_ FwdVsnCnstrctAreaDst : 13|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnCnstrctZnDet : 15|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnEgoVehLnPos : 17|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnRdTypDet : 9|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnTunnlDetd : 23|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnTunnlDst : 21|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID5 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 853 F_Vision_Environment_6: 8 VIS2_FO + SG_ LnMrkg4LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnDstV : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtGrad : 47|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvt : 31|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkrTyp : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID4 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 852 F_Vision_Environment_5: 8 VIS2_FO + SG_ LnMrkg3LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnDstV : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtGrad : 47|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvt : 31|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkrTyp : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID3 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 602 USDT_Req_to_RRSRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RRSRR_FO + +BO_ 1626 USDT_Resp_From_RRSRR: 8 RRSRR_FO + SG_ DgnInf_OBJ65A : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1370 UUDT_Resp_From_RRSRR: 8 RRSRR_FO + SG_ DgnInf_OBJ55A : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1536 RR_SRR_Trace_data: 8 RRSRR_FO + SG_ RRSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RRSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RRSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO + +BO_ 1210 RR_SRR_Object_Track10: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1209 RR_SRR_Object_Track9: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1208 RR_SRR_Object_Track8: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1207 RR_SRR_Object_Track7: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1206 RR_SRR_Object_Track6: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1205 RR_SRR_Object_Track5: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 262 LHT_AutoHighBeamAssistStatus_FO: 5 EOCM_F_FO + SG_ NtVsnSysEnbld : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO + SG_ VehMovState : 5|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO + SG_ NVSysPedDetCstReq : 2|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO + SG_ StrWhAngV : 8|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO + SG_ StrWhAngMsk : 9|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ StrWhAng : 23|16@0- (0.0625,0) [-2048|2047.9375] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO + SG_ RtTrnLmpAtv : 13|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ MpDataAvlbl : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ LftTrnLmpAtv : 11|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ HdlmpBmSelectStat : 33|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ BldUpArDet : 14|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ FrFogLmpsAct : 15|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO + +BO_ 309 LHT_CameraObjConfirmation_FO: 1 VIS_FO + SG_ HiBmRecmnd : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ CtLghtDet : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 2034 CCP_Data_Transmission_Object_FO: 8 VIS2_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 2032 CCP_Command_Receive_Object_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" VIS2_FO + +BO_ 1362 F_Vis_Obj_Conf_CPS_1B: 8 EOCM_F_FO + SG_ FObjConfCPSTrkObjectIDB : 7|6@0+ (1,0) [0|63] "" VIS_FO + SG_ CPSVisConfLonPos1 : 20|12@0- (0.125,0) [-256|255.875] "m" VIS_FO + SG_ CPSVisConfLatPos1 : 15|10@0- (0.125,0) [-64|63.875] "m" VIS_FO + SG_ CPSVisConfChecksum : 50|11@0+ (1,0) [0|2047] "" VIS_FO + SG_ FObjConfCPSTrkRangeRate : 45|11@0- (0.125,0) [-128|127.875] "m/s" VIS_FO + SG_ CPSConfTimeStamp : 24|11@0+ (1,0) [0|2047] "ms" VIS_FO + SG_ CPSConfTimeStampV : 21|1@0+ (1,0) [0|1] "" VIS_FO + SG_ FObjConfCPSRollingTrkCnt : 1|2@0+ (1,0) [0|3] "" VIS_FO + +BO_ 1413 TOS_ACC_IDS: 5 EOCM_F_FO + SG_ TOS_ACC_IDSRollCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ TOS_ACC_IDSFuncState : 5|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ TOS_ACC_ID1 : 3|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ TOS_ACC_ID2 : 13|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ TOS_ACC_ID3 : 23|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ TOS_ACC_ID4 : 17|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ TOS_ACC_ID5 : 27|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ TOS_ACC_ID6 : 37|6@0+ (1,0) [0|63] "" Dummy_FO + +BO_ 1412 F_ACC_Target: 8 EOCM_F_FO + SG_ FACCTOSRollCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FACCTOSFuncState : 5|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FACCTOSLongPos : 3|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FACCTOSLatPos : 23|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FACCTOSMeasStat : 28|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FACCTOSLongVel : 26|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FACCTOSTrgtDecelFlg : 47|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FACCTOSDynProp : 46|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FACCTOSLatVel : 42|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FACCTOSRelLane : 63|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FACCTOSHiThrtID : 61|6@0+ (1,0) [0|63] "" Dummy_FO + +BO_ 1409 F_CPS_TOS_B: 8 EOCM_F_FO + SG_ CPSTOSObjType : 7|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ CPSTOSHiThrtPriNo : 60|5@0+ (1,0) [0|31] "" Dummy_FO + SG_ CPSTOSRelLongAcc : 53|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ CPSTOSConfAsmt : 21|12@0+ (1,0) [0|4095] "" Dummy_FO + SG_ CPSTOSNumCycTrkd : 4|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ CPSTOSTimeToColl : 1|12@0+ (0.025,0) [0|102.375] "s" Dummy_FO + SG_ CPSTOSClosestInPthVehRng : 47|10@0+ (0.25,0) [0|255.75] "m" Dummy_FO + SG_ CPSTOSClosestInPthObID : 37|6@0+ (1,0) [0|63] "m" Dummy_FO + SG_ CPSTOSMeasStat : 39|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ CPSTOSFuncState : 25|2@0+ (1,0) [0|3] "" Dummy_FO + +BO_ 1408 F_CPS_TOS_A: 8 EOCM_F_FO + SG_ CPSTOSLongPos : 7|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ CPSTOSLatPos : 11|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ CPSTOSLongVel : 16|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ CPSTOSDynProp : 37|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ CPSTOSLatVel : 34|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ CPSTOSARelLane : 63|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ CPSTOSHiThrtID : 61|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ CPSTOSHighestThreatObAsmt : 55|8@0+ (1,0) [0|255] "" Dummy_FO + +BO_ 1344 FLPEstimate: 8 EOCM_F_FO + SG_ FLPRollCount : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ NewLaneIndex : 5|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ VehPathInOK : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LaneSnsInOK : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ MapInOK : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FWDObjFusInOK : 0|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LngthFrstSeg : 15|4@0+ (10,0) [0|150] "m" Dummy_FO + SG_ LngthScndSeg : 11|4@0+ (10,0) [0|150] "m" Dummy_FO + SG_ CurvFrstSeg : 23|13@0- (5E-005,0) [-0.2048|0.20475] "1/m" Dummy_FO + SG_ CurvScndSeg : 26|3@0- (0.001,0) [-0.004|0.003] "1/m" Dummy_FO + SG_ OffstLaneCntr : 39|8@0- (0.05,0) [-6.4|6.35] "m" Dummy_FO + SG_ TngntLaneHead : 47|8@0- (0.002,0) [-0.256|0.254] "m/m" Dummy_FO + SG_ LaneWidth : 55|8@0+ (0.05,0) [0|12.75] "m" Dummy_FO + SG_ FLPDataTimeStampV : 63|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FLPDataTimeStamp : 62|7@0+ (16,0) [0|2032] "ms" Dummy_FO + +BO_ 770 F_Fwd_Collision_Alert: 8 EOCM_F_FO + SG_ Vpath_Accel : 51|11@0- (0.125,0) [-128|127.875] "m/s^2" NVS_FO,Dummy_FO + SG_ FCA_Ra : 7|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FCA_Range : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FCA_AlertLevel : 44|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FCA_Alert_Sup : 31|16@0+ (1,0) [0|65535] "" Dummy_FO + SG_ FCAStatus : 46|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FCA_VehAhead : 47|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FCA_CPS_Alert : 42|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FCAChime : 41|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FCADiagOK : 40|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ NBSMS_Alert : 55|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1601 USDT_Resp_From_VIS: 8 VIS_FO + SG_ DgnInf_OBJ641 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1606 USDT_Resp_From_RFSRR: 8 RFSRR_FO + SG_ DgnInf_OBJ646 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1603 USDT_Resp_From_LFSRR: 8 LFSRR_FO + SG_ DgnInf_OBJ643 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1602 USDT_Resp_From_LRR: 8 LRR_FO + SG_ DgnInf_OBJ642 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1625 USDT_Resp_From_RSRR: 8 RSRR_FO + SG_ DgnInf_OBJ644 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1611 USDT_Resp_From_FEOCM_FO: 8 EOCM_F_FO + SG_ DgnInf_OBJ64B : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 768 F_Smgr_Vehicle_Motion: 8 EOCM_F_FO + SG_ SmgrMotRollAngle : 44|10@0- (0.1,0) [-51.2|51.1] "deg" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotRollAngleV : 0|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotChecksum : 50|11@0+ (1,0) [0|2047] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotPitchAngle : 39|11@0- (0.1,0) [-102.4|102.3] "deg" CIPM_FO,NVS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotPitchAngleV : 1|1@0+ (1,0) [0|1] "" CIPM_FO,NVS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotLongSpeedV : 2|1@0+ (1,0) [0|1] " " CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotLongSpeed : 18|11@0- (0.1,0) [-102.4|102.3] "m/s" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotYawRate : 14|12@0- (0.05,0) [-102.4|102.35] "deg/s" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotYawRateV : 15|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + SG_ SmgrMotRollingCnt : 4|2@0+ (1,0) [0|3] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO + +BO_ 1350 UUDT_Resp_From_RFSRR: 8 RFSRR_FO + SG_ DgnInf_OBJ546 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1369 UUDT_Resp_From_RSRR: 8 RSRR_FO + SG_ DgnInf_OBJ544 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1347 UUDT_Resp_From_LFSRR: 8 LFSRR_FO + SG_ DgnInf_OBJ543 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1346 UUDT_Resp_From_LRR: 8 LRR_FO + SG_ DgnInf_OBJ542 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1345 UUDT_Resp_From_VIS: 8 VIS_FO + SG_ DgnInf_OBJ541 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 579 USDT_Req_to_LFSRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LFSRR_FO + +BO_ 577 USDT_Req_to_VIS: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" VIS_FO + +BO_ 578 USDT_Req_to_LRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LRR_FO + +BO_ 582 USDT_Req_to_RFSRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RFSRR_FO + +BO_ 601 USDT_Req_to_RSRR: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RSRR_FO + +BO_ 1355 UUDT_Resp_From_FEOCM_FO: 8 EOCM_F_FO + SG_ DgnInf_OBJ54B : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 587 USDT_Req_to_FEOCM_obj: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2A_K2_FO,EOCM_F_FO + +BO_ 784 Body_Info_FOB: 6 EOCM_F_FO + SG_ StrgColUpDwnPos : 39|8@0+ (1,0) [0|255] "" DMS_FO + SG_ CPMAPINFO4 : 47|1@0+ (1,0) [0|1] "" DMS_FO + SG_ StrgColInOutPos : 31|8@0+ (1,0) [0|255] "" DMS_FO + SG_ StrgColCommsFlt : 19|2@0+ (1,0) [0|3] "" DMS_FO + SG_ DrDoorOpenSwActV : 16|1@0+ (1,0) [0|1] "" DMS_FO + SG_ DrDoorOpenSwAct : 17|1@0+ (1,0) [0|1] "" DMS_FO + SG_ DrvWndPosStat : 22|3@0+ (1,0) [0|7] "" CIPM_FO,DMS_FO,VIS2_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ InterLghtStat : 23|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,VIS2_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvrHndsOnWhlZn3 : 13|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,DMS_FO,VIS2_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ DrvrHndsOnWhlZn2 : 14|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,VIS2_FO + SG_ DrvrHndsOnWhlZn1 : 15|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,VIS2_FO + SG_ WSWshSwAtv : 11|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,VIS_FO,VIS2_FO + SG_ SysPwrMdV : 8|1@0+ (1,0) [0|1] "" NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO,LRSRR_FO,CIPM_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,VIS2_FO + SG_ SysPwrMd : 10|2@0+ (1,0) [0|3] "" NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO,LRSRR_FO,CIPM_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,VIS2_FO + SG_ WSWprAct : 2|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ RtLwBmFld : 4|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ OtsdAmbtLtLvlStatV : 5|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ OtsdAmbtLtLvlStat : 7|2@0+ (1,0) [0|3] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ LowBmAct : 1|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ LftLwBmFld : 3|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ HighBmAct : 0|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO + SG_ TrStLgMdAtv : 12|1@0+ (1,0) [0|1] "" CIPM_FO,NVS_FO,RRSRR_FO,LRSRR_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,LRR_FO,RFSRR_FO,LFSRR_FO,RSRR_FO,VIS_FO,VIS2_FO + +BO_ 1539 RF_SRR_Trace_Data: 8 RFSRR_FO + SG_ RFSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RFSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RFSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO + +BO_ 776 F_Vehicle_Path_Data_2: 7 EOCM_F_FO + SG_ Vpath_Data2ModeInfo : 44|2@0+ (1,0) [0|3] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath2_Checksum : 42|11@0+ (1,0) [0|2047] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RFSRR_FO,LFSRR_FO,RSRR_FO,LRR_FO + SG_ Vpath_Data2RollCnt : 46|2@0+ (1,0) [0|3] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2YawRateV : 2|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2LongVelV : 1|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,NVS_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2LatVelV : 47|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2TravlDirctn : 4|2@0+ (1,0) [0|3] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2LongVel : 15|12@0- (0.0625,0) [-128|127.9375] "m/s" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,NVS_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2YawRate : 19|12@0- (0.0625,0) [-128|127.9375] "deg/s" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_Data2LatVel : 39|8@0- (0.05,0) [-6.4|6.35] "m/s" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + +BO_ 161 F_Master_Time_Sync: 7 EOCM_F_FO + SG_ FTimeSyncMstrChksm : 35|12@0+ (1,0) [0|4095] "" AMM_FO,CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ FTimeSyncMstrClock : 7|32@0+ (1,0) [0|4294967295] "ms" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ SensorModeCmdLRR : 39|3@0+ (1,0) [0|7] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ SensorModeCmdSRR : 50|3@0+ (1,0) [0|7] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ SensorModeCmdFCamera : 53|3@0+ (1,0) [0|7] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ FTimeSyncMstrClockV : 36|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,LRR_FO,RFSRR_FO,LFSRR_FO + +BO_ 774 F_Vehicle_Path_Estimate: 8 EOCM_F_FO + SG_ Vpath_RollingCount : 7|2@0+ (1,0) [0|3] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_TrnCtrLngOfstV : 1|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO + SG_ Vpath_Checksum : 50|11@0+ (1,0) [0|2047] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_TrnCtrLngOfst : 15|8@0- (0.1,0) [-12.8|12.7] "m" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO + SG_ Vpath_TrnCtrLatOfst : 21|14@0- (1,0) [-8192|8191] "m" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO + SG_ Vpath_Curvature : 39|16@0- (1E-005,0) [-0.32768|0.32767] "1/m" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO + SG_ Vpath_CurvatureV : 0|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,LRR_FO,RSRR_FO,RFSRR_FO,LFSRR_FO + +BO_ 848 F_Vision_Environment: 8 VIS_FO + SG_ FwdVsnEnvIllum : 37|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnRtV : 1|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnRt : 31|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnChngStatus : 39|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseSystemOK : 4|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSnsLLnPosValid : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSenseDistToLLnEdge : 14|7@0+ (0.05,0) [0|6.35] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRLnPosValid : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsDistToRLnEdge : 22|7@0+ (0.05,0) [0|6.35] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseTimeStampV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseTimeStamp : 34|11@0+ (1,0) [0|2047] "ms" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseSystemOKV : 3|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 849 F_Vision_Environment_2: 8 VIS_FO + SG_ LnSnsLatVRelToRgtMrkg : 23|8@0- (0.02,0) [-2.56|2.54] "m/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ LnSnsRtLnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntRtV : 63|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnMrkgWdthRt : 62|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRtAnchrLn : 57|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtAnchrLn : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrRghtV : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrRght : 47|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntRt : 31|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/rad/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID : 2|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLatVRelToLftMrkg : 15|8@0- (0.02,0) [-2.56|2.54] "m/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 1184 R_SRR_Object_Header: 8 RSRR_FO + SG_ RSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ RSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ RSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + SG_ RSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1185 R_SRR_Object_Track1: 8 RSRR_FO + SG_ RSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1186 R_SRR_Object_Track2: 8 RSRR_FO + SG_ RSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1187 R_SRR_Object_Track3: 8 RSRR_FO + SG_ RSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1188 R_SRR_Object_Track4: 8 RSRR_FO + SG_ RSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1189 R_SRR_Object_Track5: 8 RSRR_FO + SG_ RSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1190 R_SRR_Object_Track6: 8 RSRR_FO + SG_ RSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1191 R_SRR_Object_Track7: 8 RSRR_FO + SG_ RSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1192 R_SRR_Object_Track8: 8 RSRR_FO + SG_ RSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1193 R_SRR_Object_Track9: 8 RSRR_FO + SG_ RSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1194 R_SRR_Object_Track10: 8 RSRR_FO + SG_ RSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1410 RVB_TVR_Debug: 6 EOCM_F_FO + SG_ VBBrkRqActv : 7|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ PATOSTTC : 37|12@0+ (0.025,0) [0|102.375] "s" Dummy_FO + SG_ BWTOSObjID : 27|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ BWTOSLonPstn : 23|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ VBSwInd : 10|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ VBBrkCtrlSt : 15|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ BrkPlsRqst : 6|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBOpSt : 12|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ VBAccelOvrrd : 0|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBUnavail : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBFld : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBDisbld : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBEnbl : 4|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VBBrkPrfReq : 5|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1216 LF_SRR_Object_Header: 8 LFSRR_FO + SG_ LFSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ LFSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ LFSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + SG_ LFSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ LFSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1217 LF_SRR_Object_Track1: 8 LFSRR_FO + SG_ LFSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1218 LF_SRR_Object_Track2: 8 LFSRR_FO + SG_ LFSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1219 LF_SRR_Object_Track3: 8 LFSRR_FO + SG_ LFSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1220 LF_SRR_Object_Track4: 8 LFSRR_FO + SG_ LFSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1221 LF_SRR_Object_Track5: 8 LFSRR_FO + SG_ LFSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1222 LF_SRR_Object_Track6: 8 LFSRR_FO + SG_ LFSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1223 LF_SRR_Object_Track7: 8 LFSRR_FO + SG_ LFSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1224 LF_SRR_Object_Track8: 8 LFSRR_FO + SG_ LFSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1225 LF_SRR_Object_Track9: 8 LFSRR_FO + SG_ LFSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1226 LF_SRR_Object_Track10: 8 LFSRR_FO + SG_ LFSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ LFSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ LFSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ LFSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ LFSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ LFSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ LFSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ LFSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + +BO_ 1232 RF_SRR_Object_Header: 8 RFSRR_FO + SG_ RFSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RFSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ RFSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ RFSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + SG_ RFSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1233 RF_SRR_Object_Track1: 8 RFSRR_FO + SG_ RFSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1234 RF_SRR_Object_Track2: 8 RFSRR_FO + SG_ RFSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1235 RF_SRR_Object_Track3: 8 RFSRR_FO + SG_ RFSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1236 RF_SRR_Object_Track4: 8 RFSRR_FO + SG_ RFSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1237 RF_SRR_Object_Track5: 8 RFSRR_FO + SG_ RFSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1238 RF_SRR_Object_Track6: 8 RFSRR_FO + SG_ RFSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1239 RF_SRR_Object_Track7: 8 RFSRR_FO + SG_ RFSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1240 RF_SRR_Object_Track8: 8 RFSRR_FO + SG_ RFSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1241 RF_SRR_Object_Track9: 8 RFSRR_FO + SG_ RFSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1242 RF_SRR_Object_Track10: 8 RFSRR_FO + SG_ RFSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RFSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RFSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RFSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RFSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RFSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RFSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RFSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RFSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1056 F_Vision_Obj_Header: 6 VIS_FO + SG_ FVsnSnsrBlckd : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ ClstInPathVehObjID : 30|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FrtVsnFld : 6|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnIniDiagSuccCmpt : 5|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnSrvAlgnInPrcs : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnUnvlbl : 7|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVISModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FVisionNumValidTrgts : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisionTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ VISBurstChecksum : 39|16@0+ (1,0) [0|65535] "" EOCM_F_FO + +BO_ 1057 F_Vision_Obj_Track_1: 8 VIS_FO + SG_ FwdVsnRngTrk1Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk1Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr1Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk1 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisBurstIDTrk1 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk1 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk1 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk1 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ ObjDirTrk1 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1058 F_Vision_Obj_Track_2: 8 VIS_FO + SG_ FwdVsnVertPosTrk2 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk2Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk2Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ ObjDirTrk2 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FwdVsnObjTypTr2Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisBurstIDTrk2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk2 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk2 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk2 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1059 F_Vision_Obj_Track_3: 8 VIS_FO + SG_ FwdVsnVertPosTrk3 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk3Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk3Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr3Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk3 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk3 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk3 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk3 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk3 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1060 F_Vision_Obj_Track_4: 8 VIS_FO + SG_ FwdVsnVertPosTrk4 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionMeasStatTrk4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk4 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FwdVsnRngTrk4Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk4Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr4Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisBurstIDTrk4 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk4 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ ObjDirTrk4 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionConfTrk4 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1061 F_Vision_Obj_Track_5: 8 VIS_FO + SG_ FwdVsnVertPosTrk5 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk5Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk5Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr5Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk5 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk5 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk5 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk5 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk5 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1062 F_Vision_Obj_Track_6: 8 VIS_FO + SG_ FwdVsnVertPosTrk6 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk6Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk6Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr6Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk6 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk6 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk6 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk6 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk6 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1538 LF_SRR_Trace_Data: 8 LFSRR_FO + SG_ LFSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ LFSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ LFSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO + +BO_ 1537 R_SRR_Trace_data: 8 RSRR_FO + SG_ RSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO + SG_ RSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO + +BO_ 1089 F_Vision_Obj_Track_7: 8 VIS2_FO + SG_ FVisBurstIDTrk7 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk7 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk7 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk7 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FwdVsnRngTrk7Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnObjTypTr7Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk7Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnVertPosTrk7 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ ObjDirTrk7 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1090 F_Vision_Obj_Track_8: 8 VIS2_FO + SG_ FVisBurstIDTrk8 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk8 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk8Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnVertPosTrk8 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk8Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnObjTypTr8Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk8 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionConfTrk8 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk8 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1091 F_Vision_Obj_Track_9: 8 VIS2_FO + SG_ FwdVsnVertPosTrk9 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk9Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk9Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr9Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk9 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk9 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk9 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk9 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk9 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk9 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1092 F_Vision_Obj_Track_10: 8 VIS2_FO + SG_ FwdVsnRngTrk10Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk10Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr10Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk10 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ ObjDirTrk10 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk10 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk10 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk10 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk10 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk10 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1120 F_LRR_Obj_Header: 8 LRR_FO + SG_ FLRRRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRModeCmdFdbk : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRNumValidTargets : 20|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ FLRRTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRTimeStamp : 2|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ FLRRRoadTypeInfo : 5|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + SG_ FLRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRLonVelPlsblityFlt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRYawRtPlsblityFlt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRTunlDtctd : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1121 F_LRR_Obj_Track_1: 8 LRR_FO + SG_ FLRRTrk1BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk1Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk1RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk1RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk1DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk1Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk1Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk1MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk1ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk1Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1122 F_LRR_Obj_Track_2: 8 LRR_FO + SG_ FLRRTrk2BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk2Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk2RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk2RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk2DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk2Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk2Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk2MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk2ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk2Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1123 F_LRR_Obj_Track_3: 8 LRR_FO + SG_ FLRRTrk3BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk3Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk3RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk3RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk3DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk3Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk3Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk3MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk3ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk3Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1124 F_LRR_Obj_Track_4: 8 LRR_FO + SG_ FLRRTrk4BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk4Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk4RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk4RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk4DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk4Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk4Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk4MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk4ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk4Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1125 F_LRR_Obj_Track_5: 8 LRR_FO + SG_ FLRRTrk5BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk5Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk5RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk5RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk5DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk5Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk5Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk5MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk5ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk5Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1126 F_LRR_Obj_Track_6: 8 LRR_FO + SG_ FLRRTrk6BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk6Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk6RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk6Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk6RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk6DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk6Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk6Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk6MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk6ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1127 F_LRR_Obj_Track_7: 8 LRR_FO + SG_ FLRRTrk7Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk7BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk7Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk7RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk7RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk7DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk7Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk7Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk7MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk7ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1128 F_LRR_Obj_Track_8: 8 LRR_FO + SG_ FLRRTrk8Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk8BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk8Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk8RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk8RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk8DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk8Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk8Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk8MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk8ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1129 F_LRR_Obj_Track_9: 8 LRR_FO + SG_ FLRRTrk9Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk9BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk9Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk9RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk9RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk9DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk9Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk9Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk9MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk9ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1130 F_LRR_Obj_Track_10: 8 LRR_FO + SG_ FLRRTrk10Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk10BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk10Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk10RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk10RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk10DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk10Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk10Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk10MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk10ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1131 F_LRR_Obj_Track_11: 8 LRR_FO + SG_ FLRRTrk11Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk11BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk11Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk11RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk11RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk11DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk11Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk11Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk11MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk11ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1132 F_LRR_Obj_Track_12: 8 LRR_FO + SG_ FLRRTrk12Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk12BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk12Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk12RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk12RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk12DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk12Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk12Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk12MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk12ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1133 F_LRR_Obj_Track_13: 8 LRR_FO + SG_ FLRRTrk13Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk13BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk13Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk13RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk13RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk13DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk13Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk13Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk13MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk13ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1134 F_LRR_Obj_Track_14: 8 LRR_FO + SG_ FLRRTrk14Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk14BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk14Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk14RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk14RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk14DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk14Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk14Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk14MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk14ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1135 F_LRR_Obj_Track_15: 8 LRR_FO + SG_ FLRRTrk15Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk15MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk15Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk15ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FLRRTrk15BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk15Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk15RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk15RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk15DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk15Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + +BO_ 1136 F_LRR_Obj_Track_16: 8 LRR_FO + SG_ FLRRTrk16Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk16BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk16Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk16RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk16RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk16DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk16Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk16Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk16MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk16ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1137 F_LRR_Obj_Track_17: 8 LRR_FO + SG_ FLRRTrk17Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk17BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk17Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk17RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk17RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk17DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk17Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk17Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk17MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk17ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1138 F_LRR_Obj_Track_18: 8 LRR_FO + SG_ FLRRTrk18Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk18BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk18Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk18RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk18RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk18DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk18Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk18Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk18MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk18ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1139 F_LRR_Obj_Track_19: 8 LRR_FO + SG_ FLRRTrk19Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk19BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk19Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk19RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk19RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk19DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk19Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk19Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk19MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk19ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1140 F_LRR_Obj_Track_20: 8 LRR_FO + SG_ FLRRTrk20Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk20BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk20Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO + SG_ FLRRTrk20RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ FLRRTrk20RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO + SG_ FLRRTrk20DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk20Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO + SG_ FLRRTrk20Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FLRRTrk20MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk20ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1141 Long_Range_Radar_add_Info_1: 8 LRR_FO + SG_ FLRRAddInfo1BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk1 : 15|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk1 : 9|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk2 : 23|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk2 : 17|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk3 : 31|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk3 : 25|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk4 : 39|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk4 : 33|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk5 : 47|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk5 : 41|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ Cut_In_Out_Pot_Objtrk6 : 55|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO + SG_ ObjLossInfoObjTrk6 : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1321 F_Fwd_Fus_Obj_TrackB_9: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn9 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB9RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB9Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB9MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB9DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB9RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB9RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB9Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB9ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB9ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB9ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB9ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB9ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB9ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB9NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB9LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB9LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1320 F_Fwd_Fus_Obj_TrackB_8: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn8 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB8RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB8Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB8MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB8DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB8RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB8RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB8Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB8ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB8ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB8ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB8ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB8ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB8ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB8NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB8LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB8LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1319 F_Fwd_Fus_Obj_TrackB_7: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn7 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB7RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB7Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB7MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB7DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB7RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB7RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB7Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB7ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB7ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB7ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB7ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB7ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB7ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB7NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB7LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB7LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1318 F_Fwd_Fus_Obj_TrackB_6: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn6 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB6RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB6Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB6MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB6DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB6RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB6RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB6Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB6ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB6ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB6ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB6ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB6ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB6ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB6NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB6LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB6LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1317 F_Fwd_Fus_Obj_TrackB_5: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn5 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB5RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB5Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB5MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB5DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB5RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB5RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB5Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB5ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB5ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB5ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB5ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB5ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB5ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB5NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB5LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB5LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1316 F_Fwd_Fus_Obj_TrackB_4: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn4 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB4RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB4Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB4MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB4DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB4RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB4RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB4Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB4ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB4ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB4ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB4ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB4ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB4ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB4NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB4LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB4LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1315 F_Fwd_Fus_Obj_TrackB_3: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn3 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB3RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB3Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB3MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB3DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB3RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB3RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB3Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB3ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB3ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB3ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB3ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB3ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB3ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB3NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB3LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB3LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1314 F_Fwd_Fus_Obj_TrackB_2: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn2 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB2RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB2Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB2MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB2DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB2RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB2RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB2Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB2ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB2ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB2ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB2ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB2ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB2ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB2NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB2LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB2LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1327 F_Fwd_Fus_Obj_TrackB_15: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn15 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB15RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB15Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB15MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB15DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB15RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB15RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB15Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB15ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB15ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB15ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB15ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTkB15ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB15ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB15NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB15LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB15LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1326 F_Fwd_Fus_Obj_TrackB_14: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn14 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB14RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB14Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB14MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB14DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB14RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB14RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB14Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB14ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB14ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB14ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB14ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB14ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB14ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB14NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB14LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB14LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1325 F_Fwd_Fus_Obj_TrackB_13: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn13 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB13RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB13Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB13MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB13DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB13RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB13RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB13Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB13ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB13ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB13ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB13ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB13ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB13ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB13NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB13LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB13LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1324 F_Fwd_Fus_Obj_TrackB_12: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn12 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB12RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB12Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB12MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB12DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB12RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB12RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB12Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB12ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB12ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB12ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB12ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB12ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB12ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB12NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB12LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB12LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1323 F_Fwd_Fus_Obj_TrackB_11: 7 EOCM_F_FO + SG_ FwdFusTrkB11DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB11RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB11RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB11Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB11ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB11ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB11ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB11ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB11ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB11ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB11NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB11LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB11LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkBAnlgRlLn11 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB11RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB11Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB11MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + +BO_ 1322 F_Fwd_Fus_Obj_TrackB_10: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn10 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB10RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB10Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB10MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB10DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB10RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB10RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB10Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB10ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB10ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB10ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB10ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB10ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB10ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB10NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB10LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB10LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1313 F_Fwd_Fus_Obj_TrackB_1: 7 EOCM_F_FO + SG_ FwdFusTrkBAnlgRlLn1 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO + SG_ FwdFusTrkB1RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB1Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FwdFusTrkB1MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkB1DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB1RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO + SG_ FwdFusTrkB1RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkB1Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO + SG_ FFusTrkB1ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB1ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB1ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB1ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FFusTrkB1ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB1ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FwdFusTrkB1NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB1LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkB1LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1305 F_Fwd_Fus_Obj_TrackA_9: 8 EOCM_F_FO + SG_ FwdFusTrkA9RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA9ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA9MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA9LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA9RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA9Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA9LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA9RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA9MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA9ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1304 F_Fwd_Fus_Obj_TrackA_8: 8 EOCM_F_FO + SG_ FwdFusTrkA8RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA8ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA8MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA8LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA8RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA8Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA8LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA8RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA8MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA8ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1303 F_Fwd_Fus_Obj_TrackA_7: 8 EOCM_F_FO + SG_ FwdFusTrkA7RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA7ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA7MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA7LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA7RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA7Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA7LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA7RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA7MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA7ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1302 F_Fwd_Fus_Obj_TrackA_6: 8 EOCM_F_FO + SG_ FwdFusTrkA6RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA6ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA6MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA6LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA6RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA6Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA6LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA6RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA6MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA6ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1301 F_Fwd_Fus_Obj_TrackA_5: 8 EOCM_F_FO + SG_ FwdFusTrkA5RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA5ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA5MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA5LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA5RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA5Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA5LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA5RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA5MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA5ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1300 F_Fwd_Fus_Obj_TrackA_4: 8 EOCM_F_FO + SG_ FwdFusTrkA4RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA4ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA4MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA4LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA4RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA4Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA4LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA4RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA4MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA4ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1299 F_Fwd_Fus_Obj_TrackA_3: 8 EOCM_F_FO + SG_ FwdFusTrkA3RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA3ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA3MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA3LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA3RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA3Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA3LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA3RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA3MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA3ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1298 F_Fwd_Fus_Obj_TrackA_2: 8 EOCM_F_FO + SG_ FwdFusTrkA2RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA2ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA2MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA2LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA2RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA2Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA2LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA2RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA2MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA2ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1311 F_Fwd_Fus_Obj_TrackA_15: 8 EOCM_F_FO + SG_ FwdFusTrkA15RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA15ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA15MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA15LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA15RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA15Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA15LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA15RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA15MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA15ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1310 F_Fwd_Fus_Obj_TrackA_14: 8 EOCM_F_FO + SG_ FwdFusTrkA14RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA14ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA14MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA14LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA14RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA14Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA14LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA14RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA14MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA14ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1309 F_Fwd_Fus_Obj_TrackA_13: 8 EOCM_F_FO + SG_ FwdFusTrkA13RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA13ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA13MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA13LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA13RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA13Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA13LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA13RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA13MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA13ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1308 F_Fwd_Fus_Obj_TrackA_12: 8 EOCM_F_FO + SG_ FwdFusTrkA12RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA12ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA12MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA12LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA12RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA12Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA12LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA12RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA12MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA12ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1307 F_Fwd_Fus_Obj_TrackA_11: 8 EOCM_F_FO + SG_ FwdFusTrkA11ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA11MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA11LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA11RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA11Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA11LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA11RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA11MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA11ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + SG_ FwdFusTrkA11RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + +BO_ 1306 F_Fwd_Fus_Obj_TrackA_10: 8 EOCM_F_FO + SG_ FwdFusTrkA10RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA10ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA10MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA10LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA10RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA10Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA10LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA10RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA10MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA10ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1297 F_Fwd_Fus_Obj_TrackA_1: 8 EOCM_F_FO + SG_ FwdFusTrkA1RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA1ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ FwdFusTrkA1MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ FwdFusTrkA1LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + SG_ FwdFusTrkA1RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA1Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA1LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ FwdFusTrkA1RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO + SG_ FwdFusTrkA1MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ FwdFusTrkA1ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 1296 F_Fwd_Fus_Obj_Header: 7 EOCM_F_FO + SG_ F_FusHeadRollingCount : 7|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ F_FusHeadFuncState : 5|2@0+ (1,0) [0|3] "" Dummy_FO + SG_ F_FusHedNmValTargts : 3|4@0+ (1,0) [0|15] "" Dummy_FO + SG_ F_FusHead_LrrOK : 15|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHead_LFSRROK : 14|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHead_VIsOK : 13|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHead_MapDataOK : 12|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHeadTimStmpV : 11|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHeadTimStmp : 10|11@0+ (1,0) [0|2047] "ms" Dummy_FO + SG_ F_FusHead_LCSRROK : 31|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHead_RCSRROK : 30|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHead_RFSRROK : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ F_FusHed_ObjClstrCurv : 28|13@0- (5E-005,0) [-0.2048|0.20475] "1/m" Dummy_FO + SG_ F_FusHdObjClstTanHdng : 47|8@0- (0.002,0) [-0.256|0.254] "m/m" Dummy_FO + SG_ RoadTypeInfo : 55|3@0+ (1,0) [0|7] "" Dummy_FO + +BO_ 257 USDT_Req_to_All_FO_ECUs: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LRSRR_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2A_K2_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K1_FO,NVS_FO,CIPM_FO,VIS2_FO,RRSRR_FO,VIS_FO,RFSRR_FO,LRR_FO,LFSRR_FO,RSRR_FO,EOCM_F_FO + +BO_ 584 USDT_Req_to_6DOFIMU2_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" _DOFIMU2_FO + +BO_ 1348 UUDT_Resp_From_6DOFIMU1_FO: 8 _DOFIMU1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1604 USDT_Resp_From_6DOFIMU1_FO: 8 _DOFIMU1_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 580 USDT_Req_to_6DOFIMU1_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" _DOFIMU1_FO + +BO_ 1349 UUDT_Resp_From_DMS_FO: 8 DMS_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1605 USDT_Resp_From_DMS_FO: 8 DMS_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 581 USDT_Req_to_DMS_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" DMS_FO + +BO_ 1372 UUDT_Resp_From_AMM_FO: 8 AMM_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1628 USDT_Resp_From_AMM_FO: 8 AMM_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 604 USDT_Req_to_AMM_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" AMM_FO + +BO_ 1622 USDT_Resp_From_EOCM2B_IMX6_FO: 8 EOCM2B_IMX6_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 1366 UUDT_Resp_From_EOCM2B_IMX6_FO: 8 EOCM2B_IMX6_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO + +BO_ 598 USDT_Req_to_EOCM2B_IMX6_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2B_IMX6_FO + +BO_ 590 USDT_Req_to_Free_4E_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Vector__XXX + +BO_ 1338 VPDR_Debug: 8 EOCM_F_FO + SG_ FrtRWARateDiagFA : 43|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FrtRWABiasDiagFA : 42|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ HWAFrtVal : 41|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ HWADotValFrt : 40|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAxRangeFA : 39|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAxRateFA : 38|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAxBiasFA : 37|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehAxCompFA : 36|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAxVal : 35|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAxVal : 34|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FrtRWACorrFA : 33|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FrtRWARangeDiagFA : 32|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAyBiasFA : 31|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehAyCompFA : 30|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAyVal : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAyVal : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehAxCorrFA : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAxRangeFA : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAxRateFA : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAxBiasFA : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehWzVal : 23|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehWzVal : 22|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehAyCorrDiagFA : 21|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAyRangeFA : 20|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAyRateFA : 19|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehAyBiasFA : 18|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAyRangeFA : 17|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehAyRateFA : 16|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehWzCorrDiagFA : 15|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehWzRangeFA : 14|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehWzRateFA : 13|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S1VehWzBiasFA : 12|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehWzRangeFA : 11|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehWzRateFA : 10|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ S2VehWzBiasFA : 9|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehWzCompFA : 8|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlVxLFCorrDiagFA : 7|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlVxRFCorrDiagFA : 6|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlVxLRCorrDiagFA : 5|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlVxRRCorrDiagFA : 4|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlLFVal : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlRFVal : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlLRVal : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ WhlRRVal : 0|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1328 Diag_Debug1: 8 EOCM_F_FO + SG_ AlrtWrnIndReqFP : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AlrtWrnIndReqFA : 0|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILRSRRSnsr_FP : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILRSRRSnsr_FA : 23|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILRSRRFrehns_FA : 22|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathEstCrvCSFP : 21|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathEstCrvCSFA : 20|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathWzEstCSFP : 19|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathWzEstCSFA : 18|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathVyEstCSFP : 17|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathVyEstCSFA : 16|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathVxEstCSFP : 15|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VehPathVxEstCSFA : 14|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCCSFP : 13|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCCSFA : 12|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyCSFP : 11|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyCSFA : 10|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThLxVxAxCSFP : 9|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThLxVxAxCSFA : 8|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ CurSetValDiagFP : 7|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ CurSetValDiagFA : 6|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ CrsAltDvrSlTpDiagFP : 5|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ CrsAltDvrSlTpDiagFA : 4|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FCAStatDiagFP : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FCAStatDiagFA : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBBrkCtrlStFP : 62|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBBrkCtrlStFA : 61|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBOpStFP : 60|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBOpStFA : 59|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBBrkCtrlAccFP : 58|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBBrkCtrlAccFA : 57|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBAxlTrqRqFP : 56|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ RVBAxlTrqRqFA : 55|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRUPATTCFP : 54|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRUPATTCFA : 53|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtObjIDFP : 52|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtObjIDFA : 51|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtTTCFP : 50|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtTTCFA : 49|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtLxFP : 48|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtLxFA : 47|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtLyFP : 46|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TVRHiThrtLyFA : 45|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFFuncStFP : 44|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFFuncStFA : 43|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFObjIDFP : 42|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFObjIDFA : 41|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLatPstnVelRatFP : 40|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLatPstnVelRatFA : 39|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLonPstnVelFP : 38|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLonPstnVelFA : 37|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLatVelDiagFP : 36|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLatVelDiagFA : 35|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLatPstnDiagFP : 34|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLatPstnDiagFA : 33|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFNrRltvLonPstnFP : 32|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFNrRltvLonPstnFA : 31|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLonPstnVelRatFP : 30|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFLonPstnVelRatFA : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFConfDiagFP : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFConfDiagFA : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLnDiagFP : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ROFRltvLnDiagFA : 25|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1335 Diag_Debug3: 8 EOCM_F_FO + SG_ BrkSysCmdAxDiagFPQ : 63|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ BrkSysCmdAxDiagFAQ : 62|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AxleTorqReqDiagFPQ : 61|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AxleTorqReqDiagFAQ : 60|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AutoBrkTypeDiagFPQ : 59|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AutoBrkTypeDiagFAQ : 58|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCFPQ : 57|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCFAQ : 56|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTmpMemFPQ : 55|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTmpMemFAQ : 54|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLxVxAxFPQ : 53|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLxVxAxFAQ : 52|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtVyFPQ : 51|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtVyFAQ : 50|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyFPQ : 49|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyFAQ : 48|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtConPriFPQ : 47|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtConPriFAQ : 46|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtCJLFPQ : 45|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtCJLFAQ : 44|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPDynPropDiagFPQ : 43|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPDynPropDiagFAQ : 42|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRdTypInfoFPQ : 41|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRdTypInfoFAQ : 40|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRltvLnDiagFPQ : 39|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRltvLnDiagFAQ : 38|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumCycDiagFPQ : 37|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumCycDiagFAQ : 36|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumFusCyclsFPQ : 35|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumFusCyclsFAQ : 34|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNrRltvLonPstnFPQ : 33|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNrRltvLonPstnFAQ : 32|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonVelAccRatFPQ : 31|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonVelAccRatFAQ : 30|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPstnVelRatFPQ : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPstnVelRatFAQ : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPosVelAccFPQ : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPosVelAccFAQ : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatVelDiagFPQ : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatVelDiagFAQ : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatPstnDiagFPQ : 23|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatPstnDiagFAQ : 22|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFConfDiagFPQ : 21|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFConfDiagFAQ : 20|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFOvrlpRtlChk_FAQ : 19|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFOvrlpRtlChk_FAQ : 18|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRROvrlpRtlChk_FAQ : 17|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISOvrlpRtlChk_FAQ : 16|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISAlign_FAQ : 15|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISSnsr_FAQ : 14|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISSnsr_FPQ : 13|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISFrshns_FAQ : 12|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRAlign_FAQ : 11|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRFrshns_FAQ : 10|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRSnsr_FAQ : 9|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRSnsr_FPQ : 8|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRAlign_FAQ : 7|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRFrehns_FAQ : 6|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRSnsr_FAQ : 5|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRSnsr_FPQ : 4|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRSnsr_FPQ : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRSnsr_FAQ : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRFrshns_FAQ : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRAlign_FAQ : 0|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1331 Diag_Debug2: 8 EOCM_F_FO + SG_ TCPHiThrtTmpMemFP : 63|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTmpMemFA : 62|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtConPriFP : 61|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtConPriFA : 60|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtCJLFP : 59|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCFP : 58|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtTTCFA : 57|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtVyFP : 56|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtVyFA : 55|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyFP : 54|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLyFA : 53|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLxVxAxFP : 52|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtLxVxAxFA : 51|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRdTypInfoFP : 50|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRdTypInfoFA : 49|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AutoBrkTypeDiagFA : 48|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ BrkSysCmdAxDiagFP : 47|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ BrkSysCmdAxDiagFA : 46|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AxleTorqReqDiagFP : 45|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AxleTorqReqDiagFA : 44|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPDynPropDiagFP : 43|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPDynPropDiagFA : 42|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ TCPHiThrtCJLFA : 41|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumFusCyclsFP : 40|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ AutoBrkTypeDiagFP : 39|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumFusCyclsFA : 38|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatVelDiagFP : 37|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatVelDiagFA : 36|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatPstnDiagFP : 35|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLatPstnDiagFA : 34|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumCycDiagFP : 33|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNumCycDiagFA : 32|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRltvLnDiagFP : 31|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFRltvLnDiagFA : 30|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFConfDiagFP : 29|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFConfDiagFA : 28|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonVelAccRatFP : 27|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonVelAccRatFA : 26|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPstnVelRatFP : 25|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPstnVelRatFA : 24|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNrRltvLonPstnFP : 23|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFNrRltvLonPstnFA : 22|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPosVelAccFP : 21|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ FOFLonPosVelAccFA : 20|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISOvrlpRtlChk_FA : 19|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRROvrlpRtlChk_FA : 18|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFOvrlpRtlChk_FA : 17|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFOvrlpRtlChk_FA : 16|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISAlign_FA : 15|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISFrshns_FA : 14|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISSnsr_FP : 13|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ VISSnsr_FA : 12|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRAlign_FA : 11|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRFrshns_FA : 10|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRSnsr_FP : 9|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ LRRSnsr_FA : 8|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRAlign_FA : 7|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRFrehns_FA : 6|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRSnsr_FP : 5|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ IRFSRRSnsr_FA : 4|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRAlign_FA : 3|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRFrshns_FA : 2|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRSnsr_FP : 1|1@0+ (1,0) [0|1] "" Dummy_FO + SG_ ILFSRRSnsr_FA : 0|1@0+ (1,0) [0|1] "" Dummy_FO + +BO_ 1787 AL_Test_Tool_Rsp_RFSRR: 8 RFSRR_FO + SG_ RFSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Dummy_FO + +BO_ 1788 AL_Test_Tool_Rsp_LFSRR: 8 LFSRR_FO + SG_ LFSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Dummy_FO + +BO_ 1790 AL_Test_Tool_Req_RFSRR: 8 Dummy_FO + SG_ RFSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RFSRR_FO + +BO_ 1791 AL_Test_Tool_Req_LFSRR: 8 Dummy_FO + SG_ LFSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LFSRR_FO + +BO_ 1786 AL_Test_Tool_Rsp_RSRR: 8 RSRR_FO + SG_ RSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Dummy_FO + +BO_ 1789 AL_Test_Tool_Req_RSRR: 8 Dummy_FO + SG_ RSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RSRR_FO + +BO_ 1149 F_LRR_Azmth_Rate_Info_4: 8 LRR_FO + SG_ FLRRTrk20AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk19AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk18AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk17AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk16AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRAzRtInf4BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1148 F_LRR_Azmth_Rate_Info_3: 8 LRR_FO + SG_ FLRRTrk15AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk14AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk13AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk12AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk11AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRAzRtInf3BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1147 F_LRR_Azmth_Rate_Info_2: 8 LRR_FO + SG_ FLRRTrk9AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk8AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk7AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk6AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk10AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRAzRtInf2BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1146 F_LRR_Azmth_Rate_Info_1: 8 LRR_FO + SG_ FLRRTrk5AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk4AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk3AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk2AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRTrk1AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FLRRAzRtInf1BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1143 Long_Range_Radar_add_Info_3: 8 LRR_FO + SG_ FLRRAddInfo3BurstID : 57|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk13ObstType : 60|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk20ObstTypeConf : 52|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk20ObstType : 55|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk19ObstTypeConf : 44|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk19ObstType : 47|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk18ObstTypeConf : 36|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk18ObstType : 39|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk17ObstTypeConf : 28|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk17ObstType : 31|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk16ObstTypeConf : 20|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk16ObstType : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk15ObstTypeConf : 12|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk15ObstType : 15|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk14ObstTypeConf : 4|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk14ObstType : 7|3@0+ (1,0) [0|7] "" EOCM_F_FO + +BO_ 1142 Long_Range_Radar_add_Info_2: 8 LRR_FO + SG_ FLRRAddInfo2BurstID : 62|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRTrk13ObstTypeConf : 60|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk12ObstTypeConf : 52|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk12ObstType : 55|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk11ObstTypeConf : 44|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk11ObstType : 47|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk10ObstTypeConf : 36|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk10ObstType : 39|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk9ObstTypeConf : 28|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk9ObstType : 31|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk8ObstTypeConf : 20|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk8ObstType : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk7ObstTypeConf : 12|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk7ObstType : 15|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRTrk1ObstTypeConf : 4|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO + SG_ FLRRTrk1ObstType : 7|3@0+ (1,0) [0|7] "" EOCM_F_FO + +BO_ 851 F_Vision_Environment_4: 8 VIS_FO + SG_ LnMrkg3LnPrvwDst : 45|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTtlNmLnMrkgDetRt : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRtLinCrsTm : 25|5@0+ (0.1,0) [0|3.1] "s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsNumPrlLnsDetRt : 33|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsNumPrlLnsDetLt : 36|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntLftV : 31|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLinCrsTm : 30|5@0+ (0.1,0) [0|3.1] "s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnPrvwDst : 50|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkgTypChgDst : 40|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkgWdth : 62|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMarkrElvtd : 51|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4AnchrLnLin : 57|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkgWdth : 41|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMarkrElvtd : 46|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3AnchrLnLin : 52|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID2 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntLft : 15|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/rad/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 597 USDT_Req_to_VIS2_FO: 8 TestTool_FO + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" CIPM_FO,VIS2_FO + +BO_ 1204 RR_SRR_Object_Track4: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1203 RR_SRR_Object_Track3: 8 RRSRR_FO + SG_ RRSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + SG_ RRSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1202 RR_SRR_Object_Track2: 8 RRSRR_FO + SG_ RRSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + +BO_ 1201 RR_SRR_Object_Track1: 8 RRSRR_FO + SG_ RRSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO + SG_ RRSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO + SG_ RRSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO + SG_ RRSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO + SG_ RRSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ RRSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO + +BO_ 1200 RR_SRR_Object_Header: 8 RRSRR_FO + SG_ RRSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "" EOCM_F_FO + SG_ RRSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ RRSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ RRSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ RRSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ RRSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + +BO_ 850 F_Vision_Environment_3: 8 VIS_FO + SG_ LnSnsTtlNmLnMrkgDetLt : 58|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLnMrkgWdth : 63|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLnMrkgTypChgDst : 62|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnLftV : 23|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnLft : 31|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrLftV : 15|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrLft : 39|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrTypRght : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrTypLft : 53|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrElvtdRght : 54|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrElvtdLft : 55|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID1 : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnQltyCnfdncLvlRght : 22|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnQltyCnfdncLvlLft : 14|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnPrvwDstncRght : 2|3@0+ (10,0) [0|70] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnPrvwDstncLft : 5|3@0+ (10,0) [0|70] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 1414 RVB_TVR_Debug2_FO: 7 EOCM_F_FO + SG_ VBBrkCntlAccel : 45|12@0- (0.01,0) [-20.48|20.47] "m/s^2" Dummy_FO + SG_ VBTOSObjID : 35|6@0+ (1,0) [0|63] "" Dummy_FO + SG_ VBTOSTTC : 31|12@0+ (0.025,0) [0|102.375] "s" Dummy_FO + SG_ VBTOSLatPstn : 11|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO + SG_ VBTOSLonPstn : 7|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO + diff --git a/opendbc/cadillac_ct6_powertrain.dbc b/opendbc/cadillac_ct6_powertrain.dbc new file mode 100644 index 000000000..9cbcc5fd3 --- /dev/null +++ b/opendbc/cadillac_ct6_powertrain.dbc @@ -0,0 +1,248 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM +VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ; +VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; +VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ; +VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ; +VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ; +VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; + + +BO_ 717 ASCM_2CD: 5 K124_ASCM + +BO_ 869 ASCM_365: 4 K124_ASCM + +BO_ 1034 ASCM_40A: 7 K124_ASCM + +BO_ 1296 ASCM_510: 4 K124_ASCM + +BO_ 1930 ASCM_78A: 7 K124_ASCM + +BO_ 190 ECMAcceleratorPos: 6 K20_ECM + SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky" NEO + SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] "" NEO + +BO_ 201 ECMEngineStatus: 8 K20_ECM + SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO + SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO + +BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM + SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX + SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX + SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX + SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX + +BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM + SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO + +BO_ 298 BCMDoorBeltStatus: 8 K9_BCM + SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] "" NEO + SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] "" NEO + SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] "" NEO + SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] "" NEO + SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] "" NEO + SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] "" NEO + +BO_ 309 ECMPRDNL: 8 K20_ECM + SG_ PRNDL : 2|3@0+ (1,0) [0|0] "" NEO + +BO_ 320 BCMTurnSignals: 3 K9_BCM + SG_ TurnSignals : 19|2@0+ (1,0) [0|0] "" NEO + +BO_ 336 ASCMLKASStatus: 1 NEO + SG_ Available : 7|1@0+ (1,0) [0|0] "" NEO + +BO_ 338 ASCMLKASteeringCmd: 6 NEO + SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO + SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO + SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO + SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO + SG_ LKASMode : 36|2@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO + +BO_ 340 ASCMBLKASteeringCmd: 6 NEO + SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO + SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO + SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO + SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO + SG_ LKASMode : 36|2@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO + +BO_ 381 MSG_17D: 8 K20_ECM + SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] "" NEO + +BO_ 356 PSCMStatus: 8 K43_PSCM + SG_ LKATorqueDeliveredStatus : 7|3@0+ (1,0) [0|7] "" NEO + SG_ LKADriverAppldTrq : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO + SG_ LKATBDTorque : 21|14@0- (-0.005,0) [-10.24|10.23] "Nm" NEO + SG_ RollingCounter : 39|2@0+ (1,0) [0|0] "" NEO + SG_ LKATotalTorqueDelivered : 37|14@0- (0.01,0) [-10.24|10.23] "Nm" NEO + +BO_ 417 AcceleratorPedal: 7 XXX + SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 451 GasAndAcc: 8 XXX + SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 452 AcceleratorPedal2: 8 XXX + SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] "" NEO + +BO_ 481 ASCMSteeringButton: 7 K124_ASCM + SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO + SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO + SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO + +BO_ 485 PSCMSteeringAngle: 8 K43_PSCM + SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO + SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO + +BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM + SG_ YawRate : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO + SG_ LateralAcceleration : 3|12@0- (0.0161,0) [-2047|2047] "m/s2" NEO + SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO + +BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM + SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO + SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO + +BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM + SG_ GasRegenAlwaysOne : 9|1@0+ (1,1) [1|1] "" NEO + SG_ GasRegenAlwaysThree : 15|2@0+ (1,1) [1|1] "" NEO + SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO + SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO + SG_ RollingCounter2 : 36|4@0+ (1,0) [0|0] "" NEO + SG_ GasRegenAlwaysOne2 : 23|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenCmd : 22|15@0+ (1,0) [0|0] "" NEO + +BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC + SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO + SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO + +BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM + SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + +BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM + SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + +BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM + SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO + SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO + SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO + SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO + +BO_ 1001 ECMVehicleSpeed: 8 K20_ECM + SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO + +BO_ 1033 ASCMKeepAlive: 7 NEO + SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO + +BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM + SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C" NEO + +BO_ 1249 VIN_Part2: 8 K20_ECM + SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1300 VIN_Part1: 8 K20_ECM + SG_ VINPart1 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1912 PSCM_778: 8 K43_PSCM + +BO_TX_BU_ 338 : K124_ASCM,NEO; +BO_TX_BU_ 880 : NEO,K124_ASCM; +BO_TX_BU_ 1033 : K124_ASCM,NEO; +BO_TX_BU_ 715 : NEO,K124_ASCM; + + +CM_ BU_ K16_BECM "Battery Energy Control Module"; +CM_ BU_ K73_TCIC "Telematics Communication Control Module"; +CM_ BU_ K9_BCM "Body Control Module"; +CM_ BU_ K43_PSCM "Power Steering Control Module"; +CM_ BU_ K17_EBCM "Electronic Brake Control Module"; +CM_ BU_ K20_ECM "Engine Control Module"; +CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +CM_ SG_ 381 MSG17D_AccPower "Need to investigate"; +CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62"; +CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62"; +CM_ SG_ 715 RollingCounter2 "Values cycle between 0, 7, 10, 13"; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; +BA_ "UseGMParameterIDs" 0; +VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ; +VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ; +VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; +VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ; +VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ; +VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 356 LKATorqueDeliveredStatus 7 "Override Fault" 6 "LKAS Fault but Responsive" 5 "TBD but Responsive" 4 "TBD but Responsive" 3 "Fault" 1 "Active" 0 "Inactive" ; +VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ; diff --git a/opendbc/can/__init__.py b/opendbc/can/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/opendbc/can/can_define.py b/opendbc/can/can_define.py new file mode 100644 index 000000000..ad79432a7 --- /dev/null +++ b/opendbc/can/can_define.py @@ -0,0 +1,2 @@ +from opendbc.can.parser_pyx import CANDefine # pylint: disable=no-name-in-module, import-error +assert CANDefine diff --git a/opendbc/can/common.h b/opendbc/can/common.h new file mode 100644 index 000000000..edaf1c881 --- /dev/null +++ b/opendbc/can/common.h @@ -0,0 +1,96 @@ +#pragma once + +#include +#include +#include + +#include "common_dbc.h" +#include +#include + +#ifndef DYNAMIC_CAPNP +#include "cereal/gen/cpp/log.capnp.h" +#endif + +#define INFO printf +#define WARN printf +#define DEBUG(...) +//#define DEBUG printf + +#define MAX_BAD_COUNTER 5 + +void init_crc_lookup_tables(); + +// Car specific functions +unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int toyota_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int xor_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector &d); +unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vector &d); + +class MessageState { +public: + uint32_t address; + unsigned int size; + + std::vector parse_sigs; + std::vector vals; + std::vector> all_vals; + + uint64_t last_seen_nanos; + uint64_t check_threshold; + + uint8_t counter; + uint8_t counter_fail; + + bool ignore_checksum = false; + bool ignore_counter = false; + + bool parse(uint64_t sec, const std::vector &dat); + bool update_counter_generic(int64_t v, int cnt_size); +}; + +class CANParser { +private: + const int bus; + kj::Array aligned_buf; + + const DBC *dbc = NULL; + std::unordered_map message_states; + +public: + bool can_valid = false; + bool bus_timeout = false; + uint64_t first_sec = 0; + uint64_t last_sec = 0; + uint64_t last_nonempty_sec = 0; + uint64_t bus_timeout_threshold = 0; + + CANParser(int abus, const std::string& dbc_name, + const std::vector &options, + const std::vector &sigoptions); + CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter); + #ifndef DYNAMIC_CAPNP + void update_string(const std::string &data, bool sendcan); + void UpdateCans(uint64_t sec, const capnp::List::Reader& cans); + #endif + void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans); + void UpdateValid(uint64_t sec); + std::vector query_latest(); +}; + +class CANPacker { +private: + const DBC *dbc = NULL; + std::map, Signal> signal_lookup; + std::map message_lookup; + std::map counters; + +public: + CANPacker(const std::string& dbc_name); + std::vector pack(uint32_t address, const std::vector &values); + Msg* lookup_message(uint32_t address); +}; diff --git a/opendbc/can/common.pxd b/opendbc/can/common.pxd new file mode 100644 index 000000000..1d34a2606 --- /dev/null +++ b/opendbc/can/common.pxd @@ -0,0 +1,85 @@ +# distutils: language = c++ +# cython: language_level=3 + +from libc.stdint cimport uint8_t, uint16_t, uint32_t, uint64_t +from libcpp cimport bool +from libcpp.map cimport map +from libcpp.string cimport string +from libcpp.vector cimport vector +from libcpp.unordered_set cimport unordered_set + + +ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &) + +cdef extern from "common_dbc.h": + ctypedef enum SignalType: + DEFAULT, + COUNTER, + HONDA_CHECKSUM, + TOYOTA_CHECKSUM, + PEDAL_CHECKSUM, + VOLKSWAGEN_MQB_CHECKSUM, + XOR_CHECKSUM, + SUBARU_CHECKSUM, + CHRYSLER_CHECKSUM + HKG_CAN_FD_CHECKSUM, + + cdef struct Signal: + string name + int start_bit, msb, lsb, size + bool is_signed + double factor, offset + bool is_little_endian + SignalType type + calc_checksum_type calc_checksum + + cdef struct Msg: + string name + uint32_t address + unsigned int size + vector[Signal] sigs + + cdef struct Val: + string name + uint32_t address + string def_val + vector[Signal] sigs + + cdef struct DBC: + string name + vector[Msg] msgs + vector[Val] vals + + cdef struct SignalParseOptions: + uint32_t address + string name + + + cdef struct MessageParseOptions: + uint32_t address + int check_frequency + + cdef struct SignalValue: + uint32_t address + string name + double value + vector[double] all_values + + cdef struct SignalPackValue: + string name + double value + + +cdef extern from "common.h": + cdef const DBC* dbc_lookup(const string); + + cdef cppclass CANParser: + bool can_valid + bool bus_timeout + CANParser(int, string, vector[MessageParseOptions], vector[SignalParseOptions]) + void update_string(string, bool) + vector[SignalValue] query_latest() + + cdef cppclass CANPacker: + CANPacker(string) + vector[uint8_t] pack(uint32_t, vector[SignalPackValue]) diff --git a/opendbc/can/common_dbc.h b/opendbc/can/common_dbc.h new file mode 100644 index 000000000..4b733b5ae --- /dev/null +++ b/opendbc/can/common_dbc.h @@ -0,0 +1,88 @@ +#pragma once + +#include +#include +#include +#include + +#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0])) + +struct SignalPackValue { + std::string name; + double value; +}; + +struct SignalParseOptions { + uint32_t address; + std::string name; +}; + +struct MessageParseOptions { + uint32_t address; + int check_frequency; +}; + +struct SignalValue { + uint32_t address; + std::string name; + double value; // latest value + std::vector all_values; // all values from this cycle +}; + +enum SignalType { + DEFAULT, + COUNTER, + HONDA_CHECKSUM, + TOYOTA_CHECKSUM, + PEDAL_CHECKSUM, + VOLKSWAGEN_MQB_CHECKSUM, + XOR_CHECKSUM, + SUBARU_CHECKSUM, + CHRYSLER_CHECKSUM, + HKG_CAN_FD_CHECKSUM, +}; + +struct Signal { + std::string name; + int start_bit, msb, lsb, size; + bool is_signed; + double factor, offset; + bool is_little_endian; + SignalType type; + unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector &d); +}; + +struct Msg { + std::string name; + uint32_t address; + unsigned int size; + std::vector sigs; +}; + +struct Val { + std::string name; + uint32_t address; + std::string def_val; + std::vector sigs; +}; + +struct DBC { + std::string name; + std::vector msgs; + std::vector vals; +}; +#ifndef QCOM +DBC* dbc_parse(const std::string& dbc_path); +const DBC* dbc_lookup(const std::string& dbc_name); +std::vector get_dbc_names(); +#else +std::vector& get_dbcs(); +const DBC* dbc_lookup(const std::string& dbc_name); + +void dbc_register(const DBC* dbc); + +#define dbc_init(dbc) \ +static void __attribute__((constructor)) do_dbc_init_ ## dbc(void) { \ + dbc_register(&dbc); \ +} +#endif diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so new file mode 100755 index 000000000..e61b519b6 Binary files /dev/null and b/opendbc/can/libdbc.so differ diff --git a/opendbc/can/packer.py b/opendbc/can/packer.py new file mode 100644 index 000000000..fc22cce00 --- /dev/null +++ b/opendbc/can/packer.py @@ -0,0 +1,3 @@ +# pylint: skip-file +from opendbc.can.packer_pyx import CANPacker +assert CANPacker diff --git a/opendbc/can/packer_pyx.cpp b/opendbc/can/packer_pyx.cpp new file mode 100644 index 000000000..ca164e5b5 --- /dev/null +++ b/opendbc/can/packer_pyx.cpp @@ -0,0 +1,5710 @@ +/* Generated by Cython 0.29.26 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "opendbc/can/common.h", + "opendbc/can/common_dbc.h" + ], + "include_dirs": [ + "./opendbc/can" + ], + "language": "c++", + "name": "opendbc.can.packer_pyx", + "sources": [ + "/data/openpilot/opendbc/can/packer_pyx.pyx" + ] + }, + "module_name": "opendbc.can.packer_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(U other) { return *ptr == other; } + template bool operator !=(U other) { return *ptr != other; } + private: + T *ptr; +}; + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__opendbc__can__packer_pyx +#define __PYX_HAVE_API__opendbc__can__packer_pyx +/* Early includes */ +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include +#include +#include +#include "common_dbc.h" +#include "common.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +static PyObject *__pyx_m = NULL; +static PyObject *__pyx_d; +static PyObject *__pyx_b; +static PyObject *__pyx_cython_runtime = NULL; +static PyObject *__pyx_empty_tuple; +static PyObject *__pyx_empty_bytes; +static PyObject *__pyx_empty_unicode; +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm= __FILE__; +static const char *__pyx_filename; + + +static const char *__pyx_f[] = { + "opendbc/can/packer_pyx.pyx", + "stringsource", +}; + +/*--- Type declarations ---*/ +struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker; + +/* "common.pxd":12 + * + * + * ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &) # <<<<<<<<<<<<<< + * + * cdef extern from "common_dbc.h": + */ +typedef unsigned int (*__pyx_t_7opendbc_3can_6common_calc_checksum_type)(uint32_t, struct Signal const &, std::vector const &); +struct __pyx_ctuple_int__and_int; +typedef struct __pyx_ctuple_int__and_int __pyx_ctuple_int__and_int; + +/* "opendbc/can/packer_pyx.pyx":19 + * cpp_CANPacker *packer + * const DBC *dbc + * map[string, (int, int)] name_to_address_and_size # <<<<<<<<<<<<<< + * map[int, int] address_to_size + * + */ +struct __pyx_ctuple_int__and_int { + int f0; + int f1; +}; + +/* "opendbc/can/packer_pyx.pyx":15 + * + * + * cdef class CANPacker: # <<<<<<<<<<<<<< + * cdef: + * cpp_CANPacker *packer + */ +struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker { + PyObject_HEAD + struct __pyx_vtabstruct_7opendbc_3can_10packer_pyx_CANPacker *__pyx_vtab; + CANPacker *packer; + struct DBC const *dbc; + std::map name_to_address_and_size; + std::map address_to_size; +}; + + + +struct __pyx_vtabstruct_7opendbc_3can_10packer_pyx_CANPacker { + std::vector (*pack)(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *, PyObject *, PyObject *); + PyObject *(*make_can_msg)(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *, PyObject *, PyObject *, PyObject *, int __pyx_skip_dispatch); +}; +static struct __pyx_vtabstruct_7opendbc_3can_10packer_pyx_CANPacker *__pyx_vtabptr_7opendbc_3can_10packer_pyx_CANPacker; + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, int); + void (*DECREF)(void*, PyObject*, int); + void (*GOTREF)(void*, PyObject*, int); + void (*GIVEREF)(void*, PyObject*, int); + void* (*SetupContext)(const char*, int, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; 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}} while(0) + #define __Pyx_XDECREF(r) do { if((r) != NULL) {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) != NULL) {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) != NULL) {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_str(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_str(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +/* PyCFunctionFastCall.proto */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); +#else +#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#else +#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if CYTHON_FAST_PYCALL + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif // CYTHON_FAST_PYCALL +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* PyObjectCallNoArg.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); +#else +#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL) +#endif + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* UnpackTupleError.proto */ +static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); + +/* UnpackTuple2.proto */ +#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ + (likely(is_tuple || PyTuple_Check(tuple)) ?\ + (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ + __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ + (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ + __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); +static int __Pyx_unpack_tuple2_generic( + PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); + +/* dict_iter.proto */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_is_dict); +static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); + +/* PyObjectCall2Args.proto */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* WriteUnraisableException.proto */ +static void __Pyx_WriteUnraisable(const char *name, int clineno, + int lineno, const char *filename, + int full_traceback, int nogil); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable); + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* SetupReduce.proto */ +static int __Pyx_setup_reduce(PyObject* type_obj); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* None.proto */ +#include + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_addr, PyObject *__pyx_v_values); /* proto*/ +static PyObject *__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values, int __pyx_skip_dispatch); /* proto*/ + +/* Module declarations from 'libc.stdint' */ + +/* Module declarations from 'libcpp.vector' */ + +/* Module declarations from 'libcpp.utility' */ + +/* Module declarations from 'libcpp.map' */ + +/* Module declarations from 'libc.string' */ + +/* Module declarations from 'libcpp.string' */ + +/* Module declarations from 'libcpp' */ + +/* Module declarations from 'posix.dlfcn' */ + +/* Module declarations from 'libcpp.unordered_set' */ + +/* Module declarations from 'opendbc.can.common' */ + +/* Module declarations from 'opendbc.can.packer_pyx' */ +static PyTypeObject *__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker = 0; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +#define __Pyx_MODULE_NAME "opendbc.can.packer_pyx" +extern int __pyx_module_is_main_opendbc__can__packer_pyx; +int __pyx_module_is_main_opendbc__can__packer_pyx = 0; + +/* Implementation of 'opendbc.can.packer_pyx' */ +static PyObject *__pyx_builtin_RuntimeError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_TypeError; +static const char __pyx_k_bus[] = "bus"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_utf8[] = "utf8"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_values[] = "values"; +static const char __pyx_k_dbc_name[] = "dbc_name"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_CANPacker[] = "CANPacker"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_iteritems[] = "iteritems"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_Can_t_lookup[] = "Can't lookup "; +static const char __pyx_k_RuntimeError[] = "RuntimeError"; +static const char __pyx_k_make_can_msg[] = "make_can_msg"; +static const char __pyx_k_name_or_addr[] = "name_or_addr"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_self_dbc_self_packer_cannot_be_c[] = "self.dbc,self.packer cannot be converted to a Python object for pickling"; +static PyObject *__pyx_n_s_CANPacker; +static PyObject *__pyx_kp_u_Can_t_lookup; +static PyObject *__pyx_n_s_RuntimeError; +static PyObject *__pyx_n_s_TypeError; +static PyObject *__pyx_n_s_bus; +static PyObject *__pyx_n_s_cline_in_traceback; +static PyObject *__pyx_n_s_dbc_name; +static PyObject *__pyx_n_s_encode; +static PyObject *__pyx_n_s_getstate; +static PyObject *__pyx_n_s_iteritems; +static PyObject *__pyx_n_s_main; +static PyObject *__pyx_n_s_make_can_msg; +static PyObject *__pyx_n_s_name; +static PyObject *__pyx_n_s_name_or_addr; +static PyObject *__pyx_n_s_pyx_vtable; +static PyObject *__pyx_n_s_range; +static PyObject *__pyx_n_s_reduce; +static PyObject *__pyx_n_s_reduce_cython; +static PyObject *__pyx_n_s_reduce_ex; +static PyObject *__pyx_kp_s_self_dbc_self_packer_cannot_be_c; +static PyObject *__pyx_n_s_setstate; +static PyObject *__pyx_n_s_setstate_cython; +static PyObject *__pyx_n_s_test; +static PyObject *__pyx_n_u_utf8; +static PyObject *__pyx_n_s_values; +static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_dbc_name); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_4__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_6__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_7opendbc_3can_10packer_pyx_CANPacker(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_int_0; +static PyObject *__pyx_tuple_; +static PyObject *__pyx_tuple__2; +/* Late includes */ + +/* "opendbc/can/packer_pyx.pyx":22 + * map[int, int] address_to_size + * + * def __init__(self, dbc_name): # <<<<<<<<<<<<<< + * self.dbc = dbc_lookup(dbc_name) + * if not self.dbc: + */ + +/* Python wrapper */ +static int __pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_1__init__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds); 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/*proto*/ +__Pyx_PyMODINIT_FUNC initpacker_pyx(void) +#else +__Pyx_PyMODINIT_FUNC PyInit_packer_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC PyInit_packer_pyx(void) +#if CYTHON_PEP489_MULTI_PHASE_INIT +{ + return PyModuleDef_Init(&__pyx_moduledef); +} +static CYTHON_SMALL_CODE int __Pyx_check_single_interpreter(void) { + #if PY_VERSION_HEX >= 0x030700A1 + static PY_INT64_T main_interpreter_id = -1; + PY_INT64_T current_id = PyInterpreterState_GetID(PyThreadState_Get()->interp); + if (main_interpreter_id == -1) { + main_interpreter_id = current_id; + return (unlikely(current_id == -1)) ? -1 : 0; + } else if (unlikely(main_interpreter_id != current_id)) + #else + static PyInterpreterState *main_interpreter = NULL; + PyInterpreterState *current_interpreter = PyThreadState_Get()->interp; + if (!main_interpreter) { + main_interpreter = current_interpreter; + } else if (unlikely(main_interpreter != current_interpreter)) + #endif + { + PyErr_SetString( + PyExc_ImportError, + "Interpreter change detected - this module can only be loaded into one interpreter per process."); 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Re-initialisation is not supported."); + return -1; + } + #elif PY_MAJOR_VERSION >= 3 + if (__pyx_m) return __Pyx_NewRef(__pyx_m); + #endif + #if CYTHON_REFNANNY +__Pyx_RefNanny = __Pyx_RefNannyImportAPI("refnanny"); +if (!__Pyx_RefNanny) { + PyErr_Clear(); + __Pyx_RefNanny = __Pyx_RefNannyImportAPI("Cython.Runtime.refnanny"); + if (!__Pyx_RefNanny) + Py_FatalError("failed to import 'refnanny' module"); +} +#endif + __Pyx_RefNannySetupContext("__Pyx_PyMODINIT_FUNC PyInit_packer_pyx(void)", 0); + if (__Pyx_check_binary_version() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + #ifdef __Pxy_PyFrame_Initialize_Offsets + __Pxy_PyFrame_Initialize_Offsets(); + #endif + __pyx_empty_tuple = PyTuple_New(0); if (unlikely(!__pyx_empty_tuple)) __PYX_ERR(0, 1, __pyx_L1_error) + __pyx_empty_bytes = PyBytes_FromStringAndSize("", 0); if (unlikely(!__pyx_empty_bytes)) __PYX_ERR(0, 1, __pyx_L1_error) + __pyx_empty_unicode = PyUnicode_FromStringAndSize("", 0); if (unlikely(!__pyx_empty_unicode)) __PYX_ERR(0, 1, __pyx_L1_error) + #ifdef __Pyx_CyFunction_USED + if (__pyx_CyFunction_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + #endif + #ifdef __Pyx_FusedFunction_USED + if (__pyx_FusedFunction_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + #endif + #ifdef __Pyx_Coroutine_USED + if (__pyx_Coroutine_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + #endif + #ifdef __Pyx_Generator_USED + if (__pyx_Generator_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + #endif + #ifdef __Pyx_AsyncGen_USED + if (__pyx_AsyncGen_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + #endif + #ifdef __Pyx_StopAsyncIteration_USED + if (__pyx_StopAsyncIteration_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + #endif + /*--- Library function declarations ---*/ + /*--- Threads initialization code ---*/ + #if defined(WITH_THREAD) && PY_VERSION_HEX < 0x030700F0 && defined(__PYX_FORCE_INIT_THREADS) && __PYX_FORCE_INIT_THREADS + PyEval_InitThreads(); + #endif + /*--- Module creation code ---*/ + #if CYTHON_PEP489_MULTI_PHASE_INIT + __pyx_m = __pyx_pyinit_module; + Py_INCREF(__pyx_m); + #else + #if PY_MAJOR_VERSION < 3 + __pyx_m = Py_InitModule4("packer_pyx", __pyx_methods, 0, 0, PYTHON_API_VERSION); Py_XINCREF(__pyx_m); + #else + __pyx_m = PyModule_Create(&__pyx_moduledef); + #endif + if (unlikely(!__pyx_m)) __PYX_ERR(0, 1, __pyx_L1_error) + #endif + __pyx_d = PyModule_GetDict(__pyx_m); if (unlikely(!__pyx_d)) __PYX_ERR(0, 1, __pyx_L1_error) + Py_INCREF(__pyx_d); + __pyx_b = PyImport_AddModule(__Pyx_BUILTIN_MODULE_NAME); if (unlikely(!__pyx_b)) __PYX_ERR(0, 1, __pyx_L1_error) + Py_INCREF(__pyx_b); + __pyx_cython_runtime = PyImport_AddModule((char *) "cython_runtime"); if (unlikely(!__pyx_cython_runtime)) __PYX_ERR(0, 1, __pyx_L1_error) + Py_INCREF(__pyx_cython_runtime); + if (PyObject_SetAttrString(__pyx_m, "__builtins__", __pyx_b) < 0) __PYX_ERR(0, 1, __pyx_L1_error); + /*--- Initialize various global constants etc. ---*/ + if (__Pyx_InitGlobals() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + #if PY_MAJOR_VERSION < 3 && (__PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT) + if (__Pyx_init_sys_getdefaultencoding_params() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + #endif + if (__pyx_module_is_main_opendbc__can__packer_pyx) { + if (PyObject_SetAttr(__pyx_m, __pyx_n_s_name, __pyx_n_s_main) < 0) __PYX_ERR(0, 1, __pyx_L1_error) + } + #if PY_MAJOR_VERSION >= 3 + { + PyObject *modules = PyImport_GetModuleDict(); if (unlikely(!modules)) __PYX_ERR(0, 1, __pyx_L1_error) + if (!PyDict_GetItemString(modules, "opendbc.can.packer_pyx")) { + if (unlikely(PyDict_SetItemString(modules, "opendbc.can.packer_pyx", __pyx_m) < 0)) __PYX_ERR(0, 1, __pyx_L1_error) + } + } + #endif + /*--- Builtin init code ---*/ + if (__Pyx_InitCachedBuiltins() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + /*--- Constants init code ---*/ + if (__Pyx_InitCachedConstants() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + /*--- Global type/function init code ---*/ + (void)__Pyx_modinit_global_init_code(); + (void)__Pyx_modinit_variable_export_code(); + (void)__Pyx_modinit_function_export_code(); + if (unlikely(__Pyx_modinit_type_init_code() < 0)) __PYX_ERR(0, 1, __pyx_L1_error) + (void)__Pyx_modinit_type_import_code(); + (void)__Pyx_modinit_variable_import_code(); + (void)__Pyx_modinit_function_import_code(); + /*--- Execution code ---*/ + #if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED) + if (__Pyx_patch_abc() < 0) __PYX_ERR(0, 1, __pyx_L1_error) + #endif + + /* "opendbc/can/packer_pyx.pyx":1 + * # distutils: language = c++ # <<<<<<<<<<<<<< + * # cython: c_string_encoding=ascii, language_level=3 + * + */ + __pyx_t_1 = __Pyx_PyDict_NewPresized(0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); + if (PyDict_SetItem(__pyx_d, __pyx_n_s_test, __pyx_t_1) < 0) __PYX_ERR(0, 1, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + + /* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + + /*--- Wrapped vars code ---*/ + + goto __pyx_L0; + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_1); + if (__pyx_m) { + if (__pyx_d) { + __Pyx_AddTraceback("init opendbc.can.packer_pyx", __pyx_clineno, __pyx_lineno, __pyx_filename); + } + Py_CLEAR(__pyx_m); + } else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_ImportError, "init opendbc.can.packer_pyx"); + } + __pyx_L0:; + __Pyx_RefNannyFinishContext(); + #if CYTHON_PEP489_MULTI_PHASE_INIT + return (__pyx_m != NULL) ? 0 : -1; + #elif PY_MAJOR_VERSION >= 3 + return __pyx_m; + #else + return; + #endif +} + +/* --- Runtime support code --- */ +/* Refnanny */ +#if CYTHON_REFNANNY +static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname) { + PyObject *m = NULL, *p = NULL; + void *r = NULL; + m = PyImport_ImportModule(modname); + if (!m) goto end; + p = PyObject_GetAttrString(m, "RefNannyAPI"); + if (!p) goto end; + r = PyLong_AsVoidPtr(p); +end: + Py_XDECREF(p); + Py_XDECREF(m); + return (__Pyx_RefNannyAPIStruct *)r; +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStr(__pyx_b, name); + if (unlikely(!result)) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* RaiseDoubleKeywords */ +static void __Pyx_RaiseDoubleKeywordsError( + const char* func_name, + PyObject* kw_name) +{ + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION >= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + while (PyDict_Next(kwds, &pos, &key, &value)) { + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; + continue; + } + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = (**name == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + return -1; +} + +/* RaiseArgTupleInvalid */ +static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* PyCFunctionFastCall */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); + } else { + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); + } +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { + return NULL; + } + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallOneArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); + } +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (__Pyx_PyFastCFunction_Check(func)) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } + } + return __Pyx__PyObject_CallOneArg(func, arg); +} +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +} +#endif + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* IterFinish */ +static CYTHON_INLINE int __Pyx_IterFinish(void) { +#if CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* exc_type = tstate->curexc_type; + if (unlikely(exc_type)) { + if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) { + PyObject *exc_value, *exc_tb; + exc_value = tstate->curexc_value; + exc_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + Py_DECREF(exc_type); + Py_XDECREF(exc_value); + Py_XDECREF(exc_tb); + return 0; + } else { + return -1; + } + } + return 0; +#else + if (unlikely(PyErr_Occurred())) { + if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) { + PyErr_Clear(); + return 0; + } else { + return -1; + } + } + return 0; +#endif +} + +/* PyObjectCallNoArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, NULL, 0); + } +#endif +#ifdef __Pyx_CyFunction_USED + if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) +#else + if (likely(PyCFunction_Check(func))) +#endif + { + if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { + return __Pyx_PyObject_CallMethO(func, NULL); + } + } + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); +} +#endif + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (descr != NULL) { + *method = descr; + return 0; + } + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(name)); +#endif + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* UnpackItemEndCheck */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } else { + return __Pyx_IterFinish(); + } + return 0; +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* UnpackTupleError */ +static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { + if (t == Py_None) { + __Pyx_RaiseNoneNotIterableError(); + } else if (PyTuple_GET_SIZE(t) < index) { + __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); + } else { + __Pyx_RaiseTooManyValuesError(index); + } +} + +/* UnpackTuple2 */ +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { + PyObject *value1 = NULL, *value2 = NULL; +#if CYTHON_COMPILING_IN_PYPY + value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; + value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; +#else + value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); + value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); +#endif + if (decref_tuple) { + Py_DECREF(tuple); + } + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +#if CYTHON_COMPILING_IN_PYPY +bad: + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +#endif +} +static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, + int has_known_size, int decref_tuple) { + Py_ssize_t index; + PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; + iternextfunc iternext; + iter = PyObject_GetIter(tuple); + if (unlikely(!iter)) goto bad; + if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } + iternext = Py_TYPE(iter)->tp_iternext; + value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } + value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } + if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; + Py_DECREF(iter); + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +unpacking_failed: + if (!has_known_size && __Pyx_IterFinish() == 0) + __Pyx_RaiseNeedMoreValuesError(index); +bad: + Py_XDECREF(iter); + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +} + +/* dict_iter */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_source_is_dict) { + is_dict = is_dict || likely(PyDict_CheckExact(iterable)); + *p_source_is_dict = is_dict; + if (is_dict) { +#if !CYTHON_COMPILING_IN_PYPY + *p_orig_length = PyDict_Size(iterable); + Py_INCREF(iterable); + return iterable; +#elif PY_MAJOR_VERSION >= 3 + static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; + PyObject **pp = NULL; + if (method_name) { + const char *name = PyUnicode_AsUTF8(method_name); + if (strcmp(name, "iteritems") == 0) pp = &py_items; + else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; + else if (strcmp(name, "itervalues") == 0) pp = &py_values; + if (pp) { + if (!*pp) { + *pp = PyUnicode_FromString(name + 4); + if (!*pp) + return NULL; + } + method_name = *pp; + } + } +#endif + } + *p_orig_length = 0; + if (method_name) { + PyObject* iter; + iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); + if (!iterable) + return NULL; +#if !CYTHON_COMPILING_IN_PYPY + if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) + return iterable; +#endif + iter = PyObject_GetIter(iterable); + Py_DECREF(iterable); + return iter; + } + return PyObject_GetIter(iterable); +} +static CYTHON_INLINE int __Pyx_dict_iter_next( + PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { + PyObject* next_item; +#if !CYTHON_COMPILING_IN_PYPY + if (source_is_dict) { + PyObject *key, *value; + if (unlikely(orig_length != PyDict_Size(iter_obj))) { + PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); + return -1; + } + if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { + return 0; + } + if (pitem) { + PyObject* tuple = PyTuple_New(2); + if (unlikely(!tuple)) { + return -1; + } + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(tuple, 0, key); + PyTuple_SET_ITEM(tuple, 1, value); + *pitem = tuple; + } else { + if (pkey) { + Py_INCREF(key); + *pkey = key; + } + if (pvalue) { + Py_INCREF(value); + *pvalue = value; + } + } + return 1; + } else if (PyTuple_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyTuple_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else if (PyList_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyList_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else +#endif + { + next_item = PyIter_Next(iter_obj); + if (unlikely(!next_item)) { + return __Pyx_IterFinish(); + } + } + if (pitem) { + *pitem = next_item; + } else if (pkey && pvalue) { + if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) + return -1; + } else if (pkey) { + *pkey = next_item; + } else { + *pvalue = next_item; + } + return 1; +} + +/* PyObjectCall2Args */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); + } + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); + } + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; +} + +/* WriteUnraisableException */ +static void __Pyx_WriteUnraisable(const char *name, CYTHON_UNUSED int clineno, + CYTHON_UNUSED int lineno, CYTHON_UNUSED const char *filename, + int full_traceback, CYTHON_UNUSED int nogil) { + PyObject *old_exc, *old_val, *old_tb; + PyObject *ctx; + __Pyx_PyThreadState_declare +#ifdef WITH_THREAD + PyGILState_STATE state; + if (nogil) + state = PyGILState_Ensure(); +#ifdef _MSC_VER + else state = (PyGILState_STATE)-1; +#endif +#endif + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&old_exc, &old_val, &old_tb); + if (full_traceback) { + Py_XINCREF(old_exc); + Py_XINCREF(old_val); + Py_XINCREF(old_tb); + __Pyx_ErrRestore(old_exc, old_val, old_tb); + PyErr_PrintEx(1); + } + #if PY_MAJOR_VERSION < 3 + ctx = PyString_FromString(name); + #else + ctx = PyUnicode_FromString(name); + #endif + __Pyx_ErrRestore(old_exc, old_val, old_tb); + if (!ctx) { + PyErr_WriteUnraisable(Py_None); + } else { + PyErr_WriteUnraisable(ctx); + Py_DECREF(ctx); + } +#ifdef WITH_THREAD + if (nogil) + PyGILState_Release(state); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable) { +#if PY_VERSION_HEX >= 0x02070000 + PyObject *ob = PyCapsule_New(vtable, 0, 0); +#else + PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); +#endif + if (!ob) + goto bad; + if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* PyErrExceptionMatches */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); +} +#endif + +/* PyObjectGetAttrStrNoError */ +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +} + +/* SetupReduce */ +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(size_t) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (size_t) 0; + case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) + case 2: + if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(size_t) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (size_t) 0; + case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) + case -2: + if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } +#endif + if (sizeof(size_t) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(uint32_t) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint32_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (uint32_t) 0; + case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, digits[0]) + case 2: + if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT) { + return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT) { + return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT) { + return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(uint32_t) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (uint32_t) 0; + case -1: __PYX_VERIFY_RETURN_INT(uint32_t, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, +digits[0]) + case -2: + if (8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { + return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { + return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { + return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { + return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { + return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { + return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + } +#endif + if (sizeof(uint32_t) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + uint32_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (uint32_t) -1; + } + } else { + uint32_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint32_t) -1; + val = __Pyx_PyInt_As_uint32_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint32_t"); + return (uint32_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint32_t"); + return (uint32_t) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); + } +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; ip) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/opendbc/can/packer_pyx.so b/opendbc/can/packer_pyx.so new file mode 100755 index 000000000..532aad481 Binary files /dev/null and b/opendbc/can/packer_pyx.so differ diff --git a/opendbc/can/parser.py b/opendbc/can/parser.py new file mode 100644 index 000000000..04722115c --- /dev/null +++ b/opendbc/can/parser.py @@ -0,0 +1,2 @@ +from opendbc.can.parser_pyx import CANParser, CANDefine # pylint: disable=no-name-in-module, import-error +assert CANParser, CANDefine diff --git a/opendbc/can/parser_pyx.cpp b/opendbc/can/parser_pyx.cpp new file mode 100644 index 000000000..3978d3d9b --- /dev/null +++ b/opendbc/can/parser_pyx.cpp @@ -0,0 +1,11693 @@ +/* Generated by Cython 0.29.26 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "opendbc/can/common.h", + "opendbc/can/common_dbc.h" + ], + "include_dirs": [ + "./opendbc/can" + ], + "language": "c++", + "name": "opendbc.can.parser_pyx", + "sources": [ + "/data/openpilot/opendbc/can/parser_pyx.pyx" + ] + }, + "module_name": "opendbc.can.parser_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(U other) { return *ptr == other; } + template bool operator !=(U other) { return *ptr != other; } + private: + T *ptr; +}; + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__opendbc__can__parser_pyx +#define __PYX_HAVE_API__opendbc__can__parser_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include +#include "common_dbc.h" +#include "common.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +static PyObject *__pyx_m = NULL; +static PyObject *__pyx_d; +static PyObject *__pyx_b; +static PyObject *__pyx_cython_runtime = NULL; +static PyObject *__pyx_empty_tuple; +static PyObject *__pyx_empty_bytes; +static PyObject *__pyx_empty_unicode; +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm= __FILE__; +static const char *__pyx_filename; + + +static const char *__pyx_f[] = { + "opendbc/can/parser_pyx.pyx", + "stringsource", +}; + +/*--- Type declarations ---*/ +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser; +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine; +struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__; +struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr; +struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_2_genexpr; + +/* "common.pxd":12 + * + * + * ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &) # <<<<<<<<<<<<<< + * + * cdef extern from "common_dbc.h": + */ +typedef unsigned int (*__pyx_t_7opendbc_3can_6common_calc_checksum_type)(uint32_t, struct Signal const &, std::vector const &); + +/* "opendbc/can/parser_pyx.pyx":21 + * + * + * cdef class CANParser: # <<<<<<<<<<<<<< + * cdef: + * cpp_CANParser *can + */ +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser { + PyObject_HEAD + struct __pyx_vtabstruct_7opendbc_3can_10parser_pyx_CANParser *__pyx_vtab; + CANParser *can; + struct DBC const *dbc; 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r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* None.proto */ +static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname); + +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + PyList_SET_ITEM(list, len, x); + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* IncludeCppStringH.proto */ +#include + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_bytes.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* decode_cpp_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_cpp_string( + std::string cppstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + return __Pyx_decode_c_bytes( + cppstring.data(), cppstring.size(), start, stop, encoding, errors, decode_func); +} + +/* PyCFunctionFastCall.proto */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); +#else +#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#else +#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if CYTHON_FAST_PYCALL + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif // CYTHON_FAST_PYCALL +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_str(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_str(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +/* IncludeStringH.proto */ +#include + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* DictGetItem.proto */ +#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key); +#define __Pyx_PyObject_Dict_GetItem(obj, name)\ + (likely(PyDict_CheckExact(obj)) ?\ + __Pyx_PyDict_GetItem(obj, name) : PyObject_GetItem(obj, name)) +#else +#define __Pyx_PyDict_GetItem(d, key) PyObject_GetItem(d, key) +#define __Pyx_PyObject_Dict_GetItem(obj, name) PyObject_GetItem(obj, name) +#endif + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* PyUnicode_Unicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); + +/* UnpackUnboundCMethod.proto */ +typedef struct { + PyObject *type; + PyObject **method_name; + PyCFunction func; + PyObject *method; + int flag; +} __Pyx_CachedCFunction; + +/* CallUnboundCMethod1.proto */ +static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg); +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg); +#else +#define __Pyx_CallUnboundCMethod1(cfunc, self, arg) __Pyx__CallUnboundCMethod1(cfunc, self, arg) +#endif + +/* PyObjectCallNoArg.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); +#else +#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL) +#endif + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* UnpackTupleError.proto */ +static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); + +/* UnpackTuple2.proto */ +#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ + (likely(is_tuple || PyTuple_Check(tuple)) ?\ + (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ + __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ + (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ + __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); +static int __Pyx_unpack_tuple2_generic( + PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); + +/* dict_iter.proto */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_is_dict); +static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); + +/* WriteUnraisableException.proto */ +static void __Pyx_WriteUnraisable(const char *name, int clineno, + int lineno, const char *filename, + int full_traceback, int nogil); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable); + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* SetupReduce.proto */ +static int __Pyx_setup_reduce(PyObject* type_obj); + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* None.proto */ +#include + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* FetchCommonType.proto */ +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* PyObjectCallMethod1.proto */ +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg); + +/* CoroutineBase.proto */ +typedef PyObject *(*__pyx_coroutine_body_t)(PyObject *, PyThreadState *, PyObject *); +#if CYTHON_USE_EXC_INFO_STACK +#define __Pyx_ExcInfoStruct _PyErr_StackItem +#else +typedef struct { + PyObject *exc_type; + PyObject *exc_value; + PyObject *exc_traceback; +} __Pyx_ExcInfoStruct; +#endif +typedef struct { + PyObject_HEAD + __pyx_coroutine_body_t body; + PyObject *closure; + __Pyx_ExcInfoStruct gi_exc_state; + PyObject *gi_weakreflist; + PyObject *classobj; + PyObject *yieldfrom; + PyObject *gi_name; + PyObject *gi_qualname; + PyObject *gi_modulename; + PyObject *gi_code; + PyObject *gi_frame; + int resume_label; + char is_running; +} __pyx_CoroutineObject; +static __pyx_CoroutineObject *__Pyx__Coroutine_New( + PyTypeObject *type, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure, + PyObject *name, PyObject *qualname, PyObject *module_name); +static __pyx_CoroutineObject *__Pyx__Coroutine_NewInit( + __pyx_CoroutineObject *gen, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure, + PyObject *name, PyObject *qualname, PyObject *module_name); +static CYTHON_INLINE void __Pyx_Coroutine_ExceptionClear(__Pyx_ExcInfoStruct *self); +static int __Pyx_Coroutine_clear(PyObject *self); +static PyObject *__Pyx_Coroutine_Send(PyObject *self, PyObject *value); +static PyObject *__Pyx_Coroutine_Close(PyObject *self); +static PyObject *__Pyx_Coroutine_Throw(PyObject *gen, PyObject *args); +#if CYTHON_USE_EXC_INFO_STACK +#define __Pyx_Coroutine_SwapException(self) +#define __Pyx_Coroutine_ResetAndClearException(self) __Pyx_Coroutine_ExceptionClear(&(self)->gi_exc_state) +#else +#define __Pyx_Coroutine_SwapException(self) {\ + __Pyx_ExceptionSwap(&(self)->gi_exc_state.exc_type, &(self)->gi_exc_state.exc_value, &(self)->gi_exc_state.exc_traceback);\ + __Pyx_Coroutine_ResetFrameBackpointer(&(self)->gi_exc_state);\ + } +#define __Pyx_Coroutine_ResetAndClearException(self) {\ + __Pyx_ExceptionReset((self)->gi_exc_state.exc_type, (self)->gi_exc_state.exc_value, (self)->gi_exc_state.exc_traceback);\ + (self)->gi_exc_state.exc_type = (self)->gi_exc_state.exc_value = (self)->gi_exc_state.exc_traceback = NULL;\ + } +#endif +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyGen_FetchStopIterationValue(pvalue)\ + __Pyx_PyGen__FetchStopIterationValue(__pyx_tstate, pvalue) +#else +#define __Pyx_PyGen_FetchStopIterationValue(pvalue)\ + __Pyx_PyGen__FetchStopIterationValue(__Pyx_PyThreadState_Current, pvalue) +#endif +static int __Pyx_PyGen__FetchStopIterationValue(PyThreadState *tstate, PyObject **pvalue); +static CYTHON_INLINE void __Pyx_Coroutine_ResetFrameBackpointer(__Pyx_ExcInfoStruct *exc_state); + +/* PatchModuleWithCoroutine.proto */ +static PyObject* __Pyx_Coroutine_patch_module(PyObject* module, const char* py_code); + +/* PatchGeneratorABC.proto */ +static int __Pyx_patch_abc(void); + +/* Generator.proto */ +#define __Pyx_Generator_USED +static PyTypeObject *__pyx_GeneratorType = 0; +#define __Pyx_Generator_CheckExact(obj) (Py_TYPE(obj) == __pyx_GeneratorType) +#define __Pyx_Generator_New(body, code, closure, name, qualname, module_name)\ + __Pyx__Coroutine_New(__pyx_GeneratorType, body, code, closure, name, qualname, module_name) +static PyObject *__Pyx_Generator_Next(PyObject *self); +static int __pyx_Generator_init(void); + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +static std::unordered_set __pyx_f_7opendbc_3can_10parser_pyx_9CANParser_update_vl(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto*/ + +/* Module declarations from 'libc.string' */ + +/* Module declarations from 'libcpp.string' */ + +/* Module declarations from 'libcpp.vector' */ + +/* Module declarations from 'libcpp.utility' */ + +/* Module declarations from 'libcpp.unordered_set' */ + +/* Module declarations from 'libc.stdint' */ + +/* Module declarations from 'libcpp' */ + +/* Module declarations from 'libcpp.map' */ + +/* Module declarations from 'opendbc.can.common' */ + +/* Module declarations from 'opendbc.can.parser_pyx' */ +static PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx_CANParser = 0; +static PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine = 0; +static PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ = 0; +static PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr = 0; +static PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx___pyx_scope_struct_2_genexpr = 0; +static int __pyx_v_7opendbc_3can_10parser_pyx_CAN_INVALID_CNT; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +static PyObject *__pyx_convert_vector_to_py_double(const std::vector &); /*proto*/ +static PyObject *__pyx_convert_unordered_set_to_py_uint32_t(std::unordered_set const &); /*proto*/ +#define __Pyx_MODULE_NAME "opendbc.can.parser_pyx" +extern int __pyx_module_is_main_opendbc__can__parser_pyx; +int __pyx_module_is_main_opendbc__can__parser_pyx = 0; + +/* Implementation of 'opendbc.can.parser_pyx' */ +static PyObject *__pyx_builtin_RuntimeError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_hex; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_zip; +static const char __pyx_k_[] = " ("; +static const char __pyx_k__2[] = ")"; +static const char __pyx_k__3[] = ", "; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k_os[] = "os"; +static const char __pyx_k_bus[] = "bus"; +static const char __pyx_k_dat[] = "dat"; +static const char __pyx_k_hex[] = "hex"; +static const char __pyx_k_zip[] = "zip"; +static const char __pyx_k_None[] = "None"; +static const char __pyx_k_args[] = "args"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_send[] = "send"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_utf8[] = "utf8"; +static const char __pyx_k_clear[] = "clear"; +static const char __pyx_k_close[] = "close"; +static const char __pyx_k_items[] = "items"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_split[] = "split"; +static const char __pyx_k_throw[] = "throw"; +static const char __pyx_k_Number[] = "Number"; +static const char __pyx_k_checks[] = "checks"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_extend[] = "extend"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_values[] = "values"; +static const char __pyx_k_genexpr[] = "genexpr"; +static const char __pyx_k_numbers[] = "numbers"; +static const char __pyx_k_sendcan[] = "sendcan"; +static const char __pyx_k_signals[] = "signals"; +static const char __pyx_k_strings[] = "strings"; +static const char __pyx_k_dbc_name[] = "dbc_name"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_CANDefine[] = "CANDefine"; +static const char __pyx_k_CANParser[] = "CANParser"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_defaultdict[] = "defaultdict"; +static const char __pyx_k_RuntimeError[] = "RuntimeError"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_Can_t_find_DBC[] = "Can't find DBC: "; +static const char __pyx_k_enforce_checks[] = "enforce_checks"; +static const char __pyx_k_Unchecked_addrs[] = "Unchecked addrs: "; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_Can_t_find_DBC_2[] = "Can't find DBC: '"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_init___locals_genexpr[] = "__init__..genexpr"; +static const char __pyx_k_opendbc_can_parser_pyx[] = "opendbc.can.parser_pyx"; +static const char __pyx_k_self_dbc_cannot_be_converted_to[] = "self.dbc cannot be converted to a Python object for pickling"; +static const char __pyx_k_self_can_self_dbc_cannot_be_conv[] = "self.can,self.dbc cannot be converted to a Python object for pickling"; +static PyObject *__pyx_kp_u_; +static PyObject *__pyx_n_s_CANDefine; +static PyObject *__pyx_n_s_CANParser; +static PyObject *__pyx_kp_u_Can_t_find_DBC; +static PyObject *__pyx_kp_u_Can_t_find_DBC_2; +static PyObject *__pyx_kp_u_None; +static PyObject *__pyx_n_s_Number; +static PyObject *__pyx_n_s_RuntimeError; +static PyObject *__pyx_n_s_TypeError; +static PyObject *__pyx_kp_u_Unchecked_addrs; +static PyObject *__pyx_kp_u__2; +static PyObject *__pyx_kp_u__3; +static PyObject *__pyx_kp_u__6; +static PyObject *__pyx_n_s_args; +static PyObject *__pyx_n_s_bus; +static PyObject *__pyx_n_s_checks; +static PyObject *__pyx_n_s_clear; +static PyObject *__pyx_n_s_cline_in_traceback; +static PyObject *__pyx_n_s_close; +static PyObject *__pyx_n_s_collections; +static PyObject *__pyx_n_s_dat; +static PyObject *__pyx_n_s_dbc_name; +static PyObject *__pyx_n_s_defaultdict; +static PyObject *__pyx_n_s_encode; +static PyObject *__pyx_n_s_enforce_checks; +static PyObject *__pyx_n_s_extend; +static PyObject *__pyx_n_s_genexpr; +static PyObject *__pyx_n_s_getstate; +static PyObject *__pyx_n_s_hex; +static PyObject *__pyx_n_s_import; +static PyObject *__pyx_n_s_init___locals_genexpr; +static PyObject *__pyx_n_s_items; +static PyObject *__pyx_n_s_main; +static PyObject *__pyx_n_s_name; +static PyObject *__pyx_n_s_numbers; +static PyObject *__pyx_n_s_opendbc_can_parser_pyx; +static PyObject *__pyx_n_s_os; +static PyObject *__pyx_n_s_pyx_vtable; +static PyObject *__pyx_n_s_range; +static PyObject *__pyx_n_s_reduce; +static PyObject *__pyx_n_s_reduce_cython; +static PyObject *__pyx_n_s_reduce_ex; +static PyObject *__pyx_kp_s_self_can_self_dbc_cannot_be_conv; +static PyObject *__pyx_kp_s_self_dbc_cannot_be_converted_to; +static PyObject *__pyx_n_s_send; +static PyObject *__pyx_n_s_sendcan; +static PyObject *__pyx_n_s_setstate; +static PyObject *__pyx_n_s_setstate_cython; +static PyObject *__pyx_n_s_signals; +static PyObject *__pyx_n_s_split; +static PyObject *__pyx_n_s_strings; +static PyObject *__pyx_n_s_test; +static PyObject *__pyx_n_s_throw; +static PyObject *__pyx_n_s_update; +static PyObject *__pyx_n_u_utf8; +static PyObject *__pyx_n_s_values; +static PyObject *__pyx_n_s_zip; +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8__init___genexpr(PyObject *__pyx_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8__init___3genexpr(PyObject *__pyx_self); /* proto */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser___init__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_dbc_name, PyObject *__pyx_v_signals, PyObject *__pyx_v_checks, PyObject *__pyx_v_bus, PyObject *__pyx_v_enforce_checks); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2update_string(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_dat, PyObject *__pyx_v_sendcan); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_4update_strings(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_strings, PyObject *__pyx_v_sendcan); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2vl___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6vl_all___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_9can_valid___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_11bus_timeout___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8dbc_name___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_15can_invalid_cnt___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine___init__(struct 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__pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + __Pyx_call_destructor(p->dbc_name); + Py_CLEAR(p->dv); + (*Py_TYPE(o)->tp_free)(o); +} + +static int __pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANDefine(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o; + if (p->dv) { + e = (*v)(p->dv, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_7opendbc_3can_10parser_pyx_CANDefine(PyObject *o) { + PyObject* tmp; + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o; + tmp = ((PyObject*)p->dv); + p->dv = ((PyObject*)Py_None); Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dv(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_2dv_1__get__(o); +} + +static int __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dv(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) { + if (v) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_2dv_3__set__(o, v); + } + else { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_2dv_5__del__(o); + } +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_8dbc_name_1__get__(o); +} + +static int __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) { + if (v) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_8dbc_name_3__set__(o, v); + } + else { + PyErr_SetString(PyExc_NotImplementedError, "__del__"); + return -1; + } +} + +static PyMethodDef __pyx_methods_7opendbc_3can_10parser_pyx_CANDefine[] = { + {"__reduce_cython__", (PyCFunction)__pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_3__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_5__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_7opendbc_3can_10parser_pyx_CANDefine[] = { + {(char *)"dv", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dv, __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dv, (char *)0, 0}, + {(char *)"dbc_name", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name, __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type_7opendbc_3can_10parser_pyx_CANDefine = { + PyVarObject_HEAD_INIT(0, 0) + "opendbc.can.parser_pyx.CANDefine", /*tp_name*/ + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANDefine, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANDefine, /*tp_traverse*/ + __pyx_tp_clear_7opendbc_3can_10parser_pyx_CANDefine, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_7opendbc_3can_10parser_pyx_CANDefine, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_7opendbc_3can_10parser_pyx_CANDefine, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_1__init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_7opendbc_3can_10parser_pyx_CANDefine, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; + +static struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ *__pyx_freelist_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__[8]; +static int __pyx_freecount_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ = 0; + +static PyObject *__pyx_tp_new_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + if (CYTHON_COMPILING_IN_CPYTHON && likely((__pyx_freecount_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ > 0) & (t->tp_basicsize == sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__)))) { + o = (PyObject*)__pyx_freelist_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__[--__pyx_freecount_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__]; + memset(o, 0, sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__)); + (void) PyObject_INIT(o, t); + PyObject_GC_Track(o); + } else { + o = (*t->tp_alloc)(t, 0); + if (unlikely(!o)) return 0; + } + return o; +} + +static void __pyx_tp_dealloc_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__(PyObject *o) { + struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ *)o; + PyObject_GC_UnTrack(o); + Py_CLEAR(p->__pyx_v_self); + Py_CLEAR(p->__pyx_v_signals); + Py_CLEAR(p->__pyx_v_unchecked); + if (CYTHON_COMPILING_IN_CPYTHON && ((__pyx_freecount_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ < 8) & (Py_TYPE(o)->tp_basicsize == sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__)))) { + __pyx_freelist_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__[__pyx_freecount_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__++] = ((struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ *)o); + } else { + (*Py_TYPE(o)->tp_free)(o); + } +} + +static int __pyx_tp_traverse_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ *)o; + if (p->__pyx_v_self) { + e = (*v)(((PyObject *)p->__pyx_v_self), a); if (e) return e; + } + if (p->__pyx_v_signals) { + e = (*v)(p->__pyx_v_signals, a); if (e) return e; + } + if (p->__pyx_v_unchecked) { + e = (*v)(p->__pyx_v_unchecked, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__(PyObject *o) { + PyObject* tmp; + struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ *)o; + tmp = ((PyObject*)p->__pyx_v_self); + p->__pyx_v_self = ((struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *)Py_None); Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->__pyx_v_signals); + p->__pyx_v_signals = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->__pyx_v_unchecked); + p->__pyx_v_unchecked = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyTypeObject __pyx_type_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ = { + PyVarObject_HEAD_INIT(0, 0) + "opendbc.can.parser_pyx.__pyx_scope_struct____init__", /*tp_name*/ + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__, /*tp_traverse*/ + __pyx_tp_clear_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + 0, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; + +static struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr *__pyx_freelist_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr[8]; +static int __pyx_freecount_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr = 0; + +static PyObject *__pyx_tp_new_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + if (CYTHON_COMPILING_IN_CPYTHON && likely((__pyx_freecount_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr > 0) & (t->tp_basicsize == sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr)))) { + o = (PyObject*)__pyx_freelist_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr[--__pyx_freecount_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr]; + memset(o, 0, sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr)); + (void) PyObject_INIT(o, t); + PyObject_GC_Track(o); + } else { + o = (*t->tp_alloc)(t, 0); + if (unlikely(!o)) return 0; + } + return o; +} + +static void __pyx_tp_dealloc_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr(PyObject *o) { + struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr *)o; + PyObject_GC_UnTrack(o); + Py_CLEAR(p->__pyx_outer_scope); + Py_CLEAR(p->__pyx_v_addr); + if (CYTHON_COMPILING_IN_CPYTHON && ((__pyx_freecount_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr < 8) & (Py_TYPE(o)->tp_basicsize == sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr)))) { + __pyx_freelist_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr[__pyx_freecount_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr++] = ((struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr *)o); + } else { + (*Py_TYPE(o)->tp_free)(o); + } +} + +static int __pyx_tp_traverse_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr *)o; + if (p->__pyx_outer_scope) { + e = (*v)(((PyObject *)p->__pyx_outer_scope), a); if (e) return e; + } + if (p->__pyx_v_addr) { + e = (*v)(p->__pyx_v_addr, a); if (e) return e; + } + return 0; +} + +static PyTypeObject __pyx_type_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr = { + PyVarObject_HEAD_INIT(0, 0) + "opendbc.can.parser_pyx.__pyx_scope_struct_1_genexpr", /*tp_name*/ + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr, 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+ void *r = NULL; + m = PyImport_ImportModule(modname); + if (!m) goto end; + p = PyObject_GetAttrString(m, "RefNannyAPI"); + if (!p) goto end; + r = PyLong_AsVoidPtr(p); +end: + Py_XDECREF(p); + Py_XDECREF(m); + return (__Pyx_RefNannyAPIStruct *)r; +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStr(__pyx_b, name); + if (unlikely(!result)) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* RaiseArgTupleInvalid */ +static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* RaiseDoubleKeywords */ +static void __Pyx_RaiseDoubleKeywordsError( + const char* func_name, + PyObject* kw_name) +{ + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION >= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + while (PyDict_Next(kwds, &pos, &key, &value)) { + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; + continue; + } + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = (**name == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + return -1; +} + +/* None */ +static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname) { + PyErr_Format(PyExc_NameError, "free variable '%s' referenced before assignment in enclosing scope", varname); +} + +/* decode_c_bytes */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + if (unlikely((start < 0) | (stop < 0))) { + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (stop > length) + stop = length; + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* PyCFunctionFastCall */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); + } else { + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); + } +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { + return NULL; + } + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallOneArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); + } +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (__Pyx_PyFastCFunction_Check(func)) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } + } + return __Pyx__PyObject_CallOneArg(func, arg); +} +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +#endif + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + CYTHON_UNUSED Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind; + Py_ssize_t i, char_pos; + void *result_udata; +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely(char_pos + ulength < 0)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + char_pos * result_ukind, udata, (size_t) (ulength * result_ukind)); + } else { + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + result_ulength++; + value_count++; + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* IterFinish */ +static CYTHON_INLINE int __Pyx_IterFinish(void) { +#if CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* exc_type = tstate->curexc_type; + if (unlikely(exc_type)) { + if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) { + PyObject *exc_value, *exc_tb; + exc_value = tstate->curexc_value; + exc_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + Py_DECREF(exc_type); + Py_XDECREF(exc_value); + Py_XDECREF(exc_tb); + return 0; + } else { + return -1; + } + } + return 0; +#else + if (unlikely(PyErr_Occurred())) { + if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) { + PyErr_Clear(); + return 0; + } else { + return -1; + } + } + return 0; +#endif +} + +/* UnpackItemEndCheck */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } else { + return __Pyx_IterFinish(); + } + return 0; +} + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +} +#endif + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* DictGetItem */ +#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key) { + PyObject *value; + value = PyDict_GetItemWithError(d, key); + if (unlikely(!value)) { + if (!PyErr_Occurred()) { + if (unlikely(PyTuple_Check(key))) { + PyObject* args = PyTuple_Pack(1, key); + if (likely(args)) { + PyErr_SetObject(PyExc_KeyError, args); + Py_DECREF(args); + } + } else { + PyErr_SetObject(PyExc_KeyError, key); + } + } + return NULL; + } + Py_INCREF(value); + return value; +} +#endif + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* PyObjectCall2Args */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); + } + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); + } + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (!j) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; + if (likely(m && m->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { + Py_ssize_t l = m->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return m->sq_item(o, i); + } + } +#else + if (is_list || PySequence_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (!j) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; + if (likely(m && m->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { + Py_ssize_t l = m->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return m->sq_ass_item(o, i, v); + } + } +#else +#if CYTHON_COMPILING_IN_PYPY + if (is_list || (PySequence_Check(o) && !PyDict_Check(o))) +#else + if (is_list || PySequence_Check(o)) +#endif + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* PyUnicode_Unicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { + if (unlikely(obj == Py_None)) + obj = __pyx_kp_u_None; + return __Pyx_NewRef(obj); +} + +/* UnpackUnboundCMethod */ +static int __Pyx_TryUnpackUnboundCMethod(__Pyx_CachedCFunction* target) { + PyObject *method; + method = __Pyx_PyObject_GetAttrStr(target->type, *target->method_name); + if (unlikely(!method)) + return -1; + target->method = method; +#if CYTHON_COMPILING_IN_CPYTHON + #if PY_MAJOR_VERSION >= 3 + if (likely(__Pyx_TypeCheck(method, &PyMethodDescr_Type))) + #endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject*) method; + target->func = descr->d_method->ml_meth; + target->flag = descr->d_method->ml_flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_STACKLESS); + } +#endif + return 0; +} + +/* CallUnboundCMethod1 */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg) { + if (likely(cfunc->func)) { + int flag = cfunc->flag; + if (flag == METH_O) { + return (*(cfunc->func))(self, arg); + } else if (PY_VERSION_HEX >= 0x030600B1 && flag == METH_FASTCALL) { + if (PY_VERSION_HEX >= 0x030700A0) { + return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, &arg, 1); + } else { + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); + } + } else if (PY_VERSION_HEX >= 0x030700A0 && flag == (METH_FASTCALL | METH_KEYWORDS)) { + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); + } + } + return __Pyx__CallUnboundCMethod1(cfunc, self, arg); +} +#endif +static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg){ + PyObject *args, *result = NULL; + if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_COMPILING_IN_CPYTHON + if (cfunc->func && (cfunc->flag & METH_VARARGS)) { + args = PyTuple_New(1); + if (unlikely(!args)) goto bad; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + if (cfunc->flag & METH_KEYWORDS) + result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL); + else + result = (*cfunc->func)(self, args); + } else { + args = PyTuple_New(2); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 1, arg); + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + } +#else + args = PyTuple_Pack(2, self, arg); + if (unlikely(!args)) goto bad; + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); +#endif +bad: + Py_XDECREF(args); + return result; +} + +/* PyObjectCallNoArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, NULL, 0); + } +#endif +#ifdef __Pyx_CyFunction_USED + if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) +#else + if (likely(PyCFunction_Check(func))) +#endif + { + if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { + return __Pyx_PyObject_CallMethO(func, NULL); + } + } + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); +} +#endif + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (descr != NULL) { + *method = descr; + return 0; + } + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(name)); +#endif + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* UnpackTupleError */ +static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { + if (t == Py_None) { + __Pyx_RaiseNoneNotIterableError(); + } else if (PyTuple_GET_SIZE(t) < index) { + __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); + } else { + __Pyx_RaiseTooManyValuesError(index); + } +} + +/* UnpackTuple2 */ +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { + PyObject *value1 = NULL, *value2 = NULL; +#if CYTHON_COMPILING_IN_PYPY + value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; + value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; +#else + value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); + value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); +#endif + if (decref_tuple) { + Py_DECREF(tuple); + } + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +#if CYTHON_COMPILING_IN_PYPY +bad: + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +#endif +} +static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, + int has_known_size, int decref_tuple) { + Py_ssize_t index; + PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; + iternextfunc iternext; + iter = PyObject_GetIter(tuple); + if (unlikely(!iter)) goto bad; + if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } + iternext = Py_TYPE(iter)->tp_iternext; + value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } + value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } + if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; + Py_DECREF(iter); + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +unpacking_failed: + if (!has_known_size && __Pyx_IterFinish() == 0) + __Pyx_RaiseNeedMoreValuesError(index); +bad: + Py_XDECREF(iter); + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +} + +/* dict_iter */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_source_is_dict) { + is_dict = is_dict || likely(PyDict_CheckExact(iterable)); + *p_source_is_dict = is_dict; + if (is_dict) { +#if !CYTHON_COMPILING_IN_PYPY + *p_orig_length = PyDict_Size(iterable); + Py_INCREF(iterable); + return iterable; +#elif PY_MAJOR_VERSION >= 3 + static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; + PyObject **pp = NULL; + if (method_name) { + const char *name = PyUnicode_AsUTF8(method_name); + if (strcmp(name, "iteritems") == 0) pp = &py_items; + else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; + else if (strcmp(name, "itervalues") == 0) pp = &py_values; + if (pp) { + if (!*pp) { + *pp = PyUnicode_FromString(name + 4); + if (!*pp) + return NULL; + } + method_name = *pp; + } + } +#endif + } + *p_orig_length = 0; + if (method_name) { + PyObject* iter; + iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); + if (!iterable) + return NULL; +#if !CYTHON_COMPILING_IN_PYPY + if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) + return iterable; +#endif + iter = PyObject_GetIter(iterable); + Py_DECREF(iterable); + return iter; + } + return PyObject_GetIter(iterable); +} +static CYTHON_INLINE int __Pyx_dict_iter_next( + PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { + PyObject* next_item; +#if !CYTHON_COMPILING_IN_PYPY + if (source_is_dict) { + PyObject *key, *value; + if (unlikely(orig_length != PyDict_Size(iter_obj))) { + PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); + return -1; + } + if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { + return 0; + } + if (pitem) { + PyObject* tuple = PyTuple_New(2); + if (unlikely(!tuple)) { + return -1; + } + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(tuple, 0, key); + PyTuple_SET_ITEM(tuple, 1, value); + *pitem = tuple; + } else { + if (pkey) { + Py_INCREF(key); + *pkey = key; + } + if (pvalue) { + Py_INCREF(value); + *pvalue = value; + } + } + return 1; + } else if (PyTuple_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyTuple_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else if (PyList_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyList_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else +#endif + { + next_item = PyIter_Next(iter_obj); + if (unlikely(!next_item)) { + return __Pyx_IterFinish(); + } + } + if (pitem) { + *pitem = next_item; + } else if (pkey && pvalue) { + if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) + return -1; + } else if (pkey) { + *pkey = next_item; + } else { + *pvalue = next_item; + } + return 1; +} + +/* WriteUnraisableException */ +static void __Pyx_WriteUnraisable(const char *name, CYTHON_UNUSED int clineno, + CYTHON_UNUSED int lineno, CYTHON_UNUSED const char *filename, + int full_traceback, CYTHON_UNUSED int nogil) { + PyObject *old_exc, *old_val, *old_tb; + PyObject *ctx; + __Pyx_PyThreadState_declare +#ifdef WITH_THREAD + PyGILState_STATE state; + if (nogil) + state = PyGILState_Ensure(); +#ifdef _MSC_VER + else state = (PyGILState_STATE)-1; +#endif +#endif + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&old_exc, &old_val, &old_tb); + if (full_traceback) { + Py_XINCREF(old_exc); + Py_XINCREF(old_val); + Py_XINCREF(old_tb); + __Pyx_ErrRestore(old_exc, old_val, old_tb); + PyErr_PrintEx(1); + } + #if PY_MAJOR_VERSION < 3 + ctx = PyString_FromString(name); + #else + ctx = PyUnicode_FromString(name); + #endif + __Pyx_ErrRestore(old_exc, old_val, old_tb); + if (!ctx) { + PyErr_WriteUnraisable(Py_None); + } else { + PyErr_WriteUnraisable(ctx); + Py_DECREF(ctx); + } +#ifdef WITH_THREAD + if (nogil) + PyGILState_Release(state); +#endif +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { + PyObject *runerr; + Py_ssize_t key_value; + PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; + if (unlikely(!(m && m->sq_item))) { + PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); + return NULL; + } + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { + PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; + if (likely(m && m->mp_subscript)) { + return m->mp_subscript(obj, key); + } + return __Pyx_PyObject_GetIndex(obj, key); +} +#endif + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable) { +#if PY_VERSION_HEX >= 0x02070000 + PyObject *ob = PyCapsule_New(vtable, 0, 0); +#else + PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); +#endif + if (!ob) + goto bad; + if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* PyErrExceptionMatches */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); +} +#endif + +/* PyObjectGetAttrStrNoError */ +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +} + +/* SetupReduce */ +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *empty_list = 0; + PyObject *module = 0; + PyObject *global_dict = 0; + PyObject *empty_dict = 0; + PyObject *list; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (!py_import) + goto bad; + #endif + if (from_list) + list = from_list; + else { + empty_list = PyList_New(0); + if (!empty_list) + goto bad; + list = empty_list; + } + global_dict = PyModule_GetDict(__pyx_m); + if (!global_dict) + goto bad; + empty_dict = PyDict_New(); + if (!empty_dict) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, 1); + if (!module) { + if (!PyErr_ExceptionMatches(PyExc_ImportError)) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (!py_level) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, level); + #endif + } + } +bad: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + Py_XDECREF(empty_list); + Py_XDECREF(empty_dict); + return module; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(size_t) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (size_t) 0; + case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) + case 2: + if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(size_t) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (size_t) 0; + case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) + case -2: + if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } +#endif + if (sizeof(size_t) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint32_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint32_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint32_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(uint32_t), + little, !is_unsigned); + } +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntFromPy */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(uint32_t) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint32_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (uint32_t) 0; + case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, digits[0]) + case 2: + if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT) { + return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT) { + return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT) { + return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(uint32_t) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (uint32_t) 0; + case -1: __PYX_VERIFY_RETURN_INT(uint32_t, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, +digits[0]) + case -2: + if (8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { + return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { + return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { + return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { + return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { + return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { + return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + } +#endif + if (sizeof(uint32_t) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + uint32_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (uint32_t) -1; + } + } else { + uint32_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint32_t) -1; + val = __Pyx_PyInt_As_uint32_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint32_t"); + return (uint32_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint32_t"); + return (uint32_t) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_name); + if (cached_type) { + if (!PyType_Check((PyObject*)cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", + type->tp_name); + goto bad; + } + if (cached_type->tp_basicsize != type->tp_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + type->tp_name); + goto bad; + } + } else { + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; + } +done: + Py_DECREF(fake_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + #endif + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +#endif + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* PyObjectCallMethod1 */ +static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) { + PyObject *result = __Pyx_PyObject_CallOneArg(method, arg); + Py_DECREF(method); + return result; +} +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) { + PyObject *method = NULL, *result; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_Call2Args(method, obj, arg); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) return NULL; + return __Pyx__PyObject_CallMethod1(method, arg); +} + +/* CoroutineBase */ +#include +#include +#define __Pyx_Coroutine_Undelegate(gen) Py_CLEAR((gen)->yieldfrom) +static int __Pyx_PyGen__FetchStopIterationValue(CYTHON_UNUSED PyThreadState *__pyx_tstate, PyObject **pvalue) { + PyObject *et, *ev, *tb; + PyObject *value = NULL; + __Pyx_ErrFetch(&et, &ev, &tb); + if (!et) { + Py_XDECREF(tb); + Py_XDECREF(ev); + Py_INCREF(Py_None); + *pvalue = Py_None; + return 0; + } + if (likely(et == PyExc_StopIteration)) { + if (!ev) { + Py_INCREF(Py_None); + value = Py_None; + } +#if PY_VERSION_HEX >= 0x030300A0 + else if (Py_TYPE(ev) == (PyTypeObject*)PyExc_StopIteration) { + value = ((PyStopIterationObject *)ev)->value; + Py_INCREF(value); + Py_DECREF(ev); + } +#endif + else if (unlikely(PyTuple_Check(ev))) { + if (PyTuple_GET_SIZE(ev) >= 1) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + value = PyTuple_GET_ITEM(ev, 0); + Py_INCREF(value); +#else + value = PySequence_ITEM(ev, 0); +#endif + } else { + Py_INCREF(Py_None); + value = Py_None; + } + Py_DECREF(ev); + } + else if (!__Pyx_TypeCheck(ev, (PyTypeObject*)PyExc_StopIteration)) { + value = ev; + } + if (likely(value)) { + Py_XDECREF(tb); + Py_DECREF(et); + *pvalue = value; + return 0; + } + } else if (!__Pyx_PyErr_GivenExceptionMatches(et, PyExc_StopIteration)) { + __Pyx_ErrRestore(et, ev, tb); + return -1; + } + PyErr_NormalizeException(&et, &ev, &tb); + if (unlikely(!PyObject_TypeCheck(ev, (PyTypeObject*)PyExc_StopIteration))) { + __Pyx_ErrRestore(et, ev, tb); + return -1; + } + Py_XDECREF(tb); + Py_DECREF(et); +#if PY_VERSION_HEX >= 0x030300A0 + value = ((PyStopIterationObject *)ev)->value; + Py_INCREF(value); + Py_DECREF(ev); +#else + { + PyObject* args = __Pyx_PyObject_GetAttrStr(ev, __pyx_n_s_args); + Py_DECREF(ev); + if (likely(args)) { + value = PySequence_GetItem(args, 0); + Py_DECREF(args); + } + if (unlikely(!value)) { + __Pyx_ErrRestore(NULL, NULL, NULL); + Py_INCREF(Py_None); + value = Py_None; + } + } +#endif + *pvalue = value; + return 0; +} +static CYTHON_INLINE +void __Pyx_Coroutine_ExceptionClear(__Pyx_ExcInfoStruct *exc_state) { + PyObject *t, *v, *tb; + t = exc_state->exc_type; + v = exc_state->exc_value; + tb = exc_state->exc_traceback; + exc_state->exc_type = NULL; + exc_state->exc_value = NULL; + exc_state->exc_traceback = NULL; + Py_XDECREF(t); + Py_XDECREF(v); + Py_XDECREF(tb); +} +#define __Pyx_Coroutine_AlreadyRunningError(gen) (__Pyx__Coroutine_AlreadyRunningError(gen), (PyObject*)NULL) +static void __Pyx__Coroutine_AlreadyRunningError(CYTHON_UNUSED __pyx_CoroutineObject *gen) { + const char *msg; + if ((0)) { + #ifdef __Pyx_Coroutine_USED + } else if (__Pyx_Coroutine_Check((PyObject*)gen)) { + msg = "coroutine already executing"; + #endif + #ifdef __Pyx_AsyncGen_USED + } else if (__Pyx_AsyncGen_CheckExact((PyObject*)gen)) { + msg = "async generator already executing"; + #endif + } else { + msg = "generator already executing"; + } + PyErr_SetString(PyExc_ValueError, msg); +} +#define __Pyx_Coroutine_NotStartedError(gen) (__Pyx__Coroutine_NotStartedError(gen), (PyObject*)NULL) +static void __Pyx__Coroutine_NotStartedError(CYTHON_UNUSED PyObject *gen) { + const char *msg; + if ((0)) { + #ifdef __Pyx_Coroutine_USED + } else if (__Pyx_Coroutine_Check(gen)) { + msg = "can't send non-None value to a just-started coroutine"; + #endif + #ifdef __Pyx_AsyncGen_USED + } else if (__Pyx_AsyncGen_CheckExact(gen)) { + msg = "can't send non-None value to a just-started async generator"; + #endif + } else { + msg = "can't send non-None value to a just-started generator"; + } + PyErr_SetString(PyExc_TypeError, msg); +} +#define __Pyx_Coroutine_AlreadyTerminatedError(gen, value, closing) (__Pyx__Coroutine_AlreadyTerminatedError(gen, value, closing), (PyObject*)NULL) +static void __Pyx__Coroutine_AlreadyTerminatedError(CYTHON_UNUSED PyObject *gen, PyObject *value, CYTHON_UNUSED int closing) { + #ifdef __Pyx_Coroutine_USED + if (!closing && __Pyx_Coroutine_Check(gen)) { + PyErr_SetString(PyExc_RuntimeError, "cannot reuse already awaited coroutine"); + } else + #endif + if (value) { + #ifdef __Pyx_AsyncGen_USED + if (__Pyx_AsyncGen_CheckExact(gen)) + PyErr_SetNone(__Pyx_PyExc_StopAsyncIteration); + else + #endif + PyErr_SetNone(PyExc_StopIteration); + } +} +static +PyObject *__Pyx_Coroutine_SendEx(__pyx_CoroutineObject *self, PyObject *value, int closing) { + __Pyx_PyThreadState_declare + PyThreadState *tstate; + __Pyx_ExcInfoStruct *exc_state; + PyObject *retval; + assert(!self->is_running); + if (unlikely(self->resume_label == 0)) { + if (unlikely(value && value != Py_None)) { + return __Pyx_Coroutine_NotStartedError((PyObject*)self); + } + } + if (unlikely(self->resume_label == -1)) { + return __Pyx_Coroutine_AlreadyTerminatedError((PyObject*)self, value, closing); + } +#if CYTHON_FAST_THREAD_STATE + __Pyx_PyThreadState_assign + tstate = __pyx_tstate; +#else + tstate = __Pyx_PyThreadState_Current; +#endif + exc_state = &self->gi_exc_state; + if (exc_state->exc_type) { + #if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_PYSTON + #else + if (exc_state->exc_traceback) { + PyTracebackObject *tb = (PyTracebackObject *) exc_state->exc_traceback; + PyFrameObject *f = tb->tb_frame; + assert(f->f_back == NULL); + #if PY_VERSION_HEX >= 0x030B00A1 + f->f_back = PyThreadState_GetFrame(tstate); + #else + Py_XINCREF(tstate->frame); + f->f_back = tstate->frame; + #endif + } + #endif + } +#if CYTHON_USE_EXC_INFO_STACK + exc_state->previous_item = tstate->exc_info; + tstate->exc_info = exc_state; +#else + if (exc_state->exc_type) { + __Pyx_ExceptionSwap(&exc_state->exc_type, &exc_state->exc_value, &exc_state->exc_traceback); + } else { + __Pyx_Coroutine_ExceptionClear(exc_state); + __Pyx_ExceptionSave(&exc_state->exc_type, &exc_state->exc_value, &exc_state->exc_traceback); + } +#endif + self->is_running = 1; + retval = self->body((PyObject *) self, tstate, value); + self->is_running = 0; +#if CYTHON_USE_EXC_INFO_STACK + exc_state = &self->gi_exc_state; + tstate->exc_info = exc_state->previous_item; + exc_state->previous_item = NULL; + __Pyx_Coroutine_ResetFrameBackpointer(exc_state); +#endif + return retval; +} +static CYTHON_INLINE void __Pyx_Coroutine_ResetFrameBackpointer(__Pyx_ExcInfoStruct *exc_state) { + PyObject *exc_tb = exc_state->exc_traceback; + if (likely(exc_tb)) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_PYSTON +#else + PyTracebackObject *tb = (PyTracebackObject *) exc_tb; + PyFrameObject *f = tb->tb_frame; + Py_CLEAR(f->f_back); +#endif + } +} +static CYTHON_INLINE +PyObject *__Pyx_Coroutine_MethodReturn(CYTHON_UNUSED PyObject* gen, PyObject *retval) { + if (unlikely(!retval)) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (!__Pyx_PyErr_Occurred()) { + PyObject *exc = PyExc_StopIteration; + #ifdef __Pyx_AsyncGen_USED + if (__Pyx_AsyncGen_CheckExact(gen)) + exc = __Pyx_PyExc_StopAsyncIteration; + #endif + __Pyx_PyErr_SetNone(exc); + } + } + return retval; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03030000 && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3) +static CYTHON_INLINE +PyObject *__Pyx_PyGen_Send(PyGenObject *gen, PyObject *arg) { +#if PY_VERSION_HEX <= 0x030A00A1 + return _PyGen_Send(gen, arg); +#else + PyObject *result; + if (PyIter_Send((PyObject*)gen, arg ? arg : Py_None, &result) == PYGEN_RETURN) { + if (PyAsyncGen_CheckExact(gen)) { + assert(result == Py_None); + PyErr_SetNone(PyExc_StopAsyncIteration); + } + else if (result == Py_None) { + PyErr_SetNone(PyExc_StopIteration); + } + else { + _PyGen_SetStopIterationValue(result); + } + Py_CLEAR(result); + } + return result; +#endif +} +#endif +static CYTHON_INLINE +PyObject *__Pyx_Coroutine_FinishDelegation(__pyx_CoroutineObject *gen) { + PyObject *ret; + PyObject *val = NULL; + __Pyx_Coroutine_Undelegate(gen); + __Pyx_PyGen__FetchStopIterationValue(__Pyx_PyThreadState_Current, &val); + ret = __Pyx_Coroutine_SendEx(gen, val, 0); + Py_XDECREF(val); + return ret; +} +static PyObject *__Pyx_Coroutine_Send(PyObject *self, PyObject *value) { + PyObject *retval; + __pyx_CoroutineObject *gen = (__pyx_CoroutineObject*) self; + PyObject *yf = gen->yieldfrom; + if (unlikely(gen->is_running)) + return __Pyx_Coroutine_AlreadyRunningError(gen); + if (yf) { + PyObject *ret; + gen->is_running = 1; + #ifdef __Pyx_Generator_USED + if (__Pyx_Generator_CheckExact(yf)) { + ret = __Pyx_Coroutine_Send(yf, value); + } else + #endif + #ifdef __Pyx_Coroutine_USED + if (__Pyx_Coroutine_Check(yf)) { + ret = __Pyx_Coroutine_Send(yf, value); + } else + #endif + #ifdef __Pyx_AsyncGen_USED + if (__pyx_PyAsyncGenASend_CheckExact(yf)) { + ret = __Pyx_async_gen_asend_send(yf, value); + } else + #endif + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03030000 && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3) + if (PyGen_CheckExact(yf)) { + ret = __Pyx_PyGen_Send((PyGenObject*)yf, value == Py_None ? NULL : value); + } else + #endif + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03050000 && defined(PyCoro_CheckExact) && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3) + if (PyCoro_CheckExact(yf)) { + ret = __Pyx_PyGen_Send((PyGenObject*)yf, value == Py_None ? NULL : value); + } else + #endif + { + if (value == Py_None) + ret = Py_TYPE(yf)->tp_iternext(yf); + else + ret = __Pyx_PyObject_CallMethod1(yf, __pyx_n_s_send, value); + } + gen->is_running = 0; + if (likely(ret)) { + return ret; + } + retval = __Pyx_Coroutine_FinishDelegation(gen); + } else { + retval = __Pyx_Coroutine_SendEx(gen, value, 0); + } + return __Pyx_Coroutine_MethodReturn(self, retval); +} +static int __Pyx_Coroutine_CloseIter(__pyx_CoroutineObject *gen, PyObject *yf) { + PyObject *retval = NULL; + int err = 0; + #ifdef __Pyx_Generator_USED + if (__Pyx_Generator_CheckExact(yf)) { + retval = __Pyx_Coroutine_Close(yf); + if (!retval) + return -1; + } else + #endif + #ifdef __Pyx_Coroutine_USED + if (__Pyx_Coroutine_Check(yf)) { + retval = __Pyx_Coroutine_Close(yf); + if (!retval) + return -1; + } else + if (__Pyx_CoroutineAwait_CheckExact(yf)) { + retval = __Pyx_CoroutineAwait_Close((__pyx_CoroutineAwaitObject*)yf, NULL); + if (!retval) + return -1; + } else + #endif + #ifdef __Pyx_AsyncGen_USED + if (__pyx_PyAsyncGenASend_CheckExact(yf)) { + retval = __Pyx_async_gen_asend_close(yf, NULL); + } else + if (__pyx_PyAsyncGenAThrow_CheckExact(yf)) { + retval = __Pyx_async_gen_athrow_close(yf, NULL); + } else + #endif + { + PyObject *meth; + gen->is_running = 1; + meth = __Pyx_PyObject_GetAttrStr(yf, __pyx_n_s_close); + if (unlikely(!meth)) { + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_WriteUnraisable(yf); + } + PyErr_Clear(); + } else { + retval = PyObject_CallFunction(meth, NULL); + Py_DECREF(meth); + if (!retval) + err = -1; + } + gen->is_running = 0; + } + Py_XDECREF(retval); + return err; +} +static PyObject *__Pyx_Generator_Next(PyObject *self) { + __pyx_CoroutineObject *gen = (__pyx_CoroutineObject*) self; + PyObject *yf = gen->yieldfrom; + if (unlikely(gen->is_running)) + return __Pyx_Coroutine_AlreadyRunningError(gen); + if (yf) { + PyObject *ret; + gen->is_running = 1; + #ifdef __Pyx_Generator_USED + if (__Pyx_Generator_CheckExact(yf)) { + ret = __Pyx_Generator_Next(yf); + } else + #endif + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03030000 && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3) + if (PyGen_CheckExact(yf)) { + ret = __Pyx_PyGen_Send((PyGenObject*)yf, NULL); + } else + #endif + #ifdef __Pyx_Coroutine_USED + if (__Pyx_Coroutine_Check(yf)) { + ret = __Pyx_Coroutine_Send(yf, Py_None); + } else + #endif + ret = Py_TYPE(yf)->tp_iternext(yf); + gen->is_running = 0; + if (likely(ret)) { + return ret; + } + return __Pyx_Coroutine_FinishDelegation(gen); + } + return __Pyx_Coroutine_SendEx(gen, Py_None, 0); +} +static PyObject *__Pyx_Coroutine_Close_Method(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __Pyx_Coroutine_Close(self); +} +static PyObject *__Pyx_Coroutine_Close(PyObject *self) { + __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self; + PyObject *retval, *raised_exception; + PyObject *yf = gen->yieldfrom; + int err = 0; + if (unlikely(gen->is_running)) + return __Pyx_Coroutine_AlreadyRunningError(gen); + if (yf) { + Py_INCREF(yf); + err = __Pyx_Coroutine_CloseIter(gen, yf); + __Pyx_Coroutine_Undelegate(gen); + Py_DECREF(yf); + } + if (err == 0) + PyErr_SetNone(PyExc_GeneratorExit); + retval = __Pyx_Coroutine_SendEx(gen, NULL, 1); + if (unlikely(retval)) { + const char *msg; + Py_DECREF(retval); + if ((0)) { + #ifdef __Pyx_Coroutine_USED + } else if (__Pyx_Coroutine_Check(self)) { + msg = "coroutine ignored GeneratorExit"; + #endif + #ifdef __Pyx_AsyncGen_USED + } else if (__Pyx_AsyncGen_CheckExact(self)) { +#if PY_VERSION_HEX < 0x03060000 + msg = "async generator ignored GeneratorExit - might require Python 3.6+ finalisation (PEP 525)"; +#else + msg = "async generator ignored GeneratorExit"; +#endif + #endif + } else { + msg = "generator ignored GeneratorExit"; + } + PyErr_SetString(PyExc_RuntimeError, msg); + return NULL; + } + raised_exception = PyErr_Occurred(); + if (likely(!raised_exception || __Pyx_PyErr_GivenExceptionMatches2(raised_exception, PyExc_GeneratorExit, PyExc_StopIteration))) { + if (raised_exception) PyErr_Clear(); + Py_INCREF(Py_None); + return Py_None; + } + return NULL; +} +static PyObject *__Pyx__Coroutine_Throw(PyObject *self, PyObject *typ, PyObject *val, PyObject *tb, + PyObject *args, int close_on_genexit) { + __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self; + PyObject *yf = gen->yieldfrom; + if (unlikely(gen->is_running)) + return __Pyx_Coroutine_AlreadyRunningError(gen); + if (yf) { + PyObject *ret; + Py_INCREF(yf); + if (__Pyx_PyErr_GivenExceptionMatches(typ, PyExc_GeneratorExit) && close_on_genexit) { + int err = __Pyx_Coroutine_CloseIter(gen, yf); + Py_DECREF(yf); + __Pyx_Coroutine_Undelegate(gen); + if (err < 0) + return __Pyx_Coroutine_MethodReturn(self, __Pyx_Coroutine_SendEx(gen, NULL, 0)); + goto throw_here; + } + gen->is_running = 1; + if (0 + #ifdef __Pyx_Generator_USED + || __Pyx_Generator_CheckExact(yf) + #endif + #ifdef __Pyx_Coroutine_USED + || __Pyx_Coroutine_Check(yf) + #endif + ) { + ret = __Pyx__Coroutine_Throw(yf, typ, val, tb, args, close_on_genexit); + #ifdef __Pyx_Coroutine_USED + } else if (__Pyx_CoroutineAwait_CheckExact(yf)) { + ret = __Pyx__Coroutine_Throw(((__pyx_CoroutineAwaitObject*)yf)->coroutine, typ, val, tb, args, close_on_genexit); + #endif + } else { + PyObject *meth = __Pyx_PyObject_GetAttrStr(yf, __pyx_n_s_throw); + if (unlikely(!meth)) { + Py_DECREF(yf); + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) { + gen->is_running = 0; + return NULL; + } + PyErr_Clear(); + __Pyx_Coroutine_Undelegate(gen); + gen->is_running = 0; + goto throw_here; + } + if (likely(args)) { + ret = PyObject_CallObject(meth, args); + } else { + ret = PyObject_CallFunctionObjArgs(meth, typ, val, tb, NULL); + } + Py_DECREF(meth); + } + gen->is_running = 0; + Py_DECREF(yf); + if (!ret) { + ret = __Pyx_Coroutine_FinishDelegation(gen); + } + return __Pyx_Coroutine_MethodReturn(self, ret); + } +throw_here: + __Pyx_Raise(typ, val, tb, NULL); + return __Pyx_Coroutine_MethodReturn(self, __Pyx_Coroutine_SendEx(gen, NULL, 0)); +} +static PyObject *__Pyx_Coroutine_Throw(PyObject *self, PyObject *args) { + PyObject *typ; + PyObject *val = NULL; + PyObject *tb = NULL; + if (!PyArg_UnpackTuple(args, (char *)"throw", 1, 3, &typ, &val, &tb)) + return NULL; + return __Pyx__Coroutine_Throw(self, typ, val, tb, args, 1); +} +static CYTHON_INLINE int __Pyx_Coroutine_traverse_excstate(__Pyx_ExcInfoStruct *exc_state, visitproc visit, void *arg) { + Py_VISIT(exc_state->exc_type); + Py_VISIT(exc_state->exc_value); + Py_VISIT(exc_state->exc_traceback); + return 0; +} +static int __Pyx_Coroutine_traverse(__pyx_CoroutineObject *gen, visitproc visit, void *arg) { + Py_VISIT(gen->closure); + Py_VISIT(gen->classobj); + Py_VISIT(gen->yieldfrom); + return __Pyx_Coroutine_traverse_excstate(&gen->gi_exc_state, visit, arg); +} +static int __Pyx_Coroutine_clear(PyObject *self) { + __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self; + Py_CLEAR(gen->closure); + Py_CLEAR(gen->classobj); + Py_CLEAR(gen->yieldfrom); + __Pyx_Coroutine_ExceptionClear(&gen->gi_exc_state); +#ifdef __Pyx_AsyncGen_USED + if (__Pyx_AsyncGen_CheckExact(self)) { + Py_CLEAR(((__pyx_PyAsyncGenObject*)gen)->ag_finalizer); + } +#endif + Py_CLEAR(gen->gi_code); + Py_CLEAR(gen->gi_frame); + Py_CLEAR(gen->gi_name); + Py_CLEAR(gen->gi_qualname); + Py_CLEAR(gen->gi_modulename); + return 0; +} +static void __Pyx_Coroutine_dealloc(PyObject *self) { + __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self; + PyObject_GC_UnTrack(gen); + if (gen->gi_weakreflist != NULL) + PyObject_ClearWeakRefs(self); + if (gen->resume_label >= 0) { + PyObject_GC_Track(self); +#if PY_VERSION_HEX >= 0x030400a1 && CYTHON_USE_TP_FINALIZE + if (PyObject_CallFinalizerFromDealloc(self)) +#else + Py_TYPE(gen)->tp_del(self); + if (Py_REFCNT(self) > 0) +#endif + { + return; + } + PyObject_GC_UnTrack(self); + } +#ifdef __Pyx_AsyncGen_USED + if (__Pyx_AsyncGen_CheckExact(self)) { + /* We have to handle this case for asynchronous generators + right here, because this code has to be between UNTRACK + and GC_Del. */ + Py_CLEAR(((__pyx_PyAsyncGenObject*)self)->ag_finalizer); + } +#endif + __Pyx_Coroutine_clear(self); + PyObject_GC_Del(gen); +} +static void __Pyx_Coroutine_del(PyObject *self) { + PyObject *error_type, *error_value, *error_traceback; + __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self; + __Pyx_PyThreadState_declare + if (gen->resume_label < 0) { + return; + } +#if !CYTHON_USE_TP_FINALIZE + assert(self->ob_refcnt == 0); + __Pyx_SET_REFCNT(self, 1); +#endif + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&error_type, &error_value, &error_traceback); +#ifdef __Pyx_AsyncGen_USED + if (__Pyx_AsyncGen_CheckExact(self)) { + __pyx_PyAsyncGenObject *agen = (__pyx_PyAsyncGenObject*)self; + PyObject *finalizer = agen->ag_finalizer; + if (finalizer && !agen->ag_closed) { + PyObject *res = __Pyx_PyObject_CallOneArg(finalizer, self); + if (unlikely(!res)) { + PyErr_WriteUnraisable(self); + } else { + Py_DECREF(res); + } + __Pyx_ErrRestore(error_type, error_value, error_traceback); + return; + } + } +#endif + if (unlikely(gen->resume_label == 0 && !error_value)) { +#ifdef __Pyx_Coroutine_USED +#ifdef __Pyx_Generator_USED + if (!__Pyx_Generator_CheckExact(self)) +#endif + { + PyObject_GC_UnTrack(self); +#if PY_MAJOR_VERSION >= 3 || defined(PyErr_WarnFormat) + if (unlikely(PyErr_WarnFormat(PyExc_RuntimeWarning, 1, "coroutine '%.50S' was never awaited", gen->gi_qualname) < 0)) + PyErr_WriteUnraisable(self); +#else + {PyObject *msg; + char *cmsg; + #if CYTHON_COMPILING_IN_PYPY + msg = NULL; + cmsg = (char*) "coroutine was never awaited"; + #else + char *cname; + PyObject *qualname; + qualname = gen->gi_qualname; + cname = PyString_AS_STRING(qualname); + msg = PyString_FromFormat("coroutine '%.50s' was never awaited", cname); + if (unlikely(!msg)) { + PyErr_Clear(); + cmsg = (char*) "coroutine was never awaited"; + } else { + cmsg = PyString_AS_STRING(msg); + } + #endif + if (unlikely(PyErr_WarnEx(PyExc_RuntimeWarning, cmsg, 1) < 0)) + PyErr_WriteUnraisable(self); + Py_XDECREF(msg);} +#endif + PyObject_GC_Track(self); + } +#endif + } else { + PyObject *res = __Pyx_Coroutine_Close(self); + if (unlikely(!res)) { + if (PyErr_Occurred()) + PyErr_WriteUnraisable(self); + } else { + Py_DECREF(res); + } + } + __Pyx_ErrRestore(error_type, error_value, error_traceback); +#if !CYTHON_USE_TP_FINALIZE + assert(Py_REFCNT(self) > 0); + if (--self->ob_refcnt == 0) { + return; + } + { + Py_ssize_t refcnt = Py_REFCNT(self); + _Py_NewReference(self); + __Pyx_SET_REFCNT(self, refcnt); + } +#if CYTHON_COMPILING_IN_CPYTHON + assert(PyType_IS_GC(Py_TYPE(self)) && + _Py_AS_GC(self)->gc.gc_refs != _PyGC_REFS_UNTRACKED); + _Py_DEC_REFTOTAL; +#endif +#ifdef COUNT_ALLOCS + --Py_TYPE(self)->tp_frees; + --Py_TYPE(self)->tp_allocs; +#endif +#endif +} +static PyObject * +__Pyx_Coroutine_get_name(__pyx_CoroutineObject *self, CYTHON_UNUSED void *context) +{ + PyObject *name = self->gi_name; + if (unlikely(!name)) name = Py_None; + Py_INCREF(name); + return name; +} +static int +__Pyx_Coroutine_set_name(__pyx_CoroutineObject *self, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + tmp = self->gi_name; + Py_INCREF(value); + self->gi_name = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_Coroutine_get_qualname(__pyx_CoroutineObject *self, CYTHON_UNUSED void *context) +{ + PyObject *name = self->gi_qualname; + if (unlikely(!name)) name = Py_None; + Py_INCREF(name); + return name; +} +static int +__Pyx_Coroutine_set_qualname(__pyx_CoroutineObject *self, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + tmp = self->gi_qualname; + Py_INCREF(value); + self->gi_qualname = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_Coroutine_get_frame(__pyx_CoroutineObject *self, CYTHON_UNUSED void *context) +{ + PyObject *frame = self->gi_frame; + if (!frame) { + if (unlikely(!self->gi_code)) { + Py_RETURN_NONE; + } + frame = (PyObject *) PyFrame_New( + PyThreadState_Get(), /*PyThreadState *tstate,*/ + (PyCodeObject*) self->gi_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (unlikely(!frame)) + return NULL; + self->gi_frame = frame; + } + Py_INCREF(frame); + return frame; +} +static __pyx_CoroutineObject *__Pyx__Coroutine_New( + PyTypeObject* type, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure, + PyObject *name, PyObject *qualname, PyObject *module_name) { + __pyx_CoroutineObject *gen = PyObject_GC_New(__pyx_CoroutineObject, type); + if (unlikely(!gen)) + return NULL; + return __Pyx__Coroutine_NewInit(gen, body, code, closure, name, qualname, module_name); +} +static __pyx_CoroutineObject *__Pyx__Coroutine_NewInit( + __pyx_CoroutineObject *gen, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure, + PyObject *name, PyObject *qualname, PyObject *module_name) { + gen->body = body; + gen->closure = closure; + Py_XINCREF(closure); + gen->is_running = 0; + gen->resume_label = 0; + gen->classobj = NULL; + gen->yieldfrom = NULL; + gen->gi_exc_state.exc_type = NULL; + gen->gi_exc_state.exc_value = NULL; + gen->gi_exc_state.exc_traceback = NULL; +#if CYTHON_USE_EXC_INFO_STACK + gen->gi_exc_state.previous_item = NULL; +#endif + gen->gi_weakreflist = NULL; + Py_XINCREF(qualname); + gen->gi_qualname = qualname; + Py_XINCREF(name); + gen->gi_name = name; + Py_XINCREF(module_name); + gen->gi_modulename = module_name; + Py_XINCREF(code); + gen->gi_code = code; + gen->gi_frame = NULL; + PyObject_GC_Track(gen); + return gen; +} + +/* PatchModuleWithCoroutine */ +static PyObject* __Pyx_Coroutine_patch_module(PyObject* module, const char* py_code) { +#if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED) + int result; + PyObject *globals, *result_obj; + globals = PyDict_New(); if (unlikely(!globals)) goto ignore; + result = PyDict_SetItemString(globals, "_cython_coroutine_type", + #ifdef __Pyx_Coroutine_USED + (PyObject*)__pyx_CoroutineType); + #else + Py_None); + #endif + if (unlikely(result < 0)) goto ignore; + result = PyDict_SetItemString(globals, "_cython_generator_type", + #ifdef __Pyx_Generator_USED + (PyObject*)__pyx_GeneratorType); + #else + Py_None); + #endif + if (unlikely(result < 0)) goto ignore; + if (unlikely(PyDict_SetItemString(globals, "_module", module) < 0)) goto ignore; + if (unlikely(PyDict_SetItemString(globals, "__builtins__", __pyx_b) < 0)) goto ignore; + result_obj = PyRun_String(py_code, Py_file_input, globals, globals); + if (unlikely(!result_obj)) goto ignore; + Py_DECREF(result_obj); + Py_DECREF(globals); + return module; +ignore: + Py_XDECREF(globals); + PyErr_WriteUnraisable(module); + if (unlikely(PyErr_WarnEx(PyExc_RuntimeWarning, "Cython module failed to patch module with custom type", 1) < 0)) { + Py_DECREF(module); + module = NULL; + } +#else + py_code++; +#endif + return module; +} + +/* PatchGeneratorABC */ +#ifndef CYTHON_REGISTER_ABCS +#define CYTHON_REGISTER_ABCS 1 +#endif +#if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED) +static PyObject* __Pyx_patch_abc_module(PyObject *module); +static PyObject* __Pyx_patch_abc_module(PyObject *module) { + module = __Pyx_Coroutine_patch_module( + module, "" +"if _cython_generator_type is not None:\n" +" try: Generator = _module.Generator\n" +" except AttributeError: pass\n" +" else: Generator.register(_cython_generator_type)\n" +"if _cython_coroutine_type is not None:\n" +" try: Coroutine = _module.Coroutine\n" +" except AttributeError: pass\n" +" else: Coroutine.register(_cython_coroutine_type)\n" + ); + return module; +} +#endif +static int __Pyx_patch_abc(void) { +#if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED) + static int abc_patched = 0; + if (CYTHON_REGISTER_ABCS && !abc_patched) { + PyObject *module; + module = PyImport_ImportModule((PY_MAJOR_VERSION >= 3) ? "collections.abc" : "collections"); + if (!module) { + PyErr_WriteUnraisable(NULL); + if (unlikely(PyErr_WarnEx(PyExc_RuntimeWarning, + ((PY_MAJOR_VERSION >= 3) ? + "Cython module failed to register with collections.abc module" : + "Cython module failed to register with collections module"), 1) < 0)) { + return -1; + } + } else { + module = __Pyx_patch_abc_module(module); + abc_patched = 1; + if (unlikely(!module)) + return -1; + Py_DECREF(module); + } + module = PyImport_ImportModule("backports_abc"); + if (module) { + module = __Pyx_patch_abc_module(module); + Py_XDECREF(module); + } + if (!module) { + PyErr_Clear(); + } + } +#else + if ((0)) __Pyx_Coroutine_patch_module(NULL, NULL); +#endif + return 0; +} + +/* Generator */ +static PyMethodDef __pyx_Generator_methods[] = { + {"send", (PyCFunction) __Pyx_Coroutine_Send, METH_O, + (char*) PyDoc_STR("send(arg) -> send 'arg' into generator,\nreturn next yielded value or raise StopIteration.")}, + {"throw", (PyCFunction) __Pyx_Coroutine_Throw, METH_VARARGS, + (char*) PyDoc_STR("throw(typ[,val[,tb]]) -> raise exception in generator,\nreturn next yielded value or raise StopIteration.")}, + {"close", (PyCFunction) __Pyx_Coroutine_Close_Method, METH_NOARGS, + (char*) PyDoc_STR("close() -> raise GeneratorExit inside generator.")}, + {0, 0, 0, 0} +}; +static PyMemberDef __pyx_Generator_memberlist[] = { + {(char *) "gi_running", T_BOOL, offsetof(__pyx_CoroutineObject, is_running), READONLY, NULL}, + {(char*) "gi_yieldfrom", T_OBJECT, offsetof(__pyx_CoroutineObject, yieldfrom), READONLY, + (char*) PyDoc_STR("object being iterated by 'yield from', or None")}, + {(char*) "gi_code", T_OBJECT, offsetof(__pyx_CoroutineObject, gi_code), READONLY, NULL}, + {0, 0, 0, 0, 0} +}; +static PyGetSetDef __pyx_Generator_getsets[] = { + {(char *) "__name__", (getter)__Pyx_Coroutine_get_name, (setter)__Pyx_Coroutine_set_name, + (char*) PyDoc_STR("name of the generator"), 0}, + {(char *) "__qualname__", (getter)__Pyx_Coroutine_get_qualname, (setter)__Pyx_Coroutine_set_qualname, + (char*) PyDoc_STR("qualified name of the generator"), 0}, + {(char *) "gi_frame", (getter)__Pyx_Coroutine_get_frame, NULL, + (char*) PyDoc_STR("Frame of the generator"), 0}, + {0, 0, 0, 0, 0} +}; +static PyTypeObject __pyx_GeneratorType_type = { + PyVarObject_HEAD_INIT(0, 0) + "generator", + sizeof(__pyx_CoroutineObject), + 0, + (destructor) __Pyx_Coroutine_dealloc, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_HAVE_FINALIZE, + 0, + (traverseproc) __Pyx_Coroutine_traverse, + 0, + 0, + offsetof(__pyx_CoroutineObject, gi_weakreflist), + 0, + (iternextfunc) __Pyx_Generator_Next, + __pyx_Generator_methods, + __pyx_Generator_memberlist, + __pyx_Generator_getsets, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if CYTHON_USE_TP_FINALIZE + 0, +#else + __Pyx_Coroutine_del, +#endif + 0, +#if CYTHON_USE_TP_FINALIZE + __Pyx_Coroutine_del, +#elif PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, +#endif +}; +static int __pyx_Generator_init(void) { + __pyx_GeneratorType_type.tp_getattro = __Pyx_PyObject_GenericGetAttrNoDict; + __pyx_GeneratorType_type.tp_iter = PyObject_SelfIter; + __pyx_GeneratorType = __Pyx_FetchCommonType(&__pyx_GeneratorType_type); + if (unlikely(!__pyx_GeneratorType)) { + return -1; + } + return 0; +} + +/* CheckBinaryVersion */ +static int __Pyx_check_binary_version(void) { + char ctversion[4], rtversion[4]; + PyOS_snprintf(ctversion, 4, "%d.%d", PY_MAJOR_VERSION, PY_MINOR_VERSION); + PyOS_snprintf(rtversion, 4, "%s", Py_GetVersion()); + if (ctversion[0] != rtversion[0] || ctversion[2] != rtversion[2]) { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compiletime version %s of module '%.100s' " + "does not match runtime version %s", + ctversion, __Pyx_MODULE_NAME, rtversion); + return PyErr_WarnEx(NULL, message, 1); + } + return 0; +} + +/* InitStrings */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/opendbc/can/parser_pyx.so b/opendbc/can/parser_pyx.so new file mode 100755 index 000000000..f3716e810 Binary files /dev/null and b/opendbc/can/parser_pyx.so differ diff --git a/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc b/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc new file mode 100644 index 000000000..8c35d1116 --- /dev/null +++ b/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc @@ -0,0 +1,305 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _stellantis_common.dbc starts here"; +BO_ 258 STEERING: 8 XXX + SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX + SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX + SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 284 ESP_8: 8 XXX + SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 320 ESP_1: 8 XXX + SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX + SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX + +BO_ 344 ESP_6: 8 XXX + SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX + +BO_ 464 ORC_1: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 500 DAS_3: 8 XXX + SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 501 DAS_4: 8 XXX + SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX + SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX + SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX + +BO_ 544 EPS_2: 8 XXX + SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX + SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX + SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX + SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 559 ECM_5: 8 XXX + SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 571 CRUISE_BUTTONS: 3 XXX + SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 678 DAS_6: 8 XXX + SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX + SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX + +BO_ 720 BSM_1: 6 XXX + SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 792 STEERING_LEVERS: 8 XXX + SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX + SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX + +BO_ 820 BCM_1: 8 XXX + SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; + +CM_ "chrysler_pacifica_2017_hybrid.dbc starts here"; + +BO_ 514 SPEED_1: 8 XXX + SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX + SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX + +BO_ 653 BRAKE_MODULE: 2 XXX + SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|4] "" XXX + +BO_ 746 GEAR: 5 XXX + SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX + SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 31|4@0+ (1,0) [0|15] "" XXX + +BO_ 736 TRIP: 8 XXX + SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX + SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX + +BO_ 264 ACCEL_PEDAL_MSG: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX + +BO_ 658 LKAS_COMMAND: 6 XXX + SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + SG_ STEERING_TORQUE : 2|11@0+ (1,-1024) [0|1] "" XXX + SG_ LKAS_CONTROL_BIT : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 705 AUTO_PARK_BUTTON: 8 XXX + SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ INCREASING_UNKNOWN : 38|7@0+ (1,0) [0|15] "" XXX + +BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX + SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX + +BO_ 671 AUTO_PARK_REQUEST: 8 XXX + SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_STATUS : 7|5@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_MODE : 22|2@0+ (1,0) [0|3] "" XXX + SG_ AUTO_PARK_CMD : 2|11@0+ (1,-1024) [0|1] "NM" XXX + +BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX + SG_ INCREASING_UNKNOWN : 55|8@0+ (1,0) [0|7] "" XXX + SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX + +BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX + SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_GEAR_2 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_GEAR_3 : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 332 STEERING_2: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX + +BO_ 331 BRAKE_3: 8 XXX + SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 608 PARKSENSE_SIGNAL: 8 XXX + SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ IN_REVERSE : 10|1@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@0+ (1,0) [0|255] "" XXX + SG_ HUMAN_HAS_CONTROL : 17|1@0+ (1,0) [0|3] "" XXX + +BO_ 729 LKAS_HEARTBIT: 5 XXX + SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX + +BO_ 288 ACCEL_RELATED_120: 7 XXX + SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ACCEL : 23|8@0+ (1,0) [0|255] "" XXX + SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX + +BO_ 257 ACCEL_RELATED_101: 5 XXX + SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 825 AUDIBLE_BEEP_339: 2 XXX + SG_ BEEP_339 : 7|16@0+ (1,0) [0|65535] "" XXX + +BO_ 168 ACCEL_RELATED_a8: 8 XXX + SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 270 ACCEL_RELATED_10e: 8 XXX + SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX + +BO_ 291 ENERGY_RELATED_123: 8 XXX + SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX + +BO_ 294 ENERGY_RELATED_126: 8 XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX + SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX + +BO_ 308 ACCEL_GAS_134: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ ACCEL_134 : 46|7@0+ (1,0) [0|127] "" XXX + +BO_ 532 ENERGY_RELATED_214: 8 XXX + SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX + SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX + +BO_ 655 CHARGING_MAYBE_28F: 8 XXX + SG_ CHARGING : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 660 BRAKE_RELATED_294: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PERHAPS_294 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 764 ACCEL_RELATED_2FC: 8 XXX + SG_ ACCEL_2FC : 13|6@0+ (1,0) [0|255] "" XXX + +BO_ 816 TRACTION_BUTTON: 8 XXX + SG_ TRACTION_OFF : 19|1@0+ (1,0) [0|3] "" XXX + SG_ TOGGLE_PARKSENSE : 52|1@0+ (1,0) [0|3] "" XXX + +BO_ 878 ACCEL_RELATED_36E: 8 XXX + SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ACCEL_OR_RPM_1 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 324 SPEED_2: 8 XXX + SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX + +BO_ 832 UNKNOWN_340: 8 XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + +BO_ 625 ACC_1: 8 XXX + SG_ SPEED : 31|8@0+ (1,0) [0|255] "km/h" XXX + SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + +BO_ 268 ACC_10c: 8 XXX + SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148"; +CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P"; +CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake"; +CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes"; +CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right"; +CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed"; +CM_ SG_ 544 LKAS_STATE "2 when autopark has control, 8 when is actuatable by lkas, 4 when there is a fault"; +CM_ SG_ 658 LKAS_STEERING_TORQUE "Most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking"; +CM_ SG_ 671 AUTO_PARK_CMD "Request Appears to be in NM"; +CM_ SG_ 671 AUTO_PARK_STATUS "1 = IDLE / NO REQUEST 9 = START REQUEST 10 = REQUEST MODE 11 = REQUEST MODE"; +CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f"; +CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f"; +CM_ SG_ 826 AUTO_PARK_GEAR_3 "Reverse=0, Forward=f"; +CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more noisy."; +CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled"; +CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in."; +CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning."; +CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use"; +CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is"; +CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unsure what it is, but smoother"; +CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal"; +CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know"; +CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled"; +CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense"; +CM_ SG_ 324 SPEED_2 "signal is approx half other speeds"; +CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC"; +CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC"; +CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both."; +CM_ SG_ 625 SPEED "zero on non-acc drives"; + +VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged"; +VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left"; diff --git a/opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc b/opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc new file mode 100644 index 000000000..07c37e1fa --- /dev/null +++ b/opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc @@ -0,0 +1,230 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 544 a_1: 8 XXX + SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX + SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX + SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX + SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX + SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX + SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 576 b_1: 8 XXX + SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX + SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 608 a_2: 8 XXX + SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX + SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX + SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX + SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX + SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX + SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 640 b_2: 8 XXX + SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX + SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 644 a_3: 8 XXX + SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX + SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX + SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX + SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX + SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX + SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 648 b_3: 8 XXX + SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX + SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 652 a_4: 8 XXX + SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX + SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX + SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX + SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX + SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX + SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 656 b_4: 8 XXX + SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX + SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 512 unknown_200: 8 XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ increasing : 31|16@0+ (1,0) [0|255] "" XXX + SG_ zeros_0 : 3|12@0+ (1,0) [0|63] "" XXX + SG_ zeros_1 : 47|12@0+ (1,0) [0|63] "" XXX + SG_ status0 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ unknown_0 : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 514 unknown_202: 8 XXX + SG_ COUNTER : 43|4@0+ (1,0) [0|15] "" XXX + SG_ sig3 : 31|8@0+ (1,0) [0|65535] "" XXX + SG_ increasing : 39|12@0+ (1,0) [0|15] "" XXX + +BO_ 706 c_1: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + +BO_ 708 c_2: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 710 c_3: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 712 c_4: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 714 c_5: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 716 c_6: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 718 c_7: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 720 c_8: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 722 c_9: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 724 c_10: 8 XXX + SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX + SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 674 d_1: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 676 d_2: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 678 d_3: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 680 d_4: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 682 d_5: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 684 d_6: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 686 d_7: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 688 d_8: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 690 d_9: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 692 d_10: 8 XXX + SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX + +BO_ 672 NEW_MSG_5: 8 XXX + SG_ NEW_SIGNAL_1 : 9|10@0+ (1,0) [0|1023] "" XXX + SG_ NEW_SIGNAL_2 : 45|10@0+ (1,0) [0|1023] "" XXX + + + + +CM_ SG_ 544 track_id "for message a_1 track_id is always 1, similar for other messages and track_id"; +CM_ SG_ 544 REL_ACCEL "perhaps REL_ACCEL because it responds faster and before REL_SPEED"; +CM_ SG_ 544 sig2 "perhaps distance to object. LONG_DIST or REL_ACCEL or REL_SPEED"; +CM_ SG_ 576 zeros "not always zero, sometimes has value when another car changes lanes"; +CM_ SG_ 706 LAT_DIST "positive is to the right, negative is to the left"; diff --git a/opendbc/chrysler_ram_dt_generated.dbc b/opendbc/chrysler_ram_dt_generated.dbc new file mode 100644 index 000000000..8e0b7c2f9 --- /dev/null +++ b/opendbc/chrysler_ram_dt_generated.dbc @@ -0,0 +1,178 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _stellantis_common_ram.dbc starts here"; +CM_ "Generated from _stellantis_common.dbc" + +BO_ 35 STEERING: 8 XXX + SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX + SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX + SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 121 ESP_8: 8 XXX + SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 131 ESP_1: 8 XXX + SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX + SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX + +BO_ 139 ESP_6: 8 XXX + SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX + +BO_ 464 ORC_1: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 153 DAS_3: 8 XXX + SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 232 DAS_4: 8 XXX + SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX + SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX + SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX + +BO_ 49 EPS_2: 8 XXX + SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX + SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX + SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX + SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 157 ECM_5: 8 XXX + SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 177 CRUISE_BUTTONS: 3 XXX + SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 250 DAS_6: 8 XXX + SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX + SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX + +BO_ 720 BSM_1: 6 XXX + SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 792 STEERING_LEVERS: 8 XXX + SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX + SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX + +BO_ 657 BCM_1: 8 XXX + SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; + +CM_ "chrysler_ram_dt.dbc starts here"; + +BO_ 37 PCM_1: 8 XXX + SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|1] "" XXX + SG_ ENGINE_TRQ_REQ : 23|12@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 53 PCM_2: 8 XXX + SG_ ENG_TORQUE_REQ : 3|12@0+ (1,0) [0|7] "" XXX + SG_ ENG_TORQUE_OUT : 19|12@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + +BO_ 133 TCM_1: 8 XXX + SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX + SG_ SHIFT_PENDING : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SPEED_TURBINE : 27|12@0+ (0.04,0) [0|1] "km/h" XXX + SG_ ACTUAL_GEAR : 11|4@0+ (1,0) [0|15] "" XXX + +BO_ 135 ABS_2: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_BRAKE : 15|8@0+ (1,0) [0|1] "" XXX + +BO_ 137 ESP_4: 8 XXX + SG_ Yaw_Rate : 7|16@0+ (0.01,-327.68) [-327.68|327.66] "deg/s" XXX + SG_ Acceleration : 32|8@1+ (0.08,-10.24) [-10.24|10.08] "m/s2" XXX + +BO_ 147 Transmission_Status: 8 XXX + SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 164 EPS_3: 8 XXX + SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX + SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX + SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX + SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 166 LKAS_COMMAND: 8 XXX + SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX + SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX + SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 221 Center_Stack_1: 8 XXX + SG_ LKAS_Button : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Traction_Button : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 650 Center_Stack_2: 8 XXX + SG_ LKAS_Button : 57|1@1+ (1,0) [0|0] "" XXX + + +CM_ SG_ 133 ACTUAL_GEAR "0xd = P, 0x1-8 = D (actual gear), 0xb = R or N?? TODO find R vs N"; +CM_ SG_ 153 ACC_Engaged "SENT BY FORWARD CAMERA 1 = ACTIVE, 3 = ENGAGED, 0 = DISENGAGED/OFF"; +CM_ SG_ 166 LKAS_CONTROL_BIT "0=IDLE, 1=HAS 2=LKAS 3=ABSD, 4=TJA, 7=SNA"; +CM_ SG_ 250 Auto_High_Beam "1 = HIGH BEAMS OK 0 = HIGH BEAMS OFF "; +CM_ SG_ 250 LKAS_LANE_LINES "9 = LEFT CAUTION, 11 = VERY LEFT CAUTION 10 = RIGHT CAUTION, 14 = VERY RIGHT, 4 = NO LINES DETECTED, 3 = LINES DETECTED, SYSTEM ACTIVE"; +CM_ SG_ 464 Driver_Seatbelt_Status "1 unbuckled 0 buckled"; +CM_ SG_ 792 High_Beam_Lever_Status "1 is high beam, 0 reg"; +VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ; diff --git a/opendbc/comma_body.dbc b/opendbc/comma_body.dbc new file mode 100644 index 000000000..6926d1aa0 --- /dev/null +++ b/opendbc/comma_body.dbc @@ -0,0 +1,34 @@ +VERSION "" + +BO_ 513 MOTORS_DATA: 8 XXX + SG_ SPEED_L : 7|16@0- (1,0) [-1000|1000] "" XXX + SG_ SPEED_R : 23|16@0- (1,0) [-1000|1000] "" XXX + SG_ ELEC_ANGLE_L : 39|8@0+ (1,0) [0|360] "" XXX + SG_ ELEC_ANGLE_R : 47|8@0+ (1,0) [0|360] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 514 VAR_VALUES: 3 XXX + SG_ IGNITION : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ENABLE_MOTORS : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FAULT : 7|6@0+ (1,0) [0|63] "" XXX + SG_ MOTOR_ERR_L : 15|8@0+ (1,0) [0|255] "" XXX + SG_ MOTOR_ERR_R : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 515 BODY_DATA: 4 XXX + SG_ MCU_TEMP : 7|8@0+ (0.1,0) [0|125] "" XXX + SG_ BATT_VOLTAGE : 15|16@0+ (0.01,0) [0|60] "" XXX + SG_ BATT_PERCENTAGE : 31|7@0+ (1,0) [0|100] "" XXX + SG_ CHARGER_CONNECTED : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 516 MOTORS_CURRENT: 8 XXX + SG_ LEFT_PHA_AB : 7|16@0- (1,0) [-32768|32767] "" XXX + SG_ LEFT_PHA_BC : 23|16@0- (1,0) [-32768|32767] "" XXX + SG_ RIGHT_PHA_AB : 39|16@0- (1,0) [-32768|32767] "" XXX + SG_ RIGHT_PHA_BC : 55|16@0- (1,0) [-32768|32767] "" XXX + +BO_ 592 TORQUE_CMD: 6 XXX + SG_ TORQUE_L : 7|16@0- (1,0) [-1000|1000] "" XXX + SG_ TORQUE_R : 23|16@0- (1,0) [-1000|1000] "" XXX + SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX diff --git a/opendbc/ford_cgea1_2_bodycan_2011.dbc b/opendbc/ford_cgea1_2_bodycan_2011.dbc new file mode 100644 index 000000000..49fcae19c --- /dev/null +++ b/opendbc/ford_cgea1_2_bodycan_2011.dbc @@ -0,0 +1,1070 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 58 BCM_m_FrP01: 8 XXX + SG_ ChildLockCmd : 13|1@0+ (1,0) [0|0] "" XXX + SG_ ChildLockCmd_UB : 12|1@0+ (1,0) [0|0] "" XXX + SG_ CLockCmd : 31|8@0+ (1,0) [0|0] "" XXX + SG_ CLockCmd_UB : 14|1@0+ (1,0) [0|0] "" XXX + SG_ DDShortDrop : 3|2@0+ (1,0) [0|0] "" XXX + SG_ DDShortDrop_UB : 4|1@0+ (1,0) [0|0] "" XXX + SG_ DirectionIndication : 11|2@0+ (1,0) [0|0] "" XXX + SG_ DirectionIndication_UB : 0|1@0+ (1,0) [0|0] "" XXX + SG_ EpsDrvInfo_D_Dsply : 36|4@0+ (1,0) [0|0] "" XXX + SG_ EpsDrvInfo_D_Dsply_UB : 39|1@0+ (1,0) [0|0] "" XXX + SG_ GearRvrseActv_D_Actl : 38|2@0+ (1,0) [0|0] "" XXX + SG_ GearRvrseActv_D_Actl_UB : 15|1@0+ (1,0) [0|0] "" XXX + SG_ VehVActlEng_D_Qf_3A : 9|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_ActlEng_UB_3A : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_ActlEng_3A : 55|16@0+ (0.01,0) [0|0] "kph" XXX + SG_ Veh_V_DsplyCcSet : 23|8@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_RqCcSet : 32|9@0+ (0.5,0) [0|0] "kph" XXX + SG_ WasherFluidLevelLow : 5|1@0+ (1,0) [0|0] "" XXX + +BO_ 64 BCM_m_FrP02: 8 XXX + SG_ FuelCutoffReq : 7|4@0+ (1,0) [0|0] "" XXX + SG_ FuelCutoffReq_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ KVRFRSettings : 54|15@0+ (1,0) [0|0] "" XXX + SG_ KVRFRSettings_UB : 10|1@0+ (1,0) [0|0] "" XXX + SG_ PsngrFrntDetct_D_Actl : 23|2@0+ (1,0) [0|0] "" XXX + SG_ PsngrFrntDetct_D_Actl_UB : 3|1@0+ (1,0) [0|0] "" XXX + SG_ RILReq : 21|2@0+ (1,0) [0|0] "" XXX + SG_ RILReq_UB : 55|1@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleDriver : 31|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleDriver_UB : 0|1@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleMid : 29|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleMid_UB : 15|1@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBucklePsngr : 27|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBucklePsngr_UB : 14|1@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBuckleDriver : 25|2@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBuckleDriver_UB : 13|1@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBucklePsngr : 37|2@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBucklePsngr_UB : 11|1@0+ (1,0) [0|0] "" XXX + SG_ WheelRotationCnt : 47|8@0+ (1,0) [0|0] "" XXX + SG_ WheelRotationCnt_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ WheelRotationCntQF : 35|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl_UB_40 : 2|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl_40 : 39|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl_UB_40 : 1|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl_40 : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 131 MS_Steering_Data: 8 XXX + SG_ SteColumn_Status_UB : 28|1@0+ (1,0) [0|0] "" XXX + SG_ SteColumn_Status : 31|3@0+ (1,0) [0|0] "" XXX + SG_ SteCol_Manual_Override_UB : 26|1@0+ (1,0) [0|0] "" XXX + SG_ SteCol_Manual_Override : 27|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Send_UB : 20|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Send : 6|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Phone_UB : 17|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Phone : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_OK_UB : 16|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_OK : 2|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Up_UB : 23|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Down_UB : 22|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Voice_PTT_UB : 21|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Right_UB : 19|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Left_UB : 18|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Mode_UB : 11|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Mode : 13|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Media_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Up : 15|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Down : 14|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Voice_PTT : 7|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Right : 5|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Left : 4|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Media : 1|1@0+ (1,0) [0|0] "" XXX + SG_ VehYaw_W_Actl : 55|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + SG_ SteWhlCtl_End_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_End : 0|1@0+ (1,0) [0|0] "" XXX + SG_ VehYaw_W_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Mute_UB : 10|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Mute : 12|1@0+ (1,0) [0|0] "" XXX + +BO_ 257 Driver_Seat_Information: 8 XXX + SG_ Reverse_Mirror_Stat : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Memory_Feedback_Rqst : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Easy_Entry_Exit_Stat : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 260 Driver_Seat_Information_2: 8 XXX + SG_ Memory_Cmd : 15|4@0+ (1,0) [0|0] "" XXX + SG_ Easy_Entry_Rqst : 4|2@0+ (1,0) [0|0] "" XXX + SG_ DrvSeat_Stat : 7|3@0+ (1,0) [0|0] "" XXX + SG_ Cancel_Auto_Movement : 1|1@0+ (1,0) [0|0] "" XXX + +BO_ 269 IdleShutdown_Legacy: 8 XXX + SG_ IDLE_ENGINE_SHUTDOWN : 23|2@0+ (1,0) [0|0] "" XXX + +BO_ 272 Keyfob_Pad_Stat: 8 XXX + SG_ L_Pwr_Sliding_Dr_Rqst : 28|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Decklid_Rqst : 31|1@0+ (1,0) [0|0] "" XXX + SG_ R_Pwr_Sliding_Dr_Rqst : 29|1@0+ (1,0) [0|0] "" XXX + SG_ Keyfob_Pad_Msg_Count : 23|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Keyfob_Pad_Id_Number : 15|8@0+ (1,0) [0|0] "" XXX + SG_ Keyfob_Pad_Button_Pressed : 7|8@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Rqst : 30|1@0+ (1,0) [0|0] "" XXX + SG_ Keycode_Status : 27|20@0+ (1,0) [0|0] "" XXX + +BO_ 275 Power_Liftgate_Mode_StatM: 8 XXX + SG_ Power_Liftgate_Mode_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ DrTgateChime_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 276 Running_Board_CmdM: 8 XXX + SG_ Running_Board_Cmd : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 277 Running_Board_StatM: 8 XXX + SG_ Running_Board_Stat : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 288 ClmtCtrlSeat_SetCmdlegacy1: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 289 ClmtCtrlSeat_SetStat_DvrM: 8 XXX + SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 290 ClmtCtrlSeat_SetCmdlegacy2: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_Psgr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 291 ClmtCtrlSeat_SetStat_PsgrM: 8 XXX + SG_ ClmtCtrlSeat_SetStat_Psgr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 292 ClmtCtrlSeatSet_Cmd_v2_MS: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_Psgr : 15|8@0+ (1,0) [0|0] "" XXX + SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 293 ClmtCtrlSeatSet_Stat_v2: 8 XXX + SG_ ClmtCtrlSeat_SetStat_Psgr : 15|8@0+ (1,0) [0|0] "" XXX + SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 304 Mirror_Manual_Override_M: 8 XXX + SG_ Mirror_Manual_Override : 7|1@0+ (1,0) [0|0] "Binary" XXX + +BO_ 305 Memory_Sw_StatM: 8 XXX + SG_ Memory_Sw_Message_Count : 15|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Memory_Set_Sw_Stat : 7|1@0+ (1,0) [0|0] "Binary" XXX + SG_ Memory_Set_Cancel : 3|1@0+ (1,0) [0|0] "Binary" XXX + SG_ Memory_3_Sw_Stat : 4|1@0+ (1,0) [0|0] "Binary" XXX + SG_ Memory_2_Sw_Stat : 5|1@0+ (1,0) [0|0] "Binary" XXX + SG_ Memory_1_Sw_Stat : 6|1@0+ (1,0) [0|0] "Binary" XXX + +BO_ 306 Driver_Lock_Sw_StatM: 8 XXX + SG_ Driver_Door_Key_Unlock : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Driver_Door_Key_Lock : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Driver_Lock_Sw_Message_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Driver_Lock_Sw_Stat : 15|2@0+ (1,0) [0|0] "" XXX + +BO_ 309 Memory_Cancel_Cmd_M: 8 XXX + SG_ Memory_Cancel_Cmd : 7|1@0+ (1,0) [0|0] "Binary" XXX + +BO_ 310 Driver_Door_Lock_CmdM: 8 XXX + SG_ Driver_Door_Lock_Msg_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Driver_Door_Lock_Cmd : 15|4@0+ (1,0) [0|0] "" XXX + +BO_ 311 Pass_Mirror_Sw_StatM: 8 XXX + SG_ Pass_Mirror_Sw_UD_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Mirror_Sw_LR_Stat : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 313 RPwrSlideDr_Unlock_RqstM: 8 XXX + SG_ RPwrSlideDr_Unlock_Rqst : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 320 LPwrSlideDr_Unlock_RqstM: 8 XXX + SG_ LPwrSlideDr_Unlock_Rqst : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 321 Passive_Entry_Ctrl_Data: 8 XXX + SG_ PE_Control_Data_1 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Control_Cmd : 7|3@0+ (1,0) [0|0] "" XXX + SG_ PK_SearchResults_Prog : 63|4@0+ (1,0) [0|0] "" XXX + SG_ PK_SearchResults_MyKey : 4|4@0+ (1,0) [0|0] "" XXX + SG_ PK_SearchResults_Found : 59|4@0+ (1,0) [0|0] "" XXX + SG_ PK_Search_EvNum : 15|8@0+ (1,0) [0|0] "Counts" XXX + SG_ PE_Control_Data_5 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Control_Data_4 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Control_Data_3 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Control_Data_2 : 31|8@0+ (1,0) [0|0] "" XXX + +BO_ 322 Passive_Entry_Target_Data: 8 XXX + SG_ PE_Target_Data_5 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Cmd : 7|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Status : 5|1@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Data_1 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Search_Rqst : 4|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Data_4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Data_3 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Target_Data_2 : 23|8@0+ (1,0) [0|0] "" XXX + +BO_ 577 BCM_m_FrP28: 8 XXX + SG_ WheelRotToothCntFrL : 15|8@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntFrL_UB : 42|1@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntFrR : 23|8@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntFrR_UB : 41|1@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntReL : 31|8@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntReL_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntReR : 39|8@0+ (1,0) [0|0] "" XXX + SG_ WheelRotToothCntReR_UB : 43|1@0+ (1,0) [0|0] "" XXX + +BO_ 736 FCIM_Button_Press: 8 XXX + SG_ FCIM_Target_ID : 13|4@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_Type : 7|8@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_State : 15|2@0+ (1,0) [0|0] "" XXX + +BO_ 806 Compressor_Req: 8 XXX + SG_ HvacEvap_Te_Rq : 33|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ HvacAirCond_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX + SG_ HvacEvap_Te_Offst : 1|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + +BO_ 842 MassageSeat_Data1: 8 XXX + SG_ SeatLmbrUpDrv_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrMidDrv_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrLoDrv_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlUpDrv_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlLoDrv_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 843 MassageSeat_Data2: 8 XXX + SG_ SeatLmbrUpPsgr_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrMidPsgr_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrLoPsgr_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlUpPsgr_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlLoPsgr_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 844 MassageSeat_Stat1: 8 XXX + SG_ StmsLmbrDrv_D_Stat : 17|2@0+ (1,0) [0|0] "" XXX + SG_ StmsCshnDrv_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX + SG_ SeatSwtchDrv_B_Stat : 31|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDrv_D_Stat : 23|3@0+ (1,0) [0|0] "" XXX + SG_ SeatAirAmb_P_Actl : 7|16@0+ (0.01,0) [0|0] "KiloPascal" XXX + SG_ SeatPDrv_B_Stat : 20|1@0+ (1,0) [0|0] "" XXX + +BO_ 845 MassageSeat_Stat2: 8 XXX + SG_ StmsLmbrPsgr_D_Stat : 15|2@0+ (1,0) [0|0] "" XXX + SG_ StmsCshnPsgr_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX + SG_ SeatSwtchPsgr_B_Stat : 11|1@0+ (1,0) [0|0] "" XXX + SG_ SeatPPsgr_B_Stat : 7|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnPsgr_D_Stat : 6|3@0+ (1,0) [0|0] "" XXX + SG_ PsgrMemFeedback_Rsp : 3|4@0+ (1,0) [0|0] "" XXX + +BO_ 846 MassageSeat_Req_MS: 8 XXX + SG_ SeatFnPsgr_D_Rq : 15|3@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDrv_D_Rq : 12|3@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDfaltPsgr_B_Rq : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDfaltDrv_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnChngPsgr_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX + SG_ SeatFnChngDrv_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX + SG_ PsgrMemory_Rq : 3|4@0+ (1,0) [0|0] "" XXX + +BO_ 849 MassageSeat_Data3: 8 XXX + SG_ SeatCshnDrvRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 850 MassageSeat_Data4: 8 XXX + SG_ SeatCshnPsgrRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 853 EFP_CC_Status_MS: 8 XXX + SG_ Save_My_Temp : 59|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Left_Temp_Setpt : 31|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RrDefrost_HtdMirrorReq : 60|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Control_Status : 16|1@0+ (1,0) [0|0] "" XXX + SG_ MultipleButtonPressReq : 63|3@0+ (1,0) [0|0] "" XXX + SG_ Rear_System_Mode_Req : 19|3@0+ (1,0) [0|0] "" XXX + SG_ Recirc_Request : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Front_Rt_Temp_Setpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ AC_Request : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Windshield_ModeRequest : 15|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Panel_Mode_Request : 7|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Overriding_ModeReq : 10|3@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_Request : 3|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Rear_Right_Temp_Setpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ Forced_Recirc_Req : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Left_Temp_Setpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX + +BO_ 854 EFP_CC_Seat_Req_Stat_MS: 8 XXX + SG_ Front_Rear_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX + SG_ Pass_Rr_Cond_Seat_Req : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Rr_Cond_Seat_Lvl : 8|3@0+ (1,0) [0|0] "" XXX + SG_ Pass_Fr_Cond_Seat_Req : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Fr_Cond_Seat_Lvl : 11|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Rr_Cond_Seat_Req : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Rr_Cond_Seat_Lvl : 2|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Fr_Cond_Seat_Req : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Fr_Cond_Seat_Lvl : 5|3@0+ (1,0) [0|0] "" XXX + +BO_ 855 RCCM_CC_Status: 8 XXX + SG_ RrBlwrCondStLdShedStat : 25|2@0+ (1,0) [0|0] "" XXX + SG_ FrBlwrCondStLdShedStat : 20|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_Rr_Rt_TempSetpt : 63|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Rr_Left_TempSetpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Fr_Rt_TempSetpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Fr_Left_TempSetpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Fr_Rr_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX + SG_ Panel_Mode_State : 7|4@0+ (8.33,0) [0|0] "%" XXX + SG_ RrDefHtdMirrLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX + SG_ Windshield_Mode_State : 15|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Recirc_Door_State : 11|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_System_Mode_State : 23|3@0+ (1,0) [0|0] "" XXX + SG_ Default_Defrost_State : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_AC_Indicator_Temp : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_State : 3|4@0+ (8.33,0) [0|0] "%" XXX + SG_ RrDefrost_HtdMirrState : 8|1@0+ (1,0) [0|0] "" XXX + +BO_ 856 RCCM_CC_Seat_Status: 8 XXX + SG_ Active_My_Temp : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CC_HtdStrWhl_Req : 24|1@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PR_Cond_Seat_Lvl : 31|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PR_Cond_Seat_Req : 28|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PF_Cond_Seat_Req : 20|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PF_Cond_Seat_Lvl : 23|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DR_Cond_Seat_Req : 12|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DR_Cond_Seat_Lvl : 15|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DF_Cond_Seat_Req : 4|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DF_Cond_Seat_Lvl : 7|3@0+ (1,0) [0|0] "" XXX + SG_ PassRrCondStLdShedStat : 26|2@0+ (1,0) [0|0] "" XXX + SG_ PassFrCondStLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX + SG_ DrvRrCondStLdShedStat : 10|2@0+ (1,0) [0|0] "" XXX + SG_ DrvFrCondStLdShedStat : 1|2@0+ (1,0) [0|0] "" XXX + +BO_ 857 RCCM_CC_MBP_Press_Stat: 8 XXX + SG_ Report_Active : 33|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Temp_Units : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Fan_Bars_Disply : 39|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Temp_Units : 36|1@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyPass10 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyPass1 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyDrvr10 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyDrvr1 : 15|8@0+ (1,0) [0|0] "" XXX + +BO_ 859 MFD_CC_Status_MS: 8 XXX + SG_ Rear_Mode_Bttn_Status : 38|1@0+ (1,0) [0|0] "" XXX + +BO_ 860 EFP_CC_Info_Status_MS: 8 XXX + SG_ Rear_Panel_Btn_State : 41|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Floor_Btn_State : 40|1@0+ (1,0) [0|0] "" XXX + SG_ HtdStrWhl_SftBtt_Stt : 39|2@0+ (1,0) [0|0] "" XXX + SG_ AC_Sft_Button_State : 23|2@0+ (1,0) [0|0] "" XXX + SG_ DrvRrCondSeatSftBttnSt : 47|3@0+ (1,0) [0|0] "" XXX + SG_ DrvFrCondSeatSftBtnStt : 37|3@0+ (1,0) [0|0] "" XXX + SG_ CC_RecircSBtn_St : 27|2@0+ (1,0) [0|0] "" XXX + SG_ CC_RrDefrSBtn_St : 24|1@0+ (1,0) [0|0] "" XXX + SG_ PasRrCondSeatSftBttnSt : 44|3@0+ (1,0) [0|0] "" XXX + SG_ PasFrCondSeatSftBtnStt : 34|3@0+ (1,0) [0|0] "" XXX + SG_ MyTemp_Soft_Bttn_State : 25|1@0+ (1,0) [0|0] "" XXX + SG_ CC_MaxACSBtn_St : 28|1@0+ (1,0) [0|0] "" XXX + SG_ RearPowerButtonState : 16|1@0+ (1,0) [0|0] "" XXX + SG_ RearCoolBarsDisplayed : 11|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ Rear_Sft_Control_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ CC_RrNeutralBarDsp_St : 8|1@0+ (1,0) [0|0] "" XXX + SG_ CC_RrHeatBarsDsp_St : 31|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ Rear_Fan_Bars_Displayed : 19|3@0+ (1,0) [0|0] "" XXX + SG_ CC_RrCtrlBtn_St : 20|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Auto_Button_State : 21|1@0+ (1,0) [0|0] "" XXX + SG_ CC_FrPowerSBtn_St : 14|1@0+ (1,0) [0|0] "" XXX + SG_ CC_FrDefrostSBtn_St : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_Soft_Btn_Stt : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_MODE_State : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_FAN_State : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Dual_Button_State : 12|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarPnlSBtn_St : 5|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarPnFlrSBtn_St : 4|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarFlrWsSBtn_St : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarDrvFlrSBtn_St : 3|1@0+ (1,0) [0|0] "" XXX + +BO_ 861 HSWheel_CC_Info_Stat: 8 XXX + SG_ HtdStrWhl_SftBtt_State : 57|2@0+ (1,0) [0|0] "" XXX + +BO_ 862 Climate_Control_Data_2: 8 XXX + SG_ HvacRec_Pc_Est : 31|7@0+ (1,0) [0|0] "%" XXX + SG_ HvacEngIdleInc_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX + SG_ HvacAir_Flw_Est : 13|9@0+ (0.5,0) [0|0] "liter/second" XXX + SG_ AmbTempImpr : 7|10@0+ (0.25,-128.0) [0|0] "degreesC" XXX + +BO_ 900 Vehicle_Access_RqstM: 8 XXX + SG_ PE_AssocConfirm_D_Actl : 63|3@0+ (1,0) [0|0] "" XXX + SG_ DrTgateOpen_D_RqRfa : 51|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Decklid_Inhibit_Rqst : 53|2@0+ (1,0) [0|0] "" XXX + SG_ PK_Program : 45|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Packet_Cnt : 31|8@0+ (1,0) [0|0] "Counts" XXX + SG_ PE_Control_Status : 33|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Control_Code : 7|8@0+ (1,0) [0|0] "" XXX + SG_ PE_Perimeter_Lighting_Stat : 15|2@0+ (1,0) [0|0] "" XXX + SG_ PE_RKE_Flash_Rqst : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PE_Lock_EvNum : 23|8@0+ (1,0) [0|0] "Counts" XXX + SG_ PE_Lock_Requestor : 39|5@0+ (1,0) [0|0] "" XXX + SG_ PE_Lock_Sub_Id : 11|4@0+ (1,0) [0|0] "" XXX + SG_ PE_Lock_Status : 13|2@0+ (1,0) [0|0] "" XXX + SG_ PE_DrvCfg_Horn_Rqst : 47|2@0+ (1,0) [0|0] "" XXX + SG_ PEBackupSlot_Stats : 55|2@0+ (1,0) [0|0] "" XXX + SG_ PE_Fob_Number : 43|4@0+ (1,0) [0|0] "Number" XXX + SG_ PE_Keypad_LiftGlass_Rqst : 49|1@0+ (1,0) [0|0] "" XXX + +BO_ 901 Vehicle_Lock_Status: 8 XXX + SG_ CntrStkKeycodeActl : 55|16@0+ (1,0) [0|0] "" XXX + SG_ CntrStk_D_RqAssoc_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ CntrStk_D_RqAssoc : 43|3@0+ (1,0) [0|0] "" XXX + SG_ KeyTypeChngMykey_D_Rq : 45|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_Sub_Id : 21|4@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_Status : 17|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_Requestor : 39|5@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_EvNum : 31|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Trim_Switch_Status_Count : 15|8@0+ (1,0) [0|0] "Counts" XXX + SG_ Trim_Switch_Status : 23|2@0+ (1,0) [0|0] "" XXX + SG_ DF_KeyCyl_Switch_Stat_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX + SG_ DF_KeyCyl_Switch_Stat : 34|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alarm_Status : 47|2@0+ (1,0) [0|0] "" XXX + SG_ KeyTypeChngMykey_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX + +BO_ 902 Remote_Start: 8 XXX + SG_ Remote_Start_Req : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 903 CC_FCIM_Update: 8 XXX + SG_ Rr_Temp_M_H_Heat_Ind : 30|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_7_Indicator : 45|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_6_Indicator : 46|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_5_Indicator : 47|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_4_Indicator : 32|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_3_Indicator : 33|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_2_Indicator : 34|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Fan_Low_Indicator : 35|1@0+ (1,0) [0|0] "" XXX + SG_ AC_Indicator : 36|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_Indicator : 37|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Mode_Indicator : 38|1@0+ (1,0) [0|0] "" XXX + SG_ Windshield_Mode_Indicator : 39|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_High_Cool_Ind : 24|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_M_H_Cool_Ind : 25|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_M_L_Cool_Ind : 26|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_Low_Cool_Ind : 27|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_Center_Ind_On : 28|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_High_Heat_Ind : 29|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_M_L_Heat_Ind : 31|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Temp_Low_Heat_Ind : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Control_Indicator : 17|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_Indicator_Rear : 18|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Indicator_Rear : 19|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_U_R_Seat_Cool_Ind : 20|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_M_Seat_Cool_Ind : 21|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_L_L_Seat_Cool_Ind : 22|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_U_R_Seat_Heat_Ind : 23|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_M_Seat_Heat_Ind : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_L_L_Seat_Heat_Ind : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_U_R_Seat_Cool_Ind : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_M_Seat_Cool_Ind : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_L_L_Seat_Cool_Ind : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_U_R_Seat_Heat_Ind : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_M_Seat_Heat_Ind : 14|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_L_L_Seat_Heat_Ind : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Single_Mode_Indicator : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_Indicator : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Recirc_Indicator : 2|1@0+ (1,0) [0|0] "" XXX + SG_ Max_AC_Econ_Indicator : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_DefHtd_Mirr_Indicator : 4|1@0+ (1,0) [0|0] "" XXX + SG_ Defrost_Indicator : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Temp_Dual_Indicator : 6|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Indicator_Front : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 904 CC_NavChassis_Info_Status: 8 XXX + SG_ Rear_Defrost_Soft_Bttn_Stt : 52|1@0+ (1,0) [0|0] "" XXX + SG_ Recirc_Soft_Button_State : 54|2@0+ (1,0) [0|0] "" XXX + SG_ Max_AC_Soft_Button_State : 55|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_Soft_Btn_Stt : 24|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Power_Soft_Btn_State : 25|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Defrost_Soft_Btn_Stt : 26|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Power_Button_State : 33|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_FAN_Indicator : 27|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_MODE_Indicator : 28|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Rear_Set_Temp_Display : 17|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Rear_Set_Temp_Units : 19|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Heat_Bars_Displayed : 42|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ CC_Bar_Rear_Set_Temp_Dig3 : 21|2@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Rear_Set_Temp_Dig2 : 15|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ CC_Bar_Rear_Set_Temp_Dig1 : 7|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ Rear_Neutral_Bar_Displayed : 43|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Fan_Bars_Displayed : 46|3@0+ (1,0) [0|0] "" XXX + SG_ Rear_Control_Button_State : 47|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Auto_Button_State : 32|1@0+ (1,0) [0|0] "" XXX + SG_ AC_Sft_Button_State : 35|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Cool_Bars_Displayed : 38|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ Dual_Button_State : 39|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Sft_Btn_FlrWs_State : 29|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Sft_Btn_Floor_State : 30|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Sft_Btn_PnFlr_State : 31|1@0+ (1,0) [0|0] "" XXX + SG_ CC_Bar_Sft_Btn_Pnl_State : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Sft_Control_Status : 23|2@0+ (1,0) [0|0] "" XXX + +BO_ 920 FCIM_CC_Status: 8 XXX + SG_ Manual_Temp_Knob_Pos : 8|9@0+ (1,0) [0|0] "Degrees CW" XXX + SG_ Manual_Blower_Knob_Pos : 24|9@0+ (1,0) [0|0] "Degrees CW" XXX + SG_ Rear_Blower_IncreaseButton : 40|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Blower_DecreaseButton : 55|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Temp_Decrease_Button : 41|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Temp_Increase_Button : 42|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Control_Button : 43|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_Button_Rear : 44|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Button_Rear : 45|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_Heated_Seat_Btn : 47|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_Cooled_Seat_Btn : 46|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_Cooled_Seat_Btn : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_Heated_Seat_Btn : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Blower_Decrease_Button : 25|1@0+ (1,0) [0|0] "" XXX + SG_ Blower_Increase_Button : 26|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Defrost_Mode_Button : 27|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_Button : 28|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Floor_Mode_Button : 29|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Mode_Button : 30|1@0+ (1,0) [0|0] "" XXX + SG_ Mode_Change_Button : 31|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_Temp_Increase : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_Temp_Decrease : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_Temp_Decrease : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Lft_Side_Temp_Increase : 14|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_Button_Front : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Recirc_Button : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Max_AC_Econ_Button : 1|1@0+ (1,0) [0|0] "" XXX + SG_ AC_Button : 2|1@0+ (1,0) [0|0] "" XXX + SG_ Rr_Def_Htd_Mirr_Button : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Defrost_Button : 4|1@0+ (1,0) [0|0] "" XXX + SG_ Rt_Side_Temp_Dual_Button : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Button_Front : 6|1@0+ (1,0) [0|0] "" XXX + SG_ Climate_Button : 7|1@0+ (1,0) [0|0] "" XXX + SG_ CcdMde_D_Rq : 54|2@0+ (1,0) [0|0] "" XXX + +BO_ 921 Nav_CC_Status: 8 XXX + SG_ Front_System_Button_Status : 7|5@0+ (1,0) [0|0] "" XXX + SG_ Rear_Temp_Button_Status : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Man_Temp_Bar_Status : 11|4@0+ (1,0) [0|0] "" XXX + SG_ Rear_Fan_Button_Status : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Man_ATC_Button_Status : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Blower_Bar_Status : 2|3@0+ (1,0) [0|0] "# of Bars" XXX + +BO_ 922 VoiceRec_CC_Request: 8 XXX + SG_ Recirculate_On : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Recirculate_Off : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Defrost_On : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Defrost_Off : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Max_AC_On : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Max_AC_Off : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Defrost_On : 14|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Defrost_Off : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Blower_Increment : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Blower_Decrement : 23|1@0+ (1,0) [0|0] "" XXX + SG_ Dual_Zone_Off : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Driver_Temp_Increment : 22|1@0+ (1,0) [0|0] "" XXX + SG_ Driver_Temp_Decrement : 21|1@0+ (1,0) [0|0] "" XXX + SG_ Climate_On : 4|1@0+ (1,0) [0|0] "" XXX + SG_ Climate_Off : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Automatic_Mode : 6|1@0+ (1,0) [0|0] "" XXX + SG_ AC_On : 2|1@0+ (1,0) [0|0] "" XXX + SG_ AC_Off : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Voice_Blower_Limit : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Driver_Set_Temp : 31|8@0+ (0.5,0) [0|0] "Degrees" XXX + +BO_ 928 Ignition_Switch_PositionM: 8 XXX + SG_ AirAmb_Te_ActlFilt_UB : 14|1@0+ (1,0) [0|0] "" XXX + SG_ AirAmb_Te_ActlFilt : 49|10@0+ (0.25,-128.0) [0|0] "deg C" XXX + SG_ OdometerMasterValue_UB : 15|1@0+ (1,0) [0|0] "" XXX + SG_ OdometerMasterValue : 31|24@0+ (1,0) [0|0] "km" XXX + SG_ Remote_Start_Status : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Key_In_Ignition_Stat : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Ignition_Switch_Stable : 1|2@0+ (1,0) [0|0] "" XXX + SG_ Ignition_Status : 7|4@0+ (1,0) [0|0] "" XXX + SG_ BOO_Switch_Status : 9|2@0+ (1,0) [0|0] "" XXX + SG_ Remote_Device_Feedback : 23|3@0+ (1,0) [0|0] "" XXX + +BO_ 934 Side_Detect_L_StatusM: 8 XXX + SG_ Cross_Traffic_L_SnState : 23|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SysOpState : 3|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SnsrState : 1|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_L_Illum : 15|8@0+ (1,0) [0|0] "%" XXX + SG_ Side_Detect_L_Detect : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Op_State : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Alert : 19|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_L_Alert : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 935 Side_Detect_R_StatusM: 8 XXX + SG_ Cross_Traffic_R_Alert : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_SnState : 19|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_Op_State : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_R_Detect : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_R_Illum : 15|8@0+ (1,0) [0|0] "%" XXX + SG_ SideDetect_R_SnsrState : 1|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_R_SysOpState : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_R_Alert : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 944 Body_Information_6_MS: 8 XXX + SG_ DRV_SELECT_STAT : 3|4@0+ (1,0) [0|0] "" XXX + SG_ reserve_2bits : 7|2@0+ (1,0) [0|0] "" XXX + SG_ reserve_2 : 5|1@0+ (1,0) [0|0] "" XXX + SG_ reserve_3 : 4|1@0+ (1,0) [0|0] "" XXX + +BO_ 945 Ajar_Stat: 8 XXX + SG_ Decklid_Ajar_Status : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Hood_Ajar_Status : 0|1@0+ (1,0) [0|0] "" XXX + SG_ LG_Glass_Ajar_Status : 2|1@0+ (1,0) [0|0] "" XXX + SG_ DF_Door_Ajar_Status : 7|1@0+ (1,0) [0|0] "" XXX + SG_ PF_Door_Ajar_Status : 6|1@0+ (1,0) [0|0] "" XXX + SG_ DR_Door_Ajar_Status : 5|1@0+ (1,0) [0|0] "" XXX + SG_ PR_Door_Ajar_Status : 4|1@0+ (1,0) [0|0] "" XXX + SG_ LG_Door_Ajar_Status : 1|1@0+ (1,0) [0|0] "" XXX + +BO_ 946 Body_Information_5_MS: 8 XXX + SG_ CoolantFanStepAct_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondRec_B_Rq_UB : 38|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondRec_B_Rq : 39|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondEvdc_D_Stats_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondEvdc_D_Stats : 37|3@0+ (1,0) [0|0] "" XXX + SG_ AirCondClutch_B_Stats_UB : 19|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondClutch_B_Stats : 20|1@0+ (1,0) [0|0] "" XXX + SG_ CoolantFanStepAct : 47|5@0+ (1,0) [0|0] "Steps" XXX + SG_ AirCondFluidHi_P_Actl_UB : 18|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondFluidHi_P_Actl : 31|8@0+ (0.125,0) [0|0] "bar" XXX + SG_ SECONDARY_HEATER_STAT_UB : 63|1@0+ (1,0) [0|0] "" XXX + SG_ CURRENT_DRAW_UB : 62|1@0+ (1,0) [0|0] "" XXX + SG_ SECONDARY_HEATER_STAT : 40|1@0+ (1,0) [0|0] "" XXX + SG_ CURRENT_DRAW : 55|8@0+ (0.5,0) [0|0] "Amps" XXX + +BO_ 947 BodyInformation_3_MS: 8 XXX + SG_ CamraDefog_B_Req_UB : 58|1@0+ (1,0) [0|0] "" XXX + SG_ TrStats_D_Actl_UB : 48|1@0+ (1,0) [0|0] "" XXX + SG_ RearFog_Lamp_Dbnce_UB : 49|1@0+ (1,0) [0|0] "" XXX + SG_ TrStats_D_Actl : 13|2@0+ (1,0) [0|0] "" XXX + SG_ CamraDefog_B_Req : 40|1@0+ (1,0) [0|0] "" XXX + SG_ RearFog_Lamp_Dbnce : 0|1@0+ (1,0) [0|0] "" XXX + SG_ CarMode : 53|4@0+ (1,0) [0|0] "" XXX + SG_ Day_Night_Status : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Parklamp_Status : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Dimming_Lvl : 31|8@0+ (1,0) [0|0] "" XXX + SG_ Litval : 23|8@0+ (1,0) [0|0] "" XXX + SG_ Mfs_Turn_Stalk_SW_Status : 11|2@0+ (1,0) [0|0] "" XXX + SG_ PwMdeExten_D_Actl : 63|5@0+ (1,0) [0|0] "" XXX + SG_ STR_WHL_ANGLE : 39|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX + SG_ Turn_Seq_Cmd_Right : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Turn_Seq_Cmd_Left : 5|2@0+ (1,0) [0|0] "" XXX + SG_ Smart_Wiper_Motor_Stat_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Smart_Wiper_Motor_Stat : 55|2@0+ (1,0) [0|0] "" XXX + SG_ Mfs_Turn_Stalk_SW_Status_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ reserve : 1|1@0+ (1,0) [0|0] "" XXX + +BO_ 950 RKE_Packet: 8 XXX + SG_ RemoteKey_Packet_TIC : 7|32@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Packet_RollB : 55|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Packet_RollA : 47|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Packet_Ctrl : 39|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Packet_CkSum : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 951 TPM_Frame: 8 XXX + SG_ TirePress_Frame_Temp : 47|8@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Frame_Status : 55|8@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Frame_Press : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Frame_ID : 7|32@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Frame_CkSum : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 952 RKE_TPM_Info: 8 XXX + SG_ TirePress_HitRate_Ctrl : 15|1@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_HitRate_Ctrl : 14|1@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Antenna_Ctrl : 7|2@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Filter_Ctrl : 5|2@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Filter_Ctrl : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Modulation_Ctrl : 1|2@0+ (1,0) [0|0] "" XXX + +BO_ 953 RKE_Info: 8 XXX + SG_ RemoteKey_Info_TIC : 7|32@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Info_RollB : 55|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Info_RollA : 47|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Info_Ctrl : 39|8@0+ (1,0) [0|0] "" XXX + SG_ RemoteKey_Info_CkSum : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 954 Tire_Pressure_Info: 8 XXX + SG_ TirePress_Info_MaxInd : 47|8@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Info_Index : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TirePress_Info_ID : 7|32@0+ (1,0) [0|0] "" XXX + +BO_ 956 Body_Information_7_MS: 8 XXX + SG_ GearLvrPos_D_Actl_UB : 21|1@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTot_Tq_Actl : 31|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ GearLvrPos_D_Actl : 7|4@0+ (1,0) [0|0] "" XXX + SG_ ApedPos_Pc_ActlArb : 15|10@0+ (0.1,0) [0|0] "%" XXX + SG_ PrplWhlTot_Tq_Actl_UB : 17|1@0+ (1,0) [0|0] "" XXX + SG_ EngOff_T_Actl : 47|16@0+ (1,0) [0|0] "seconds" XXX + SG_ ApedPos_Pc_ActlArb_UB : 20|1@0+ (1,0) [0|0] "" XXX + +BO_ 958 Rear_FoglampStat: 8 XXX + SG_ RearFog_Lamp_Ind : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 963 BCM_to_MS_Body: 8 XXX + SG_ LF_Low_Beam_CKT_CAN : 2|1@0+ (1,0) [0|0] "" XXX + SG_ IKT_Program_Status : 51|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_Spd_Slow_Puddle_Status : 41|2@0+ (1,0) [0|0] "" XXX + SG_ Illuminated_Exit_Status : 43|2@0+ (1,0) [0|0] "" XXX + SG_ Illuminated_Entry_Status : 45|2@0+ (1,0) [0|0] "" XXX + SG_ Door_Courtesy_Light_Status : 47|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Demand_BSave_Stat : 33|2@0+ (1,0) [0|0] "" XXX + SG_ Alarm_Lights_Courtesy_Stat : 35|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Delay_Status : 37|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Mode_Status : 39|2@0+ (1,0) [0|0] "" XXX + SG_ Front_Fog_Light_SW_Status : 22|2@0+ (1,0) [0|0] "" XXX + SG_ Brake_Lamp_On_Status : 23|1@0+ (1,0) [0|0] "" XXX + SG_ ParkLamps_CKT_CAN : 8|1@0+ (1,0) [0|0] "" XXX + SG_ RF_Low_Beam_CKT_CAN : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Brk_Fluid_Lvl_Low : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Park_Brake_Status : 4|1@0+ (1,0) [0|0] "" XXX + SG_ High_Beam_Indicator_Rqst : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Headlamp_On_Wrning_Cmd : 6|1@0+ (1,0) [0|0] "" XXX + SG_ Key_In_Ignition_Warn_Cmd : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Park_Brake_Chime_Rqst : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Daytime_Running_Lamps : 0|1@0+ (1,0) [0|0] "" XXX + SG_ AutoHighBeam_Cmd : 18|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alarm_Chime_Rqst : 20|2@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataUpperLim_UB : 11|1@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataLowerLim_UB : 12|1@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataUpperLim : 63|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataLowerLim : 31|8@0+ (1,0) [0|0] "" XXX + SG_ AutoHighBeam_Cmd_UB : 16|1@0+ (1,0) [0|0] "" XXX + SG_ PrkBrkActv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Headlamp_Switch_Stat : 49|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alarm_Inclin_Cmd : 53|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alarm_Intrus_Cmd : 55|2@0+ (1,0) [0|0] "" XXX + +BO_ 964 BodyInformation_2_MS: 8 XXX + SG_ LockInhibit : 41|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActvTe_B_Actl_UB : 12|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActvTe_B_Actl : 14|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Mode_Cmd : 42|1@0+ (1,0) [0|0] "" XXX + SG_ AirAmb_Te_Actl : 55|10@0+ (0.25,-128.0) [0|0] "degC" XXX + SG_ EngClntTe_D_Qf : 47|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_Cmd : 26|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_Cmd : 28|2@0+ (1,0) [0|0] "" XXX + SG_ SAPPStatusCoding : 39|8@0+ (1,0) [0|0] "" XXX + SG_ Delay_Accy : 31|1@0+ (1,0) [0|0] "" XXX + SG_ Volume_Cutback : 7|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatTgate_B_Actl : 1|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatRr_B_Actl : 2|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatRl_B_Actl : 3|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatPsngr_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatInnrTgate_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatHood_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatDrv_B_Actl : 10|1@0+ (1,0) [0|0] "" XXX + SG_ EngClnt_Te_Actl : 23|8@0+ (1,-60.0) [0|0] "degC" XXX + SG_ AirAmbTe_D_Qf_UB : 59|1@0+ (1,0) [0|0] "" XXX + SG_ Volume_Cutback_UB : 58|1@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_Cmd_UB : 57|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPStatusCoding_UB : 56|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Mode_Cmd_UB : 15|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActv_B_Actl_UB : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_Cmd_UB : 11|1@0+ (1,0) [0|0] "" XXX + SG_ AirAmbTe_D_Qf : 61|2@0+ (1,0) [0|0] "" XXX + SG_ AirAmb_Te_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ EngClnt_Te_Actl_UB : 24|1@0+ (1,0) [0|0] "" XXX + +BO_ 966 Delay_AccyM_for_P473: 8 XXX + SG_ Delay_Accy : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 967 CMPS_FDM_Info_StatusMS: 8 XXX + SG_ Segment_MSD_UB : 37|1@0+ (1,0) [0|0] "" XXX + SG_ Segment_LSD_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ Compass_Display_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Segment_LSD : 15|8@0+ (1,0) [0|0] "" XXX + SG_ Segment_MSD : 7|8@0+ (1,0) [0|0] "" XXX + SG_ Cal_Icon : 21|1@0+ (1,0) [0|0] "" XXX + SG_ Zone_Icon : 22|1@0+ (1,0) [0|0] "" XXX + SG_ Compass_Display : 23|1@0+ (1,0) [0|0] "" XXX + SG_ Zone_Icon_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ Cal_Icon_UB : 33|1@0+ (1,0) [0|0] "" XXX + +BO_ 968 EATC_FDM_Info_Status: 8 XXX + SG_ Outside_Rear_Temp_Digit3 : 47|4@0+ (1,0) [0|0] "BCD" XXX + SG_ Outside_Rear_Temp_Digit2 : 35|4@0+ (1,0) [0|0] "BCD" XXX + SG_ Outside_Rear_Temp_Digit1 : 39|4@0+ (1,0) [0|0] "BCD" XXX + SG_ EATC_Out_Rear_Units : 58|2@0+ (1,0) [0|0] "" XXX + SG_ Outside_Rear_Temp_Digit4 : 55|2@0+ (1,0) [0|0] "" XXX + SG_ EATC_RHS_Units : 60|2@0+ (1,0) [0|0] "" XXX + SG_ EATC_Fan_Speed : 51|3@0+ (1,0) [0|0] "" XXX + SG_ EATC_Outside_Rear_Display : 62|2@0+ (1,0) [0|0] "" XXX + SG_ RHS_Temp_Display_Digit2 : 31|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ RHS_Temp_Display_Digit3 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ RHS_Temp_Display_Digit1 : 23|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ EATC_RHS_Display : 63|1@0+ (1,0) [0|0] "" XXX + SG_ LHS_Temp_Display_Digit3 : 43|2@0+ (1,0) [0|0] "" XXX + SG_ LHS_Temp_Display_Digit2 : 15|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ LHS_Temp_Display_Digit1 : 7|8@0+ (1,0) [0|0] "ASCII" XXX + SG_ EATC_LHS_Display : 48|1@0+ (1,0) [0|0] "" XXX + SG_ EATC_LHS_Units : 53|2@0+ (1,0) [0|0] "" XXX + +BO_ 969 Aux_Body_Ctrl_Mod_Status: 8 XXX + SG_ Perimeter_Alrm_Intrus_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Turn_Outage_Stat_Rt_Rear : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Turn_Outage_Stat_Left_Rear : 1|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alrm_Inclin_Stat : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 976 Veh_Characteristic_Set_2: 8 XXX + SG_ VehMykey_Vl_LimRq_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ CamraFrntStat_D_Stat : 21|2@0+ (1,0) [0|0] "" XXX + SG_ CamraZoomMan_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX + SG_ CamZoomActiveState : 17|2@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlStat_D_Actl : 19|2@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlDyn_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX + SG_ CamPDCGuidStat : 31|2@0+ (1,0) [0|0] "" XXX + SG_ VehMykey_Vl_LimRq : 14|1@0+ (1,0) [0|0] "" XXX + SG_ IgnKeyType_D_Actl : 4|4@0+ (1,0) [0|0] "" XXX + SG_ New_Module_Attn_Event : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Beltminder_Warn_Stats : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Attn_Info_Audio : 7|3@0+ (1,0) [0|0] "" XXX + +BO_ 977 ClmtCtrlSeat_SetCmd_LRPM: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_LRP : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 978 ClmtCtrlSeat_SetStat_LRPM: 8 XXX + SG_ ClmtCtrlSeat_SetStat_LRP : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 979 ClmtCtrlSeat_SetCmd_RRPM: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_RRP : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 980 ClmtCtrlSeat_SetStat_RRPM: 8 XXX + SG_ ClmtCtrlSeat_SetStat_RRP : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 981 Rear_HVAC_Control_Status: 8 XXX + SG_ Temp_Knob_Position : 23|9@0+ (1,0) [0|0] "Degrees CW" XXX + SG_ Rear_Lock_Ind_State : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Blower_Knob_Position : 7|9@0+ (1,0) [0|0] "Degrees CW" XXX + SG_ AUTO_Ind_State : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Mode_Ind_State : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Floor_Md_Ind_State : 10|2@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_Ind_State : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Status : 14|1@0+ (1,0) [0|0] "" XXX + +BO_ 982 Rear_HVAC_Control_Update: 8 XXX + SG_ Power_State_Commanded : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Lock_Indicator : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Panel_Floor_Mode_Indicator : 4|2@0+ (1,0) [0|0] "" XXX + SG_ R_Floor_Mode_Indicator : 2|1@0+ (1,0) [0|0] "" XXX + SG_ AUTO_Mode_Indicator : 1|2@0+ (1,0) [0|0] "" XXX + SG_ F_Panel_Mode_Indicator : 13|1@0+ (1,0) [0|0] "" XXX + SG_ R_Panel_Mode_Indicator : 12|2@0+ (1,0) [0|0] "" XXX + +BO_ 986 Personality_APIM_Data3_MS: 8 XXX + SG_ LightAmbIntSwtchInc_B : 22|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbIntSwtchDec_B : 21|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbIntsty_No_Rq : 15|8@0+ (1,0) [0|0] "% Intensity" XXX + SG_ LightAmbColor_No_Rq : 7|8@0+ (1,0) [0|0] "Color Index" XXX + SG_ LightAmbClrSwtchInc_B : 20|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbClrSwtchDec_B : 23|1@0+ (1,0) [0|0] "" XXX + +BO_ 987 RHVAC_Data: 8 XXX + SG_ CamraDefog_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 992 Personality_Data_MS: 8 XXX + SG_ PersSetupRestr_D_Actl : 45|2@0+ (1,0) [0|0] "" XXX + SG_ PersSetupAccessCtrl : 43|1@0+ (1,0) [0|0] "SES" XXX + SG_ PersSetup_No_Actl : 55|16@0+ (1,0) [0|0] "Number" XXX + SG_ MsgCntrPersIndex_D_Rq_UB : 47|1@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatNoRq_UB : 46|1@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatConfigRq_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrDsplyOp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrPersIndex_D_Rq : 39|3@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatConfigRq : 23|16@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatNoRq : 7|16@0+ (1,0) [0|0] "Number" XXX + SG_ MsgCntrDsplyOp_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX + +BO_ 993 Personality_DSM_Data: 8 XXX + SG_ PersIndexDsm_D_Actl : 47|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoDsmActl : 31|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigDsmActl : 15|16@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX + SG_ MemSwtch_D_RqRecall : 5|3@0+ (1,0) [0|0] "" XXX + SG_ MemSwtch_D_RqAssoc : 2|3@0+ (1,0) [0|0] "" XXX + +BO_ 994 Personality_Data_MS_2: 8 XXX + SG_ RecallEvent_No_Cnt : 63|8@0+ (1,0) [0|0] "Counts" XXX + SG_ PersNo_D_Actl : 55|3@0+ (1,0) [0|0] "" XXX + SG_ PersNoPos_D_Actl : 44|3@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Rq_UB : 41|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkPersIndex_D_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatNoActl_UB : 52|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatConfigActl_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkDsplyOp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkPersIndex_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatNoActl : 23|16@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatConfigActl : 7|16@0+ (1,0) [0|0] "" XXX + SG_ CtrStkDsplyOp_D_Rq : 47|3@0+ (1,0) [0|0] "" XXX + +BO_ 996 Personality_HCMB_Data: 8 XXX + SG_ PersIndexHcmb_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHcmbActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigHcmbActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 999 Personality_HVAC_Data: 8 XXX + SG_ LightAmbIntsty_No_Actl : 55|8@0+ (1,0) [0|0] "% Intensity" XXX + SG_ LightAmbColor_No_Actl : 47|8@0+ (1,0) [0|0] "Color Index" XXX + SG_ PersIndexHvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigHvacActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1000 ACM_Status_Message: 8 XXX + SG_ Multimedia_System : 26|1@0+ (1,0) [0|0] "" XXX + +BO_ 1001 Personality_RFA_Data: 8 XXX + SG_ PersIndexRfa_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRfaActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigRfaActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1005 Personality_RHVAC_Data: 8 XXX + SG_ PersIndexRhvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRhvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigRhvacActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1006 Nav_HMI_Status: 8 XXX + SG_ Nav_Unit_Setting : 14|1@0+ (1,0) [0|0] "" XXX + SG_ Fuel_Econ_AFE_Reset_Req : 15|1@0+ (1,0) [0|0] "" XXX + SG_ DistanceBarSetting : 23|1@0+ (1,0) [0|0] "" XXX + SG_ CamraZoomMan_D_Rq : 22|3@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlStat_D_Rq : 19|1@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlDyn_D_Rq : 18|1@0+ (1,0) [0|0] "" XXX + SG_ CamAutoTowbarZoom : 17|1@0+ (1,0) [0|0] "" XXX + +BO_ 1023 Reserve_3FF_MKX_Audio: 8 XXX + SG_ reserve : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 1034 GGCC_Config_Mgmt_ID_1: 8 XXX + SG_ VehicleGGCCData : 7|64@0+ (1,0) [0|0] "mixed" XXX + +BO_ 1050 Climate_Control_Data: 8 XXX + SG_ SecondaryHeater_Rqst : 31|1@0+ (1,0) [0|0] "" XXX + SG_ Passenger_Sunload_Raw : 15|8@0+ (5.0,0) [0|0] "W/m^2" XXX + SG_ Driver_Sunload_Raw : 7|8@0+ (5.0,0) [0|0] "W/m^2" XXX + SG_ HvacEvap_Te_Rq : 43|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ HvacRemoteStrt_N_Rq : 47|4@0+ (100.0,450.0) [0|0] "RPM" XXX + SG_ Remote_Start_QuietMode : 28|1@0+ (1,0) [0|0] "" XXX + SG_ InCarTempQF : 30|2@0+ (1,0) [0|0] "" XXX + SG_ HvacAirCond_B_Rq : 27|1@0+ (1,0) [0|0] "" XXX + SG_ InCarTemp : 39|8@0+ (0.5,-57.0) [0|0] "degreesC" XXX + SG_ Outside_Air_Temp_Stat : 23|8@0+ (0.5,-40.0) [0|0] "Degrees C" XXX + SG_ HvacEvap_Te_Actl : 49|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + +BO_ 1059 Engine_Data_MS: 8 XXX + SG_ Res_UreaLvlLo_B_Dsply_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Res_UreaLvlLo_B_Dsply : 36|1@0+ (1,0) [0|0] "" XXX + SG_ Fuel_Level_State : 47|2@0+ (1,0) [0|0] "" XXX + SG_ AwdOffRoadMode_D_Stats_UB : 55|1@0+ (1,0) [0|0] "" XXX + SG_ AwdRnge_D_Actl_UB : 42|1@0+ (1,0) [0|0] "" XXX + SG_ RearDiffLckLamp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX + SG_ AwdOffRoadMode_D_Stats : 41|2@0+ (1,0) [0|0] "" XXX + SG_ AwdRnge_D_Actl : 45|3@0+ (1,0) [0|0] "" XXX + SG_ RearDiffLckLamp_D_Rq : 34|2@0+ (1,0) [0|0] "" XXX + SG_ VEH_SPD : 7|16@0+ (0.01,-100.0) [0|0] "KPH" XXX + SG_ ENG_SPD : 23|16@0+ (0.25,0) [0|0] "RPM" XXX + SG_ Fuel_Level_State_UB : 37|1@0+ (1,0) [0|0] "" XXX + +BO_ 1061 Engine_Data_2_MS: 8 XXX + SG_ RstrnImpactEvntStatus_UB : 56|1@0+ (1,0) [0|0] "" XXX + SG_ EngAirIn_Te_Actl_UB : 60|1@0+ (1,0) [0|0] "" XXX + SG_ EngAirIn_Te_Actl : 55|10@0+ (0.25,-128.0) [0|0] "degC" XXX + SG_ ACCompressorDisp_UB : 61|1@0+ (1,0) [0|0] "" XXX + SG_ ACCompressorDisp : 46|7@0+ (1,0) [0|0] "%" XXX + SG_ RstrnImpactEvntStatus : 59|3@0+ (1,0) [0|0] "" XXX + SG_ EngAout_N_Actl_UB : 47|1@0+ (1,0) [0|0] "" XXX + SG_ EngAout_N_Actl : 28|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ VehVActlEng_D_Qf : 31|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_ActlEng_UB : 29|1@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_ActlEng : 15|16@0+ (0.01,0) [0|0] "kph" XXX + SG_ PwPck_D_Stat_UB : 3|1@0+ (1,0) [0|0] "" XXX + SG_ PwPck_D_Stat : 7|4@0+ (1,0) [0|0] "" XXX + +BO_ 1062 ACM_NAV_WHEEL_INFO: 8 XXX + SG_ WhlRotatRr_No_Cnt_UB : 63|1@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatRl_No_Cnt_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFr_No_Cnt_UB : 41|1@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFl_No_Cnt_UB : 42|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl_UB : 44|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl_UB : 45|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFr_D_Actl_UB : 46|1@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFl_D_Actl_UB : 47|1@0+ (1,0) [0|0] "" XXX + SG_ WHEEL_ROLLING_TIMESTAMP_UB : 62|1@0+ (1,0) [0|0] "" XXX + SG_ ACM_NAV_WHEEL_INFO_RESET : 43|1@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatRr_No_Cnt : 39|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl : 1|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl : 3|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFr_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFl_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX + SG_ WHEEL_ROLLING_TIMESTAMP : 55|8@0+ (1,0) [0|0] "" XXX + +BO_ 1068 Battery_Mgmt_2_MS: 8 XXX + SG_ Shed_T_Eng_Off_B : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Shed_Level_Req : 15|3@0+ (1,0) [0|0] "" XXX + SG_ Shed_Feature_Group_ID : 7|5@0+ (1,0) [0|0] "" XXX + SG_ Shed_Drain_Eng_Off_B : 2|1@0+ (1,0) [0|0] "" XXX + SG_ Batt_Lo_SoC_B : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Batt_Crit_SoC_B : 0|1@0+ (1,0) [0|0] "" XXX + +BO_ 1125 GPS_Data_Nav_1: 8 XXX + SG_ GpsHsphLattSth_D_Actl : 25|2@0+ (1,0) [0|0] "" XXX + SG_ GpsHsphLongEast_D_Actl : 9|2@0+ (1,0) [0|0] "" XXX + SG_ GPS_Longitude_Minutes : 46|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_Longitude_Min_dec : 55|14@0+ (0.0001,0) [0|0] "Minutes" XXX + SG_ GPS_Longitude_Degrees : 39|9@0+ (1,-179.0) [0|0] "Degrees" XXX + SG_ GPS_Latitude_Minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_Latitude_Min_dec : 23|14@0+ (0.0001,0) [0|0] "Minutes" XXX + SG_ GPS_Latitude_Degrees : 7|8@0+ (1,-89.0) [0|0] "Degrees" XXX + +BO_ 1126 GPS_Data_Nav_2: 8 XXX + SG_ Gps_B_Falt : 2|1@0+ (1,0) [0|0] "" XXX + SG_ GpsUtcYr_No_Actl : 55|5@0+ (1,1.0) [0|0] "Year" XXX + SG_ GpsUtcMnth_No_Actl : 47|4@0+ (1,1.0) [0|0] "Month" XXX + SG_ GpsUtcDay_No_Actl : 37|5@0+ (1,1.0) [0|0] "Day" XXX + SG_ GPS_UTC_seconds : 23|6@0+ (1,0) [0|0] "seconds" XXX + SG_ GPS_UTC_minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_UTC_hours : 7|5@0+ (1,0) [0|0] "Hours" XXX + SG_ GPS_Pdop : 31|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_Compass_direction : 26|4@0+ (1,0) [0|0] "" XXX + SG_ GPS_Actual_vs_Infer_pos : 38|1@0+ (1,0) [0|0] "" XXX + +BO_ 1127 GPS_Data_Nav_3: 8 XXX + SG_ GPS_Vdop : 63|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_Speed : 47|8@0+ (1,0) [0|0] "MPH" XXX + SG_ GPS_Sat_num_in_view : 7|5@0+ (1,0) [0|0] "" XXX + SG_ GPS_MSL_altitude : 15|12@0+ (10.0,-20460.0) [0|0] "feet" XXX + SG_ GPS_Heading : 31|16@0+ (0.01,0) [0|0] "Degrees" XXX + SG_ GPS_Hdop : 55|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_dimension : 2|3@0+ (1,0) [0|0] "" XXX + +BO_ 1144 GPS_Data_Nav_4: 8 XXX + SG_ VehPos_L_Est : 39|32@0+ (0.01,0) [0|0] "meter" XXX + SG_ VehHead_W_Actl : 23|16@0+ (0.01,-327.68) [0|0] "degrees/second" XXX + SG_ VehHead_An_Est : 7|16@0+ (0.01,0) [0|0] "degrees" XXX diff --git a/opendbc/ford_cgea1_2_ptcan_2011.dbc b/opendbc/ford_cgea1_2_ptcan_2011.dbc new file mode 100644 index 000000000..128721cbb --- /dev/null +++ b/opendbc/ford_cgea1_2_ptcan_2011.dbc @@ -0,0 +1,1487 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 65 Global_PATS_Control_Info: 8 XXX + SG_ immoControlData_T1 : 15|40@0+ (1,0) [0|0] "" XXX + SG_ immoControlCmd_T1 : 7|3@0+ (1,0) [0|0] "" XXX + +BO_ 66 Global_PATS_Control_Info2: 8 XXX + SG_ immoControlData_T2 : 15|40@0+ (1,0) [0|0] "" XXX + SG_ immoControlCmd_T2 : 7|3@0+ (1,0) [0|0] "" XXX + +BO_ 71 Global_PATS_Target_Info: 8 XXX + SG_ immoTarget1Status : 7|3@0+ (1,0) [0|0] "" XXX + SG_ immoTarget1Data : 15|40@0+ (1,0) [0|0] "" XXX + SG_ immoTarget1Cmd : 4|3@0+ (1,0) [0|0] "" XXX + +BO_ 72 Global_PATS_Target_Info_2: 8 XXX + SG_ immoTarget2Status : 7|3@0+ (1,0) [0|0] "" XXX + SG_ immoTarget2Data : 15|40@0+ (1,0) [0|0] "" XXX + SG_ immoTarget2Cmd : 4|3@0+ (1,0) [0|0] "" XXX + +BO_ 73 Global_PATS_SubTarget_FoE: 8 XXX + SG_ immoSubTarget1Data_T1 : 15|40@0+ (1,0) [0|0] "" XXX + SG_ immoSubTarget1Cmd_T1 : 7|3@0+ (1,0) [0|0] "" XXX + +BO_ 74 VehEmergencyData1: 8 XXX + SG_ VedsPasSideBag_D_Ltchd : 60|3@0+ (1,0) [0|0] "" XXX + SG_ VedsPasCrtnBag_D_Ltchd : 55|3@0+ (1,0) [0|0] "" XXX + SG_ VedsPasBelt_D_Ltchd : 52|3@0+ (1,0) [0|0] "" XXX + SG_ VedsPasBag_D_Ltchd : 47|3@0+ (1,0) [0|0] "" XXX + SG_ VedsMultiEvnt_D_Ltchd : 44|3@0+ (1,0) [0|0] "" XXX + SG_ VedsMaxDeltaV_D_Ltchd : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VedsKneeBag_D_Ltchd : 63|3@0+ (1,0) [0|0] "" XXX + SG_ VedsEvntType_D_Ltchd : 31|3@0+ (1,0) [0|0] "" XXX + SG_ VedsEvntRoll_D_Ltchd : 28|3@0+ (1,0) [0|0] "" XXX + SG_ VedsDrvSideBag_D_Ltchd : 23|3@0+ (1,0) [0|0] "" XXX + SG_ VedsDrvCrtnBag_D_Ltchd : 20|3@0+ (1,0) [0|0] "" XXX + SG_ VedsDrvBelt_D_Ltchd : 15|3@0+ (1,0) [0|0] "" XXX + SG_ VedsDrvBag_D_Ltchd : 12|3@0+ (1,0) [0|0] "" XXX + SG_ eCallNotification : 2|2@0+ (1,0) [0|0] "" XXX + +BO_ 75 VehEmergencyData2: 8 XXX + SG_ VedsRw3rBckl_D_Ltchd : 39|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw3mBckl_D_Ltchd : 31|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw3lBckl_D_Ltchd : 28|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw2rBckl_D_Ltchd : 23|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw2mBckl_D_Ltchd : 20|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw2lBckl_D_Ltchd : 15|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw1PasChld_D_Ltchd : 12|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw1PasBckl_D_Ltchd : 7|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw1DrvBckl_D_Ltchd : 4|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw2rRib_D_Ltchd : 47|3@0+ (1,0) [0|0] "" XXX + SG_ VedsRw2lRib_D_Ltchd : 36|3@0+ (1,0) [0|0] "" XXX + +BO_ 116 BrakeSnData_2_CG1: 8 XXX + SG_ VehDynamicsSOS : 55|1@0+ (1,0) [0|0] "" XXX + SG_ AwdLck_Tq_RqMx : 27|12@0+ (1,0) [0|0] "Nm" XXX + SG_ AwdLck_Tq_RqMn : 23|12@0+ (1,0) [0|0] "Nm" XXX + SG_ SteWhlComp_An_Est : 7|15@0+ (0.1,-1600.0) [0|0] "deg" XXX + SG_ StopLamp_B_RqBrk : 8|1@0+ (1,0) [0|0] "" XXX + SG_ BrkTerrMdeChng_D_Rdy : 45|3@0+ (1,0) [0|0] "" XXX + SG_ BrkTerrMde_D_Actl : 42|3@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCompAnEst_D_Qf : 47|2@0+ (1,0) [0|0] "" XXX + +BO_ 117 BrakeSnData_3_CG1: 8 XXX + SG_ HsaStat_D_Dsply : 35|3@0+ (1,0) [0|0] "" XXX + SG_ HsaTrnAout_Tq_Rq : 55|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ HsaStat_D_Actl : 38|3@0+ (1,0) [0|0] "" XXX + SG_ HsaRoad_Grad_Est : 32|9@0+ (0.5,-127.0) [0|0] "%" XXX + SG_ VehYawComp_W_Actl : 7|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX + SG_ VehYaw_W_Rq : 11|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX + SG_ VehSideSlip_An_Est : 31|9@0+ (0.002,-0.5) [0|0] "rad" XXX + +BO_ 124 BrakeSnData_4_CG1: 8 XXX + SG_ EngRun_D_ReqBrk : 10|2@0+ (1,0) [0|0] "" XXX + SG_ BrkTotTqRqArb_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX + SG_ BrkTotTqRqArb_No_Cnt : 31|4@0+ (1,0) [0|0] "" XXX + SG_ BrkTot_Tq_RqArb : 7|13@0+ (4.0,0) [0|0] "Nm" XXX + SG_ BrkTot_Tq_Actl : 39|13@0+ (4.0,0) [0|0] "Nm" XXX + SG_ VehOverGnd_V_Est : 55|16@0+ (0.01,0) [0|0] "kph" XXX + +BO_ 129 Steering_Wheel_Data2: 8 XXX + SG_ SteWhlCtl_RSide_OK : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_RSide_CursorUp : 8|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_RSide_CursorRt : 7|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_RSide_CursorLeft : 6|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_RSide_CursorDown : 5|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_LSide_OK : 4|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_LSide_CursorUp : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_LSide_CursorRt : 2|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_LSide_CursorLeft : 1|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_LSide_CursorDown : 0|1@0+ (1,0) [0|0] "" XXX + +BO_ 130 EPAS_INFO: 8 XXX + SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6.0) [0|0] "Volts" XXX + SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64.0) [0|0] "Amps" XXX + SG_ EPAS_FAILURE : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8.0) [0|0] "Nm" XXX + SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|0] "" XXX + +BO_ 131 Steering_Data: 8 XXX + SG_ SteWhlCtl_Mute : 38|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Mode : 24|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_OK : 23|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Phone : 22|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_End : 21|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Send : 20|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Voice_PTT : 19|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Left : 10|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Seek_Right : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Media : 8|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Down : 6|1@0+ (1,0) [0|0] "" XXX + SG_ SteWhlCtl_Volume_Up : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Smart_Wiper_Motor_Stat : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Mfs_Turn_Stalk_SW_Status : 1|2@0+ (1,0) [0|0] "" XXX + SG_ HighBeam_FlashToPassSw : 3|2@0+ (1,0) [0|0] "" XXX + SG_ SteColumn_Status : 13|3@0+ (1,0) [0|0] "" XXX + SG_ SteCol_Manual_Override : 4|1@0+ (1,0) [0|0] "" XXX + SG_ CcButtnStat_D_Actl : 34|11@0+ (1,0) [0|0] "" XXX + SG_ HeatedWash_Mode_Stat : 55|3@0+ (1,0) [0|0] "" XXX + SG_ LaSwtchPos_D_Stat : 18|2@0+ (1,0) [0|0] "" XXX + +BO_ 132 Steering_Wheel_Data_CG1: 8 XXX + SG_ SteWhlRelInit_An_Sns : 7|15@0+ (0.1,-1600.0) [0|0] "deg" XXX + SG_ SteWhlRelCalib_An_Sns : 23|15@0+ (0.1,-1600.0) [0|0] "deg" XXX + SG_ SteWhlRelInit2_An_Sns : 55|16@0+ (0.1,-3200.0) [0|0] "deg" XXX + SG_ SteWhlAn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ SteWhlAn_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX + +BO_ 145 Yaw_Data: 8 XXX + SG_ VehYaw_W_Actl : 39|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + SG_ VehRol_W_Actl : 23|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + SG_ VehPtch_W_Actl : 7|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + +BO_ 146 Accel_Data: 8 XXX + SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|0] "" XXX + SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|0] "" XXX + SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|0] "" XXX + SG_ VehVert_A_Actl : 36|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + SG_ VehLong_A_Actl : 20|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + SG_ VehLat_A_Actl : 4|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + +BO_ 258 Cluster_Legacy: 8 XXX + SG_ Veh_V_CompLimMx : 27|12@0+ (0.1,0) [0|0] "km/h" XXX + SG_ DISPLAY_SPEED_SCALING : 20|4@0+ (0.5,100.0) [0|0] "%" XXX + SG_ DISPLAY_SPEED_OFFSET : 23|3@0+ (0.5,0) [0|0] "kph" XXX + SG_ Reverse_Mirror_Cmd : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Autolamp_Delay_Cmd : 7|8@0+ (1,0) [0|0] "Seconds" XXX + SG_ Running_Board_Cmd : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Mode_Cmd : 11|1@0+ (1,0) [0|0] "" XXX + +BO_ 259 Body_MsgCntr_Stat_CG1: 8 XXX + SG_ PE_PEPS_System_Stat : 47|8@0+ (1,0) [0|0] "" XXX + SG_ Keycode_Status : 11|20@0+ (1,0) [0|0] "" XXX + SG_ Autolamp_Delay_Stat : 7|8@0+ (1,0) [0|0] "Seconds" XXX + SG_ HvacEvap_Te_Rq_UB : 61|1@0+ (1,0) [0|0] "" XXX + SG_ HvacEvap_Te_Rq : 55|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ Remote_Start_QuietMode_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ Remote_Start_QuietMode : 32|1@0+ (1,0) [0|0] "" XXX + +BO_ 264 Side_Detect_CmdM: 8 XXX + SG_ Cross_Traffic_Cmd : 5|2@0+ (1,0) [0|0] "" XXX + SG_ Side_Detect_Cmd : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 266 ParkAid_Audible_Warn_CmdM: 8 XXX + SG_ AutoPark_Cancel_Request : 15|2@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Audible_Warn_Cmd : 7|2@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Aud_Frt_Warn_Cmd : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 267 ParkAid_Audible_Warn_Stat: 8 XXX + SG_ RpaChime_D_Rq : 31|4@0+ (1,0) [0|0] "" XXX + SG_ FpaChime_D_Rq : 12|4@0+ (1,0) [0|0] "" XXX + SG_ SAPPStatusCoding : 23|8@0+ (1,0) [0|0] "" XXX + SG_ Volume_Cutback : 1|1@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Fault_Condition : 15|3@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Audible_Warn_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Aud_Frt_Trgt_Warn : 3|2@0+ (1,0) [0|0] "" XXX + SG_ ParkAid_Aud_Frt_Warn_Stat : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 292 ClmtCtrlSeatSet_Cmd_v2: 8 XXX + SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + SG_ ClmtCtrlSeat_SetCmd_Psgr : 15|8@0+ (1,0) [0|0] "" XXX + +BO_ 293 ClmtCtrlSeatSetStat_v2_HS: 8 XXX + SG_ ClmtCtrlSeat_SetStat_Psgr : 15|8@0+ (1,0) [0|0] "" XXX + SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 336 TransData_1_CG1: 8 XXX + SG_ TrnAinIdl_N_RqMn : 34|11@0+ (2.0,0) [0|0] "rpm" XXX + SG_ TrnAin_N_RqMxPrtct : 23|10@0+ (25.0,0) [0|0] "rpm" XXX + SG_ TrnAin_Tq_RqFstMx : 29|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_RqSlwMxPrs : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX + +BO_ 337 EngineData_1_CG1: 8 XXX + SG_ TrnEngBrk_B_Allw : 24|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAout_W_ActlUnfilt : 23|15@0+ (0.1,0) [0|0] "rad/s" XXX + SG_ TrnIpcDsplyGear_D_Actl : 7|4@0+ (1,0) [0|0] "" XXX + SG_ TrnIpcDsplyMde_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX + SG_ TrnIpcDsplyMde_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ TrnIpcDsplyGear_D_Stat : 9|2@0+ (1,0) [0|0] "" XXX + SG_ TurboBoostPressure : 55|16@0+ (0.01,0) [0|0] "bar" XXX + +BO_ 338 TransData_2_CG1: 8 XXX + SG_ GearPos_D_Actl : 55|4@0+ (1,0) [0|0] "" XXX + SG_ TrnAout2_Tq_Actl : 39|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ TrnTotTq_Rt_Actl : 23|16@0+ (0.001,0) [0|0] "" XXX + SG_ TrnGbox_Rt_Pred : 7|16@0+ (0.001,0) [0|0] "" XXX + +BO_ 339 EngineData_2_CG1: 8 XXX + SG_ TrnAin_Tq_MxSpcPdlEngN : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_MnSpcEngN : 31|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngPtoEngag_B_Actl : 60|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAin_N_SpcEcho : 4|13@0+ (2.0,0) [0|0] "rpm" XXX + +BO_ 340 EngineData_3_CG1: 8 XXX + SG_ AirAmb_Te_ActlFilt : 33|10@0+ (0.25,-128.0) [0|0] "deg C" XXX + SG_ EngAout_N_RqMxPrtct : 12|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ TqmTerrMdeChng_D_Rdy : 39|3@0+ (1,0) [0|0] "" XXX + SG_ EngAoutIdl_N_RqVsc : 7|11@0+ (2.0,0) [0|0] "rpm" XXX + SG_ TqmTerrMde_D_Actl : 36|3@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTotVrt_Tq_RqArb : 55|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + +BO_ 341 EngineData_11_CG1: 8 XXX + SG_ DieslPrtc_D_RqDsply : 42|3@0+ (1,0) [0|0] "" XXX + SG_ EngPullUpPullDown_D_Rq : 20|4@0+ (1,0) [0|0] "" XXX + SG_ TrnAin_Tq_RqDrv : 15|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ DieslPrtcRgen_D_Actl : 4|2@0+ (1,0) [0|0] "" XXX + SG_ DieslPrtcRgen_D_Rq : 7|3@0+ (1,0) [0|0] "" XXX + SG_ EngAout_Aa_Actl : 39|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX + SG_ EngIgnIndTq_Rt_MnEc : 31|8@0+ (0.005,0) [0|0] "" XXX + SG_ EngFuelCutFull_B_Allw : 45|1@0+ (1,0) [0|0] "" XXX + SG_ EngStrtStopDis_B_Rq : 0|1@0+ (1,0) [0|0] "" XXX + SG_ PrplTqSys_D_Stat : 2|2@0+ (1,0) [0|0] "" XXX + SG_ EngAoutTqDtrb_B_Actl : 16|1@0+ (1,0) [0|0] "" XXX + SG_ EngTurboMde_D_Actl : 44|2@0+ (1,0) [0|0] "" XXX + SG_ EngTeColdPrtct_D_Stats : 54|2@0+ (1,0) [0|0] "" XXX + SG_ EXHAUST_OVERTEMP_PROTECT : 63|1@0+ (1,0) [0|0] "" XXX + SG_ EngExhOvrTe_B_RqDsply : 55|1@0+ (1,0) [0|0] "" XXX + +BO_ 342 Engine_Data_6: 8 XXX + SG_ EngOvrhtMitgActv_D_Ind : 36|2@0+ (1,0) [0|0] "" XXX + SG_ Res_UreaLvlLo_B_Dsply : 34|1@0+ (1,0) [0|0] "" XXX + SG_ EngClntTe_D_Qf : 33|2@0+ (1,0) [0|0] "" XXX + SG_ EngAcsyArcPmp_Tq_Actl : 63|8@0+ (0.5,0) [0|0] "Nm" XXX + SG_ EngOilLvlDsply_D_Rq : 43|4@0+ (1,0) [0|0] "" XXX + SG_ EngCtlAlive_No_Cnt : 47|4@0+ (1,0) [0|0] "" XXX + SG_ EngCtl_No_Cs : 55|8@0+ (1,0) [0|0] "" XXX + SG_ EngOil_Te_Actl : 15|8@0+ (1,-60.0) [0|0] "degC" XXX + SG_ EngClnt_Te_Actl : 7|8@0+ (1,-60.0) [0|0] "degC" XXX + +BO_ 343 EngineData_13_CG1: 8 XXX + SG_ EngStrtFail_B_Actl : 40|1@0+ (1,0) [0|0] "" XXX + SG_ EngStrt_B_Complt : 24|1@0+ (1,0) [0|0] "" XXX + SG_ EngStrtSpin_B_Rdy : 58|1@0+ (1,0) [0|0] "" XXX + SG_ EngWarmUp_B_Complt : 41|1@0+ (1,0) [0|0] "" XXX + SG_ EngAoutTqCtl_B_Falt : 8|1@0+ (1,0) [0|0] "" XXX + SG_ EngAoutActl_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX + SG_ EngAoutActl_No_Cnt : 45|4@0+ (1,0) [0|0] "" XXX + SG_ VehVLim_V_RqArb : 39|9@0+ (0.5,0) [0|0] "kph" XXX + +BO_ 344 EngineData_14: 8 XXX + SG_ ApedPosScal_Pc_Actl : 9|10@0+ (0.1,0) [0|0] "%" XXX + SG_ ApedPosPcActl_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ ApedPosPcActl_No_Cnt : 13|4@0+ (1,0) [0|0] "" XXX + +BO_ 345 Engine_Data_7_CG1: 8 XXX + SG_ EngDecelFuelCut_B_Allw : 25|1@0+ (1,0) [0|0] "" XXX + SG_ FuelFlw_Vl_Dsply : 55|10@0+ (25.0,0) [0|0] "Micro_Liter" XXX + SG_ FuelFillInlet_B_Dsply : 32|1@0+ (1,0) [0|0] "" XXX + SG_ EngSrvcRqd_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX + SG_ OdoCount : 47|8@0+ (0.2,0) [0|0] "Meters" XXX + SG_ EngOilLife_Pc_Actl : 39|7@0+ (1,0) [0|0] "%" XXX + SG_ AirAmbTe_D_Qf : 28|2@0+ (1,0) [0|0] "" XXX + SG_ EngTqSlwDly_T_Est : 23|11@0+ (1,0) [0|0] "ms" XXX + SG_ TrnKickDown_B_RqDrv : 26|1@0+ (1,0) [0|0] "" XXX + SG_ AirAmb_Te_Actl : 1|10@0+ (0.25,-128.0) [0|0] "degC" XXX + SG_ AirAmb_P_Actl : 7|6@0+ (10.0,500.0) [0|0] "mbar" XXX + SG_ FuelFilterLamp_B_Dsply : 56|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondRec_B_Rq : 61|1@0+ (1,0) [0|0] "" XXX + SG_ AirCondEvdc_D_Stats : 60|3@0+ (1,0) [0|0] "" XXX + SG_ AirCondClutch_B_Stats : 57|1@0+ (1,0) [0|0] "" XXX + +BO_ 346 EngineData_4_CG1: 8 XXX + SG_ TrnAin_Tq_Rq : 12|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_RqWoMdfy : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_ActlWoMdfy : 36|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_Actl : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAinCtlN_B_Allw : 41|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAinTq_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX + +BO_ 348 EngineData_16_CG1: 8 XXX + SG_ EngOilLvlWarn_D_Rq1 : 50|3@0+ (1,0) [0|0] "" XXX + SG_ EngExhBrkOnLamp_B_Rq : 51|1@0+ (1,0) [0|0] "" XXX + SG_ EngExhBrkAutoLamp_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX + SG_ EngAout_N_MxAllw : 36|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ EngAoutIdl_N_MnAllw : 31|11@0+ (1,0) [0|0] "rpm" XXX + SG_ EngAoutIdlRqEc_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX + SG_ EngAoutIdlRqEc_No_Cnt : 12|4@0+ (1,0) [0|0] "" XXX + SG_ EngAoutIdl_N_RqEc : 7|11@0+ (2.0,0) [0|0] "rpm" XXX + SG_ EngExhBrkMde_D_Actl : 55|4@0+ (1,0) [0|0] "" XXX + +BO_ 349 EngineData_17_CG1: 8 XXX + SG_ EngResv_Tq_Actl : 52|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngAout_Tq_ActlSlw : 47|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngExhCat_Te_Est : 13|10@0+ (2.0,-60.0) [0|0] "degC" XXX + SG_ EngCylCutIndTq_Rt_Actl : 39|8@0+ (0.005,0) [0|0] "Nm" XXX + SG_ Eng_Aa_CalcEvntCyc : 7|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX + SG_ Eng_Aa_CalcEvntCbust : 19|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX + SG_ WaterInFuel : 25|1@0+ (1,0) [0|0] "" XXX + SG_ GlowIndication : 24|1@0+ (1,0) [0|0] "" XXX + +BO_ 350 EngineData_18_CG1: 8 XXX + SG_ EngAoutTqActl_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX + SG_ EngAout_Tq_MnSpcNRtrd : 36|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngAout_Tq_Actl : 31|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngAoutLss_Tq_EstSpcN : 12|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngAout_Tq_MnSpcN : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX + +BO_ 351 EngineData_19: 8 XXX + SG_ VehPreDelvr_V_LimMx : 15|16@0+ (0.01,0) [0|0] "kph" XXX + SG_ BattLo_U_MeasEngMdule : 7|8@0+ (0.1,0) [0|0] "V" XXX + SG_ EngStall_B_Actl : 47|1@0+ (1,0) [0|0] "" XXX + SG_ EngDashPotActv_B_Actl : 46|1@0+ (1,0) [0|0] "" XXX + SG_ EngAout_Tq_MnAllw : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX + +BO_ 352 TransData_3_CG1: 8 XXX + SG_ TrnAinCtlN_N_RqMx : 7|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ TrnAin_Tq_RqSlwMxShif : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAinCtlN_B_RqEnbl : 10|1@0+ (1,0) [0|0] "" XXX + SG_ TrnGboxIn_N_Actl : 23|13@0+ (2.0,0) [0|0] "rpm" XXX + +BO_ 353 Engine_Data_8: 8 XXX + SG_ TrnAinTqDtrb_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAin_Tq_MnSpcEngN : 34|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngAout_N_RqMnPrtct : 20|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ EngAout_N_MnAllw : 4|13@0+ (2.0,0) [0|0] "rpm" XXX + +BO_ 354 CGEA_Urea_Strategy_CG1: 8 XXX + SG_ UreaQltySys_D_RqDsply : 27|3@0+ (1,0) [0|0] "" XXX + SG_ UreaLvlTxt_D_RqDsply : 31|4@0+ (1,0) [0|0] "" XXX + SG_ VehUreaImmo_No_DsplyMx : 12|3@0+ (1,0) [0|0] "Counts" XXX + SG_ VehUreaWarn_V_DsplyMx : 23|7@0+ (1,0) [0|0] "km/h" XXX + SG_ VehUreaRnge_L_DsplyMx : 7|11@0+ (1,0) [0|0] "km" XXX + +BO_ 355 EngineData_10: 8 XXX + SG_ WhlRearDual_D_Stat : 57|2@0+ (1,0) [0|0] "" XXX + SG_ EngPtoMde_D_Actl : 60|3@0+ (1,0) [0|0] "" XXX + SG_ ManRgenVeh_V_MinAllw : 55|7@0+ (1,0) [0|0] "kilometer/hour" XXX + SG_ ManRgenTxt_D_RqDsply : 63|3@0+ (1,0) [0|0] "" XXX + SG_ ManRgenSoot_Pc_RqDsply : 39|7@0+ (1,0) [0|0] "%" XXX + SG_ ManRgenInhbt_T_RqDsply : 23|16@0+ (1,0) [0|0] "Minutes" XXX + SG_ ManRgenInhbt_Pc_Soot : 47|7@0+ (1,0) [0|0] "%" XXX + SG_ ManRgenInhbt_L_RqDsply : 7|16@0+ (1,0) [0|0] "kilometer" XXX + +BO_ 357 EngBrakeData: 8 XXX + SG_ CmbbDeny_B_ActlPrpl : 3|1@0+ (1,0) [0|0] "" XXX + SG_ BpedDrvAppl_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ BpedDrvAppl_No_Cnt : 27|4@0+ (1,0) [0|0] "" XXX + SG_ BpedDrvAppl_D_Actl : 31|2@0+ (1,0) [0|0] "" XXX + SG_ CmbbEngTqMn_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_DsplyCcSet : 23|8@0+ (1,0) [0|0] "" XXX + SG_ AccEngStat_D_Actl : 2|3@0+ (1,0) [0|0] "" XXX + SG_ CcMde_D_Actl : 13|3@0+ (1,0) [0|0] "" XXX + SG_ TrnAinTqDtrb_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ CcStat_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX + SG_ CcOvrrdActv_B_Actl : 15|1@0+ (1,0) [0|0] "" XXX + SG_ PwPck_D_Stat : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 389 ACCDATA_CG1: 8 XXX + SG_ AccPrpl_A_Pred : 14|10@0+ (0.01,-5.0) [0|0] "m/s^2" XXX + SG_ AccBrkPrkEl_B_Rq : 41|1@0+ (1,0) [0|0] "" XXX + SG_ Cmbb_B_Enbl : 56|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbOvrrd_B_RqDrv : 57|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbDeny_B_Actl : 40|1@0+ (1,0) [0|0] "" XXX + SG_ AccVeh_V_Trg : 7|9@0+ (0.5,0) [0|0] "kph" XXX + SG_ CmbbEngTqMn_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX + SG_ AccPrpl_A_Rq : 55|10@0+ (0.01,-5.0) [0|0] "m/s^2" XXX + SG_ AccDeny_B_Rq : 59|1@0+ (1,0) [0|0] "" XXX + SG_ AccCancl_B_Rq : 42|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkTot_A_Rq : 39|13@0+ (0.0039,-20.0) [0|0] "m/s^2" XXX + SG_ AccBrkPrchg_B_Rq : 60|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkDecel_B_Rq : 61|1@0+ (1,0) [0|0] "" XXX + +BO_ 392 HeadUpDisplayStat: 8 XXX + SG_ Hud_B_Falt : 5|1@0+ (1,0) [0|0] "" XXX + SG_ HudActv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Hud_B_Avail : 6|1@0+ (1,0) [0|0] "" XXX + +BO_ 393 ACCDATA_2_CG1: 8 XXX + SG_ ACC_AUTOBRAKE_CANCEL : 56|1@0+ (1,0) [0|0] "" XXX + SG_ ACC_RESUME_ACTIVE : 57|1@0+ (1,0) [0|0] "" XXX + SG_ FcwAudioWarn_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX + SG_ CadsAudioMute_D_Rq : 61|2@0+ (1,0) [0|0] "" XXX + SG_ AccWarn_D_Dsply : 63|2@0+ (1,0) [0|0] "" XXX + SG_ HudDsplyIntns_No_Actl : 55|8@0+ (0.5,0) [0|0] "%" XXX + SG_ FcwVisblWarn_B_Rq : 40|1@0+ (1,0) [0|0] "" XXX + SG_ HudBlk3_B_Rq : 41|1@0+ (1,0) [0|0] "" XXX + SG_ HudBlk2_B_Rq : 43|1@0+ (1,0) [0|0] "" XXX + SG_ HudBlk1_B_Rq : 42|1@0+ (1,0) [0|0] "" XXX + SG_ HudFlashRate_D_Actl : 45|2@0+ (1,0) [0|0] "" XXX + SG_ CmbbBrkDecel_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ CmbbBrkDecel_A_Rq : 23|13@0+ (0.0039,-20.0) [0|0] "m/s^2" XXX + SG_ CmbbBrkPrchg_D_Rq : 47|2@0+ (1,0) [0|0] "" XXX + SG_ CmbbBrkDecel_B_Rq : 26|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbBaSens_D_Rq : 25|2@0+ (1,0) [0|0] "" XXX + SG_ AccPrpl_V_Rq : 7|16@0+ (0.01,0) [0|0] "kph" XXX + +BO_ 394 ACCDATA_3: 8 XXX + SG_ CadsMntr_No_Chk : 55|8@0+ (1,0) [0|0] "" XXX + SG_ FcwDeny_B_Dsply : 10|1@0+ (1,0) [0|0] "" XXX + SG_ FdaWarn_B_Rq : 21|1@0+ (1,0) [0|0] "" XXX + SG_ FcwMemStat_B_Actl : 30|1@0+ (1,0) [0|0] "" XXX + SG_ AccTGap_B_Dsply : 35|1@0+ (1,0) [0|0] "" XXX + SG_ AccMsgTxt_D_Rq : 39|4@0+ (1,0) [0|0] "" XXX + SG_ CadsAlignIncplt_B_Actl : 29|1@0+ (1,0) [0|0] "" XXX + SG_ AccLowVMde_B_Dsply : 16|1@0+ (1,0) [0|0] "" XXX + SG_ AccFllwMde_B_Dsply : 17|1@0+ (1,0) [0|0] "" XXX + SG_ CadsRadrBlck_B_Actl : 22|1@0+ (1,0) [0|0] "" XXX + SG_ FdaStat_D_Dsply : 3|3@0+ (1,0) [0|0] "" XXX + SG_ FdaDeny_B_Dsply : 4|1@0+ (1,0) [0|0] "" XXX + SG_ AccTrgDist_D_Dsply : 28|4@0+ (1,0) [0|0] "" XXX + SG_ CadsChime_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbPostEvnt_B_Dsply : 15|1@0+ (1,0) [0|0] "" XXX + SG_ FcwCmbbSrvcRqd_B_Rq : 12|1@0+ (1,0) [0|0] "" XXX + SG_ AccStopMde_B_Dsply : 0|1@0+ (1,0) [0|0] "" XXX + SG_ CadsCamraBlck_B_Actl : 23|1@0+ (1,0) [0|0] "" XXX + SG_ FcwMemSens_D_Actl : 20|2@0+ (1,0) [0|0] "" XXX + SG_ FcwMemDfaltOn_B_Actl : 18|1@0+ (1,0) [0|0] "" XXX + SG_ AccSrvcRqd_B_Rq : 14|1@0+ (1,0) [0|0] "" XXX + SG_ FcwMsgTxt_D_Rq : 7|3@0+ (1,0) [0|0] "" XXX + SG_ FcwMemAudioOn_B_Actl : 9|1@0+ (1,0) [0|0] "" XXX + SG_ AccTGap_D_Dsply : 34|3@0+ (1,0) [0|0] "" XXX + SG_ AccMemEnbl_B_RqDrv : 42|1@0+ (1,0) [0|0] "" XXX + SG_ FdaMem_B_Stat : 41|1@0+ (1,0) [0|0] "" XXX + +BO_ 512 TorqueDataEngFlags: 8 XXX + SG_ BrkOnOffSwtch_D_Actl : 54|2@0+ (1,0) [0|0] "" XXX + SG_ PrplTqMnSat_B_Actl : 55|1@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTot_Tq_Rq : 39|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ PrplWhlTot_Tq_LimMn : 23|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ PrplWhlTot_Tq_Actl : 7|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ ACCompressorDisp : 63|7@0+ (1,0) [0|0] "%" XXX + +BO_ 513 EngVehicleSpThrottle_CG1: 8 XXX + SG_ ApedPos_PcRate_ActlArb : 63|8@0+ (0.04,-5.0) [0|0] "%/ms" XXX + SG_ Veh_V_RqCcSet : 45|9@0+ (0.5,0) [0|0] "kph" XXX + SG_ VehVActlEng_D_Qf : 9|2@0+ (1,0) [0|0] "" XXX + SG_ reserve : 10|1@0+ (1,0) [0|0] "" XXX + SG_ EngAout_N_Actl : 7|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ Veh_V_ActlEng : 23|16@0+ (0.01,0) [0|0] "kph" XXX + SG_ ApedPos_Pc_ActlArb : 39|10@0+ (0.1,0) [0|0] "%" XXX + SG_ ApedPosPcActl_D_Qf : 52|2@0+ (1,0) [0|0] "" XXX + SG_ Autostart_B_Stat : 50|1@0+ (1,0) [0|0] "" XXX + +BO_ 529 DesiredTorqBrk_CG1: 8 XXX + SG_ CmbbBrkDis_B_Actl : 56|1@0+ (1,0) [0|0] "" XXX + SG_ CMbbDeny_B_ActlBrk : 60|1@0+ (1,0) [0|0] "" XXX + SG_ RgenTqLimActv_B_Actl : 32|1@0+ (1,0) [0|0] "" XXX + SG_ CcDis_B_Cmd : 53|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrk_Pc_Rq : 39|7@0+ (1,0) [0|0] "%" XXX + SG_ RearDiffLck_Tq_RqMx : 23|12@0+ (1,0) [0|0] "Nm" XXX + SG_ VehLongOvrGnd_A_Est : 47|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX + SG_ StabCtlBrkActv_B_Actl : 27|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbBrkPrchg_B_Actl : 59|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbBrkDecel_B_Actl : 58|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbBaSensInc_B_Actl : 57|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkWarm_B_Actl : 63|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkTotTqMn_B_Actl : 62|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkPrchgActv_B_Actl : 61|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkDis_B_Actl : 50|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkDeny_B_Actl : 49|1@0+ (1,0) [0|0] "" XXX + SG_ AccBrkActv_B_Actl : 48|1@0+ (1,0) [0|0] "" XXX + SG_ PrplDrgCtlActv_B_Actl : 52|1@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTot_Tq_RqMx : 7|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ AbsActv_B_Actl : 51|1@0+ (1,0) [0|0] "" XXX + +BO_ 533 WheelSpeed_CG1: 8 XXX + SG_ WhlRr_W_Meas : 55|15@0+ (0.01,0) [0|0] "rad/s" XXX + SG_ WhlRl_W_Meas : 39|15@0+ (0.01,0) [0|0] "rad/s" XXX + SG_ WhlFr_W_Meas : 23|15@0+ (0.01,0) [0|0] "rad/s" XXX + SG_ WhlFl_W_Meas : 7|15@0+ (0.01,0) [0|0] "rad/s" XXX + +BO_ 534 WheelData: 8 XXX + SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX + SG_ WHEEL_ROLLING_TIMESTAMP : 47|8@0+ (1,0) [0|0] "" XXX + +BO_ 557 InfoCAN_22D: 8 XXX + SG_ Multimedia_System : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 560 TransGearData: 8 XXX + SG_ TrnIpcDsplyRng_D_Actl : 14|3@0+ (1,0) [0|0] "" XXX + SG_ TrnGbox_Rt_Actl : 47|16@0+ (0.001,0) [0|0] "" XXX + SG_ TrnShifMde_D_RqDrv : 3|3@0+ (1,0) [0|0] "" XXX + SG_ TrnSrvcRqd_B_Rq : 63|1@0+ (1,0) [0|0] "" XXX + SG_ GearPos_D_Trg : 7|4@0+ (1,0) [0|0] "" XXX + SG_ TrnCnvtClu_D_Actl : 11|2@0+ (1,0) [0|0] "" XXX + SG_ TrnShifActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX + SG_ RtmTerrMdeChng_D_Rdy : 58|3@0+ (1,0) [0|0] "" XXX + SG_ RtmTerrMde_D_Actl : 61|3@0+ (1,0) [0|0] "" XXX + SG_ GearRvrseActv_B_Actl : 62|1@0+ (1,0) [0|0] "" XXX + SG_ GearLvrPos_D_Actl : 23|4@0+ (1,0) [0|0] "" XXX + SG_ GboxOil_Te_Actl : 31|8@0+ (1,-60.0) [0|0] "degC" XXX + +BO_ 561 TransGearData_2: 8 XXX + SG_ MtrGen1Aout_Tq_Rq : 53|14@0+ (0.1,-800.0) [0|0] "Nm" XXX + SG_ MtrGen1AoutTqRq_No_Cs : 7|8@0+ (1,0) [0|0] "" XXX + SG_ MtrGen1AoutTqRq_No_Cnt : 15|4@0+ (1,0) [0|0] "" XXX + SG_ CoolFanTrn_D_Rq : 31|5@0+ (1,0) [0|0] "" XXX + SG_ TrnMsgTxt_D_Rq : 39|4@0+ (1,0) [0|0] "" XXX + SG_ TrnMil_D_Rq : 26|2@0+ (1,0) [0|0] "" XXX + SG_ EngExhBrkTq_Pc_Rq : 23|7@0+ (1,0) [0|0] "%" XXX + +BO_ 562 TransGearData_3_CG1: 8 XXX + SG_ TrnPto_D_Rdy : 12|2@0+ (1,0) [0|0] "" XXX + SG_ TipInMgrInhbt_B_RqTrn : 41|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAinIdl_Tq_Actl : 39|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAinLss_Tq_Est : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_Tq_RqSlwMn : 23|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ GearEngag_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX + SG_ TrnAinTqDtrb_B_Rq : 40|1@0+ (1,0) [0|0] "" XXX + SG_ TrnTotLss_Tq_Actl : 55|8@0+ (0.5,0) [0|0] "Nm" XXX + +BO_ 563 TransGearData_4_CG1: 8 XXX + SG_ TrnAinCtlN_N_RqMn : 20|13@0+ (2.0,0) [0|0] "rpm" XXX + SG_ TrnAinTqMn_No_Cs : 63|8@0+ (1,0) [0|0] "" XXX + SG_ TrnAinTqMn_No_Cnt : 11|4@0+ (1,0) [0|0] "" XXX + SG_ TrnAinRq_Pc_SpcPdl : 7|10@0+ (0.1,0) [0|0] "%" XXX + SG_ TrnAin_Tq_RqFstMn : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ TrnAin_N_SpcEng : 39|13@0+ (2.0,0) [0|0] "rpm" XXX + +BO_ 570 Suspension_Stat: 8 XXX + SG_ CcdMsgTxt_D_RqDsply : 7|4@0+ (1,0) [0|0] "" XXX + SG_ SuspRear_L_Prev : 48|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX + SG_ SuspRear_L_Actl : 32|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX + SG_ SuspFrnt_L_Prev : 16|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX + SG_ SuspFrnt_L_Actl : 0|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX + +BO_ 571 ColumnLockData: 8 XXX + SG_ SteWhlLckMsgTxt_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 576 Body_Information_4_CG1: 8 XXX + SG_ HvacRec_Pc_Est_UB : 51|1@0+ (1,0) [0|0] "" XXX + SG_ HvacRec_Pc_Est : 38|7@0+ (1,0) [0|0] "%" XXX + SG_ HvacEngIdleInc_B_Rq_UB : 49|1@0+ (1,0) [0|0] "" XXX + SG_ HvacEngIdleInc_B_Rq : 53|1@0+ (1,0) [0|0] "" XXX + SG_ HvacAir_Flw_Est_UB : 52|1@0+ (1,0) [0|0] "" XXX + SG_ HvacAir_Flw_Est : 31|9@0+ (0.5,0) [0|0] "liter/second" XXX + SG_ AmbTempImpr_UB : 50|1@0+ (1,0) [0|0] "" XXX + SG_ AmbTempImpr : 47|10@0+ (0.25,-128.0) [0|0] "degreesC" XXX + SG_ DriverCrankingReq : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Fcw_B_DenyMntr : 23|1@0+ (1,0) [0|0] "" XXX + SG_ EngOff_T_Actl : 7|16@0+ (1,0) [0|0] "seconds" XXX + SG_ CmbbMntr_B_Err : 22|1@0+ (1,0) [0|0] "" XXX + SG_ CmbbDeny_B_RqMntr : 21|1@0+ (1,0) [0|0] "" XXX + SG_ AccMntr_B_Err : 20|1@0+ (1,0) [0|0] "" XXX + SG_ AccDeny_B_RqMntr : 19|1@0+ (1,0) [0|0] "" XXX + +BO_ 592 EONV_Status: 8 XXX + SG_ EONV_FAULT : 59|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_KAL_IC_RQST : 53|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_T_STATUS : 61|2@0+ (1,0) [0|0] "" XXX + SG_ EONV_VREF_FLT : 62|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_VBATT_FLT : 63|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_CANISTER_VENT_FLT : 54|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_CVS_CLOSED : 55|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_BATT_VOLT : 23|16@0+ (0.0009765625,0) [0|0] "volts" XXX + SG_ EONV_TANK_FLT : 48|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_TANK_PRESS : 7|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX + +BO_ 597 EONV_Control: 8 XXX + SG_ EONV_POS_DET_THRESHOLD : 23|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX + SG_ EONV_STAY_ALIVE : 15|1@0+ (1,0) [0|0] "" XXX + SG_ EONV_CVS_MODE : 7|3@0+ (1,0) [0|0] "" XXX + SG_ EONV_NEG_DET_THRESHOLD : 39|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX + SG_ EONV_MIL_ON : 14|1@0+ (1,0) [0|0] "" XXX + SG_ EonvMsgTxOff_B_Rq : 4|1@0+ (1,0) [0|0] "" XXX + +BO_ 608 Information4x4_CG1: 8 XXX + SG_ AwdRngeShifActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX + SG_ TrnAout_Tq_RqMx : 47|13@0+ (1,-1250.0) [0|0] "Nm" XXX + SG_ AwdRngeFalt_D_Stat : 4|2@0+ (1,0) [0|0] "" XXX + SG_ AwdLck_Tq_Actl : 15|12@0+ (1,0) [0|0] "Nm" XXX + SG_ AwdRnge_D_Actl : 7|3@0+ (1,0) [0|0] "" XXX + SG_ AwdTerrMdeChng_D_Rdy : 50|3@0+ (1,0) [0|0] "" XXX + SG_ AwdTerrMde_D_Actl : 58|3@0+ (1,0) [0|0] "" XXX + SG_ AwdOffRoadMode_D_Stats : 25|2@0+ (1,0) [0|0] "" XXX + SG_ AwdStat_D_RqDsply : 63|5@0+ (1,0) [0|0] "" XXX + SG_ AwdLoLamp_D_RqDsply : 35|2@0+ (1,0) [0|0] "" XXX + SG_ AwdHiLamp_D_RqDsply : 19|2@0+ (1,0) [0|0] "" XXX + SG_ AwdAutoLamp_D_RqDsply : 17|2@0+ (1,0) [0|0] "" XXX + SG_ AwdLckLamp_D_RqDsply : 27|2@0+ (1,0) [0|0] "" XXX + SG_ AwdLck_D_Stat : 31|4@0+ (1,0) [0|0] "" XXX + SG_ Awd2wdLamp_D_RqDsply : 2|2@0+ (1,0) [0|0] "" XXX + +BO_ 609 AWD_4x4_Data: 8 XXX + SG_ AwdLck_Tq_Rq : 27|12@0+ (1,0) [0|0] "Nm" XXX + SG_ AwdSrvcRqd_B_Rq : 44|1@0+ (1,0) [0|0] "" XXX + +BO_ 613 PassengerSeatOCSInfo: 8 XXX + SG_ VehicleMYCalibrationId : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VehicleCalibrationId : 31|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataUpperLim : 15|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSensrDataLowerLim : 23|8@0+ (1,0) [0|0] "" XXX + SG_ OCSLevel2Error : 0|1@0+ (1,0) [0|0] "" XXX + SG_ ObjectEntrapped : 2|1@0+ (1,0) [0|0] "" XXX + SG_ OCSLevel1Error : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 736 FCIM_Button_Press_HS: 8 XXX + SG_ FCIM_Target_ID : 13|4@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_Type : 7|8@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_State : 15|2@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Target_ID_UB : 23|1@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_Type_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ FCIM_Button_State_UB : 8|1@0+ (1,0) [0|0] "" XXX + +BO_ 806 Compressor_Req_HS: 8 XXX + SG_ HvacEvap_Te_Rq : 33|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ HvacAirCond_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX + SG_ HvacEvap_Te_Offst : 1|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + +BO_ 832 RCMStatusMessage: 8 XXX + SG_ eCallNotification : 2|2@0+ (1,0) [0|0] "" XXX + SG_ CrashNotification : 5|1@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBucklePsngr : 57|2@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBuckleMid : 59|2@0+ (1,0) [0|0] "" XXX + SG_ ThirdRowBuckleDriver : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBucklePsngr : 63|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleMid : 49|2@0+ (1,0) [0|0] "" XXX + SG_ SecondRowBuckleDriver : 51|2@0+ (1,0) [0|0] "" XXX + SG_ FirstRowBuckleDriver : 55|2@0+ (1,0) [0|0] "" XXX + SG_ RstrnTotalEvntCnt : 43|4@0+ (1,0) [0|0] "" XXX + SG_ RstrnCurrentEvntCnt : 39|8@0+ (1,0) [0|0] "" XXX + SG_ RILReq : 15|2@0+ (1,0) [0|0] "" XXX + SG_ FuelCutoffReq : 13|4@0+ (1,0) [0|0] "" XXX + SG_ SeatbeltIndicatorReq : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SeatbeltChimeReq : 8|1@0+ (1,0) [0|0] "" XXX + SG_ BeltMinderProgConfReq : 21|2@0+ (1,0) [0|0] "" XXX + SG_ BeltMinderLevelReq : 19|4@0+ (1,0) [0|0] "" XXX + SG_ FirstRowBucklePsngr : 53|2@0+ (1,0) [0|0] "" XXX + SG_ InfoLampReq : 29|1@0+ (1,0) [0|0] "" XXX + SG_ GenRedLampReq : 28|1@0+ (1,0) [0|0] "" XXX + SG_ RstrnTextMsgReq : 27|2@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNumRcvd : 3|1@0+ (1,0) [0|0] "" XXX + SG_ RstrnStatDeployEnbld : 6|1@0+ (1,0) [0|0] "" XXX + SG_ RstrnImpactEvntStatus : 46|3@0+ (1,0) [0|0] "" XXX + SG_ PassRstrnInd_Req : 25|2@0+ (1,0) [0|0] "" XXX + SG_ RstrnStatTrigEvnt : 7|1@0+ (1,0) [0|0] "" XXX + SG_ PsngrFrntDetct_D_Actl : 31|2@0+ (1,0) [0|0] "" XXX + SG_ Beltminder_Warn_Stats : 22|1@0+ (1,0) [0|0] "" XXX + SG_ EDRTriggerEvntSync : 47|1@0+ (1,0) [0|0] "" XXX + +BO_ 842 MassageSeat_Data1_HS: 8 XXX + SG_ SeatLmbrUpDrv_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrMidDrv_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrLoDrv_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlUpDrv_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlLoDrv_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 843 MassageSeat_Data2_HS: 8 XXX + SG_ SeatLmbrUpPsgr_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrMidPsgr_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatLmbrLoPsgr_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlUpPsgr_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatBlLoPsgr_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 844 MassageSeat_Stat1_HS: 8 XXX + SG_ StmsLmbrDrv_D_Stat : 17|2@0+ (1,0) [0|0] "" XXX + SG_ StmsCshnDrv_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX + SG_ SeatSwtchDrv_B_Stat : 31|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDrv_D_Stat : 23|3@0+ (1,0) [0|0] "" XXX + SG_ SeatAirAmb_P_Actl : 7|16@0+ (0.01,0) [0|0] "KiloPascal" XXX + SG_ SeatPDrv_B_Stat : 20|1@0+ (1,0) [0|0] "" XXX + +BO_ 845 MassageSeat_Stat2_HS: 8 XXX + SG_ StmsLmbrPsgr_D_Stat : 15|2@0+ (1,0) [0|0] "" XXX + SG_ StmsCshnPsgr_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX + SG_ SeatSwtchPsgr_B_Stat : 11|1@0+ (1,0) [0|0] "" XXX + SG_ SeatPPsgr_B_Stat : 7|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnPsgr_D_Stat : 6|3@0+ (1,0) [0|0] "" XXX + SG_ PsgrMemFeedback_Rsp : 3|4@0+ (1,0) [0|0] "" XXX + +BO_ 846 MassageSeat_Req: 8 XXX + SG_ SeatFnPsgr_D_Rq : 15|3@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDrv_D_Rq : 12|3@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDfaltPsgr_B_Rq : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnDfaltDrv_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX + SG_ SeatFnChngPsgr_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX + SG_ SeatFnChngDrv_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX + SG_ PsgrMemory_Rq : 3|4@0+ (1,0) [0|0] "" XXX + +BO_ 848 RestraintsData: 8 XXX + SG_ PassRstrnInd_Stat_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ SeatBltWrnChmeStat : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Seatbelt_IndctrStat : 4|3@0+ (1,0) [0|0] "" XXX + SG_ RILStat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ PassRstrnInd_Stat : 15|4@0+ (1,0) [0|0] "" XXX + +BO_ 849 MassageSeat_Data3_HS: 8 XXX + SG_ SeatCshnDrvRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnDrvFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 850 MassageSeat_Data4_HS: 8 XXX + SG_ SeatCshnPsgrRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX + SG_ SeatCshnPsgrFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX + +BO_ 853 EFP_CC_Status: 8 XXX + SG_ Save_My_Temp : 59|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Left_Temp_Setpt : 31|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RrDefrost_HtdMirrorReq : 60|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Control_Status : 16|1@0+ (1,0) [0|0] "" XXX + SG_ MultipleButtonPressReq : 63|3@0+ (1,0) [0|0] "" XXX + SG_ Rear_System_Mode_Req : 19|3@0+ (1,0) [0|0] "" XXX + SG_ Rear_Left_Temp_Setpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ Recirc_Request : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Front_Rt_Temp_Setpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ AC_Request : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Windshield_ModeRequest : 15|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Panel_Mode_Request : 7|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Overriding_ModeReq : 10|3@0+ (1,0) [0|0] "" XXX + SG_ Forced_Recirc_Req : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_Request : 3|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Rear_Right_Temp_Setpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX + +BO_ 854 EFP_CC_Seat_Req_Stat: 8 XXX + SG_ Front_Rear_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX + SG_ Pass_Rr_Cond_Seat_Req : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Rr_Cond_Seat_Lvl : 8|3@0+ (1,0) [0|0] "" XXX + SG_ Pass_Fr_Cond_Seat_Req : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Fr_Cond_Seat_Lvl : 11|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Rr_Cond_Seat_Req : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Rr_Cond_Seat_Lvl : 2|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Fr_Cond_Seat_Req : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Fr_Cond_Seat_Lvl : 5|3@0+ (1,0) [0|0] "" XXX + +BO_ 855 RCCM_CC_Status_HS: 8 XXX + SG_ RrBlwrCondStLdShedStat : 25|2@0+ (1,0) [0|0] "" XXX + SG_ FrBlwrCondStLdShedStat : 20|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_Rr_Rt_TempSetpt : 63|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Rr_Left_TempSetpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Fr_Rt_TempSetpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RCCM_Fr_Rr_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX + SG_ Panel_Mode_State : 7|4@0+ (8.33,0) [0|0] "%" XXX + SG_ RrDefHtdMirrLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX + SG_ Windshield_Mode_State : 15|4@0+ (8.33,0) [0|0] "%" XXX + SG_ Recirc_Door_State : 11|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_System_Mode_State : 23|3@0+ (1,0) [0|0] "" XXX + SG_ Default_Defrost_State : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Auto_AC_Indicator_Temp : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Floor_Mode_State : 3|4@0+ (8.33,0) [0|0] "%" XXX + SG_ RCCM_Fr_Left_TempSetpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX + SG_ RrDefrost_HtdMirrState : 8|1@0+ (1,0) [0|0] "" XXX + +BO_ 856 RCCM_CC_Seat_Status_HS: 8 XXX + SG_ Active_My_Temp : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CC_HtdStrWhl_Req : 24|1@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PR_Cond_Seat_Lvl : 31|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PR_Cond_Seat_Req : 28|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PF_Cond_Seat_Req : 20|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_PF_Cond_Seat_Lvl : 23|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DR_Cond_Seat_Req : 12|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DR_Cond_Seat_Lvl : 15|3@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DF_Cond_Seat_Req : 4|2@0+ (1,0) [0|0] "" XXX + SG_ RCCM_DF_Cond_Seat_Lvl : 7|3@0+ (1,0) [0|0] "" XXX + SG_ PassRrCondStLdShedStat : 26|2@0+ (1,0) [0|0] "" XXX + SG_ PassFrCondStLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX + SG_ DrvRrCondStLdShedStat : 10|2@0+ (1,0) [0|0] "" XXX + SG_ DrvFrCondStLdShedStat : 1|2@0+ (1,0) [0|0] "" XXX + +BO_ 857 RCCM_CC_MBP_Press_Stat_HS: 8 XXX + SG_ MultBtnPushDsplyPass10 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyPass1 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ Report_Active : 33|2@0+ (1,0) [0|0] "" XXX + SG_ Pass_Temp_Units : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Front_Fan_Bars_Disply : 39|3@0+ (1,0) [0|0] "" XXX + SG_ Drvr_Temp_Units : 36|1@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyDrvr10 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ MultBtnPushDsplyDrvr1 : 15|8@0+ (1,0) [0|0] "" XXX + +BO_ 859 MFD_CC_Status_HS: 8 XXX + SG_ Rear_Mode_Bttn_Status : 38|1@0+ (1,0) [0|0] "" XXX + SG_ ConditionSt_ButtonStat : 20|5@0+ (1,0) [0|0] "" XXX + SG_ Driver_Set_Temp : 31|8@0+ (0.5,0) [0|0] "Degrees" XXX + SG_ Frt_System_Button_Stat : 7|5@0+ (1,0) [0|0] "" XXX + SG_ Rear_Blower_Bar_Status : 2|3@0+ (1,0) [0|0] "# of Bars" XXX + SG_ Rear_Fan_Button_Status : 13|2@0+ (1,0) [0|0] "" XXX + SG_ Rear_Man_Temp_Bar_Stat : 11|4@0+ (1,0) [0|0] "" XXX + SG_ Rear_Temp_Button_Status : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Voice_Blower_Limit : 21|1@0+ (1,0) [0|0] "" XXX + +BO_ 860 EFP_CC_Info_Status: 8 XXX + SG_ Rear_Panel_Btn_State : 41|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Floor_Btn_State : 40|1@0+ (1,0) [0|0] "" XXX + SG_ HtdStrWhl_SftBtt_Stt : 39|2@0+ (1,0) [0|0] "" XXX + SG_ AC_Sft_Button_State : 23|2@0+ (1,0) [0|0] "" XXX + SG_ DrvRrCondSeatSftBttnSt : 47|3@0+ (1,0) [0|0] "" XXX + SG_ DrvFrCondSeatSftBtnStt : 37|3@0+ (1,0) [0|0] "" XXX + SG_ CC_RecircSBtn_St : 27|2@0+ (1,0) [0|0] "" XXX + SG_ CC_RrDefrSBtn_St : 24|1@0+ (1,0) [0|0] "" XXX + SG_ PasRrCondSeatSftBttnSt : 44|3@0+ (1,0) [0|0] "" XXX + SG_ PasFrCondSeatSftBtnStt : 34|3@0+ (1,0) [0|0] "" XXX + SG_ MyTemp_Soft_Bttn_State : 25|1@0+ (1,0) [0|0] "" XXX + SG_ CC_MaxACSBtn_St : 28|1@0+ (1,0) [0|0] "" XXX + SG_ RearPowerButtonState : 16|1@0+ (1,0) [0|0] "" XXX + SG_ RearCoolBarsDisplayed : 11|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ Rear_Sft_Control_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ CC_RrNeutralBarDsp_St : 8|1@0+ (1,0) [0|0] "" XXX + SG_ CC_RrHeatBarsDsp_St : 31|3@0+ (1,0) [0|0] "Bars_On" XXX + SG_ Rear_Fan_Bars_Displayed : 19|3@0+ (1,0) [0|0] "" XXX + SG_ CC_RrCtrlBtn_St : 20|1@0+ (1,0) [0|0] "" XXX + SG_ Rear_Auto_Button_State : 21|1@0+ (1,0) [0|0] "" XXX + SG_ CC_FrPowerSBtn_St : 14|1@0+ (1,0) [0|0] "" XXX + SG_ CC_FrDefrostSBtn_St : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_Soft_Btn_Stt : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_MODE_State : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Front_AUTO_FAN_State : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Dual_Button_State : 12|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarPnlSBtn_St : 5|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarPnFlrSBtn_St : 4|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarFlrWsSBtn_St : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CC_BarDrvFlrSBtn_St : 3|1@0+ (1,0) [0|0] "" XXX + +BO_ 890 Active_Noise: 8 XXX + SG_ ANC_Chime_Supported : 4|2@0+ (1,0) [0|0] "" XXX + SG_ ActvNseAudio_D_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ ActvNse_B_Actv : 5|1@0+ (1,0) [0|0] "" XXX + +BO_ 891 Active_Noise_Data: 8 XXX + SG_ CabnSndAmb_Db_Actl : 7|8@0+ (1,30.0) [0|0] "decibel" XXX + +BO_ 906 Body_Information_1: 8 XXX + SG_ CcdMde_D_Rq_UB : 0|1@0+ (1,0) [0|0] "" XXX + SG_ CcdMde_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX + SG_ CarMode : 5|4@0+ (1,0) [0|0] "" XXX + SG_ SecondaryHeater_Rqst : 55|1@0+ (1,0) [0|0] "" XXX + SG_ Passenger_Sunload_Raw : 47|8@0+ (5.0,0) [0|0] "W/m^2" XXX + SG_ Driver_Sunload_Raw : 39|8@0+ (5.0,0) [0|0] "W/m^2" XXX + SG_ HvacEvap_Te_Actl_UB : 1|1@0+ (1,0) [0|0] "" XXX + SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX + SG_ SecondaryHeater_Rqst_UB : 18|1@0+ (1,0) [0|0] "" XXX + SG_ Outside_Air_Temp_Stat_UB : 23|1@0+ (1,0) [0|0] "" XXX + SG_ Outside_Air_Temp_Stat : 15|8@0+ (0.5,-40.0) [0|0] "Degrees C" XXX + SG_ Veh_Lock_Status : 54|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_Requestor : 52|5@0+ (1,0) [0|0] "" XXX + SG_ Veh_Lock_EvNum : 63|8@0+ (1,0) [0|0] "Counts" XXX + SG_ immoIndicatorCmd : 22|4@0+ (1,0) [0|0] "" XXX + +BO_ 909 Body_Information_6: 8 XXX + SG_ PEBackupSlot_Stats_UB : 43|1@0+ (1,0) [0|0] "" XXX + SG_ PEBackupSlot_Stats : 25|2@0+ (1,0) [0|0] "" XXX + SG_ KeyMykeyTot_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX + SG_ SideDetect_R_SysOpState_UB : 26|1@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_R_SysOpState : 28|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_R_SnsrState_UB : 29|1@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_R_SnsrState : 31|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SysOpState_UB : 16|1@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SysOpState : 18|2@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SnsrState_UB : 19|1@0+ (1,0) [0|0] "" XXX + SG_ SideDetect_L_SnsrState : 21|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_SnState_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_SnState : 23|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_Op_State_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_Op_State : 11|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_Alert_UB : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_R_Alert : 14|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_SnState_UB : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_SnState : 1|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Op_State_UB : 2|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Op_State : 4|2@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Alert_UB : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Cross_Traffic_L_Alert : 7|2@0+ (1,0) [0|0] "" XXX + SG_ IgnKeyType_D_Actl : 39|4@0+ (1,0) [0|0] "" XXX + SG_ KeyAdmnTot_No_Cnt : 35|4@0+ (1,0) [0|0] "Counts" XXX + +BO_ 936 ParkAid_Data: 8 XXX + SG_ SAPPErrorCoding : 23|8@0+ (1,0) [0|0] "" XXX + SG_ ExtSteeringAngleReq : 7|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX + SG_ EPASExtAngleStatReq : 8|1@0+ (1,0) [0|0] "" XXX + +BO_ 937 ParkAid_Range_to_Target: 8 XXX + SG_ RangeToClosestObstacle : 55|12@0+ (1,0) [0|0] "cm" XXX + SG_ RangeRearCornerRtSn : 35|12@0+ (1,0) [0|0] "cm" XXX + SG_ RangeRearCornerLeftSn : 31|12@0+ (1,0) [0|0] "cm" XXX + SG_ RangeRearCenterRtSn : 11|12@0+ (1,0) [0|0] "cm" XXX + SG_ RangeRearCenterLeftSn : 7|12@0+ (1,0) [0|0] "cm" XXX + +BO_ 939 ParkAid_Data_CG1: 8 XXX + SG_ EPASExtAngleStatReq : 7|1@0+ (1,0) [0|0] "" XXX + SG_ ExtSteeringAngleReq : 6|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX + SG_ SAPPErrorCoding : 23|8@0+ (1,0) [0|0] "" XXX + SG_ RangeToClosestObstacle : 27|12@0+ (1,0) [0|0] "cm" XXX + +BO_ 942 BodyInformation_2: 8 XXX + SG_ Easy_Entry_Exit_Stat : 14|2@0+ (1,0) [0|0] "" XXX + SG_ Memory_Feedback_Rqst : 15|1@0+ (1,0) [0|0] "" XXX + SG_ Delay_Accy : 41|1@0+ (1,0) [0|0] "" XXX + SG_ Fuel_Econ_AFE_Reset_Req_UB : 43|1@0+ (1,0) [0|0] "" XXX + SG_ Multimedia_System : 42|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatDrv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatHood_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatInnrTgate_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatPsngr_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatRl_B_Actl : 3|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatRr_B_Actl : 2|1@0+ (1,0) [0|0] "" XXX + SG_ DrStatTgate_B_Actl : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Fuel_Econ_AFE_Reset_Req : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Nav_Unit_Setting : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Cancel_Auto_Movement : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Cancel_Auto_Movement_UB : 8|1@0+ (1,0) [0|0] "" XXX + SG_ DrvSeat_Stat : 34|3@0+ (1,0) [0|0] "" XXX + SG_ DrvSeat_Stat_UB : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Easy_Entry_Rqst : 47|2@0+ (1,0) [0|0] "" XXX + SG_ Easy_Entry_Rqst_UB : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Multimedia_System_UB : 40|1@0+ (1,0) [0|0] "" XXX + SG_ Memory_Cmd : 39|4@0+ (1,0) [0|0] "" XXX + SG_ Memory_Cmd_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Memory_Feedback_Rqst_UB : 45|1@0+ (1,0) [0|0] "" XXX + SG_ Decklid_Ajar_Status : 44|1@0+ (1,0) [0|0] "" XXX + +BO_ 947 BodyInformation_3: 8 XXX + SG_ RearFog_Lamp_Ind_UB : 49|1@0+ (1,0) [0|0] "" XXX + SG_ RearFog_Lamp_Ind : 50|1@0+ (1,0) [0|0] "" XXX + SG_ PwMdeExten_D_Actl : 63|5@0+ (1,0) [0|0] "" XXX + SG_ Turn_Ind_Cmd_Right : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Turn_Ind_Cmd_Left : 9|1@0+ (1,0) [0|0] "" XXX + SG_ Ignition_Switch_Stable : 1|2@0+ (1,0) [0|0] "" XXX + SG_ Parklamp_Status : 3|2@0+ (1,0) [0|0] "" XXX + SG_ Litval : 47|8@0+ (1,0) [0|0] "" XXX + SG_ Key_In_Ignition_Stat : 11|2@0+ (1,0) [0|0] "" XXX + SG_ Ignition_Status : 7|4@0+ (1,0) [0|0] "" XXX + SG_ Dimming_Lvl : 31|8@0+ (1,0) [0|0] "" XXX + SG_ Day_Night_Status : 15|2@0+ (1,0) [0|0] "" XXX + SG_ Remote_Start_Status : 13|2@0+ (1,0) [0|0] "" XXX + SG_ DRV_SELECT_STAT : 19|4@0+ (1,0) [0|0] "" XXX + SG_ PrkBrkActv_B_Actl : 55|1@0+ (1,0) [0|0] "" XXX + SG_ HtdStrWhl_SftBtt_State_UB : 51|1@0+ (1,0) [0|0] "" XXX + SG_ HtdStrWhl_SftBtt_State : 53|2@0+ (1,0) [0|0] "" XXX + SG_ HvacRemoteStrt_N_Rq_UB : 56|1@0+ (1,0) [0|0] "" XXX + SG_ HvacRemoteStrt_N_Rq : 23|4@0+ (100.0,450.0) [0|0] "RPM" XXX + SG_ HvacAirCond_B_Rq_UB : 57|1@0+ (1,0) [0|0] "" XXX + SG_ Remote_Start_Warn_Req : 54|1@0+ (1,0) [0|0] "" XXX + SG_ HvacAirCond_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX + +BO_ 948 Tire_Pressure_Status: 8 XXX + SG_ Tire_Press_ILR_Stat2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_IRR_Stat2 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_LR_OLR_Stat2 : 19|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_RR_ORR_Stat2 : 23|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_RF_Stat2 : 11|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_LF_Stat2 : 15|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_System_Stat2 : 7|4@0+ (1,0) [0|0] "" XXX + SG_ Tire_Press_Telltale : 3|2@0+ (1,0) [0|0] "" XXX + +BO_ 949 Tire_Pressure_Data: 8 XXX + SG_ Tire_Press_RR_ORR_Data : 23|8@0+ (1,0) [0|0] "Psi" XXX + SG_ Tire_Press_RF_Data : 15|8@0+ (1,0) [0|0] "Psi" XXX + SG_ Tire_Press_LR_OLR_Data : 31|8@0+ (1,0) [0|0] "Psi" XXX + SG_ Tire_Press_IRR_Data : 39|8@0+ (1,0) [0|0] "Psi" XXX + SG_ Tire_Press_ILR_Data : 47|8@0+ (1,0) [0|0] "Psi" XXX + SG_ Tire_Press_LF_Data : 7|8@0+ (1,0) [0|0] "Psi" XXX + +BO_ 955 Smart_Headlamp_Stat: 8 XXX + SG_ Headlamp_Switch_Stat : 7|2@0+ (1,0) [0|0] "" XXX + SG_ Fog_Lamp_Dbnce : 5|2@0+ (1,0) [0|0] "" XXX + SG_ Digital_Dimmer_Sw_Stat : 3|3@0+ (1,0) [0|0] "" XXX + +BO_ 957 Rear_FogLamp: 8 XXX + SG_ RearFog_Lamp_Dbnce : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 963 BCM_to_HS_Body: 8 XXX + SG_ DrTgateChime_D_Rq_UB : 9|1@0+ (1,0) [0|0] "" XXX + SG_ DrTgateChime_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX + SG_ CamraDefog_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX + SG_ Reverse_Mirror_Stat : 61|2@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Mode_Stat : 63|2@0+ (1,0) [0|0] "" XXX + SG_ IKT_Program_Status : 51|2@0+ (1,0) [0|0] "" XXX + SG_ Veh_Spd_Slow_Puddle_Status : 41|2@0+ (1,0) [0|0] "" XXX + SG_ Illuminated_Exit_Status : 43|2@0+ (1,0) [0|0] "" XXX + SG_ Illuminated_Entry_Status : 45|2@0+ (1,0) [0|0] "" XXX + SG_ Door_Courtesy_Light_Status : 47|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Demand_BSave_Stat : 33|2@0+ (1,0) [0|0] "" XXX + SG_ Alarm_Lights_Courtesy_Stat : 35|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Delay_Status : 37|2@0+ (1,0) [0|0] "" XXX + SG_ Courtesy_Mode_Status : 39|2@0+ (1,0) [0|0] "" XXX + SG_ Front_Fog_Light_SW_Status : 22|2@0+ (1,0) [0|0] "" XXX + SG_ Brake_Lamp_On_Status : 23|1@0+ (1,0) [0|0] "" XXX + SG_ LowBeam_CKT_CAN : 11|1@0+ (1,0) [0|0] "" XXX + SG_ ParkLamps_CKT_CAN : 8|1@0+ (1,0) [0|0] "" XXX + SG_ RF_Low_Beam_CKT_CAN : 13|1@0+ (1,0) [0|0] "" XXX + SG_ Brk_Fluid_Lvl_Low : 15|2@0+ (1,0) [0|0] "" XXX + SG_ LF_Low_Beam_CKT_CAN : 12|1@0+ (1,0) [0|0] "" XXX + SG_ High_Beam_Indicator_Rqst : 1|1@0+ (1,0) [0|0] "" XXX + SG_ Brake_Warn_Indicator_Rqst : 2|1@0+ (1,0) [0|0] "" XXX + SG_ Headlamp_On_Wrning_Cmd : 6|1@0+ (1,0) [0|0] "" XXX + SG_ Key_In_Ignition_Warn_Cmd : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Fog_Lamps_Rly_Ckt_CAN : 10|1@0+ (1,0) [0|0] "" XXX + SG_ Power_Liftgate_Mode_Stat_UB : 18|1@0+ (1,0) [0|0] "" XXX + SG_ Reverse_Mirror_Stat_UB : 7|1@0+ (1,0) [0|0] "" XXX + SG_ Park_Brake_Chime_Rqst : 3|1@0+ (1,0) [0|0] "" XXX + SG_ Daytime_Running_Lamps : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Running_Board_Stat_UB : 56|1@0+ (1,0) [0|0] "" XXX + SG_ Running_Board_Stat : 58|2@0+ (1,0) [0|0] "" XXX + SG_ Perimeter_Alarm_Chime_Rqst : 20|2@0+ (1,0) [0|0] "" XXX + +BO_ 967 CMPS_FDM_Info_Status: 8 XXX + SG_ CamraFrntStat_D_Stat : 41|2@0+ (1,0) [0|0] "" XXX + SG_ Zone_Icon_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ GPS_Compass_direction : 47|4@0+ (1,0) [0|0] "" XXX + SG_ Segment_MSD_UB : 37|1@0+ (1,0) [0|0] "" XXX + SG_ Segment_LSD_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ ExcessiveMagnetism : 32|1@0+ (1,0) [0|0] "" XXX + SG_ Compass_Display_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ Segment_LSD : 15|8@0+ (1,0) [0|0] "" XXX + SG_ Segment_MSD : 7|8@0+ (1,0) [0|0] "" XXX + SG_ Cal_Icon : 21|1@0+ (1,0) [0|0] "" XXX + SG_ Zone_Icon : 22|1@0+ (1,0) [0|0] "" XXX + SG_ Compass_Display : 23|1@0+ (1,0) [0|0] "" XXX + SG_ Cal_Icon_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ RearCameraDelayStat : 39|2@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlTow_D_Actl : 25|2@0+ (1,0) [0|0] "SE" XXX + SG_ CamZoomActiveState : 29|2@0+ (1,0) [0|0] "" XXX + SG_ CamraZoomMan_D_Actl : 18|3@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlStat_D_Actl : 27|2@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlDyn_D_Actl : 20|2@0+ (1,0) [0|0] "" XXX + SG_ CamPDCGuidStat : 31|2@0+ (1,0) [0|0] "" XXX + +BO_ 970 Lane_Assist_Data1: 8 XXX + SG_ LkaActvStats_D_Req : 7|3@0+ (1,0) [0|0] "" XXX + SG_ LdwActvStats_D_Req : 4|3@0+ (1,0) [0|0] "" XXX + SG_ LdwActvIntns_D_Req : 1|2@0+ (1,0) [0|0] "" XXX + +BO_ 971 Lane_Assist_Data2: 8 XXX + SG_ LaRefAng_No_Req : 19|12@0+ (0.05,-102.4) [0|0] "mrad" XXX + SG_ LaRampType_B_Req : 4|1@0+ (1,0) [0|0] "" XXX + SG_ LaCurvature_No_Calc : 3|12@0+ (5e-06,-0.01) [0|0] "1/m" XXX + +BO_ 972 Lane_Assist_Data3: 8 XXX + SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 984 IPMA_Data: 8 XXX + SG_ LaSwtch_D_RqDrv : 45|1@0+ (1,0) [0|0] "" XXX + SG_ DasWarn_D_Dsply : 44|2@0+ (1,0) [0|0] "" XXX + SG_ DasStats_D_Dsply : 47|2@0+ (1,0) [0|0] "" XXX + SG_ DasAlrtLvl_D_Dsply : 55|3@0+ (1,0) [0|0] "" XXX + SG_ CamraStats_D_Dsply : 35|2@0+ (1,0) [0|0] "" XXX + SG_ CamraDefog_B_Req : 36|1@0+ (1,0) [0|0] "" XXX + SG_ LaSwtchStat_No_Actl : 63|1@0+ (1,0) [0|0] "" XXX + SG_ LaHandsOff_D_Dsply : 42|2@0+ (1,0) [0|0] "" XXX + SG_ LaDenyStats_B_Dsply : 40|1@0+ (1,0) [0|0] "" XXX + SG_ LaActvStats_D_Dsply : 52|5@0+ (1,0) [0|0] "" XXX + SG_ AhbcHiBeam_D_Rq : 33|2@0+ (1,0) [0|0] "" XXX + SG_ PersIndexIpma_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoIpmaActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigIpmaActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 986 Personality_APIM_Data3: 8 XXX + SG_ LightAmbIntSwtchInc_B : 22|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbIntSwtchDec_B : 21|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbIntsty_No_Rq : 15|8@0+ (1,0) [0|0] "% Intensity" XXX + SG_ LightAmbColor_No_Rq : 7|8@0+ (1,0) [0|0] "Color Index" XXX + SG_ LightAmbClrSwtchInc_B : 20|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbClrSwtchDec_B : 23|1@0+ (1,0) [0|0] "" XXX + +BO_ 991 Personality_VDM_Data: 8 XXX + SG_ PersIndexVdm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoVdmActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigVdmActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 992 Personality_IPC_Data: 8 XXX + SG_ MsgCntrPersIndex_D_Rq : 39|3@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatConfigRq : 23|16@0+ (1,0) [0|0] "" XXX + SG_ MsgCntrFeatNoRq : 7|16@0+ (1,0) [0|0] "Number" XXX + SG_ MsgCntrDsplyOp_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX + +BO_ 993 Personality_Data_HS: 8 XXX + SG_ PersSetupRestr_D_Actl : 21|2@0+ (1,0) [0|0] "" XXX + SG_ PersSetupAccessCtrl : 19|1@0+ (1,0) [0|0] "SES" XXX + SG_ PersSetup_No_Actl : 31|16@0+ (1,0) [0|0] "Number" XXX + SG_ PersConflict_D_Actl : 22|1@0+ (1,0) [0|0] "" XXX + SG_ AssocConfirm_D_Actl : 15|3@0+ (1,0) [0|0] "" XXX + SG_ RecallEvent_No_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX + SG_ PersNo_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Actl_UB : 23|1@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Actl : 12|2@0+ (1,0) [0|0] "" XXX + +BO_ 994 Personality_APIM_Data: 8 XXX + SG_ CamraOvrlTow_D_Rq : 42|1@0+ (1,0) [0|0] "" XXX + SG_ Pers4OptIn_B_Stats : 43|1@0+ (1,0) [0|0] "" XXX + SG_ Pers3OptIn_B_Stats : 33|1@0+ (1,0) [0|0] "" XXX + SG_ Pers2OptIn_B_Stats : 32|1@0+ (1,0) [0|0] "" XXX + SG_ Pers1OptIn_B_Stats : 44|1@0+ (1,0) [0|0] "" XXX + SG_ CtrStkPersIndex_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatNoActl : 23|16@0+ (1,0) [0|0] "" XXX + SG_ PersStore_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX + SG_ CtrStkFeatConfigActl : 7|16@0+ (1,0) [0|0] "" XXX + SG_ CtrStkDsplyOp_D_Rq : 47|3@0+ (1,0) [0|0] "" XXX + +BO_ 995 Personality_BCM_Data: 8 XXX + SG_ PersIndexBcm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoBcm_No_Actl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigBcmActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 996 Personality_HCMB_Data_HS: 8 XXX + SG_ PersIndexHcmb_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PersIndexHcmb_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHcmbActl_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHcmbActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigHcmbActl_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ FeatConfigHcmbActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 997 Personality_CCM_Data: 8 XXX + SG_ PersIndexCcm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoCcmActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigCcmActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 998 Personality_SCCM_Data: 8 XXX + SG_ PersIndexSccm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoSccmActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigSccmActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 999 Personality_HVAC_Data_HS: 8 XXX + SG_ LightAmbIntsty_No_Actl_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbIntsty_No_Actl : 55|8@0+ (1,0) [0|0] "% Intensity" XXX + SG_ LightAmbColor_No_Actl_UB : 32|1@0+ (1,0) [0|0] "" XXX + SG_ LightAmbColor_No_Actl : 47|8@0+ (1,0) [0|0] "Color Index" XXX + SG_ PersIndexHvac_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHvacActl_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ FeatConfigHvacActl_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ PersIndexHvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoHvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigHvacActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1001 Personality_RFA_Data_HS: 8 XXX + SG_ PersIndexRfa_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRfaActl_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ FeatConfigRfaActl_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ PersIndexRfa_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRfaActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigRfaActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1002 Personality_APIM_Data2: 8 XXX + SG_ PersIndexApim_D_Actl : 63|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoApimActl : 39|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigApimActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ CntrStkKeycodeActl : 7|16@0+ (1,0) [0|0] "" XXX + SG_ CntrStk_D_RqRecall : 52|3@0+ (1,0) [0|0] "" XXX + SG_ CntrStk_D_RqAssoc : 55|3@0+ (1,0) [0|0] "" XXX + +BO_ 1003 Personality_IPC_Data_2: 8 XXX + SG_ PersIndexIpc_D_Actl : 34|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoIpcActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigIpcActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1004 Personality_DSM_Data_HS: 8 XXX + SG_ PersIndexDsm_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PersIndexDsm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoDsmActl_UB : 35|1@0+ (1,0) [0|0] "" XXX + SG_ FeatNoDsmActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigDsmActl_UB : 36|1@0+ (1,0) [0|0] "" XXX + SG_ FeatConfigDsmActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1005 Personality_RHVAC_Data_HS: 8 XXX + SG_ PersIndexRhvac_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRhvacActl_UB : 33|1@0+ (1,0) [0|0] "" XXX + SG_ FeatConfigRhvacActl_UB : 32|1@0+ (1,0) [0|0] "" XXX + SG_ PersIndexRhvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX + SG_ FeatNoRhvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX + SG_ FeatConfigRhvacActl : 7|16@0+ (1,0) [0|0] "" XXX + +BO_ 1031 Diesel_Data_Legacy_1: 8 XXX + SG_ W2S_COMMAND : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TURBO_BOOST : 1|10@0+ (0.1,-30.0) [0|0] "PSI" XXX + SG_ IDLE_ENGINE_SHUTDOWN : 42|2@0+ (1,0) [0|0] "" XXX + +BO_ 1034 GGCC_Config_Mgmt_ID_1: 8 XXX + SG_ VehicleGGCCData : 7|64@0+ (1,0) [0|0] "mixed" XXX + +BO_ 1036 Desired_Torq_BrkSys_Stat: 8 XXX + SG_ BRK_TC_TEMPORARILY_UNAVAIL : 47|1@0+ (1,0) [0|0] "" XXX + SG_ TRLR_SWAY_EVNT_IN_PROGRESS : 22|1@0+ (1,0) [0|0] "" XXX + +BO_ 1043 ADAPTIVE_HEADLAMP_STAT: 8 XXX + SG_ ADAPTIVE_HEADLAMP_FAILURE : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 1044 AccelerationData: 8 XXX + SG_ VehVertComp_A_Actl : 1|10@0+ (0.01,-0.4) [0|0] "m/s^2" XXX + SG_ VehRolComp_W_Actl : 19|12@0+ (0.0002,-0.82) [0|0] "rad/s" XXX + SG_ VehYawNonLin_W_Rq : 51|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX + SG_ VehYawLin_W_Rq : 35|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX + +BO_ 1045 BrakeSysFeatures: 8 XXX + SG_ TCMode : 34|1@0+ (1,0) [0|0] "" XXX + SG_ DrvSlipCtlLamp_D_Rq : 63|2@0+ (1,0) [0|0] "" XXX + SG_ RSCMode : 48|1@0+ (1,0) [0|0] "" XXX + SG_ EBAMode : 40|1@0+ (1,0) [0|0] "" XXX + SG_ DrvAntiLckLamp_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX + SG_ ChimeBrk_B_Rq : 38|1@0+ (1,0) [0|0] "" XXX + SG_ BrkLamp_B_Rq : 39|1@0+ (1,0) [0|0] "" XXX + SG_ VehVActlBrk_No_Cs : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VehVActlBrk_No_Cnt : 23|4@0+ (1,0) [0|0] "" XXX + SG_ Veh_V_ActlBrk : 7|16@0+ (0.01,0) [0|0] "kph" XXX + SG_ DrvSlipCtlMde_D_Ind : 33|2@0+ (1,0) [0|0] "" XXX + SG_ VehRol_An_Dsply : 55|7@0+ (1,-64.0) [0|0] "Degrees" XXX + SG_ VehPtch_An_Dsply : 47|7@0+ (1,-64.0) [0|0] "Degrees" XXX + SG_ VehVActlBrk_D_Qf : 19|2@0+ (1,0) [0|0] "" XXX + SG_ HILL_DESC_MC : 37|3@0+ (1,0) [0|0] "" XXX + +BO_ 1046 BrakeSysFeatures_2: 8 XXX + SG_ BpedMove_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX + SG_ BpedMove_No_Cnt : 3|4@0+ (1,0) [0|0] "" XXX + SG_ BpedMove_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX + SG_ AbsMduleAlive_No_Cnt : 39|4@0+ (1,0) [0|0] "" XXX + SG_ Abs_No_Cs : 31|8@0+ (1,0) [0|0] "" XXX + SG_ BrkAsst_B_Actl : 33|1@0+ (1,0) [0|0] "" XXX + SG_ StabCtlBrk_B_Avail : 4|1@0+ (1,0) [0|0] "" XXX + SG_ DrvHdcWarnInfo_D_Rq : 35|2@0+ (1,0) [0|0] "" XXX + SG_ DrvHdcMsg_D_Rq : 10|3@0+ (1,0) [0|0] "" XXX + SG_ DrvHdcLampInfo_D_Rq : 12|2@0+ (1,0) [0|0] "" XXX + SG_ Abs_B_Falt : 5|1@0+ (1,0) [0|0] "" XXX + SG_ VehLongComp_A_Actl : 49|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX + SG_ TRAILER_SWAY_CONFIG_STAT : 32|1@0+ (1,0) [0|0] "" XXX + SG_ VehLatComp_A_Actl : 47|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX + +BO_ 1047 TractionCtrlStatus_CG1: 8 XXX + SG_ EngEotcCtlMde_B_Ind : 3|1@0+ (1,0) [0|0] "" XXX + SG_ YawStabilityIndex : 48|9@0+ (1,-256.0) [0|0] "%" XXX + SG_ TCS_ENG_FAILD : 0|1@0+ (1,0) [0|0] "" XXX + SG_ TCS_ENG_ONLY_PRESENT : 1|1@0+ (1,0) [0|0] "" XXX + SG_ TCS_BRK_FAILD : 2|1@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTqRqMn_No_Cnt : 47|4@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTot_Tq_RqMn : 23|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX + SG_ EngEotcCtlLamp_D_Rq : 9|2@0+ (1,0) [0|0] "" XXX + SG_ PrplWhlTqRqMn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ HdcMde_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX + SG_ VehicleDir_D_Est : 5|2@0+ (1,0) [0|0] "" XXX + SG_ TracCtlPtActv_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + +BO_ 1056 PowertrainData_1_CG1: 8 XXX + SG_ FUEL_ALCOHOL_PERCNT : 63|8@0+ (0.3937008,0) [0|0] "%" XXX + SG_ TrnTotTq_Rt_Est : 39|16@0+ (0.001,0) [0|0] "" XXX + SG_ TrnTotLss_Tq_Est : 31|8@0+ (0.5,0) [0|0] "Nm" XXX + SG_ ECMMILRequest : 9|2@0+ (1,0) [0|0] "" XXX + SG_ AirCondFluidHi_P_Actl : 55|8@0+ (0.125,0) [0|0] "bar" XXX + SG_ OilPressureWarning : 18|1@0+ (1,0) [0|0] "" XXX + SG_ CluPdlPos_Pc_Meas : 7|10@0+ (0.1,0) [0|0] "%" XXX + SG_ VehVLimStat_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX + SG_ VehVLimActv_B_Actl : 13|1@0+ (1,0) [0|0] "" XXX + SG_ CluPdlPosPcMeas_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX + SG_ CoolantFanStepAct : 23|5@0+ (1,0) [0|0] "Steps" XXX + +BO_ 1058 PowertrainData_2_CG1: 8 XXX + SG_ EngIdlShutDown_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX + SG_ EngAout2_Tq_Actl : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX + SG_ EngMsgTxt_D_Rq : 21|2@0+ (1,0) [0|0] "" XXX + SG_ EngClnt_Te_ActlDiag : 39|8@0+ (1,-40.0) [0|0] "degC" XXX + SG_ ThrPos_Pc_CalcDiag : 7|8@0+ (0.392157,0) [0|0] "%" XXX + SG_ EngLoad_Pc_CalcDiag : 47|8@0+ (0.392157,0) [0|0] "%" XXX + SG_ EngAirIn_Te_Actl : 15|10@0+ (0.25,-128.0) [0|0] "degC" XXX + SG_ ApedPos_Pc_ActlDiag : 31|8@0+ (0.392157,0) [0|0] "%" XXX + +BO_ 1064 StrgWheel_PolicePkg: 8 XXX + SG_ PoliceAux4Lamp_B_Rq : 4|1@0+ (1,0) [0|0] "" XXX + SG_ PoliceAux3Lamp_B_Rq : 5|1@0+ (1,0) [0|0] "" XXX + SG_ PoliceAux2Lamp_B_Rq : 6|1@0+ (1,0) [0|0] "" XXX + SG_ PoliceAux1Lamp_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 1067 Battery_Mgmt_1: 8 XXX + SG_ AlternatorExcDutyCycle : 31|5@0+ (3.22581,0) [0|0] "%" XXX + SG_ EngineEffStatus : 39|2@0+ (1,0) [0|0] "" XXX + SG_ AvailableCurrentAtIdle : 23|8@0+ (1,0) [0|0] "Amps" XXX + SG_ AvailableCurrent : 15|8@0+ (1,0) [0|0] "Amps" XXX + SG_ ActualCurrent : 7|8@0+ (1,0) [0|0] "Amps" XXX + SG_ NoAlternatorResponse : 26|1@0+ (1,0) [0|0] "" XXX + SG_ AlternatorTempFault : 25|1@0+ (1,0) [0|0] "" XXX + SG_ AlternatorMechFault : 24|1@0+ (1,0) [0|0] "" XXX + SG_ AlternatorElFault : 37|1@0+ (1,0) [0|0] "" XXX + +BO_ 1068 Battery_Mgmt_2: 8 XXX + SG_ ChargeMode : 39|3@0+ (1,0) [0|0] "" XXX + SG_ ChargeVoltageReq : 7|6@0+ (0.1,10.6) [0|0] "Volts" XXX + SG_ ChargeVoltageReqMax : 23|6@0+ (0.1,10.6) [0|0] "Volts" XXX + SG_ FrontBatteryTemp : 47|8@0+ (1,-60.0) [0|0] "DegC" XXX + SG_ IBoost_Msg : 52|4@0+ (1,0) [0|0] "" XXX + SG_ IdleSpeedIncrease_El : 8|1@0+ (1,0) [0|0] "" XXX + SG_ MaxLashStep : 11|3@0+ (0.1,0) [0|0] "Volts" XXX + SG_ PowerSystemStatus : 15|4@0+ (1,0) [0|0] "" XXX + SG_ Shed_T_Eng_Off_B : 17|1@0+ (1,0) [0|0] "" XXX + SG_ Shed_Level_Req : 55|3@0+ (1,0) [0|0] "" XXX + SG_ Shed_Feature_Group_ID : 36|5@0+ (1,0) [0|0] "" XXX + SG_ Shed_Drain_Eng_Off_B : 16|1@0+ (1,0) [0|0] "" XXX + SG_ Batt_Lo_SoC_B : 25|1@0+ (1,0) [0|0] "" XXX + SG_ VoltageRampRateUpMax : 31|6@0+ (0.1,0) [0|0] "Volts/sec" XXX + SG_ Batt_Crit_SoC_B : 24|1@0+ (1,0) [0|0] "" XXX + +BO_ 1069 Battery_Mgmt_3: 8 XXX + SG_ BSFault : 23|1@0+ (1,0) [0|0] "" XXX + SG_ BSBattSOC : 30|7@0+ (1,0) [0|0] "%" XXX + SG_ BSBattQDeltaRideAh : 38|15@0+ (0.0078125,-100.0) [0|0] "Ah" XXX + SG_ BSBattQCapAh : 22|7@0+ (1,0) [0|0] "Ah" XXX + SG_ BSBattCurrent : 5|14@0+ (0.0625,-512.0) [0|0] "Amps" XXX + SG_ BattULoState_D_Qlty : 7|2@0+ (1,0) [0|0] "" XXX + +BO_ 1072 Cluster_Information: 8 XXX + SG_ ManRgen_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX + SG_ Easy_Entry_Exit_Cmd : 49|1@0+ (1,0) [0|0] "" XXX + SG_ KeyTypeChngMykey_D_Rq : 53|2@0+ (1,0) [0|0] "" XXX + SG_ DrvSlipCtlMde_B_Rq : 19|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActv_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ LdwDfaltOn_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX + SG_ Fda_B_Stat : 9|1@0+ (1,0) [0|0] "" XXX + SG_ ePRNDL_MODE : 8|1@0+ (1,0) [0|0] "" XXX + SG_ AccDeny_B_RqIpc : 7|1@0+ (1,0) [0|0] "" XXX + SG_ MetricActvTe_B_Actl : 23|1@0+ (1,0) [0|0] "" XXX + SG_ EngOilLife_B_RqReset : 18|1@0+ (1,0) [0|0] "" XXX + SG_ OdometerMasterValue : 31|24@0+ (1,0) [0|0] "km" XXX + SG_ New_Module_Attn_Event : 56|1@0+ (1,0) [0|0] "" XXX + SG_ TRAILER_SWAY_CONFIG_CMD : 60|1@0+ (1,0) [0|0] "" XXX + SG_ ParkDetect_Stat : 62|1@0+ (1,0) [0|0] "" XXX + SG_ Attn_Info_Audio : 59|3@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkMde_D_Rq : 61|1@0+ (1,0) [0|0] "" XXX + SG_ TRAILER_BRAKE_CONFIG : 48|1@0+ (1,0) [0|0] "" XXX + SG_ VehMykey_Vl_LimRq : 63|1@0+ (1,0) [0|0] "" XXX + SG_ VehMykey_V_LimRqMx : 51|1@0+ (1,0) [0|0] "" XXX + SG_ EmgcyCallAsstMykey_Rq : 50|1@0+ (1,0) [0|0] "" XXX + SG_ DrvSlipCtlMde_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX + SG_ AccEnbl_B_RqDrv : 20|1@0+ (1,0) [0|0] "" XXX + SG_ AutoHighBeam_Cmd : 55|2@0+ (1,0) [0|0] "" XXX + +BO_ 1075 Cluster_Information_3_CG1: 8 XXX + SG_ CamraFrntStat_D_Rq : 58|1@0+ (1,0) [0|0] "" XXX + SG_ DieslFuelBio_B_ActlDrv : 56|1@0+ (1,0) [0|0] "" XXX + SG_ RearCameraDelayCmd : 59|1@0+ (1,0) [0|0] "" XXX + SG_ UreaWarnReset : 60|1@0+ (1,0) [0|0] "" XXX + SG_ DistanceBarSetting : 49|1@0+ (1,0) [0|0] "" XXX + SG_ CamraZoomMan_D_Rq : 63|3@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlStat_D_Rq : 48|1@0+ (1,0) [0|0] "" XXX + SG_ CamraOvrlDyn_D_Rq : 25|1@0+ (1,0) [0|0] "" XXX + SG_ CamAutoTowbarZoom : 24|1@0+ (1,0) [0|0] "" XXX + SG_ FuelSecndActv_B_Actl : 39|1@0+ (1,0) [0|0] "" XXX + SG_ HILL_DESC_SW : 38|1@0+ (1,0) [0|0] "" XXX + SG_ FuelLvlPssvSide_No_Raw : 19|10@0+ (1,0) [0|0] "" XXX + SG_ SPDJBCompassCMDDecalibrate : 50|1@0+ (1,0) [0|0] "" XXX + SG_ SPDJBCompassCMDChangeZone : 51|1@0+ (1,0) [0|0] "" XXX + SG_ SPDJBCompassCmdDesiredZone : 55|4@0+ (1,0) [0|0] "" XXX + SG_ FUEL_SENSOR_NUM : 35|1@0+ (1,0) [0|0] "" XXX + SG_ W2S_LAMP_OK : 37|1@0+ (1,0) [0|0] "" XXX + SG_ Beltminder_Warn_Stats_IPC : 32|1@0+ (1,0) [0|0] "" XXX + SG_ FuelLvlActvSide_No_Raw : 13|10@0+ (1,0) [0|0] "" XXX + SG_ FuelLvl_Pc_Dsply : 7|10@0+ (0.108696,-5.22) [0|0] "%" XXX + SG_ FUEL_LVL_PER_MEAN : 47|8@0+ (0.434783,-5.22) [0|0] "% Indication" XXX + SG_ Fuel_Level_State : 34|2@0+ (1,0) [0|0] "" XXX + SG_ H2O_IN_FUEL_LAMP_OK_OBD : 36|1@0+ (1,0) [0|0] "" XXX + +BO_ 1093 TrailerBrakeInfo: 8 XXX + SG_ TrlrLampCnnct_B_Actl : 22|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkActCnnct_B_Actl : 16|1@0+ (1,0) [0|0] "" XXX + SG_ StopLamp_B_RqTrlrBrk : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkOut_No_Dsply : 3|4@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkGain_No_Actl : 21|5@0+ (0.5,0) [0|0] "" XXX + SG_ TrlrBrkDsply_B_Rq : 6|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkDcnnt_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkCtl_B_Falt : 4|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkActCirct_B_Falt : 39|1@0+ (1,0) [0|0] "" XXX + SG_ TrlrBrkMde_D_Actl : 23|1@0+ (1,0) [0|0] "" XXX + +BO_ 1104 SHCM_Status: 8 XXX + SG_ CURRENT_DRAW : 15|8@0+ (0.5,0) [0|0] "Amps" XXX + SG_ SECONDARY_HEATER_STAT : 7|1@0+ (1,0) [0|0] "" XXX + +BO_ 1107 PassengerOCSSerialNum: 8 XXX + SG_ OCSSerialNoByte8 : 63|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ OCSSerialNoByte1 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1108 RCMSerialNumber: 8 XXX + SG_ RCMSerialNoByte8 : 63|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ RCMSerialNoByte1 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1109 eCall_Info: 8 XXX + SG_ eCallConfirmation : 7|3@0+ (1,0) [0|0] "" XXX + +BO_ 1125 GPS_Data_Nav_1_HS: 8 XXX + SG_ GpsHsphLattSth_D_Actl : 25|2@0+ (1,0) [0|0] "" XXX + SG_ GpsHsphLongEast_D_Actl : 9|2@0+ (1,0) [0|0] "" XXX + SG_ GPS_Longitude_Minutes : 46|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_Longitude_Min_dec : 55|14@0+ (0.0001,0) [0|0] "Minutes" XXX + SG_ GPS_Longitude_Degrees : 39|9@0+ (1,-179.0) [0|0] "Degrees" XXX + SG_ GPS_Latitude_Minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_Latitude_Min_dec : 23|14@0+ (0.0001,0) [0|0] "Minutes" XXX + SG_ GPS_Latitude_Degrees : 7|8@0+ (1,-89.0) [0|0] "Degrees" XXX + +BO_ 1126 GPS_Data_Nav_2_HS: 8 XXX + SG_ Gps_B_Falt : 2|1@0+ (1,0) [0|0] "" XXX + SG_ GpsUtcYr_No_Actl : 55|5@0+ (1,1.0) [0|0] "Year" XXX + SG_ GpsUtcMnth_No_Actl : 47|4@0+ (1,1.0) [0|0] "Month" XXX + SG_ GpsUtcDay_No_Actl : 37|5@0+ (1,1.0) [0|0] "Day" XXX + SG_ GPS_UTC_seconds : 23|6@0+ (1,0) [0|0] "seconds" XXX + SG_ GPS_UTC_minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX + SG_ GPS_UTC_hours : 7|5@0+ (1,0) [0|0] "Hours" XXX + SG_ GPS_Pdop : 31|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_Compass_direction : 26|4@0+ (1,0) [0|0] "" XXX + SG_ GPS_Actual_vs_Infer_pos : 38|1@0+ (1,0) [0|0] "" XXX + +BO_ 1127 GPS_Data_Nav_3_HS: 8 XXX + SG_ GPS_Vdop : 63|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_Speed : 47|8@0+ (1,0) [0|0] "MPH" XXX + SG_ GPS_Sat_num_in_view : 7|5@0+ (1,0) [0|0] "" XXX + SG_ GPS_MSL_altitude : 15|12@0+ (10.0,-20460.0) [0|0] "feet" XXX + SG_ GPS_Heading : 31|16@0+ (0.01,0) [0|0] "Degrees" XXX + SG_ GPS_Hdop : 55|5@0+ (0.2,0) [0|0] "" XXX + SG_ GPS_dimension : 2|3@0+ (1,0) [0|0] "" XXX + +BO_ 1152 All_Terrain_Data: 8 XXX + SG_ HdcSwitchPos_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX + SG_ TerrStat_D_RqDsply : 7|4@0+ (1,0) [0|0] "" XXX + SG_ TerrMde_D_RqDrv : 3|3@0+ (1,0) [0|0] "" XXX + +BO_ 1186 Information_4x4_2_CG1: 8 XXX + SG_ RearDiffFalt_D_Stat : 23|2@0+ (1,0) [0|0] "" XXX + SG_ RearDiffLck_Tq_Actl : 7|12@0+ (1,0) [0|0] "Nm" XXX + SG_ RearDiffLckMsg_D_Rq : 20|3@0+ (1,0) [0|0] "" XXX + SG_ AwdSrvcRqd_B_Rq : 21|1@0+ (1,0) [0|0] "" XXX + SG_ RearDiffLckLamp_D_Rq : 11|2@0+ (1,0) [0|0] "" XXX diff --git a/opendbc/ford_fusion_2018_adas.dbc b/opendbc/ford_fusion_2018_adas.dbc new file mode 100644 index 000000000..2e1647b3d --- /dev/null +++ b/opendbc/ford_fusion_2018_adas.dbc @@ -0,0 +1,421 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 1280 Object_00: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1281 Object_01: 8 XXX + 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52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1341 Object_61: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1342 Object_62: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + +BO_ 1343 Object_63: 8 XXX + SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX + SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX + SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX + SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX + diff --git a/opendbc/ford_fusion_2018_pt.dbc b/opendbc/ford_fusion_2018_pt.dbc new file mode 100644 index 000000000..c4b706d06 --- /dev/null +++ b/opendbc/ford_fusion_2018_pt.dbc @@ -0,0 +1,139 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 130 EPAS_INFO: 8 XXX + SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6.0) [0|0] "Volts" XXX + SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64.0) [0|0] "Amps" XXX + SG_ EPAS_FAILURE : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8.0) [0|0] "Nm" XXX + SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|0] "" XXX + SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|0] "" XXX + +BO_ 118 Steering_Wheel_Data_CG1: 8 XXX + SG_ SteWhlRelInit_An_Sns : 6|15@0+ (0.1,-1600.0) [0|0] "deg" XXX + SG_ SteWhlRelCalib_An_Sns : 23|15@0+ (0.1,-1600.0) [0|0] "deg" XXX + SG_ SteWhlRelInit2_An_Sns : 55|16@0+ (0.1,-3200.0) [0|0] "deg" XXX + SG_ SteWhlAn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX + SG_ SteWhlAn_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX + +BO_ 131 Steering_Buttons: 8 XXX + SG_ Right_Turn_Light : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Left_Turn_Light : 4|1@0+ (1,0) [0|0] "" XXX + SG_ Dist_Decr : 12|1@0+ (1,0) [0|0] "" XXX + SG_ Dist_Incr : 11|1@0+ (1,0) [0|0] "" XXX + SG_ Cancel : 8|1@0+ (1,0) [0|0] "" XXX + SG_ Resume : 29|1@0+ (1,0) [0|0] "" XXX + SG_ Set : 28|1@0+ (1,0) [0|0] "" XXX + SG_ Main : 38|1@0+ (1,0) [0|0] "" XXX + +BO_ 145 Yaw_Data: 8 XXX + SG_ VehYaw_W_Actl : 39|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + SG_ VehRol_W_Actl : 23|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + SG_ VehPtch_W_Actl : 7|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX + +BO_ 146 Accel_Data: 8 XXX + SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|0] "" XXX + SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|0] "" XXX + SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|0] "" XXX + SG_ VehVert_A_Actl : 36|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + SG_ VehLong_A_Actl : 20|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + SG_ VehLat_A_Actl : 4|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX + +BO_ 357 Cruise_Status: 8 XXX + SG_ Brake_Drv_Appl : 5|1@0+ (1,0) [0|0] "" XXX + SG_ Cruise_State : 11|4@0+ (1,0) [0|0] "" XXX + SG_ Set_Speed : 23|8@0+ (1,0) [0|0] "" XXX + +BO_ 516 EngineData_14: 8 XXX + SG_ ApedPosScal_Pc_Actl : 1|10@0+ (0.1,0) [0|0] "%" XXX + +BO_ 535 WheelSpeed_CG1: 8 XXX + SG_ WhlRr_W_Meas : 55|14@0+ (0.04,0) [0|0] "rad/s" XXX + SG_ WhlRl_W_Meas : 39|14@0+ (0.04,0) [0|0] "rad/s" XXX + SG_ WhlFr_W_Meas : 23|14@0+ (0.04,0) [0|0] "rad/s" XXX + SG_ WhlFl_W_Meas : 7|14@0+ (0.04,0) [0|0] "rad/s" XXX + +BO_ 534 WheelData: 8 XXX + SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|0] "" XXX + SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|0] "" XXX + SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX + SG_ WHEEL_ROLLING_TIMESTAMP : 47|8@0+ (1,0) [0|0] "" XXX + +BO_ 947 Doors: 8 XXX + SG_ Door_FL_Open : 61|1@0+ (1,0) [0|0] "" XXX + SG_ Door_FR_Open : 60|1@0+ (1,0) [0|0] "" XXX + SG_ Door_RL_Open : 48|1@0+ (1,0) [0|0] "" XXX + SG_ Door_RR_Open : 49|1@0+ (1,0) [0|0] "" XXX + +BO_ 963 BCM_to_HS_Body: 8 XXX + SG_ Brake_Lights : 8|1@0+ (1,0) [0|0] "" XXX + +BO_ 970 Lane_Keep_Assist_Control: 8 XXX + SG_ Lkas_Action : 7|4@0+ (1,0) [0|15] "" XXX + SG_ Lkas_Alert : 3|4@0+ (1,0) [0|15] "" XXX + SG_ Lane_Curvature : 15|12@0+ (5e-06,-0.01) [0|0] "1/m" XXX + SG_ Steer_Angle_Req : 19|12@0+ (0.04297,-88.00445) [0|0] "deg" XXX + +BO_ 972 Lane_Keep_Assist_Status: 8 XXX + SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX + SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX + SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX + +BO_ 984 Lane_Keep_Assist_Ui: 8 XXX + SG_ Set_Me_X80 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ Set_Me_X45 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ Lines_Hud : 55|4@0+ (1,0) [0|15] "" XXX + SG_ Hands_Warning_W_Chime : 50|1@0+ (1,0) [0|1] "" XXX + SG_ Hands_Warning : 49|1@0+ (1,0) [0|1] "" XXX + SG_ Set_Me_X30 : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ; + +VAL_ 357 Cruise_State 4 "active" 3 "standby" 0 "off" ; +VAL_ 970 Lkas_Action 15 "off" 9 "abrupt" 8 "abrupt2" 5 "smooth" 4 "smooth2" ; +VAL_ 970 Lkas_Alert 15 "no_alert" 3 "high_intensity" 2 "mid_intensity" 1 "low_intensity" ; +VAL_ 972 LaActAvail_D_Actl 3 "available" 2 "tbd" 1 "not_available" 0 "fault" ; +VAL_ 984 Lines_Hud 15 "none" 11 "grey_yellow" 8 "green_red" 7 "yellow_grey" 6 "grey_grey" 4 "red_green" 3 "green_green" ; diff --git a/opendbc/ford_lincoln_base_pt.dbc b/opendbc/ford_lincoln_base_pt.dbc new file mode 100644 index 000000000..38fa005fe --- /dev/null +++ b/opendbc/ford_lincoln_base_pt.dbc @@ -0,0 +1,12694 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: VDM CMR_DSMC SOBDMC_HPCM_FD1 IPMA_ADAS PSCM ABS_ESC TCCM TCM_DSL PCM_HEV PCM ECM_Diesel GENERIC_GWMWakeup GWM _delete TSTR + +VAL_TABLE_ DcacRdy_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "Faulted" 4 "ProtectionTempearture" 3 "ProtectionOverload" 2 "ProtectionGfci" 1 "Active" 0 "Idle"; +VAL_TABLE_ HvacCmprLim_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "CompressorHeadPressure" 4 "AvailableTorque" 3 "PedalPosition" 2 "RPM" 1 "ECT" 0 "NoLimit"; +VAL_TABLE_ AdvStrt_D_Stat 15 "NotUsed_15" 14 "NotUsed_14" 13 "NotUsed_13" 12 "NotUsed_12" 11 "NotUsed_11" 10 "NotUsed_10" 9 "NotUsed_9" 8 "NotUsed_8" 7 "NotUsed_7" 6 "NotUsed_6" 5 "NotUsed_5" 4 "NotUsed_4" 3 "NotUsed_3" 2 "NotUsed_2" 1 "NotUsed_1" 0 "NoAction"; +VAL_TABLE_ VehOnSrc_D_Stat 15 "NotUsed_11" 14 "NotUsed_10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "NotUsed_4" 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "OverTheAir" 3 "RemoteParkAssist" 2 "RemoteStart" 1 "Manual" 0 "Off"; +VAL_TABLE_ NoMessage_Msg1_63 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ TrlrRvrseEnbl_D2_Stat 7 "NotUsed" 6 "TbaActiveExpertActive" 5 "TbaActiveExpertAvail" 4 "TbaOffTrgActive" 3 "TbaOffTrgSetup" 2 "TbaSetup" 1 "TbaActive" 0 "Inactive"; +VAL_TABLE_ Off_On_FlashChime 7 "NotUsed_5" 6 "NotUsed_4" 5 "NotUsed_3" 4 "NotUsed_2" 3 "NotUsed_1" 2 "FlashChime" 1 "On" 0 "Off"; +VAL_TABLE_ DieslPrtcWarn_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "OCR_ExhFilterClean_Stopped" 10 "OCR_ExhFilterCleaned" 9 "RgnOff_AtLimit" 8 "RgnOff_OverLoaded" 7 "RgnOff_Loaded" 6 "Exhaust_Filter_Full" 5 "DPF_OverLimit" 4 "DPF_AtLimit" 3 "ExhFilter_Drive_Completed" 2 "Cleaning_Exhaust_Filter" 1 "DPF_OverLoaded" 0 "DPF_Normal_Operation"; +VAL_TABLE_ StrtrMtrCtlMsgTxt_D2_Rq 3 "NotUsed" 2 "ShiftToNeutralToStart" 1 "ShiftToParkToStart" 0 "NoRequest"; +VAL_TABLE_ PaakMyKey_D_Rq 3 "NotUsed" 2 "ConfirmNewPaakMyKey" 1 "RequestNewPaakMyKey" 0 "None"; +VAL_TABLE_ PaakMyKeySearch_D_Stat 7 "PhoneErased" 6 "LockButtonTimeOut" 5 "PressLockButton" 4 "ConfirmHmi" 3 "MyKeyPaakFound" 2 "StandardPaakFound" 1 "NoValidPaakFound" 0 "Null"; +VAL_TABLE_ TrlrIdType_D_Stat 3 "Gooseneck" 2 "FifthWheel" 1 "Conventional" 0 "Null"; +VAL_TABLE_ TrlrAidSetup_D2_Rq 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "NotUsed_2" 7 "NotUsed_1" 6 "CompleteSetup" 5 "ReturnToSetup" 4 "StickerNotCircled" 3 "ConfirmSetup" 2 "EndSetup" 1 "BeginSetup" 0 "Inactive"; +VAL_TABLE_ TrlrAidEnbl_D2_Rq 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Deactivate" 2 "ActivateTrg" 1 "ActivateTba" 0 "Inactive"; +VAL_TABLE_ BattChrgMde_D_Actl 3 "NotUsed" 2 "ConstantCurrent" 1 "ConstantVoltage" 0 "NotCharging"; +VAL_TABLE_ LcwaLeft_D_Stat 7 "Faulty" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Disabled" 2 "TemporaryUnavailable" 1 "SensorBlocked" 0 "Available"; +VAL_TABLE_ LcwaMsgTxt_D_Stat 3 "SodXFaulty" 2 "SodXBlocked" 1 "TrailerConnected" 0 "NoMessage"; +VAL_TABLE_ Level_0_3 3 "Level_3" 2 "Level_2" 1 "Level_1" 0 "Level_0"; +VAL_TABLE_ SteWhlSwtchMde_D_Stat 3 "NotUsed_2" 2 "NotUsed_1" 1 "Dialog" 0 "Domain"; +VAL_TABLE_ TrlrRvrse_D_Stat 3 "Faulty" 2 "TrailerReverseGuidanceLite" 1 "On" 0 "Off"; +VAL_TABLE_ TrlrAid_D2_Stat 15 "Faulty" 14 "NotUsed_4" 13 "NotUsed_3" 12 "NotUsed_2" 11 "NotUsed_1" 10 "DirtyCamera" 9 "IncorrectLighting" 8 "TrackingLost" 7 "TrackingUnknownConfidence" 6 "TrackingHighConfidence" 5 "TrackingMediumConfidence" 4 "TrackingLowConfidence" 3 "TurnRequested" 2 "DriveStraighRequested" 1 "Initializing" 0 "NotTracking"; +VAL_TABLE_ AwdDrvMde_D2 15 "Faulty" 14 "NotUsed_7" 13 "NotUsed_6" 12 "NotUsed_5" 11 "NotUsed_4" 10 "NotUsed_3" 9 "NotUsed_2" 8 "NotUsed_1" 7 "NotAvailable" 6 "TowHaul" 5 "RockCrawl" 4 "Baja" 3 "MudAndSand" 2 "Weather" 1 "Sport" 0 "Normal"; +VAL_TABLE_ TrlrAidSetup_D2_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "SetupAcquisitionSuccess" 4 "TbaTadMonitor" 3 "SetupStartAcquisition" 2 "SetupPrepForAcquisition" 1 "TbaActive" 0 "Null"; +VAL_TABLE_ CamraRearOn_D2_Stat2 7 "Faulty" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Decommission" 2 "Activate" 1 "Deactivate" 0 "Null"; +VAL_TABLE_ AirCondClu_D_Stat 7 "NotUsed" 6 "FetLifeLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_TABLE_ BattChrgTrgtSoC_D_Rq 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_TABLE_ OffNormalSoft 3 "NotUsed" 2 "Soft" 1 "Normal" 0 "Off"; +VAL_TABLE_ OffOnDisabledInhibited 3 "Inhibited" 2 "Disabled" 1 "On" 0 "Off"; +VAL_TABLE_ DgtlCommGtwyMde_D_Rq 15 "NotUsed_10" 14 "NotUsed_9" 13 "NotUsed_8" 12 "NotUsed_7" 11 "NotUsed_6" 10 "NotUsed_5" 9 "NotUsed_4" 8 "NotUsed_3" 7 "NotUsed_2" 6 "NotUsed_1" 5 "AcPnC" 4 "AcEIM" 3 "DcPnC" 2 "DcEIM" 1 "AttemptDgtlComm" 0 "NoDgtlComm"; +VAL_TABLE_ BattDcCnnct_D_Cmd 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "WeldCheck" 3 "OkToDischarge" 2 "Closed" 1 "Precharge" 0 "Open"; +VAL_TABLE_ Null_NoFault_Fault 3 "NotUsed" 2 "Fault" 1 "NoFault" 0 "Null"; +VAL_TABLE_ ModemReset_D_Rq 15 "NotUsed_11" 14 "NotUsed_10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "NotUsed_4" 7 "NotUsed_3" 6 "BrandConnectReset2" 5 "BrandConnectReset1" 4 "CcsReset" 3 "OnlineTrafficReset" 2 "PaakReset" 1 "WifiHotspotReset" 0 "Null"; +VAL_TABLE_ PrkAsstSlotId_D_Stat 7 "Faulty" 6 "Slot6" 5 "Slot5" 4 "Slot4" 3 "Slot3" 2 "Slot2" 1 "Slot1" 0 "NoSlotFound"; +VAL_TABLE_ RstrnOnPsngr_D_RqMnu 15 "Faulty" 14 "NotUsed_11" 13 "NotUsed_10" 12 "ConfiguredOff" 11 "NotUsed_9" 10 "On" 9 "NotUsed_8" 8 "NotUsed_7" 7 "NotUsed_6" 6 "NotUsed_5" 5 "Off" 4 "NotUsed_4" 3 "NotUsed_3" 2 "NotUsed_2" 1 "NotUsed_1" 0 "NoAction"; +VAL_TABLE_ BalrInnrLeft_D_Stat 3 "Reporting" 2 "NotReporting" 1 "SystemStandby" 0 "Initialization"; +VAL_TABLE_ Zero_1_2_4 3 "Four" 2 "Two" 1 "One" 0 "Zero"; +VAL_TABLE_ NoReq_AutoUp_Stop 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_TABLE_ BalrSnsLeft_D_Falt 3 "Invalid" 2 "SystemFailure" 1 "Blocked" 0 "Clear"; +VAL_TABLE_ Null_Low_Med_High 3 "High" 2 "Medium" 1 "Low" 0 "Null"; +VAL_TABLE_ Null_NotPressed_Pressed 3 "NotUsed" 2 "Pressed" 1 "NotPressed" 0 "Null"; +VAL_TABLE_ Low_Med_High 3 "NotUsed" 2 "High" 1 "Medium" 0 "Low"; +VAL_TABLE_ Null_NotAvail_Avail 3 "NotUsed" 2 "Available" 1 "NotAvailable" 0 "Null"; +VAL_TABLE_ ChrgGoTMnte_D_Stat 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_TABLE_ NoData_Faulty_1E_1F 31 "Faulty" 30 "NoDataExists"; +VAL_TABLE_ PwFlwBatt_D_Dsply 15 "NotUsed_8" 14 "NotUsed_7" 13 "NotUsed_6" 12 "NotUsed_5" 11 "NotUsed_4" 10 "NotUsed_3" 9 "NotUsed_2" 8 "NotUsed_1" 7 "FlwFromWallToBatt" 6 "FlwFromAllWhlsToBatt" 5 "FlwFromBattToAllWhls" 4 "FlwFromFrontWhlsToBatt" 3 "FlwFromBattToFrontWhls" 2 "FlwFromRearWhlsToBatt" 1 "FlwFromBattToRearWhls" 0 "NoFlow"; +VAL_TABLE_ PwFlwFuelDrv_D_Dsply 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "FlwFromFuelToAllWhls" 2 "FlwFromFuelToFrontWhls" 1 "FlwFromFuelToRearWhls" 0 "NoFlow"; +VAL_TABLE_ TrlrAidMsgTxt_D2_Rq 63 "Message63" 62 "Message62" 61 "Message61" 60 "Message60" 55 "Message55" 50 "Message50" 45 "Message45" 40 "Message40" 35 "Message35" 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ TrlrAidEnbl_D2_Stat 7 "NotUsed_1" 6 "TbaActiveExpertActive" 5 "TbaActiveExpertAvail" 4 "TbaOffTrgActive" 3 "TbaOffTrgSetup" 2 "TbaSetup" 1 "TbaActive" 0 "Inactive"; +VAL_TABLE_ RbaCta_D_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_TABLE_ NoRequest_Mode1_2_3 3 "Mode_3" 2 "Mode_2" 1 "Mode_1" 0 "NoRequest"; +VAL_TABLE_ RvltnMatchAllw_D_Stat 3 "RevolutionMatchDisabled" 2 "RevolutionMatchEnabled" 1 "ChangeWithDriveMode" 0 "NoSelection"; +VAL_TABLE_ BattTracCnnct_D_Cmd 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "WeldCheck" 3 "OkToDischarge" 2 "Closed" 1 "Precharge" 0 "Open"; +VAL_TABLE_ NotDiagnose_FailPass 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_TABLE_ Null_Off_UnavailFaulty 3 "Faulty" 2 "Unavailable" 1 "Off" 0 "Null"; +VAL_TABLE_ OffOnDisabledNotUsed 3 "NotUsed" 2 "Disabled" 1 "On" 0 "Off"; +VAL_TABLE_ OffGraphicTextBoth 3 "Both" 2 "Text" 1 "Graphic" 0 "Off"; +VAL_TABLE_ NoneInactiveActive_NotUsed 3 "NotUsed" 2 "Active" 1 "Inactive" 0 "None"; +VAL_TABLE_ Off_On_NotUsed 3 "NotUsed_2" 2 "NotUsed_1" 1 "On" 0 "Off"; +VAL_TABLE_ RbaSys_D_Stat 3 "Faulty" 2 "Available" 1 "Suspended" 0 "Disabled"; +VAL_TABLE_ BrkAppl_D_RqPt 3 "BrakesSlowRelease" 2 "BrakesFastRelease" 1 "BrakesEngage" 0 "NotActive"; +VAL_TABLE_ Mtr2State_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed_1" 4 "ReadinessState" 3 "DeactivationState" 2 "PowerGeneration" 1 "PowerConsumption" 0 "Null"; +VAL_TABLE_ HybVehMde_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Fuel" 2 "HybridElectric" 1 "AllElectric" 0 "Null"; +VAL_TABLE_ ChrgStat_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed" 4 "ChargingCompleted" 3 "NotCharging" 2 "ChargingInDrivingState" 1 "ChargingInParkingState" 0 "Null"; +VAL_TABLE_ Null_HiPower_Low_Med 3 "MediumPower" 2 "LowPower" 1 "HighPower" 0 "Null"; +VAL_TABLE_ Inactive_Enable_Disable_NotUsed 0 "Inactive" 2 "Disable" 1 "Enable"; +VAL_TABLE_ Inactive_OffOn_NotUsed 0 "Inactive" 1 "On" 2 "Off" 3 "NotUsed"; +VAL_TABLE_ Null_NotPressed_Faulty 3 "Faulty" 2 "Pressed" 1 "NotPressed" 0 "Null"; +VAL_TABLE_ TrailCtl_D_Stat 7 "Faulty" 6 "DescentOnly" 5 "EnabledDeny" 4 "StandbyOverThreshold" 3 "StandbyOverride" 2 "Active" 1 "EnabledDescent" 0 "Off"; +VAL_TABLE_ Faulty_3F 63 "Faulty"; +VAL_TABLE_ ChrgOvrdExitScrn_D_Rq 3 "NotUsed_1" 2 "Request_override" 1 "Do_not_request_override" 0 "Inactive"; +VAL_TABLE_ Quality_Data_Faulty 3 "OK" 2 "Not_Within_Specifications" 1 "Eval_In_Progress" 0 "Faulty"; +VAL_TABLE_ TrlrHitchYaw_D_Stat 15 "Faulty" 14 "NotUsed_4" 13 "NotUsed_3" 12 "NotUsed_2" 11 "NotUsed_1" 10 "FaultyYrsuConnection" 9 "FaultyYrsu" 8 "HiConfdLrndAngle" 7 "LowConfdLrndAngle" 6 "HiConfdAngleMem" 5 "LowConfdAngleMem" 4 "InitNoTadAngle" 3 "InitInputs" 2 "TadTrlrDataOutOfRange" 1 "TadNotWithinSpecification" 0 "NoConnectionWithYrsu"; +VAL_TABLE_ NoData_Faulty_FFFFFFFFFFFE_FF -1 "Faulty_FFFFFFFFFFFF" -2 "NoDataExists_FFFFFFFFFFFE"; +VAL_TABLE_ NoFault_Fault 1 "Fault" 0 "No_Fault"; +VAL_TABLE_ OtaTrg_D_Stat 3 "NotUsed_1" 2 "Accepted" 1 "NotAccepted" 0 "Null"; +VAL_TABLE_ EdmMsgTxt_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "OverallGoodScore" 10 "WorkOnCompliance" 9 "GoodCompliance" 8 "WorkOnGearShifting" 7 "GoodGearShifting" 6 "WorkOnEfficientSpeed" 5 "GoodEfficientSpeed" 4 "WorkOnDeceleration" 3 "GoodDeceleration" 2 "WorkOnAcceleration" 1 "GoodAcceleration" 0 "NoMessage"; +VAL_TABLE_ EdmLamp_D_Dsply 15 "NotUsed_7" 14 "NotUsed_6" 13 "NotUsed_5" 12 "NotUsed_4" 11 "NotUsed_3" 10 "NotUsed_2" 9 "NotUsed_1" 8 "CoastingEngineBrake" 7 "CoastingShiftToNeutral" 6 "FreewayJunction" 5 "Curve2" 4 "Curve1" 3 "SpeedLimit" 2 "Crossing" 1 "FreewayExit" 0 "NoRecommendation"; +VAL_TABLE_ AwdCnnct_D_Stat 3 "Connecting" 2 "Disconnecting" 1 "Connected" 0 "Disconnected"; +VAL_TABLE_ EngAirFiltMsgTxt_D_Rq 7 "NotUsed_2" 6 "NotUsed_1" 5 "EngineAirFilterMonitorFalt" 4 "ResetComplete" 3 "Clogged" 2 "ReplaceNow" 1 "ReplaceSoon" 0 "NoMessage"; +VAL_TABLE_ ElPwPoint_D_Rq 3 "On" 2 "Off2" 1 "Off1" 0 "Null"; +VAL_TABLE_ EngExhMdeQuiet_D2_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Track" 3 "Sport" 2 "Normal" 1 "Stealth" 0 "Null"; +VAL_TABLE_ RearDiffThrml_D_Stat 3 "NotUsed_1" 2 "AboveThermalLimit" 1 "ThermalLimit" 0 "Normal"; +VAL_TABLE_ NoInhibit_Inhibit 1 "Inhibit" 0 "NoInhibit"; +VAL_TABLE_ PersRecallSrc_D_Actl 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "MemorySwitch" 3 "RemoteStart" 2 "KeyFob" 1 "CenterStack" 0 "Null"; +VAL_TABLE_ BattTracChiller_D_Stat 3 "NotUsed" 2 "ChillerNotAvailable" 1 "ChillerBrieflyAvailable" 0 "ChillerAvailable"; +VAL_TABLE_ SelDrvMdeChassis2_D_Rq 31 "Faulty" 30 "NotUsed17" 29 "NotUsed16" 28 "NotUsed15" 27 "NotUsed14" 26 "NotUsed13" 25 "NotUsed12" 24 "NotUsed11" 23 "NotUsed10" 22 "NotUsed9" 21 "NotUsed8" 20 "NotUsed7" 19 "NotUsed6" 18 "NotUsed5" 17 "NotUsed4" 16 "NotUsed3" 15 "NotUsed2" 14 "RoughRoadMode" 13 "TrackMode" 12 "HighSpeedDesertMode" 11 "TowHaulMode" 10 "RockCrawlMode" 9 "SandMode" 8 "MudAndRutsMode" 7 "LowMuMode" 6 "ComfortAdaptiveMode" 5 "ComfortMode" 4 "SportAdaptiveMode" 3 "SportMode" 2 "EconomyMode" 1 "NormalAdaptiveMode" 0 "NormalMode"; +VAL_TABLE_ TrnFaltOpenClu_B_Stat 1 "MayOpenClutch" 0 "Normal"; +VAL_TABLE_ UrbanAreaDetct_D_Stat 3 "NotUsed_1" 2 "City" 1 "Subdivision" 0 "None"; +VAL_TABLE_ Closed_Open 1 "Open" 0 "Closed"; +VAL_TABLE_ AdbBrdrDist 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_TABLE_ TCU_ESN_D_Rq 3 "NotUsed" 2 "TCU_ESN_Request" 1 "NoRequest" 0 "Inactive"; +VAL_TABLE_ FactoryReset_Rq 1 "ResetFactoryDefaults" 0 "Inactive"; +VAL_TABLE_ TCU_Init_Actvtn_St 3 "NotUsed" 2 "InitialActivateDeny" 1 "InitialActivateAccept" 0 "Invalid"; +VAL_TABLE_ TCU_Final_Actvtn_St 3 "NotUsed" 2 "FinalActivateDeny" 1 "FinalActivateAccept" 0 "Invalid"; +VAL_TABLE_ WaitToStartLamp_D_Falt 3 "NotUsed" 2 "Wait_to_start_lamp_failed" 1 "Diagnosis_not_ready" 0 "Wait_to_start_lamp_OK"; +VAL_TABLE_ BattTracCoolLvl_D_Rq 7 "Faulty" 6 "NotUsed" 5 "ChillerCoolingBattFirst" 4 "ChillerCoolingCabinFirst" 3 "ForcedCoolingRadiator" 2 "OpportunisticCoolingRad" 1 "CoolantFlowBypassLine" 0 "Off"; +VAL_TABLE_ BattClntVlvOvrrd_D_Rq 3 "NotUsed" 2 "OverrideTbcvToChiller" 1 "OverrideTbcvToRadiator" 0 "NoOverrideToTbcvCLogic"; +VAL_TABLE_ NonMagnetic_Magnetic 1 "Magnetic" 0 "NonMagnetic"; +VAL_TABLE_ RideHghtMde_D_Stat 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "AdjUpAero" 8 "AdjUpOffRoad" 7 "AdjUpNormal" 6 "AdjDownKneel" 5 "AdjDownAero" 4 "AdjDownNormal" 3 "OffRoad" 2 "Kneel" 1 "Aero" 0 "Normal"; +VAL_TABLE_ AutoTowAllw_D_StatMnu 3 "TowHaulCommandedOn" 2 "AutoTowHaulEnabled" 1 "AutoTowHaulDisabled" 0 "NoSelection"; +VAL_TABLE_ SrpEventRight_D_Stat 3 "Faulty" 2 "Bump" 1 "Pothole" 0 "NoEvent"; +VAL_TABLE_ RearDiff_D_Stat 15 "NotUsed_7" 14 "NotUsed_6" 13 "NotUsed_5" 12 "NotUsed_4" 11 "NotUsed_3" 10 "NotUsed_2" 9 "NotUsed_1" 8 "TorqueReqNotHonored" 7 "MissingSignal" 6 "ModuleFault" 5 "HydroTempSensorFault" 4 "ClutchPressSensorFault" 3 "AccumPressSensorFault" 2 "ControlValveFault" 1 "MotorFault" 0 "Normal"; +VAL_TABLE_ NotAllowed_Allowed 1 "Allowed" 0 "NotAllowed"; +VAL_TABLE_ EngTrlrCnnct_D_Stat 3 "NotUsed_1" 2 "UnverifiedTrailer" 1 "HeavyTrailer" 0 "NoTrailer"; +VAL_TABLE_ Faulty_FFFF 65535 "Faulty"; +VAL_TABLE_ NoData_Faulty_3FFE_3FFF 16383 "Faulty" 16382 "NoDataExists"; +VAL_TABLE_ Faulty_3FFF 16383 "Faulty"; +VAL_TABLE_ NotExceeded_Exceeded 1 "Exceeded" 0 "NotExceeded"; +VAL_TABLE_ EmgcyCall_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "ManualEmergencyCall" 3 "AutoEmergencyCall" 2 "NoEvent" 1 "EmergencyCallNotSupported" 0 "Null"; +VAL_TABLE_ NotAsserted_Asserted 1 "Asserted" 0 "NotAsserted"; +VAL_TABLE_ AirSprngRate_D_Stat 3 "Faulty" 2 "Firm" 1 "Medium" 0 "Soft"; +VAL_TABLE_ AirSprngRate_D_Rq 3 "NoRequest" 2 "Firm" 1 "Medium" 0 "Soft"; +VAL_TABLE_ GearLvr_D_ActlDrv 15 "Fault" 14 "Unknown_Position" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Range6" 10 "Range5" 9 "Range4" 8 "Range3_M3_L3" 7 "Range2_M2_L2" 6 "Range1_M1_L1" 5 "Low" 4 "Sport_DriveSport_Mposition" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_TABLE_ ChrgrInPwMde_D_Actl 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "EvseFault" 7 "EvseNotCompatible" 6 "IcCharging" 5 "DcCharging" 4 "AcDigital" 3 "AcBasic" 2 "DigitalCommDetected" 1 "EvsePaused" 0 "EvseNotDetected"; +VAL_TABLE_ ChrgCordLck_D_Stat 7 "Faulty" 6 "LockFail" 5 "UnlockFail" 4 "LockInProgress" 3 "UnlockInProgress" 2 "Lock" 1 "Unlock" 0 "Retain"; +VAL_TABLE_ LkaActvStats_D2_Req 7 "NotUsed" 6 "LkaIncrIntervRight" 5 "LkaSupprRight" 4 "LkaStandIntervRight" 3 "LkaSupprLeft" 2 "LkaStandIntervLeft" 1 "LkaIncrIntervLeft" 0 "LkaNoInterv"; +VAL_TABLE_ OffOnNoDataFaulty 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_TABLE_ NoMessage_Msg1_3 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ TrnRng_D_RqGsm 15 "Fault" 14 "UnknownPosition" 13 "Undefined_2" 12 "Undefined_1" 11 "_6" 10 "_5" 9 "_4" 8 "_3" 7 "_2" 6 "_1" 5 "Low" 4 "Sport_DriveSport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_TABLE_ PrkBrkActv_D_RqGsmGear 3 "NotUsed" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ TrnPrkSys_D_Actl 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "FrequencyError" 8 "OutOfRangeHigh" 7 "OutOfRangeLow" 6 "Override" 5 "OutOfPark" 4 "TransitionCloseToOutOfPark" 3 "AtNoSpring" 2 "TransitionCloseToPark" 1 "Park" 0 "NotKnown"; +VAL_TABLE_ OKLowUnknownInvalid 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK"; +VAL_TABLE_ Dsp_RotAddrBtnEv_St 15 "NotUsed_1" 14 "Pos_7Steps" 13 "Pos_6Steps" 12 "Pos_5Steps" 11 "Pos_4Steps" 10 "Pos_3Steps" 9 "Pos_2Steps" 8 "Pos_1Step" 7 "NotPressed" 6 "Neg_1Steps" 5 "Neg_2Steps" 4 "Neg_3Steps" 3 "Neg_4Steps" 2 "Neg_5Steps" 1 "Neg_6Steps" 0 "Neg_7Steps"; +VAL_TABLE_ PrkAidDrvDir_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "BackwardNegative" 4 "ForwardNegative" 3 "BackwardPositive" 2 "ForwardPositive" 1 "NoMotion" 0 "DirectionNotKnown"; +VAL_TABLE_ EngExhMdeQuiet_D2_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Track" 3 "Sport" 2 "Normal" 1 "Stealth" 0 "Null"; +VAL_TABLE_ GasPrtc_D_RqDsply 7 "NotUsed_5" 6 "NotUsed_4" 5 "NotUsed_3" 4 "NotUsed_2" 3 "NotUsed_1" 2 "GpfOverLimit" 1 "GpfAtLimit" 0 "NormalOperation"; +VAL_TABLE_ TjaWarn_D_Rq 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "HardTakeOverLevel2" 2 "HardTakeOverLevel1" 1 "TrafficJamAssistCancel" 0 "NoWarning"; +VAL_TABLE_ Faulty_7FF 2047 "Faulty"; +VAL_TABLE_ Tja_D_Stat 7 "NotUsed_1" 6 "ActiveWarningRight" 5 "ActiveWarningLeft" 4 "ActiveInterventionRight" 3 "ActiveInterventionLeft" 2 "Active" 1 "Standby" 0 "Off"; +VAL_TABLE_ TjaMsgTxt_D_Dsply 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "TurnOnAdaptCruiseControl" 2 "TrafficJamAssistSelected" 1 "TrafficJamAssistUnavailabl" 0 "NoMessage"; +VAL_TABLE_ PwSrcULowMde_D_Actl 3 "NotUsed_1" 2 "ReverseBoost" 1 "ForwardBuck" 0 "Standby"; +VAL_TABLE_ ApaTrgtDist_D_Stat 15 "Step15" 14 "Step14" 13 "Step13" 12 "Step12" 11 "Step11" 10 "Step10" 9 "Step9" 8 "Step8" 7 "Step7" 6 "Step6" 5 "Step5" 4 "Step4" 3 "Step3" 2 "Step2" 1 "Step1" 0 "Off"; +VAL_TABLE_ Memory_2_SwPsngr_Stat 1 "Pressed" 0 "Null"; +VAL_TABLE_ Pers3Key_D_Stat 3 "NotUsed_1" 2 "KeyUnAssociated" 1 "KeyAssociated" 0 "Null"; +VAL_TABLE_ PwSrcULoMde_D_Rq 3 "NotUsed_1" 2 "ReverseBoost" 1 "ForwardBuck" 0 "Standby"; +VAL_TABLE_ AccMsgTxt_D2_Rq 15 "NotUsed_1" 14 "NCC_Enabled_Warning" 13 "IACC_TJA_Selected" 12 "ACC_TJA_Selected" 11 "IACC_Selected" 10 "Press_Brake_To_Hold" 9 "Only_Following_In_Low_Spd" 8 "TJA_Unavailable" 7 "Shift_Down" 6 "IACC_Unavailable" 5 "ACC_Selected" 4 "ACC_Overridden" 3 "Brake_Capacity_Warning" 2 "ACC_Cancelled" 1 "ACC_Unavailable" 0 "No_Text"; +VAL_TABLE_ WakeAlarm0_B_Typ 1 "CanAndEcuDriveCircuit" 0 "CanOnly"; +VAL_TABLE_ WakeAlarm0_D_Stat 3 "PublisherReset" 2 "Wake" 1 "AlarmRunning" 0 "AlarmOff"; +VAL_TABLE_ EmPrflNo_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Pers4" 3 "Pers3" 2 "Pers2" 1 "Pers1" 0 "Null"; +VAL_TABLE_ EmPrflKeyAssoc_D_Rq 7 "NotUsed_3" 6 "DisassociatePhone" 5 "EnterPhoneAssociation" 4 "OverwriteKey" 3 "DisassociateKey" 2 "ExitKeyAssociation" 1 "EnterKeyAssociation" 0 "Null"; +VAL_TABLE_ Em_D_Stat 3 "NotSupported" 2 "ProfilesOff" 1 "ProfilesOn" 0 "Null"; +VAL_TABLE_ EmPrflButtnAssoc_D_Rq 3 "NotUsed" 2 "ExitButtonAssociation" 1 "EnterButtonAssociation" 0 "Null"; +VAL_TABLE_ EmPrflNo_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Pers4" 3 "Pers3" 2 "Pers2" 1 "Pers1" 0 "Null"; +VAL_TABLE_ EmPrflKeyAssoc_D_Stat 7 "WrongDevice" 6 "KeyAssociateFailed" 5 "KeyAssociateSuccess" 4 "KeyAlreadyInUse" 3 "KeyDisassociated" 2 "KeyAssociationExited" 1 "KeyAssociationEntered" 0 "Null"; +VAL_TABLE_ EsaEnbl_D2_Rq 3 "NotConfigured" 2 "Enabled" 1 "Pending" 0 "Disabled"; +VAL_TABLE_ PersNo_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "NotDetermined" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_TABLE_ WiprFront_D_Stat2 15 "NO_DATA_EXISTS" 14 "STALLED" 13 "NotUsed" 12 "AUTO_ADJUST" 11 "COURTESYWIPE" 10 "AUTO_HIGH" 9 "AUTO_LOW" 8 "WASH" 7 "MIST_FLICK" 6 "MAN_HIGH" 5 "MAN_LOW" 4 "MAN_INT_ON" 3 "MAN_INT_OFF" 2 "OFF_MOVING" 1 "AUTO_OFF" 0 "OFF"; +VAL_TABLE_ TurnLghtSwtch_D_Stat2 3 "NotUsed" 2 "Right" 1 "Left" 0 "Off"; +VAL_TABLE_ CcButtnOnOffCnclPress3 1 "Pressed" 0 "Not pressed"; +VAL_TABLE_ SelDrvMdePos01_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_TABLE_ SelDrvMdePos01_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_TABLE_ ImmedFastMediumSlow 3 "Slow" 2 "Medium" 1 "Fast" 0 "Immediately"; +VAL_TABLE_ AdbHiBeamKeepOff_D_Rq 3 "KeepBothOff" 2 "KeepLeftOff" 1 "KeepRightOff" 0 "BothFreeRunning"; +VAL_TABLE_ AdbLampOnOff_D_Rq 3 "BothOn" 2 "LeftOnRightOff" 1 "RightOnLeftOff" 0 "BothOff"; +VAL_TABLE_ AdbMde1_D_Rq 3 "MarkerLightFlashing" 2 "MarkerLightConstant" 1 "Spot" 0 "None"; +VAL_TABLE_ Closed_Open_Active_Denied 3 "Denied" 2 "Active" 1 "Open" 0 "Closed"; +VAL_TABLE_ OffLowMedMax 3 "Maximum" 2 "Medium" 1 "Low" 0 "Off"; +VAL_TABLE_ IaccLamp_D_Rq 3 "NotUsed_2" 2 "NotUsed_1" 1 "DisplayIaccIcon" 0 "DoNotDisplayIaccIcon"; +VAL_TABLE_ Low_High_Confidence 1 "High_Confidence" 0 "Low_Confidence"; +VAL_TABLE_ Fault_Occupied_Empty_Un 3 "Unknown" 2 "Empty" 1 "Occupied" 0 "Fault"; +VAL_TABLE_ Off_On_Flash_Triggered 3 "Triggered" 2 "Flash" 1 "On" 0 "Off"; +VAL_TABLE_ IaccVLim_D_Rq 252 "NotUsed_2" 250 "LimitSpeed_250" 240 "LimitSpeed_240" 230 "LimitSpeed_230" 220 "LimitSpeed_220" 210 "LimitSpeed_210" 200 "LimitSpeed_200" 190 "LimitSpeed_190" 150 "LimitSpeed_150" 140 "LimitSpeed_140" 130 "LimitSpeed_130" 120 "LimitSpeed_120" 110 "LimitSpeed_110" 100 "LimitSpeed_100" 90 "LimitSpeed_90" 80 "LimitSpeed_80" 70 "LimitSpeed_70" 60 "LimitSpeed_60" 50 "LimitSpeed_50" 40 "LimitSpeed_40" 30 "LimitSpeed_30" 20 "LimtSpeed_20" 251 "NotUsed_1" 255 "Faulty" 254 "NoDataExists" 253 "NotUsed_3" 180 "LimitSpeed_180" 179 "LimitSpeed_179" 178 "LimitSpeed_178" 177 "LimitSpeed_177" 176 "LimitSpeed_176" 175 "LimitSpeed_175" 174 "LimitSpeed_174" 173 "LimitSpeed_173" 172 "LimitSpeed_172" 171 "LimitSpeed_171" 170 "LimitSpeed_170" 169 "LimitSpeed_169" 168 "LimitSpeed_168" 167 "LimitSpeed_167" 166 "LimitSpeed_166" 165 "LimitSpeed_165" 164 "LimitSpeed_164" 163 "LimitSpeed_163" 162 "LimitSpeed_162" 161 "LimitSpeed_161" 160 "LimitSpeed_160" 15 "LimitSpeed_15" 14 "LimitSpeed_14" 13 "LimitSpeed_13" 12 "LimitSpeed_12" 11 "LimitSpeed_11" 10 "LimitSpeed_10" 9 "LimitSpeed_9" 8 "LimitSpeed_8" 7 "LimitSpeed_7" 6 "LimitSpeed_6" 5 "LimitSpeed_5" 4 "LimitSpeed_4" 3 "LimitSpeed_3" 2 "LimitSpeed_2" 1 "LimitSpeed_1" 0 "LimitSpeed_0"; +VAL_TABLE_ IaccVLimUnit_D_Rq 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_TABLE_ SelDrvMdeAwd_D_Rq 31 "Faulty" 30 "NotUsed_17" 29 "NotUsed_16" 28 "NotUsed_15" 27 "NotUsed_14" 26 "NotUsed_13" 25 "NotUsed_12" 24 "NotUsed_11" 23 "NotUsed_10" 22 "NotUsed_9" 21 "NotUsed_8" 20 "NotUsed_7" 19 "NotUsed_6" 18 "NotUsed_5" 17 "EvLaterChargeMode" 16 "EvNowMode" 15 "TrackMode" 14 "RoughRoadMode" 13 "NotAvailable" 12 "HighSpeedDesertMode_Baja" 11 "SportAdaptiveMode" 10 "RockCrawlMode" 9 "MudRutsMode" 8 "SandMode" 7 "EconomyMode" 6 "GrassGravelSnow" 5 "TowHaulMode" 4 "SportMode" 3 "Normal_4L" 2 "Normal_4A" 1 "Normal_2H" 0 "NormalMode"; +VAL_TABLE_ SelDrvMdeAwd_D_Stat 0 "NotAvailable" 1 "Available" 2 "TemporarilyNotAvailable" 3 "Faulty"; +VAL_TABLE_ SelDrvMdeAwd2_D_Stat 31 "Faulty" 30 "NotUsed_17" 29 "NotUsed_16" 28 "NotUsed_15" 27 "NotUsed_14" 26 "NotUsed_13" 25 "NotUsed_12" 24 "NotUsed_11" 23 "NotUsed_10" 22 "NotUsed_9" 21 "NotUsed_8" 20 "NotUsed_7" 19 "NotUsed_6" 18 "NotUsed_5" 17 "EvLaterChargeMode" 16 "EvNowMode" 15 "TrackMode" 14 "RoughRoadMode" 13 "NotAvailable" 12 "HighSpeedDesertMode_Baja" 11 "SportAdaptiveMode" 10 "RockCrawlMode" 9 "MudRutsMode" 8 "SandMode" 7 "EconomyMode" 6 "GrassGravelSnow" 5 "TowHaulMode" 4 "SportMode" 3 "Normal_4L" 2 "Normal_4A" 1 "Normal_2H" 0 "NormalMode"; +VAL_TABLE_ RearDiffLckMsg2_D_Rq 15 "NotUsed_3" 14 "NotUsed_2" 13 "NotUsed_1" 12 "ElsdReduced" 11 "LockingFeatureNotAvailable" 10 "EsldOff" 9 "ElsdRestored" 8 "ElsdOverheated" 7 "Locker_Disabled" 6 "Locker_Enabled" 5 "LockerSpeed5" 4 "LockerSpeed4" 3 "LockerSpeed3" 2 "LockerSpeed2" 1 "LockerSpeed1" 0 "NormalNoMessage "; +VAL_TABLE_ Counts_ZeroToSeven 4 "FourCounts" 3 "ThreeCounts" 2 "TwoCounts" 1 "OneCount" 0 "ZeroCounts" 7 "SevenOrMoreCounts" 6 "SixCounts" 5 "FiveCounts"; +VAL_TABLE_ HeadLghtHiPrmsn_D_Stat 3 "CancelAndSuppress" 2 "Cancel" 1 "Hold" 0 "AllowChange"; +VAL_TABLE_ SelDrvMdeSwtch 3 "Faulty" 2 "SwitchState2" 1 "SwitchState1" 0 "NotPressed"; +VAL_TABLE_ NotAvail_Temp_Faulty 3 "Faulty" 2 "TemporarilyNotAvailable" 1 "Available" 0 "NotAvailable"; +VAL_TABLE_ AwdDrvMde 7 "Faulty" 6 "NotAvailable" 5 "RockCrawl" 4 "Baja" 3 "MudAndSand" 2 "Weather" 1 "Sport" 0 "Normal"; +VAL_TABLE_ SelDrvMdePt_D_Rq 31 "Faulty" 30 "NotUsed15" 29 "NotUsed14" 28 "NotUsed13" 27 "NotUsed12" 26 "NotUsed11" 25 "NotUsed10" 24 "NotUsed9" 23 "NotUsed8" 22 "NotUsed7" 21 "NotUsed6" 20 "NotUsed5" 19 "NotUsed4" 18 "EvLaterChargerMode" 17 "EvNowMode" 16 "DragMode" 15 "HighSpeedDesertMode_Baja" 14 "SportAdaptiveMode" 13 "NotAvailable_13" 12 "NotAvailable_12" 11 "NotAvailable_11" 10 "NotAvailable_10" 9 "RockCrawlMode" 8 "MudRutsMode" 7 "SandMode" 6 "EconomyMode" 5 "GrassGravelSnow" 4 "NotAvailable_04" 3 "TowHaulMode" 2 "NotAvailable_02" 1 "SportMode" 0 "NormalMode"; +VAL_TABLE_ SelDrvMde_D_Stat 3 "NotUsed" 2 "DriveModeChangeRequest" 1 "DriveModeChangeSelection" 0 "NoDriveModeChangeRequest"; +VAL_TABLE_ NoMessage_Msg1_15 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ SelDrvMdeChassis_D_Rq 31 "Faulty" 30 "NotUsed17" 29 "NotUsed16" 28 "NotUsed15" 27 "NotUsed14" 26 "NotUsed13" 25 "NotUsed12" 24 "NotUsed11" 23 "NotUsed10" 22 "NotUsed9" 21 "NotUsed8" 20 "NotUsed7" 19 "NotUsed6" 18 "NotUsed5" 17 "NotUsed4" 16 "NotUsed3" 15 "NotUsed2" 14 "NotUsed1" 13 "TrackMode" 12 "HighSpeedDesertMode" 11 "TowHaulMode" 10 "RockCrawlMode" 9 "SandMode" 8 "MudAndRutsMode" 7 "LowMuMode" 6 "ComfortAdaptiveMode" 5 "ComfortMode" 4 "SportAdaptiveMode" 3 "SportMode" 2 "EconomyMode" 1 "NormalAdaptiveMode" 0 "NormalMode"; +VAL_TABLE_ NotAvailable_Available 1 "Available" 0 "NotAvailable"; +VAL_TABLE_ PwStep_D_Stat 3 "PositionNotKnown" 2 "StepsNotStowed" 1 "StepsStowed" 0 "Off"; +VAL_TABLE_ PwStep_D_DrvInhbt 3 "NotUsed" 2 "DriveInhibitMalfunction" 1 "DriveInhibited" 0 "DriveNotInhibited"; +VAL_TABLE_ NoMessage_Msg1_31 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ VehTrvlDir_D_Stat 7 "Faulty" 6 "NoDataExists" 5 "NotUsed2" 4 "NotUsed1" 3 "Reverse" 2 "LikelyReverse" 1 "Forward" 0 "LikelyForward"; +VAL_TABLE_ TrnRng_D_RqFap 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Backwards" 3 "Forwards" 2 "NoMotion" 1 "Immobilize" 0 "NoRequest"; +VAL_TABLE_ SelDrvMdeSusp_D_Stat 3 "Faulty" 2 "TemporarilyNotAvailable" 1 "Available" 0 "NotAvailable"; +VAL_TABLE_ OffOnNoReqFaulty 3 "Faulty" 2 "NoRequest" 1 "On" 0 "Off"; +VAL_TABLE_ LatCtl_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "InterventionRight" 2 "InterventionLeft" 1 "ContinuousPathFollowing" 0 "NoLateralControl"; +VAL_TABLE_ LatCtlSte_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Denied" 3 "RampOut" 2 "ContLatControlInProgress" 1 "Available" 0 "Unavailable"; +VAL_TABLE_ SlowMedFastImmed 3 "Immediately" 2 "Fast" 1 "Medium" 0 "Slow"; +VAL_TABLE_ ComfortablePreciseNotUsed 3 "NotUsed2" 2 "NotUsed1" 1 "Precise" 0 "Comfortable"; +VAL_TABLE_ LatCtlLim_D_Stat 3 "LimitWithDriverActive" 2 "LimitReached" 1 "LimitClose" 0 "LimitNotReached"; +VAL_TABLE_ FuelLvlWarn_D_ActlEng 7 "DteLevel5Lowest" 6 "DteLevel4" 5 "DteLevel3" 4 "DteLevel2NonMyKey" 3 "DteLevel1MyKey" 2 "VeryLow" 1 "Low" 0 "OK"; +VAL_TABLE_ AwdMde_D_RqDrv 7 "Faulty" 6 "NotUsed2" 5 "NoRequest" 4 "Neutral" 3 "FourByFourLow" 2 "FourByFourHigh" 1 "FourByFourAuto" 0 "FourByTwo"; +VAL_TABLE_ ApaBrk_D_Stat 3 "Denied" 2 "Active" 1 "Open" 0 "Closed"; +VAL_TABLE_ AdptDrvMdePt_D_Rq 7 "Faulty" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "Powertrain2Sport" 2 "Powertrain2Normal" 1 "Powertrain2Comfort" 0 "AdaptiveNotActive"; +VAL_TABLE_ AdptDrvMdeChassis_D_Rq 7 "Faulty" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "Chassis2Sport" 2 "Chassis2Normal" 1 "Chassis2Comfort" 0 "AdaptiveNotActive"; +VAL_TABLE_ PwStepMsgTxt_D_Rq 1 "DriveInhibited" 0 "NoMessage" 3 "NotUsed" 2 "Malfunction"; +VAL_TABLE_ OffLowMedHigh 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_TABLE_ NotDeterminedLowMedHigh 3 "High" 2 "Medium" 1 "Low" 0 "NotDetermined"; +VAL_TABLE_ CmbbObjClass_D_Stat 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "NotUsed_2" 7 "NotUsed_1" 6 "Unclassified_Vehicle" 5 "Bicycle" 4 "Pedestrian" 3 "Truck" 2 "Motorcycle" 1 "Vehicle" 0 "Undetermined"; +VAL_TABLE_ HeadLghtHiCtrl_D_RqAhb 7 "NotUsed2" 6 "NotUsed1" 5 "Auto_HiBeam" 4 "Auto_LoBeam" 3 "Flash" 2 "Man_HiBeam" 1 "Man_LoBeam" 0 "Null"; +VAL_TABLE_ AhbHiBeam_D_Rq 3 "NotUsed" 2 "HighBeamRecommended" 1 "LowBeamRecommended" 0 "DeactivatedUnavailable"; +VAL_TABLE_ AhbStatGfhbFdbk_D_Actl 3 "GfhbHighBeamFullyOn" 2 "GfhbHighBeamPartlyOn" 1 "GfhbHighBeamOff" 0 "GfhbUnavailable"; +VAL_TABLE_ AhbcRampingV_D_Rq 3 "Slow" 2 "Medium" 1 "Fast" 0 "Immediately"; +VAL_TABLE_ ApaGearShif_D_RqDrv 7 "NotUSed2" 6 "NotUsed1" 5 "ShiftToP" 4 "ShiftToN" 3 "ShiftToD" 2 "ShiftToR" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ ApaLongCtl_D_RqDrv 7 "NotUsed3" 6 "NotUsed2" 5 "ReleaseBrake" 4 "DriveBackward" 3 "DriveForward" 2 "Stop" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ ApaActvSide2_D_Stat 3 "NoSide" 2 "Right" 1 "Left" 0 "Null"; +VAL_TABLE_ ApaScan_D_Stat 3 "ParkSlotReady" 2 "ParkSlotFound" 1 "NoParkSlot" 0 "Null"; +VAL_TABLE_ ApaSelSapp_D_Stat 3 "NotConfigured" 2 "NotSelectable" 1 "Selectable" 0 "Null"; +VAL_TABLE_ ApaSys_D_Stat 7 "Faulty" 6 "Finished" 5 "NotAccessible" 4 "ApaCancelled" 3 "Overspeed" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ ApaSteScanMde_D_Stat 3 "Steering" 2 "Scanning" 1 "NotScanning" 0 "Null"; +VAL_TABLE_ ApaAcsy_D_RqDrv 7 "CloseDoor" 6 "SelectSideRight" 5 "SelectSideLeft" 4 "CheckForObject" 3 "PressApaButton" 2 "SelectSide" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ ApaSteWhl_D_RqDrv 3 "TakeControl" 2 "RemoveHands" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ WiprFrontSwtch_D_Stat 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "PositionNotDetermined" 8 "High" 7 "Low" 6 "Position6" 5 "Position5" 4 "Position4" 3 "Position3" 2 "Position2" 1 "Position1" 0 "Off"; +VAL_TABLE_ Off_On_Unknown_Invalid 3 "Invalid" 2 "Unknown" 1 "On" 0 "Off"; +VAL_TABLE_ Unknown_7FFE_Invalid_7FFF 32767 "Invalid" 32766 "Unknown"; +VAL_TABLE_ OffOnNotUsedFaulty 3 "Faulty" 2 "NotUsed" 1 "On" 0 "Off"; +VAL_TABLE_ BrkBstrVac_D_Stat 3 "NotUsed" 2 "BoosterVacEstimator" 1 "BoosterVacSensor" 0 "NoBoosterVacuumMonitor"; +VAL_TABLE_ AwdMde_D_RqArb 7 "Faulty" 6 "NotUsed2" 5 "NoRequest" 4 "Neutral" 3 "FourByFourLow" 2 "FourByFourHigh" 1 "FourByFourAuto" 0 "FourByTwo"; +VAL_TABLE_ CtaAlrt2_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "AlertZone4" 3 "AlertZone3" 2 "AlertZone2" 1 "AlertZone1" 0 "Off"; +VAL_TABLE_ BttRightLeft_D_Stat 7 "NotUsed" 6 "Disabled" 5 "Off" 4 "OffTemp" 3 "NotConnected" 2 "Pending" 1 "Connected" 0 "NotDetermined"; +VAL_TABLE_ Null_NoRequest_Request 3 "NotUsed" 2 "Request" 1 "NoRequest" 0 "Null"; +VAL_TABLE_ PoliceIdlMde_D_Stat 15 "NotUsed_7" 14 "NotUsed_6" 13 "NotUsed_5" 12 "NotUsed_4" 11 "NotUsed_3" 10 "NotUsed_2" 9 "PepsActive" 8 "Decommissioned" 7 "ActiveFault" 6 "ArmFault" 5 "PrearmedFault" 4 "OffFault" 3 "Active" 2 "Arm" 1 "Prearmed" 0 "Off"; +VAL_TABLE_ TripComputerMetricImperial 0 "TripComputer_metric" 1 "TripComputer_imperial"; +VAL_TABLE_ GrdAsstAllw_D_DsplyPt 3 "NotUsed" 2 "On" 1 "Off" 0 "NoModeSelected"; +VAL_TABLE_ PrkBrkMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "No_Message"; +VAL_TABLE_ AutoHoldMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ AutoHoldMde_D_Ind 3 "Indication_3" 2 "Indication_2" 1 "Indication_1" 0 "Off"; +VAL_TABLE_ AutoRgenTxt_B_RqDsply 1 "AutExhFilterCleanOFF" 0 "AutExhFilterCleanON"; +VAL_TABLE_ TrnMsgTxt2_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "TransTooHot_LoudChime" 3 "PressBrake_LoudChime" 2 "PressBrake_SoftChime" 1 "PressBrake_NoChime" 0 "NoText_NoChime"; +VAL_TABLE_ TrnGearMsgTxt_D_Rq 15 "Message_15" 14 "Message_14" 13 "Message_13" 12 "Message_12" 11 "Message_11" 10 "Message_10" 9 "Message_9" 8 "Message_8" 7 "Message_7" 6 "Message_6" 5 "Message_5" 4 "Message_4" 3 "Message_3" 2 "Message_2" 1 "Message_1" 0 "NoMessage"; +VAL_TABLE_ ChargeProfIDPref_Rq 3 "NotUsed" 2 "Value" 1 "ChargeNow" 0 "Inactive"; +VAL_TABLE_ EngExhMdeQuiet_D_Stat 3 "Faulty" 2 "QuietExhaust" 1 "LoudExhaust" 0 "Null"; +VAL_TABLE_ ConsAvgTrip_No_Dsply 4095 "Faulty" 4094 "No_Data_Exists"; +VAL_TABLE_ ElTrip_L_Dsply 65535 "Fault" 65534 "No_Data_Exists"; +VAL_TABLE_ ElLongTerm_L_Dsply 16777215 "Fault" 16777214 "No_Data_Exists"; +VAL_TABLE_ GearSelLck_D_Rq 3 "PreventionBlocker" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_TABLE_ BrkPadMsgTxt_D_Rq 3 "Faulty" 2 "PadsOk" 1 "ReplacePads" 0 "Null"; +VAL_TABLE_ BrkAutoHold_D_Stat 7 "Faulty" 6 "NotUsed" 5 "Releasing" 4 "HeldSecondary" 3 "HeldSecure" 2 "Held" 1 "Inactive" 0 "Off"; +VAL_TABLE_ SuspDrvMde_D_Rq 7 "Faulty" 6 "NotUsed2" 5 "NotUsed1" 4 "Drag" 3 "Track" 2 "Snow_Wet" 1 "Sport" 0 "Normal"; +VAL_TABLE_ NotPressed_PressedNotUsed 3 "NotUsed2" 2 "NotUsed1" 1 "Pressed" 0 "Not_Pressed"; +VAL_TABLE_ WhlRearDual_D_Stat 3 "NotUsed" 2 "Dual" 1 "Single" 0 "NoDataExists"; +VAL_TABLE_ TracKeyMde_D_Stat 3 "NotUsed" 2 "NotActive" 1 "Active" 0 "ModeNotDetermined"; +VAL_TABLE_ HudMde_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Manual" 3 "Drag" 2 "RoadCourse" 1 "Tach" 0 "Off"; +VAL_TABLE_ TrnManShifGear_D_IndDrv 7 "Indicate_Reverse_Gear" 6 "Indicate_Gear6" 5 "Indicate_Gear5" 4 "Indicate_Gear4" 3 "Indicate_Gear3" 2 "Indicate_Gear2" 1 "Indicate_Gear1" 0 "No_Indication"; +VAL_TABLE_ TrnStrtStop_D_Stat 3 "NotUsed_2" 2 "NotUsed_1" 1 "LowTransmissionTemperature" 0 "NoDriverIndicationRequired"; +VAL_TABLE_ LsmcBrkDecel_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Denied" 3 "FaultDegraded" 2 "FaultExt" 1 "On" 0 "Off"; +VAL_TABLE_ StePinOffst_D_Stat 3 "FineOffset" 2 "CoarseOffset" 1 "StoredOffset" 0 "OffsetNotCalculated"; +VAL_TABLE_ NoMessage_Override_Faulty 3 "NotUsed" 2 "Faulty" 1 "Override" 0 "NoMessage"; +VAL_TABLE_ TrnIpcDsplyRng2_D_Actl 15 "No_Range_Selected" 14 "Range_14" 13 "Range_13" 12 "Range_12" 11 "Range_11" 10 "Range_10" 9 "Range_9" 8 "Range_8" 7 "Range_7" 6 "Range_6" 5 "Range_5" 4 "Range_4" 3 "Range_3" 2 "Range_2" 1 "Range_1" 0 "NotUsed"; +VAL_TABLE_ OffOn_RampUpDown 3 "Ramp_Down" 2 "Ramp_Up" 1 "On" 0 "Off"; +VAL_TABLE_ DieslMsgTxt_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "ReducedEnginePower" 0 "NoMessage"; +VAL_TABLE_ NoMessage_Msg1_7 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ TrnAltShifMde_D_Rdy 3 "Faulty" 2 "NotUsed" 1 "UnavailDueToDynCond" 0 "ModeChangeAvailable"; +VAL_TABLE_ LnchCtl 3 "NotUsed2" 2 "NotUsed1" 1 "LC_On" 0 "LC_Off"; +VAL_TABLE_ BrkLineLck_D_Rq 3 "Off" 2 "Engage" 1 "Initiate" 0 "NoRequest"; +VAL_TABLE_ BrkLineLck_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "NotAvailable" 3 "Off" 2 "Engaged" 1 "Initiated" 0 "Available"; +VAL_TABLE_ LnchCtlSys_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "On_LC_Unavailable_TC_On" 3 "On_LC_Unavailable" 2 "On_LC_Available" 1 "On_LC_Active" 0 "LC_OFF"; +VAL_TABLE_ ActvFrontSteLck_D_Stat 3 "Test_passed" 2 "Test_failed" 1 "Test_cannot_run" 0 "Test_incomplete"; +VAL_TABLE_ Rght_Lefthand_Traffic 1 "Left_Hand_Traffic" 0 "Right_Hand_Traffic"; +VAL_TABLE_ NotPressed_Pressed_Faulty 3 "Faulty" 2 "NotUsed" 1 "Pressed" 0 "Not_Pressed"; +VAL_TABLE_ TrlrTrgtAcquire_D_Rq 7 "NotUsed_2" 6 "NotUsed_1" 5 "ActivateRVCforTBA" 4 "CancelAcquisition" 3 "RetryAcquisition" 2 "AcquisitionSuccessful" 1 "StartAcquisition" 0 "Inactive"; +VAL_TABLE_ TrlrTrgtAcquire_D_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "RVCforTBA_Activated" 3 "Processing" 2 "TargetNotAcquired" 1 "TargetAcquired" 0 "Null"; +VAL_TABLE_ TrlrAidSetup_D_Rq 3 "ConfirmSetup" 2 "EndSetup" 1 "BeginSetup" 0 "Inactive"; +VAL_TABLE_ TrlBrkInitOut 3 "Heavy" 2 "Medium" 1 "Light" 0 "Null"; +VAL_TABLE_ IsaOffst_D_Stat 15 "Faulty" 14 "Null" 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero"; +VAL_TABLE_ IsaVLimUnit_D_Rq 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_TABLE_ ApaChime_D_Rq 7 "NotUsed2" 6 "NotUsed1" 5 "Warning_Chime" 4 "Finish_Chime" 3 "Stop_Now_Chime" 2 "Spot_Ready_Chime" 1 "Spot_Found_Chime" 0 "No_Chime"; +VAL_TABLE_ SlMde_D_RqDsply 3 "NotUsed" 2 "ManualSpeed_LimiterSymbol" 1 "AutoSpeed_LimiterSymbol" 0 "NoSpeed_LimiterSymbol"; +VAL_TABLE_ SlMde_D_Rq 3 "IsaNotConfigured" 2 "Manual_Mode" 1 "Auto_Mode" 0 "Null"; +VAL_TABLE_ NotSupported_Supported 1 "Supported" 0 "NotSupported"; +VAL_TABLE_ OffOn_NotUsed_NoData 3 "No_Data_Present" 2 "NotUsed" 1 "On" 0 "Off"; +VAL_TABLE_ Faulty_FF 255 "Faulty"; +VAL_TABLE_ BrkDrvMde_D_Rq 7 "Faulty" 6 "RockCrawl" 5 "Baja" 4 "DragOrMudAndSand" 3 "Track" 2 "Snow_Wet" 1 "Sport" 0 "Normal"; +VAL_TABLE_ TrnIpcDsplyRng_D_Stat 3 "NotUsed" 2 "Flash" 1 "On" 0 "Blank_No_Display"; +VAL_TABLE_ NoYesNoDataFaulty 3 "Faulty" 2 "NoDataExists" 1 "Yes" 0 "No"; +VAL_TABLE_ SidePrkSnsR4_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_TABLE_ TsrVlPrmntMsgTxt_D_Rq 3 "NotUsed" 2 "ShowPermanentlyWithSupp" 1 "ShowPermanentlyWithoutSupp" 0 "DoNotShowSignPermanent"; +VAL_TABLE_ TsrVl1RstrcMsgTxt2_D_Rq 7 "NotUsed" 6 "Time" 5 "Trailer" 4 "Snow" 3 "RainWet" 2 "NoRecognizableRestrictn" 1 "NoSpeedLimitRestrictn" 0 "Null"; +VAL_TABLE_ PtDrvMde_D_Rq 15 "Faulty" 14 "NotUsed11" 13 "NotUsed10" 12 "NotUsed9" 11 "NotUsed8" 10 "NotUsed7" 9 "NotUsed6" 8 "NotUsed5" 7 "Drag" 6 "Rock" 5 "Baja" 4 "Sand" 3 "TowHaulGradeAssist" 2 "SnowWet" 1 "Sport" 0 "Normal"; +VAL_TABLE_ SteEffort_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "SpecialMode_2" 3 "SpecialMode_1" 2 "Comfort" 1 "Sport" 0 "Normal"; +VAL_TABLE_ TsrOvtkMsgTxt2_D_Rq 15 "NotUsed5" 14 "NotUsed4" 13 "NotUsed3" 12 "NotUsed2" 11 "NotUsed1" 10 "LimForTrucksCancelled" 9 "LimForTrucksWoQlfdRstrc" 8 "LimForTrucksWithoutRstrc" 7 "LimAllCancelled" 6 "LimAllWithRstrcTime" 5 "LimAllWithRstrcTrailer" 4 "LimAllWithRstrcSnow" 3 "LimAllWithRstrcRain" 2 "LimAllWithoutQlfdRstrc" 1 "LimAllWithoutRestriction" 0 "OvertakingAllowed"; +VAL_TABLE_ TrlrAnOffstDir 3 "NotUSed" 2 "Right" 1 "Left_or_Center" 0 "Null"; +VAL_TABLE_ Null_Off_On 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ TrlrBrkMde_D_Rq 1 "ElectricOverHydraulic" 0 "Electric"; +VAL_TABLE_ TrlrAidSetup_D_Stat 7 "Faulty" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "EnterParameters" 2 "EndSetup" 1 "BeginSetup" 0 "Null"; +VAL_TABLE_ TrlrAidMsgTxt_D_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ Invalid_7F 127 "Invalid"; +VAL_TABLE_ Faulty_1FFF 8191 "Faulty"; +VAL_TABLE_ VehStab_D_Stat 15 "Faulty" 14 "No_Data_Exists" 13 "NotUsed6" 12 "NotUsed5" 11 "NotUsed4" 10 "NotUsed3" 9 "NotUsed2" 8 "NotUsed1" 7 "High_SSRA_no_OS" 6 "Straight" 5 "Post_Oversteer" 4 "Post_Transition" 3 "Countersteer" 2 "Understeer" 1 "Oversteer" 0 "Linear"; +VAL_TABLE_ NoData_Faulty_1FF_1FE 511 "Faulty" 510 "NoDataExists"; +VAL_TABLE_ TrlrAidEnbl_D_Rq 3 "NotAvailable" 2 "DeactivateTba" 1 "ActivateTba" 0 "Inactive"; +VAL_TABLE_ FohEng_D_Rq 3 "AutoEnable_ParkEnable" 2 "AutoDisable_ParkEnable" 1 "AutoEnable_ParkDisable" 0 "Disable_Stop"; +VAL_TABLE_ Null_Hi_NotUsed_Low 3 "Low" 2 "Not_Used" 1 "High" 0 "Null"; +VAL_TABLE_ Current_Color 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "Null" 7 "Color7" 6 "Color6" 5 "Color5" 4 "Color4" 3 "Color3" 2 "Color2" 1 "Color1" 0 "Off"; +VAL_TABLE_ Blended_Color 15 "NotUsed10" 14 "NotUsed9" 13 "NotUsed8" 12 "NotUsed7" 11 "NotUsed6" 10 "NotUsed5" 9 "NotUsed4" 8 "NotUsed3" 7 "NotUsed2" 6 "NotUsed1" 5 "_5" 4 "_4" 3 "_3" 2 "_2" 1 "_1" 0 "Null"; +VAL_TABLE_ OffOn_Null_NotUsed 3 "NotUsed" 2 "Null" 1 "On" 0 "Off"; +VAL_TABLE_ DieslPrtc2_D_RqDsply 15 "NotUsed4" 14 "NotUsed3" 13 "NotUsed2" 12 "NotUsed1" 11 "OCR_ExhFilterClean_Stopped" 10 "OCR_ExhFilterCleaned" 9 "RgnOff_AtLimit" 8 "RgnOff_Overloaded" 7 "RgnOff_Loaded" 6 "Exhaust_Filter_Full" 5 "DPF_Overlimit" 4 "DPF_AtLimit" 3 "ExhFilter_Drive_Completed" 2 "Cleaning_Exhaust_Filter" 1 "DPF_Overloaded" 0 "DPF_Normal_Operation"; +VAL_TABLE_ Null_Pers1_4_Vehicle 7 "Unused_2" 6 "Unused_1" 5 "Vehicle" 4 "PERS_4" 3 "PERS_3" 2 "PERS_2" 1 "PERS_1" 0 "Null"; +VAL_TABLE_ PrkLckCtlEnbl_D_RqIpc 3 "Rq_Towing" 2 "Rq_Enable" 1 "Rq_Disable" 0 "Null"; +VAL_TABLE_ PrkLckCtlUnlck_D_Stat 3 "Trans_And_Steer_Unlckd" 2 "Steering_Unlckd" 1 "Transmission_Unlckd" 0 "Null"; +VAL_TABLE_ VehKeyActv_D_Stat 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "Key8Active" 7 "Key7Active" 6 "Key6Active" 5 "Key5Active" 4 "Key4Active" 3 "Key3Active" 2 "Key2Active" 1 "Key1Active" 0 "NoKeyActive"; +VAL_TABLE_ VehLckInd_D_Rq 3 "NotUsed" 2 "On_Day" 1 "On_Night" 0 "Off"; +VAL_TABLE_ PrkBrkDynmc_D_Allw 3 "NotUsed" 2 "EPB_ECD_NotPossible" 1 "EPB_ECD_Possible" 0 "Used_at_Start_Up"; +VAL_TABLE_ TowBarMsgTxt_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "TowBar_Ext_No_Trlr" 3 "Error_Dealer_Fix" 2 "Start_Engine_Swivel" 1 "Check_Tow_Bar" 0 "Null"; +VAL_TABLE_ PrkBrk_D_Stat 7 "Gen_Faults_or_Maint_Mode" 6 "ECD_by_Brake_ECU_Active" 5 "EPB_Limphome_Active" 4 "Rear_Caliper_Open" 3 "RWU_by_EPB_Active" 2 "Rear_Caliper_Transition" 1 "Rear_Caliper_Closed" 0 "Not_Supported"; +VAL_TABLE_ NoData_Faulty_3E_3F 63 "Faulty" 62 "NoDataExists"; +VAL_TABLE_ Unknown_Invalid_1FE_1FF 511 "Invalid" 510 "Unknown"; +VAL_TABLE_ Invalid_0x0 0 "Invalid"; +VAL_TABLE_ Unknown_Invalid_3E_3F 63 "Invalid" 62 "Unknown"; +VAL_TABLE_ Faulty_1FF 511 "Faulty"; +VAL_TABLE_ NoData_Faulty_1FFF_1FFE 8191 "Faulty" 8190 "NoDataExists"; +VAL_TABLE_ Null_Off_On_Faulty 3 "Faulty" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ EngOilSrvcMsgTxt_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "ResetComplete" 3 "ResetInProgress" 2 "ChangeOilNow" 1 "ChangeOilSoon" 0 "NoText"; +VAL_TABLE_ AirSusp_D_RqDrv 3 "NotUsed" 2 "On" 1 "Off" 0 "NoModeSelected"; +VAL_TABLE_ AwdSys_D_Stat 3 "Faulty" 2 "NotUsed" 1 "_4x4_L_H_Active" 0 "_4x4_L_H_Inactive"; +VAL_TABLE_ EmotiveType_D_Dsply 3 "EmotiveDisplay_3" 2 "EmotiveDisplay_2" 1 "EmotiveDisplay_1" 0 "Null"; +VAL_TABLE_ AutoRgen_D_Rq 3 "NotUsed" 2 "AutExhFilterCleanOFF" 1 "AutExhFilterCleanON" 0 "No_Mode_Selected"; +VAL_TABLE_ TrnSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_TABLE_ PlgOvrrdStrt_D_Cmd 3 "NotUsed" 2 "Override_Plug_Status" 1 "Dont_Override_Plug_Status" 0 "Null_State"; +VAL_TABLE_ immoSecureIdleMode 3 "NotUsed2" 2 "NotUsed1" 1 "Active" 0 "Inactive"; +VAL_TABLE_ SteWhlOffstRq_D_Stat 3 "Faulty" 2 "NoDataExists" 1 "Allow_External_Angle_Req" 0 "Deny_External_Angle_Req"; +VAL_TABLE_ SteMdule_D_Stat 7 "NotUsed" 6 "EPAS_Failure3" 5 "EPAS_Failure2" 4 "System_Failure" 3 "EPAS_Shutdown" 2 "Normal_Op_Full_Assist" 1 "Normal_Op_Limited_Assist" 0 "EPAS_Initialization"; +VAL_TABLE_ Faulty_FFF 4095 "Faulty"; +VAL_TABLE_ Faulty_3FF 1023 "Faulty"; +VAL_TABLE_ NoData_Faulty_FE_FF 255 "Faulty" 254 "NoDataExists"; +VAL_TABLE_ ChkPlgtoStrt_D_Dsply 3 "NotUsed" 2 "Is_VehicleUnplugged_Prompt" 1 "Check_Plug_to_Start" 0 "No_Message_Display"; +VAL_TABLE_ PwrFlowTxt_D_Dsply 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "Disply_Rgen_Chrg_Txt" 10 "Disp_Fast_Charge_Txt" 9 "Disp_Fast_Charge_Cmplt_Txt" 8 "Disp_Charge_Cmplt_Txt" 7 "Disp_Remote_Start_Txt" 6 "Disp_Eng_Drv_Txt" 5 "Disp_Elec_Drv_Txt" 4 "Disp_Idle_with_Chrg_Txt" 3 "Disp_Idle_Txt" 2 "Disp_Charg_HV_Batt_Txt" 1 "Disp_Hyb_Drive_Txt" 0 "No_Text"; +VAL_TABLE_ EngOnMsg_D_Dsply 14 "_0xE_to_1F_NotUsed" 12 "Battery_Temperature" 11 "Hill_Decent_Control" 10 "Fuel_Maintenance" 9 "Oil_Maintenance" 8 "Normal_Operation" 7 "Low_Gear" 6 "Batt_Charging" 5 "Engine_Cold" 4 "Neutral_Gear" 3 "Heater_Setting" 2 "High_Speed" 1 "Acceleration" 0 "No_Display" 13 "Drive_Mode_Selection"; +VAL_TABLE_ PtDataKeyId_D_Stat 15 "NotUsed5" 14 "NotUsed4" 13 "NotUsed3" 12 "NotUsed2" 11 "NotUsed1" 10 "Tot_Veh_NUT" 9 "Cust_4_NUT" 8 "Cust_3_NUT" 7 "Cust_2_NUT" 6 "Cust_1_NUT" 5 "Tot_Veh_Stat" 4 "Cust_4_Stat" 3 "Cust_3_Stat" 2 "Cust_2_Stat" 1 "Cust_1_Stat" 0 "Null"; +VAL_TABLE_ ChrgStat_D_Dsply 7 "NotUsed" 6 "Complete" 5 "Scheduled" 4 "In_Progress" 3 "Fault_Outside_Car" 2 "Fault_Inside_Car" 1 "Fault_Unknown_Location" 0 "Not_Ready"; +VAL_TABLE_ TrnLvrV_D_Rq 3 "Full_Speed" 2 "Aggressive" 1 "Normal" 0 "Quiet"; +VAL_TABLE_ EngStrtStop_B_SrcOil 1 "Eng_start_stop_for_oilmnt" 0 "Not_Requested"; +VAL_TABLE_ FuelMaintMde_D_Rq 3 "Feature_Not_Present" 2 "Fuel_Maint_Req_Now" 1 "Fuel_Maint_Req_Soon" 0 "NoRequest"; +VAL_TABLE_ FuelMaintMde_D_Dsply 3 "Feature_Not_Present" 2 "In_Fuel_Maint_Mode" 1 "Close_to_Fuel_Maint" 0 "OK"; +VAL_TABLE_ DynoMde_B_Cmd 1 "Two_Wheel_Dyno" 0 "Normal_Operation"; +VAL_TABLE_ HvacPrecondRecirc_D_Rq 3 "Last_User_Setting" 2 "Auto" 1 "Recirc" 0 "Outside"; +VAL_TABLE_ HvacPrecondAC_D_Rq 3 "Last_User_Setting" 2 "Auto" 1 "On" 0 "Off"; +VAL_TABLE_ HybMdeStat_D_Dsply 7 "NotUsed2" 6 "EV_Charge" 5 "EV_Override" 4 "Forced_EV_Mode" 3 "Forced_Charge_Sustain_Mode" 2 "Auto_Charge_Sustain_Mode" 1 "Auto_Charge_Deplete_Mode" 0 "Null_State"; +VAL_TABLE_ PwFlowPlgBatt_D_Dsply 3 "NotUsed" 2 "Flow_from_Plug_to_Batt" 1 "Flow_from_Batt_to_Plug" 0 "No_Flow"; +VAL_TABLE_ PwFlowEngMtr_D_Dsply 3 "NotUsed" 2 "Flow_from_Eng_to_Mtr" 1 "Flow_from_Mtr_to_Eng" 0 "No_Flow"; +VAL_TABLE_ PwFlowEngFuel_D_Dsply 3 "NotUsed" 2 "Flow_from_Eng_to_Fuel" 1 "Flow_from_Fuel_to_Eng" 0 "No_Flow"; +VAL_TABLE_ PwFlowMtrDrv_D_Dsply 3 "NotUsed" 2 "Flow_from_Mtr_to_Axle" 1 "Flow_from_Axle_to_Mtr" 0 "No_FLow"; +VAL_TABLE_ PwFlowEngDrv_D_Dsply 3 "NotUsed" 2 "Flow_from_Eng_to_Axle" 1 "Flow_from_Axle_to_Eng" 0 "No_Flow"; +VAL_TABLE_ PwFlowBattMtr_D_Dsply 3 "NotUsed" 2 "Flow_from_Batt_to_Mtr" 1 "Flow_from_Mtr_to_Batt" 0 "No_Flow"; +VAL_TABLE_ Null_Override_Invalid 3 "NotUsed" 2 "Invalid" 1 "Override" 0 "Null"; +VAL_TABLE_ HybMdeMsgTxt_D_Rq 7 "NotUsed2" 6 "NotUsed1" 5 "EV_Not_Avail_Message" 4 "EV_Mode_Message" 3 "Delayed_Discharge_Message" 2 "Override_Available_Message" 1 "AutoMode_Message" 0 "Null_NoMessage_Request"; +VAL_TABLE_ HybMdeLimMsgTxt_D_Rq 3 "Limited_Req_Full_Defrost" 2 "Limited_Climate_Defrost" 1 "Limited_System_Performance" 0 "Null"; +VAL_TABLE_ CenterStackRing_D_Actl 3 "LimitedOn" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ NoData_Faulty_FFFE_FFFF 65535 "Faulty" 65534 "NoDataExists"; +VAL_TABLE_ NoData_Faulty_FFE_FFF 4095 "Faulty" 4094 "NoDataExists"; +VAL_TABLE_ NoData_Faulty_7FFE_7FFF 32767 "Faulty" 32766 "NoDataExists"; +VAL_TABLE_ NoData_Faulty_3FE_3FF 1023 "Faulty" 1022 "NoDataExists"; +VAL_TABLE_ ReFuelSysStat_D_Dsply 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Refuel_Err" 3 "Close_Fuel_Door" 2 "Refuel_Ready" 1 "Wait_To_Fuel" 0 "Null"; +VAL_TABLE_ OffOn_NotUsed 3 "NotUsed2" 2 "NotUsed1" 1 "On" 0 "Off"; +VAL_TABLE_ DrQltyDrv_D_StatGsm 7 "Faulty" 6 "NoDataExists" 5 "NotUsed2" 4 "NotUsed1" 3 "ClosedDegraded" 2 "OpenDegraded" 1 "ClosedOkay" 0 "OpenOkay"; +VAL_TABLE_ ChrgrInPwType_D_Actl 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "DC_Fast_Charging" 2 "AC_Level2_240v" 1 "AC_Level1_120v" 0 "EVSE_Not_Detected"; +VAL_TABLE_ ChrgCrdLck_D_Falt 3 "NotUsed" 2 "HardwareFault" 1 "CsiFault" 0 "NoFault"; +VAL_TABLE_ ChrgStat_D2_Dsply 15 "NotUsed_2" 14 "NotUsed_1" 13 "ChargeTargetReached" 12 "DriveConditioning" 11 "CabinPreconditioning" 10 "ChargingSystemMaintain" 9 "ChargingInductive" 8 "ChargingDCFastChange" 7 "ChargingAC" 6 "ChargeScheduled" 5 "EvsePaused" 4 "EvseNotDetected" 3 "EvseNotCompatible" 2 "FaultOutsideCar" 1 "FaultInsideCar" 0 "NotReady"; +VAL_TABLE_ EngMdeMsgTxt_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Charge" 3 "GlowingCharge" 2 "Hybrid" 1 "Ev" 0 "NoMessage"; +VAL_TABLE_ BattRgenLoStat_D_Qlty 3 "OK" 2 "Not_Within_Spec" 1 "Eval_In_Progress" 0 "Faulty"; +VAL_TABLE_ OpenClosedRetainDisable 3 "Disable" 2 "Retain" 1 "Closed" 0 "Open"; +VAL_TABLE_ OpenClosedStuckOpenClosed 3 "StuckClosed" 2 "StuckOpen" 1 "Closed" 0 "Open"; +VAL_TABLE_ NoData_Faulty_7FE_7FF 2047 "Faulty" 2046 "NoDataExists"; +VAL_TABLE_ DrTgateChime2_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Long_Repeated" 3 "Fast" 2 "Short" 1 "Long" 0 "Off"; +VAL_TABLE_ EngIdlShutDwnTxt_D_Rq 3 "NotUsed" 2 "EngineShutdownOnPrevDrive" 1 "FeatureDisabledDueToFault" 0 "NoMessage"; +VAL_TABLE_ DrvPerfMde 3 "Sport" 2 "Normal" 1 "NotUsed" 0 "NoModeSelected"; +VAL_TABLE_ NoData_Fault_1FF_1FE 511 "Fault" 510 "NoDataExists"; +VAL_TABLE_ NoData_Fault_FFE_FFF 4095 "Fault" 4094 "NoDataExists"; +VAL_TABLE_ WeekdayEndHR_St 31 "Invalid" 30 "Unknown" 29 "Reserved_29" 28 "Reserved_28" 27 "Reserved_27" 26 "Reserved_26" 25 "Reserved_25" 24 "Reserved_24"; +VAL_TABLE_ WeekdayEndMin_St 63 "Faulty" 62 "No_data_exists" 61 "Reserverd" 60 "Reserverd"; +VAL_TABLE_ WeekdayStartHR_St 31 "Invalid" 30 "Unknown" 29 "Reserved_29" 28 "Reserved_28" 27 "Reserved_27" 26 "Reserved_26" 25 "Reserved_25" 24 "Reserved_24"; +VAL_TABLE_ WeekdayStartMin_St 63 "Faulty" 62 "No_data_exists" 61 "Reserverd" 60 "Reserverd"; +VAL_TABLE_ EngIdlShutDown_D_Stat 3 "Not_used" 2 "Engine_Shutdown" 1 "Initiated_Countdown" 0 "Normal_Operation"; +VAL_TABLE_ StopStrtDrvMde_D_Indic 3 "NotUsed" 2 "StartStop_IndirectDeselect" 1 "StopStart_Deselected" 0 "StopStart_Selected"; +VAL_TABLE_ StopStrtDrvMde_D_RqMnu 3 "NotUsed2" 2 "NotUsed1" 1 "StopStart_Deselected" 0 "StopStart_Selected"; +VAL_TABLE_ StopStrtStdby_D_Indic 6 "NotUsed2" 5 "Telltale_Struck_Out" 4 "Telltale_Flashing_Amber" 3 "Telltale_On_Amber" 2 "Telltale_Flashing_Green" 1 "Telltale_On_Green" 0 "Telltale_Off" 7 "NotUsed3"; +VAL_TABLE_ Quality_Faulty 3 "OK" 2 "Degraded" 1 "No_Data_Exists" 0 "Faulty"; +VAL_TABLE_ TrnDtpCmd_D_Actl 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "Relatch" 3 "Deploy" 2 "Self_Test" 1 "No_Command" 0 "NotUsed1"; +VAL_TABLE_ TrnGsmNtmState_D_Actl 3 "Faulty" 2 "Neutral_Tow_Mode" 1 "Car_Wash_Mode" 0 "None"; +VAL_TABLE_ TrnTrcmPwmSig_D_Actl 15 "Faulty" 14 "NoDataExists" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "Default_To_Park" 7 "Neutral_Tow" 6 "Car_Wash_Mode" 5 "Manual" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" 0 "No_Gear"; +VAL_TABLE_ RgenBrkDynoMde_B_Actl 1 "TwoWheelDyno" 0 "NormalOperation"; +VAL_TABLE_ Fault_3FFF 16383 "Fault"; +VAL_TABLE_ CtaInnr_D_Stat 3 "Reporting" 2 "Not_Reporting" 1 "System_Standby" 0 "Initialization"; +VAL_TABLE_ PrkBrkActv_D_RqTrnGear 3 "NotUsed2" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "NotUsed1"; +VAL_TABLE_ NoRequest_Request 1 "Request" 0 "NoRequest"; +VAL_TABLE_ Fault_FFF_NoData 4094 "NoDataExists" 4095 "Fault"; +VAL_TABLE_ Fault_3FF_NoData 1022 "NoDataExists" 1023 "Fault"; +VAL_TABLE_ Foh_D_Stat 7 "Unused3" 6 "Unused2" 5 "Unused1" 4 "Stopping" 3 "Running" 2 "Starting" 1 "Prestart" 0 "Off"; +VAL_TABLE_ OffOnNoDataUnused 3 "Unused" 2 "NoDataExists" 1 "On" 0 "Off"; +VAL_TABLE_ FohFalt_D_Stat 15 "NotUsed4" 14 "NotUsed3" 13 "NotUsed2" 12 "NotUsed1" 11 "FuelTypeDoesNotMatchFOH" 10 "Lifecycle_ModeNotSet" 9 "AuxElectricCoolantPumpInop" 8 "TimeDelayAvoidExcessCycl" 7 "Fuel_Level_OutofRange" 6 "External_Fault" 5 "Internal_Fault" 4 "Voltage_limitation" 3 "Impact_Event" 2 "CoolantTemp_OutofRange" 1 "AmbientTemp_OutofRange" 0 "No_Disable"; +VAL_TABLE_ FohRqRun_B_Rq 1 "SubmitRequest_toRun" 0 "DoesNotSubmitRequest_toRun"; +VAL_TABLE_ OKLowVeryLow 3 "NotUsed" 2 "VeryLow" 1 "Low" 0 "OK"; +VAL_TABLE_ Fault_1FF 511 "Fault"; +VAL_TABLE_ SteWhlHeat 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Reserved_3" 8 "Reserved_2" 7 "Reserved_1" 6 "Level_3_Heating" 5 "Level_3_Heating_LS" 4 "Level_2_Heating" 3 "Level_2_Heating_LS" 2 "Level_1_Heating" 1 "Level_1_Heating_LS" 0 "Off"; +VAL_TABLE_ OffOnUnusedFault 3 "Fault" 2 "Unused" 1 "On" 0 "Off"; +VAL_TABLE_ NullKphMph 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_TABLE_ TsrVLim1MsgTxt_D_Rq 255 "NoLimit" 254 "NotUsed2" 253 "NotUsed1" 252 "NotToBeDisplayed" 251 "LimitCancelled" 31 "1F_FA_Message31_250" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "Null"; +VAL_TABLE_ TsrVl1RstrcMsgTxt_D_Rq 3 "NotUsed" 2 "NoRecognizableRestriction" 1 "NoSpeedLimitRestriction" 0 "Null"; +VAL_TABLE_ TsrMsgTxt_D_Rq 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "RecgnzdSignNotUsblForDsply" 8 "LimitedSystemPerformance" 7 "OffRoad" 6 "RegionNotSupported" 5 "CountryNotSupported" 4 "WrngNavDatIncompDatCarrier" 3 "NoNavDataAvailable" 2 "NoNavAvailableSwitchedOff" 1 "NoInformationAllOK" 0 "Null"; +VAL_TABLE_ TsrOvtkTypeMsgTxt_D_Rq 3 "NotUsed" 2 "Explicit" 1 "Implicit" 0 "Null"; +VAL_TABLE_ TsrOvtkStatMsgTxt_D_Rq 3 "LimitOutdated" 2 "LimitReiable" 1 "LimitChanged" 0 "Null"; +VAL_TABLE_ TsrOvtkMsgTxt_D_Rq 7 "LimForTrucksCancelled" 6 "LimForTrucksWoQlfdRstrc" 5 "LimForTrucksWithoutRstrc" 4 "LimAllCancelled" 3 "LimAllWithoutQlfdRstrc" 2 "LimAllWithoutRestriction" 1 "OvertakingAllowed" 0 "Null"; +VAL_TABLE_ Null_False_True 3 "NotUsed" 2 "True" 1 "False" 0 "Null"; +VAL_TABLE_ TsrStatMsgTxt_D_Rq 7 "NotUsed" 6 "NoDataExists" 5 "TSR_Error" 4 "Available_NavigationOnly" 3 "Available_CameraOnly" 2 "Available_FusionMode" 1 "TSR_Off" 0 "Null"; +VAL_TABLE_ NoMessage_DisplayMessage 1 "DisplayMessage" 0 "NoMessage"; +VAL_TABLE_ FdsmTrgRight 1 "Object_in_Right_Lobe" 0 "No_Object"; +VAL_TABLE_ FdsmTrgCntr 1 "Object_in_Center_Lobe" 0 "No_Object"; +VAL_TABLE_ FdsmTrgLeft 1 "Object_in_Left_Lobe" 0 "No_Object"; +VAL_TABLE_ EngineBrakeOff_Active 1 "Engine_Braking_Activated" 0 "Engine_Braking_Off"; +VAL_TABLE_ NoEngineBrake_Brake 1 "Engine_Braking" 0 "No_Engine_Braking"; +VAL_TABLE_ PlgActv_D_ActlChrgr 3 "Faulty" 2 "Not used_2" 1 "On_Plug__Connected_" 0 "Off_Plug__Disconnected_"; +VAL_TABLE_ EngSrvcRqd_B_Rq 1 "Engine_Service_Required" 0 "No_engine_service_required"; +VAL_TABLE_ WeekendEndHR_St 31 "Invalid" 30 "Unknown" 29 "Reserved_29" 28 "Reserved_28" 27 "Reserved_27" 26 "Reserved_26" 25 "Reserved_25" 24 "Reserved_24"; +VAL_TABLE_ WeekendEndMin_St 63 "Faulty" 62 "No_data_exists" 61 "Reserverd" 60 "Reserverd"; +VAL_TABLE_ WeekendStartHR_St 31 "Invalid" 30 "Unknown" 29 "Reserved_29" 28 "Reserved_28" 27 "Reserved_27" 26 "Reserved_26" 25 "Reserved_25" 24 "Reserved_24"; +VAL_TABLE_ WeekendStartMin_St 63 "Faulty" 62 "No_data_exists" 61 "Reserverd" 60 "Reserverd"; +VAL_TABLE_ LscmbbBaSens_D_Rq 3 "Level3_EBA" 2 "Level2_EBA" 1 "Level1_EBA" 0 "Norman_EBA"; +VAL_TABLE_ Allowed_Denied 1 "Denied" 0 "Allowed"; +VAL_TABLE_ LscmbbBrkPrchg_D_Rq 3 "NotUsed" 2 "Level2_PreCharge" 1 "Level1_PreCharge" 0 "No_Precharge"; +VAL_TABLE_ LscmbbBrkDecel_B_Enabl 1 "ConductLSCMbBDecelReq" 0 "DoNotConductLSCMbBDecelReq"; +VAL_TABLE_ PrkAidMsgTxt_D_Rq 15 "All_Sns_Blk" 14 "R_Sns_ON_F_Sns_Blk" 13 "R_Sns_Blk_F_Sns_ON" 12 "R_Sns_Inactive_Trlr_atch" 11 "Not_Avail_Trlr_attchd" 10 "Fail_Mode_no_Chime" 9 "Fail_Mode_with_Chime" 8 "R_Sns_Trlr_F_Sns_Blk" 7 "NotUsed3" 6 "Park_Sys_Alternate_Mode" 5 "R_Snsrs_On_F_Snsrs_On" 4 "NotUsed2" 3 "Reset_Message_Warn" 2 "R_Snsrs_Off_F_Snsrs_On" 1 "R_Snsrs_On_F_Snsrs_Off" 0 "All_Park_Sensors_Off"; +VAL_TABLE_ PrkAidSns_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_TABLE_ PrkAid_D_Falt 7 "NotUsed2" 6 "NotUsed1" 5 "Failure_Front_PSM_Sensors" 4 "No_Data_Exists" 3 "Failure_Rear_Sensors" 2 "Speaker_Fault" 1 "ECU_Fault" 0 "No_Fault"; +VAL_TABLE_ OffOnNoDataFault 3 "Fault" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_TABLE_ ApaActvSd_D_Actl 3 "Dirver_Side" 2 "Passenger_Side" 1 "No_Side" 0 "Null"; +VAL_TABLE_ ApaMdeStat_D_RqDrv 7 "Faulty" 6 "Off" 5 "NotUsed2" 4 "NotUsed1" 3 "POA" 2 "PPA" 1 "SAPP" 0 "Inactive"; +VAL_TABLE_ ApaMde_D_Avail 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "PPA_POA" 7 "SAPP_POA" 6 "POA" 5 "PPA" 4 "SAPP" 3 "SAPP_PPA_POA" 2 "SAPP_PPA" 1 "None" 0 "Null"; +VAL_TABLE_ ApaMde_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "POA" 3 "PPA" 2 "SAPP" 1 "Off" 0 "Null"; +VAL_TABLE_ FrostWarn_D_Stat 3 "NotUsed" 2 "On_Amber" 1 "On_Red" 0 "Off"; +VAL_TABLE_ SteWhlLckMsgTxt_D_Rq 3 "NotUsed" 2 "Message_2" 1 "Message_1" 0 "No_Message"; +VAL_TABLE_ GearRvrse_D_Actl 7 "Fault" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Active_confirmed" 2 "Active_not_confirmed" 1 "Inactive_confirmed" 0 "Inactive_not_confirmed"; +VAL_TABLE_ SideDetect_SnStat_Invalid 3 "Invalid" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_TABLE_ SideDetect_OpStat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_TABLE_ SideDetect_Present 4 "Sensor_Blocked" 3 "Sensor_Fault" 2 "Flash_On" 1 "Alert_On" 0 "AlertOff_FlashOff_SensrClr"; +VAL_TABLE_ Off_On_Flash_BulbProveout 3 "Bulb_Proveout" 2 "Flash" 1 "On" 0 "Off"; +VAL_TABLE_ SideDetect_BLIS_Off_On 2 "BLIS_On_Second_Warning_ON" 1 "BLIS_On_Second_Warning_OFF" 0 "Off"; +VAL_TABLE_ SideDetect_report 3 "Reporting" 2 "Not_Reporting" 1 "System_Standby" 0 "Initialization"; +VAL_TABLE_ DrTGate_D_Rq 3 "NotUsed" 2 "Closing" 1 "Opening" 0 "Not_Moving"; +VAL_TABLE_ WndwSide_D_Stat 3 "BothWindow_Operating" 2 "RearWindow_Operating" 1 "FrontWindow_Operating" 0 "NoWindows_Operating"; +VAL_TABLE_ DcacElPw_D_Rq 3 "NotUsed" 2 "AC_HighPower_Requested" 1 "AC_LowPower_Requested" 0 "AC_Power_NotRequested"; +VAL_TABLE_ False_True 1 "True" 0 "False"; +VAL_TABLE_ Null_Reset 1 "Reset" 0 "Null"; +VAL_TABLE_ HvacBlwrFront_D_Stat 31 "Not_Used" 20 "Full_On" 19 "95_Percent" 18 "90_Percent" 17 "85_Percent" 16 "80_Percent" 15 "75_Percent" 14 "70_Percent" 13 "65_Percent" 12 "60_Percent" 11 "55_Percent" 10 "50_Percent" 9 "45_Percent" 8 "40_Percent" 7 "35_Percent" 6 "30_Percent" 5 "25_Percent" 4 "20_Percent" 3 "15_Percent" 2 "10_Percent" 1 "5_Percent" 0 "Off"; +VAL_TABLE_ immoMsgTxt_D_Rq 15 "Immo_Msg_15" 14 "Immo_Msg_14" 13 "Immo_Msg_13" 12 "Immo_Msg_12" 11 "Immo_Msg_11" 10 "Immo_Msg_10" 9 "Immo_Msg_9" 8 "Immo_Msg_8" 7 "Immo_Msg_7" 6 "Immo_Msg_6" 5 "Immo_Msg_5" 4 "Immo_Msg_4" 3 "Immo_Msg_3" 2 "Immo_Msg_2" 1 "Immo_Msg_1" 0 "Immo_Msg_0_Null"; +VAL_TABLE_ BattTracWarnLamp_B_Rq 1 "On" 0 "Off"; +VAL_TABLE_ BattTracSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_TABLE_ HtrnWarnLamp_B_Dsply 1 "On" 0 "Off"; +VAL_TABLE_ HtrnSrvcRqd_B_Dsply 1 "On" 0 "Off"; +VAL_TABLE_ NoData_Faulty_7E_7F 127 "Faulty" 126 "NoDataExists"; +VAL_TABLE_ PreCondACSet_D_Actl 3 "Last_User_Setting" 2 "Auto" 1 "On" 0 "Off"; +VAL_TABLE_ PreCondFanSet_D_Actl 15 "Not_used" 14 "Not_used" 13 "Not_used" 12 "Not_used" 11 "Not_used" 10 "Not_used" 9 "Last_user_setting" 8 "Auto" 7 "Speed_7" 6 "Speed_6" 5 "Speed_5" 4 "Speed_4" 3 "Speed_3" 2 "Speed_2" 1 "Speed_1" 0 "OFF"; +VAL_TABLE_ PreCondID_No_Actl 0 "Invalid"; +VAL_TABLE_ PreCondRecrcSet_D_Actl 3 "Last_User_Setting" 2 "Auto" 1 "Recirc" 0 "Outside/Fresh"; +VAL_TABLE_ PreCondTeSet_Te_Actl 31 "HI" 1 "LO" 0 "Last_driver_setting"; +VAL_TABLE_ PreCondTPRDef_D_Actl 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ PreCondModeSet_D_Actl 15 "Not_used" 14 "Not_used" 13 "Not_used" 12 "Not_used" 11 "LastUserSetting" 10 "Auto" 9 "Max_Defrost" 8 "Windshield_Panel_Floor" 7 "Windshield_Panel" 6 "Windshield_(Defrost)" 5 "Windshield_Floor" 4 "Floor" 3 "Panel_Floor" 2 "Panel_(Vent)" 1 "Max_A/C" 0 "Off"; +VAL_TABLE_ ChargePortPwr_St 2 "LowPower" 1 "HighPower" 0 "Null"; +VAL_TABLE_ ChargeProfIDPref_St 3 "NotUsed" 2 "Value" 1 "ChargeNow" 0 "Null"; +VAL_TABLE_ ChrgGlobSched_D_Actl 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ ChrgLocEndHr_No_Actl 31 "Invalid" 30 "Unknown"; +VAL_TABLE_ ChrgLocEndMin_No_Actl 63 "Invalid" 62 "Unknown"; +VAL_TABLE_ ChrgLocProgram_D_Actl 7 "Not_used" 6 "Not_used" 5 "Not_used" 4 "Manual" 3 "TimeofUse" 2 "SmMet" 1 "ChargeImm" 0 "Null"; +VAL_TABLE_ ChrgLocSchedCat_D_Actl 11 "Reserved" 10 "Window_10" 9 "Window_9" 8 "Window_8" 7 "Window_7" 6 "Window_6" 5 "Window_5" 4 "Window_4" 3 "Window_3" 2 "Window_2" 1 "Window_1" 0 "Null"; +VAL_TABLE_ ChrgLocHsphs_D_Actl 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "SouthEast_Lat-_Long+" 3 "SouthWest_Lat-_Long-" 2 "NorthEast_Lat+_Long+" 1 "NorthWest_Lat+_Long-" 0 "NoDataExists"; +VAL_TABLE_ FuelPumpPwr_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Power_Off_Default" 3 "Power_Off_Command" 2 "Power_Off_Service" 1 "Power_Off_Impact" 0 "Power_On"; +VAL_TABLE_ ChrgrRdyStat_D_Actl 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "Charging" 2 "ChargerFault" 1 "ChargerReady" 0 "NotReady"; +VAL_TABLE_ PrmtrAlrmEvnt_D_Stat 15 "Diag_Tamper" 14 "Trailer" 13 "Shock_Sensor" 12 "Post_Crash" 11 "Panic" 10 "Intrusion" 9 "Inclination" 8 "Ign_Tamper" 7 "LG_Door" 6 "Decklid" 5 "Hood" 4 "PR_Door" 3 "PF_Door" 2 "DR_Door" 1 "DF_Door" 0 "Null"; +VAL_TABLE_ SecurityMsgTxt_D_Rq 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ BattChrgRdyStat_D_Actl 7 "NotUsed2" 6 "NotUsed1" 5 "Faulted" 4 "ChargeComplete" 3 "Charging" 2 "BatteryChargeReady" 1 "ChargeWait" 0 "NotReady"; +VAL_TABLE_ BattChrgInhbt_D_Rq 3 "MaintainTargetSoc" 2 "NotUsed" 1 "InhibitChargingThermal" 0 "Enable_Charging"; +VAL_TABLE_ Fault_7FF_NoData 2047 "Fault" 2046 "NoDataExists"; +VAL_TABLE_ Deactivate_Activate 1 "Activate" 0 "Deactivate"; +VAL_TABLE_ PtcHtr_D_Stat 3 "Faulty" 2 "NotUsed" 1 "On" 0 "Off"; +VAL_TABLE_ PtcHtr_D_Cmd 3 "TurnOn" 2 "AutoMode" 1 "TurnOff" 0 "NoDecision_Initializing"; +VAL_TABLE_ Fault_FFFFFF 16777215 "Fault"; +VAL_TABLE_ NoData_Fault_FFFE_FFFF 65535 "Fault" 65534 "NoDataExists"; +VAL_TABLE_ EngOffTe_B_Dsply 1 "Eng_warm_engh_for_pd" 0 "Eng_not_warm_engh_for_pd"; +VAL_TABLE_ Fault_FFFF_NoData_FFFE 65535 "Fault" 65534 "NoDataExists"; +VAL_TABLE_ Fault_1FFF 8191 "Fault"; +VAL_TABLE_ TrlrBattChrg_D_Stat 3 "Reverse" 2 "Normal" 1 "Low" 0 "Null"; +VAL_TABLE_ TrlrLampCtl_D_Stat 3 "NotUsed" 2 "TrlrLampCnnctDrvFailure" 1 "TrlrLampNotCnnctDrvFailure" 0 "Null"; +VAL_TABLE_ ElPw_D_StatStrtStop 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Supported_Level_4" 8 "Supported_Level_3" 7 "Supported_Level_2" 6 "Supported_Level_1" 5 "Limited_Support" 4 "Fault_Limited" 3 "LV_Event_in_Progress" 2 "Not_Supported_Imminent" 1 "Supported_All" 0 "Not_Supported"; +VAL_TABLE_ ImpactEvntFdbck_D_Stat 3 "NotUsed" 2 "EventComplete" 1 "EventInProgress" 0 "Normal"; +VAL_TABLE_ StopStrtIODTxt_D_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_TABLE_ NoData_Fault_7FFE_7FFF 32767 "Fault" 32766 "NoDataExists"; +VAL_TABLE_ NoData_Fault_3E_3F 63 "Fault" 62 "NoDataExists"; +VAL_TABLE_ DrvSte_D_Stat 15 "NotUsed10" 14 "NotUsed9" 13 "NotUsed8" 12 "NotUsed7" 11 "NotUsed6" 10 "NotUsed5" 9 "NotUsed4" 8 "NotUsed3" 7 "NotUsed2" 6 "NotUsed1" 5 "Request_Active" 4 "Ignition_Off" 3 "DSR_in_Normal_Idle_Mode" 2 "EPAS_Comm_Disturbed" 1 "DSR_Request_Not_Applicable" 0 "DSR_Deactivated"; +VAL_TABLE_ StrtrMtrCtlMsgTxt_D_Rq 7 "Start_In_Gear_Allowed" 6 "Pending_Start_Cancelled" 5 "Start_Pending_Please_Wait" 4 "Cranking_Limit_Exceeded" 3 "Press_Brk_and_Shift_to_P_N" 2 "Press_Clutch_and_Brake" 1 "Press_Clutch_To_Start" 0 "No_Display"; +VAL_TABLE_ Null_Open 1 "Open" 0 "Null"; +VAL_TABLE_ Invalid_OffOn 0 "Invalid" 1 "Off" 2 "On"; +VAL_TABLE_ TempDegreesC_DegreesF 0 "Temperature_deg_c" 1 "Temperature_deg_f"; +VAL_TABLE_ BeltminderAudioMute 2 "On" 1 "Off" 0 "Invalid"; +VAL_TABLE_ Chime_Source 2 "Cluster" 1 "Infotainment_Sys" 0 "Invalid"; +VAL_TABLE_ Invalid_DayNight 2 "Night" 1 "Day" 0 "Invalid"; +VAL_TABLE_ Invalid_12h_24h 2 "24h_mode" 1 "12h_mode" 0 "Invalid"; +VAL_TABLE_ Invalid_Theme1_2 2 "Theme_2" 1 "Theme_1" 0 "Invalid"; +VAL_TABLE_ LanguageSelect_St 30 "Slovak" 29 "Arabic" 28 "Cantonese" 27 "Mandarin_Chinese" 26 "Korean" 25 "Japanese_Kanji" 24 "Japanese_Katakana" 23 "Braz_Portuguese" 22 "EU_Portuguese" 21 "Finish" 20 "Norwegian" 19 "Danish" 18 "Swedish" 17 "Hungarian" 16 "Greek" 15 "Czech" 14 "Polish" 13 "Flemish" 12 "Dutch" 11 "Russian" 10 "Turkish" 9 "Mex_Spanish" 8 "EU_Spanish" 7 "Cana_French" 6 "EU_French" 5 "Italian" 4 "German" 3 "NA_English" 2 "UK_English" 1 "Unknown" 0 "Invalid"; +VAL_TABLE_ Blower_Indicate 15 "Display_Blank" 14 "14_Indicators_On" 13 "13_Indicators_On" 12 "12_Indicators_On" 11 "11_Indicators_On" 10 "10_Indicators_On" 9 "9_Indicators_On" 8 "8_Indicators_On" 7 "7_Indicators_On" 6 "6_Indicators_On" 5 "5_Indicators_On" 4 "4_Indicators_On" 3 "3_Indicators_On" 2 "2_Indicators_On" 1 "1_Indicator_On" 0 "Indicators_Off"; +VAL_TABLE_ CC_Fr_Stat_User_Adj 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "Fr_Blwr_Spd_Selection" 2 "FRHS_SetPt_Selection" 1 "FLHS_SetPt_Selection" 0 "None"; +VAL_TABLE_ HeadLghtHiFdbck_D_Stat 3 "NotUsed" 2 "Cancel" 1 "Hold" 0 "Allow_Change"; +VAL_TABLE_ Backlit_LED_Status 15 "Unused3" 14 "Unused2" 13 "Unused1" 12 "Night_12" 11 "Night_11" 10 "Night_10" 9 "Night_9" 8 "Night_8" 7 "Night_7" 6 "Night_6" 5 "Night_5" 4 "Night_4" 3 "Night_3" 2 "Night_2" 1 "Night_1" 0 "Off"; +VAL_TABLE_ Veh_Lock_Status 3 "UNLOCK_DRV" 2 "UNLOCK_ALL" 1 "LOCK_ALL" 0 "LOCK_DBL"; +VAL_TABLE_ PrkLckCtlMsgTxt_D_Rq 3 "BTSI_DI_3" 2 "BTSI_DI_2" 1 "BTSI_DI_1" 0 "Null_BTSI_DI"; +VAL_TABLE_ NoShift_Shift 1 "Shift" 0 "NoShift"; +VAL_TABLE_ CcdMsgTxt_D_RqDsply 15 "Unused8" 14 "Unused7" 13 "Unused6" 12 "Unused5" 11 "Unused4" 10 "Unused3" 9 "Unused2" 8 "StationaryMode" 7 "Mode_Change_Unavailable" 6 "CCD_Temporarily_Off" 5 "CCD_Service_Required" 4 "Faulty" 3 "Sport" 2 "Normal" 1 "Comfort" 0 "No_Mode_Selected"; +VAL_TABLE_ CrashEvnt_D_Stat 3 "Invalid" 2 "Fuel_Cutoff_Event" 1 "Deploy_Event" 0 "No_Event"; +VAL_TABLE_ ReducedGuard_D_Stat 3 "NotUsed" 2 "Alarm_On" 1 "Alarm_Off_Previously_On" 0 "Alarm_Off"; +VAL_TABLE_ HvacPrecondBlwr_D_Rq 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Last_User_Setting" 8 "Auto" 7 "Speed7" 6 "Speed6" 5 "Speed5" 4 "Speed4" 3 "Speed3" 2 "Speed2" 1 "Speed1" 0 "Off"; +VAL_TABLE_ HvacPrecondMode_D_Rq 15 "NotUsed4" 14 "NotUsed3" 13 "NotUsed2" 12 "NotUsed1" 11 "Last_User_Settings" 10 "Auto" 9 "Max_Defrost" 8 "Windshield_Panel_Floor" 7 "Windshield_Panel" 6 "Windshield" 5 "Windshield_Floor" 4 "Floor" 3 "Panel_Floor" 2 "Panel" 1 "MAX_AC" 0 "Off"; +VAL_TABLE_ ButtonNotPressed 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_TABLE_ Null_Pressed 1 "Pressed" 0 "Null"; +VAL_TABLE_ FobComm_D_Stat 3 "NotUsed" 2 "RemEngStartOK" 1 "RemEngStartFail" 0 "Null"; +VAL_TABLE_ PudLamp_D_Rq 3 "RAMP_DOWN" 2 "RAMP_UP" 1 "ON" 0 "OFF"; +VAL_TABLE_ WndwGlbl_D_Cmd 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "GLEARN" 3 "GCLOSE" 2 "GOPEN" 1 "GSTOP" 0 "Null"; +VAL_TABLE_ LockMsg 7 "MSG7" 6 "MSG6" 5 "MSG5" 4 "MSG4" 3 "MSG3" 2 "MSG2" 1 "MSG1" 0 "NO_WARNING"; +VAL_TABLE_ ChildLockDisplay 3 "NOT_SUPPORTED" 2 "ERROR" 1 "CHILD_UNLOCK" 0 "CHILD_LOCK"; +VAL_TABLE_ Null_Lock_Unlock 3 "NotUsed" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_TABLE_ Wiper 15 "NO_DATA_EXISTS" 14 "STALLED" 13 "RESERVED" 12 "AUTO_ADJUST" 11 "COURTESYWIPE" 10 "AUTO_HIGH" 9 "AUTO_LOW" 8 "WASH" 7 "MIST_FLICK" 6 "MAN_HIGH" 5 "MAN_LOW" 4 "MAN_INT_ON" 3 "MAN_INT_OFF" 2 "OFF_MOVING" 1 "AUTO_OFF" 0 "OFF"; +VAL_TABLE_ Turn_switch 3 "Unused_Treat_As_Off" 2 "Right" 1 "Left" 0 "Off"; +VAL_TABLE_ PrkLght_D_Stat 3 "Park_Both" 2 "Park_Right" 1 "Park_Left" 0 "Off"; +VAL_TABLE_ LghtAmb_D_Sns 7 "No_Data_Exists" 6 "Unused2" 5 "Unused1" 4 "Tunnel_Off" 3 "Tunnel_On" 2 "Twilight" 1 "Light" 0 "Dark"; +VAL_TABLE_ HeadLghtSwtch_D_Stat 3 "Autolamp" 2 "Headlamp" 1 "Parklamp" 0 "Off"; +VAL_TABLE_ EmgcyBrkLamp_D_Rq 3 "NotUsed" 2 "Active_at_standstill" 1 "Active_at_speed" 0 "Inactive"; +VAL_TABLE_ GearLvrPos_D_Unfilt 7 "Invalid" 6 "NotUsed" 5 "In_between" 4 "Low" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_TABLE_ EDrvTqMntrRconfg_D_Cmd 7 "OK" 6 "Disable_Cruise" 5 "NotUsed4" 4 "Supercreep" 3 "NotUsed3" 2 "NotUsed2" 1 "Engine_shutdown" 0 "NotUsed"; +VAL_TABLE_ OpenPressedFault 3 "Fault" 2 "Unused" 1 "Pressed" 0 "Open"; +VAL_TABLE_ LaHandsOff_D_Dsply 3 "Suppressed" 2 "Level2" 1 "Level1" 0 "HandsOn"; +VAL_TABLE_ Avail_Unavail 1 "Unavailable" 0 "Available"; +VAL_TABLE_ LaActvStats_D_Dsply 31 "Unused7" 30 "LA_Off" 29 "Unused5" 28 "Unused4" 27 "Unused3" 26 "Unused2" 25 "Unused1" 24 "InerveneLeft_InterveneRght" 23 "WarnLeft_InterveneRight" 22 "SuppressLeft_InterveneRght" 21 "AvailLeft_InterveneRhtt" 20 "NoLeft_InterveneRight" 19 "InterveneLeft_WarnRight" 18 "WarnLeft_WarnRight" 17 "SuppressLeft_WarnRight" 16 "AvailableLeft_WarnRight" 15 "NoLeft_WarnRight" 14 "InterveneLeft_SuppressRght" 13 "WarnLeft_SuppressRight" 12 "SuppressLeft_SuppressRight" 11 "AvailLeft_SuppressRight" 10 "NoLeft_SuppressRight" 9 "InterveneLeft_AvailRight" 8 "WarnLeft_AvailRight" 7 "SuppressLeft_AvailRight" 6 "AvailableLeft_AvailRight" 5 "NoLeft_AvailableRight" 4 "InterveneLeft_NoRight" 3 "WarnLeft_NoRight" 2 "SuppressLeft_NoRight" 1 "AvailableLeft_NoRight" 0 "NoLeft_NoRight"; +VAL_TABLE_ AhbcHiBeam_D_Rq 3 "Deactivated_Unavailabl" 2 "Unused" 1 "Main_HighBeamRecommend" 0 "Dipped_LowBeamRecommend"; +VAL_TABLE_ GrllShtrPos_D_Cmd 15 "Fully_Open" 14 "Position14" 13 "Position13" 12 "Position12" 11 "Position11" 10 "Position10" 9 "Position9" 8 "Position8" 7 "Position7" 6 "Position6" 5 "Position5" 4 "Position4" 3 "Position3" 2 "Position2" 1 "Position1" 0 "Fully_Closed"; +VAL_TABLE_ LifeCycMde_D_Actl 3 "Transport" 2 "NotUsed" 1 "Factory" 0 "Normal"; +VAL_TABLE_ TrnMsgTxt_D_Rq 15 "Message_15" 14 "Message_14" 13 "Message_13" 12 "Message_12" 11 "Message_11" 10 "Message_10" 9 "Message_9" 8 "Message_8" 7 "Message_7" 6 "Message_6" 5 "Message_5" 4 "Message_4" 3 "Message_3" 2 "Message_2" 1 "Message_1" 0 "NoMessage"; +VAL_TABLE_ DieslPrtcRgen_D_Rq 7 "Unused_2" 6 "Unused_1" 5 "Full_Regen_2" 4 "Full_Regen_1" 3 "HeatUp_3" 2 "HeatUp_2" 1 "HeatUp_1" 0 "Normal_Mode_NoRegen"; +VAL_TABLE_ ClimtHeat_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "PtcHtrTestMde" 3 "Defrost_Defog" 2 "FastTempPullDownHeatingReq" 1 "OpportunisticHeatingReq" 0 "NoHeatingRequest"; +VAL_TABLE_ TrnCapHlth_Actl 3 "Capacitor_OK" 2 "Degraded_Capacitor" 1 "Capacitor_State_Unknown" 0 "Capacitor_Fault"; +VAL_TABLE_ TrnSecPrkStat_D_Actl 7 "Faulty" 6 "Fault_Released" 5 "Fault_Latched" 4 "Recouple_in_Progress" 3 "Mechanism_Released" 2 "RTP_in_Progress" 1 "Pending" 0 "Latched"; +VAL_TABLE_ TrnGear_D_Actl 7 "Fault" 6 "NotUsed" 5 "Manual" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" 0 "Transition_State"; +VAL_TABLE_ TrnNtrlTowCmd_D_Actl 3 "NotUsed" 2 "Neutral_Tow_Entry" 1 "Car_Wash_Mode" 0 "Normal_Mode"; +VAL_TABLE_ TrnValidGear_D_Cnfm 3 "Accept" 2 "Reject" 1 "Internal_Request" 0 "No_Command"; +VAL_TABLE_ TrnGear_D_RqPt 7 "Fault" 6 "NotUsed" 5 "Manual" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" 0 "No_Gear"; +VAL_TABLE_ TrnValidGearRq_D_Stat 3 "Valid_Request" 2 "Valid_Degraded_Request" 1 "Invalid_Request" 0 "No_Request"; +VAL_TABLE_ NoData_Fault_3FE_3FF 1023 "Fault" 1022 "NoDataExists"; +VAL_TABLE_ ClimtCool_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "ElACTestMde" 3 "Defrost_Defog" 2 "FastTempPullDownCoolReq" 1 "OpportunisticCoolingReq" 0 "NoCoolingRequest"; +VAL_TABLE_ HtrnHvilOpen_B_Actl 1 "HVIL_is_Open" 0 "Normal_Operation"; +VAL_TABLE_ EngTeHi_B_Actl 1 "EngineTempHigh" 0 "Normal"; +VAL_TABLE_ Eng_D_StatPwPck 7 "NotUsed3" 6 "NotUsed2" 5 "Engine_Start_Cold_Cat" 4 "Engine_Disabled" 3 "Engine_Running" 2 "Engine_Run_CSER" 1 "Engine_Start" 0 "Off"; +VAL_TABLE_ EngFuelCutFull_B_Inhbt 1 "Inhibit_DFSO" 0 "Normal"; +VAL_TABLE_ EngFuelCutFull_B_Rq 1 "FuelCutRequest" 0 "NormalOperation"; +VAL_TABLE_ Fault_7FF 2047 "Fault"; +VAL_TABLE_ EngStopFst_B_Rq 1 "FastEngineShutdown" 0 "NormalOperation"; +VAL_TABLE_ EngStrtCold_B_Rq 1 "ExtremeColdStart" 0 "NormalStart"; +VAL_TABLE_ EngStrtSmooth_D_Rq 7 "NotUsed" 6 "Smooth_NoPedal" 5 "Smooth_LightPedal" 4 "Smooth_MediumPedal" 3 "Smooth_HeavyPedal" 2 "Smooth_WOP" 1 "Smooth_Cold" 0 "Smooth_ExtremeCold"; +VAL_TABLE_ Fault_FFF 4095 "Fault"; +VAL_TABLE_ VehStrtStop_D_Rq 3 "NotUsed" 2 "Vehicle_Start_Request" 1 "Vehicle_Stop_Request" 0 "NoRequest"; +VAL_TABLE_ HvacRec_D_RqMxBatt 15 "NotUsed5" 14 "NotUsed4" 13 "NotUsed3" 12 "NotUsed2" 11 "NotUsed1" 10 "No_Override" 9 "90Percent_RecircMax" 8 "80Percent_RecircMax" 7 "70Percent_RecircMax" 6 "60Percent_RecircMax" 5 "50Percent_RecircMax" 4 "40Percent_RecircMax" 3 "30Percent_RecircMax" 2 "20Percent_RecircMax" 1 "10Percent_RecircMax" 0 "0Percent_RecircFullOpen"; +VAL_TABLE_ FuelCtlOpenLp_B_Inhbt 1 " Inhibit_FullPedal_Actions" 0 "Normal_Operation"; +VAL_TABLE_ EngStrtStop_B_SrcSrvc 1 "Eng_StartStop_for_Service" 0 "Not_Requested"; +VAL_TABLE_ EngStrtStop_B_SrcCat 1 "Eng_StartStop_for_Catalyst" 0 "Not_Requested"; +VAL_TABLE_ PrkBrkStatus 7 "GeneralFault_MaintenceMode" 6 "ECD_by_Brake_ECU_Active" 5 "EPB_Limphome_Active" 4 "Rear_Caliper_Open" 3 "RWU_By_EPB_Active" 2 "Rear_Caliper_Transition" 1 "Rear_Caliper_Closed" 0 "Not_Supported"; +VAL_TABLE_ ElLoadCtl_D_Rq 7 "Unused3" 6 "Unused2" 5 "Unused1" 4 "HoldAllDrvrInvisibleLoads" 3 "StdDriverInvisibleLoadsOn" 2 "AllDriverInvisibleLoadsOn" 1 "All_Possible_Loads_Off" 0 "No_Request"; +VAL_TABLE_ BattTracCool 3 "NotUsed" 2 "DCDC_Overtemperature" 1 "CoolingRequiredbyDCDC" 0 "NoCoolingRequiredbyDCDC"; +VAL_TABLE_ NotReady_Active_Fault 3 "Fault" 2 "Active" 1 "Ready" 0 "Not_Ready"; +VAL_TABLE_ Quality_Data 3 "OK" 2 "Not_Within_Specifications" 1 "Eval_In_Progress" 0 "Fault"; +VAL_TABLE_ PwSrcULoFalt_D_Stat 3 "Fault_No_Output" 2 "Fault_Reduced_Output" 1 "Fault_NonSpecific" 0 "No_Fault"; +VAL_TABLE_ Connect_Discon_Loose 1 "Loose_or_Disconnected" 0 "Connected"; +VAL_TABLE_ DontCare_StartInhibit 1 "Start_Inhibit" 0 "Dont_Care"; +VAL_TABLE_ BattULoChrg_D_Rq 3 "Low_Battery_Temperature" 2 "Charging_Requested" 1 "Chrg_Requested_HighCurrent" 0 "No_Request"; +VAL_TABLE_ PwSysULoFalt_D_Stat 15 "Not_Used_6" 14 "LowBatterySOC" 13 "PSS_Shed2_Contin" 12 "Not_Used_4" 11 "Not_Used_3" 10 "Not_Used_2" 9 "BattMonitoringSensorFault" 8 "LowBattVoltDuringPwSrcOn" 7 "LowBatt2_PowerSaveMode" 6 "LowBatt1_Warning" 5 "Overvoltage" 4 "Fault_NoOutput" 3 "Fault_ReducedOutput" 2 "Fault_Nonspecific" 1 "Cluster_Proveout" 0 "No_Fault"; +VAL_TABLE_ AccStopMde_D_Rq 3 "Stop_Mode_Active" 2 "EPBApplyOrBrakeReleaseWarn" 1 "Limit_Rolling_Speed" 0 "Stop_Mode_Not_Active"; +VAL_TABLE_ EngFuelCutFull_B_Sched 1 "DFSO_Event_Scheduled" 0 "Normal"; +VAL_TABLE_ Eng_D_Stat 3 "NotUsed" 2 "EngAutoStopped" 1 "EngOn" 0 "EngOff"; +VAL_TABLE_ ElPw_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Fault_Limited" 3 "LV_Event_In_Progress" 2 "Not_Supported_Imminent" 1 "Supported" 0 "Not_Supported"; +VAL_TABLE_ PwPckTq_D_Stat 3 "PwPckOn_TqAvailable" 2 "StartInPrgrss_TqNotAvail" 1 "PwPckOn_TqNotAvailable" 0 "PwPckOff_TqNotAvailable"; +VAL_TABLE_ BattTracCool_D_Falt 3 "NotUsed" 2 "CoolSysPartialyOperational" 1 "Cooling_System_Faulted" 0 "Cooling_System_Operational"; +VAL_TABLE_ Fault_FF 255 "Fault"; +VAL_TABLE_ ElCmprOverTe_D_Stat 3 "OverTempStop" 2 "OverTempWarning" 1 "Normal" 0 "Undefined"; +VAL_TABLE_ ElCmprUHi_D_Stat 3 "Overvoltage" 2 "Undervoltage" 1 "InRange" 0 "Undetermined"; +VAL_TABLE_ ElCmpr_D_Stat 7 "Signal_Invalid" 6 "Comp_Off_ActlSpd_Abnormal" 5 "Comp_Off_TrgtSpd_OutRange" 4 "Comp_Shutdown" 3 "Comp_Stopped_Self_Protect" 2 "Comp_Degraded" 1 "Comp_On" 0 "Comp_Off"; +VAL_TABLE_ Southern_Northern 3 "Fault" 2 "Northern" 1 "Southern" 0 "Invalid"; +VAL_TABLE_ PsngrFrntDetct_D_Actl 3 "Unknown" 2 "Empty" 0 "Faulty" 1 "Occupied"; +VAL_TABLE_ Normal_Mode1_2 3 "Undefined" 2 "Mode2" 1 "Mode1" 0 "Normal_Mode"; +VAL_TABLE_ LaActvAvail 3 "LKA_LCA_LDW_Avail" 2 "LCA_LKA_Avail_LDW_Suppress" 1 "LCA_LKA_Suppress_LDW_Avail" 0 "LCA_LKA_LDW_Suppress"; +VAL_TABLE_ LA_NotDenied 1 "LA_Denied" 0 "LA_Not_Denied"; +VAL_TABLE_ HandsOn_Off 1 "Hands_Off" 0 "Hands_On"; +VAL_TABLE_ Smooth_Quick 1 "Quick" 0 "Smooth"; +VAL_TABLE_ None_Low_Med_High 3 "High" 2 "Medium" 1 "Low" 0 "None"; +VAL_TABLE_ LdwActvStats 7 "LDW_Suppress_Right_Left" 6 "Not_Used2" 5 "LDW_Suppress_Right" 4 "LDW_Warning_Right" 3 "LDW_Suppress_Left" 2 "LDW_Warning_Left" 1 "LDW_DemoVibration" 0 "LDW_Idle"; +VAL_TABLE_ Fault_3FF 1023 "Fault"; +VAL_TABLE_ EngStrtStop 15 "Unused_7" 14 "Unused_6" 13 "Unused_5" 12 "Unused_4" 11 "Unused_3" 10 "Unused_2" 9 "Unused_1" 8 "Force_Pull_Down" 7 "Force_Pull_Up" 6 "Pull_Down_Inhibit_Pull_Up" 5 "Inhibit_Change" 4 "Inhibit_Pull_Up" 3 "Pull_Down" 2 "Inhibit_Pull_Down" 1 "Pull_Up" 0 "No_Request"; +VAL_TABLE_ TrnMde_D_Rq 15 "Unused_4" 14 "Unused_3" 13 "Unused_2" 12 "Unused_1" 11 "InOutLckedHydStandby" 10 "InputOutputLocked" 9 "OutputLockedHydStandby" 8 "OutputLocked" 7 "ReducedOutTqHydStandby" 6 "Reduced_Output_Torque" 5 "TransInTqHydStandby" 4 "Transmit_Input_Torque" 3 "ActNeutralHydStandby" 2 "Active_Neutral" 1 "NeutralHydraulicStdby" 0 "Neutral"; +VAL_TABLE_ Fault_F 15 "Fault"; +VAL_TABLE_ Fault_1F 31 "Fault"; +VAL_TABLE_ TmsStatRqDsply 15 "Reserved4" 14 "Reserved3" 13 "Reserved2" 12 "Crawl_Mode_4LOW_Reqd" 11 "Economy_Mode_Select" 10 "ModeChangeNotAvailable" 9 "Terrain_Sys_Not_Avail" 8 "Terrain_System_Fault" 7 "Mode_Change_InProgress" 6 "Dynamics_Mode_Select" 5 "Rock_Crawl_Mode_Select" 4 "Sand_Mode_Select" 3 "Mud_Ruts_Mode_Select" 2 "Low_Mu_Mode_Select" 1 "Special_Modes_Off" 0 "No_Message"; +VAL_TABLE_ LockInhibit 1 "Inhibit" 0 "No_Inhibit"; +VAL_TABLE_ DieslFuelBio_B_ActlDrv 1 "Biodiesel_User" 0 "Non_Biodiesel_User"; +VAL_TABLE_ Invalid_FFF 4095 "Invalid"; +VAL_TABLE_ ParkAid_Chime 15 "Zone15_Chime" 14 "Zone14_Chime" 13 "Zone13_Chime" 12 "Zone12_Chime" 11 "Zone11_Chime" 10 "Zone10_Chime" 9 "Zone9_Chime" 8 "Zone8_Chime" 7 "Zone7_Chime" 6 "Zone6_Chime" 5 "Zone5_Chime" 4 "Zone4_Chime" 3 "Zone3_Chime" 2 "Zone2_Chime" 1 "Zone1_Chime" 0 "No_Chime"; +VAL_TABLE_ Shed_Feature_Group_ID 16 "PtcHeater" 14 "HtdMirr" 13 "HvacRearBlwr_Third" 12 "HvacRearBlwr_Second" 11 "HvacRearBlwr_First" 31 "All LSHED1 Features" 10 "Htd_Windscrn" 9 "SpltHtdBcklight_HtdMirr" 8 "HtdBcklight_HtdMirr" 7 "HtdCoolSeat_FrtDriver" 6 "HtdCoolSeat_FrtPass" 5 "HtdCoolSeat_RearPass" 4 "HtdCoolSeat_RearDriver" 3 "SmartTrlrTowBattCharge" 2 "Htd_StrWhl" 1 "Htd_Washer_Fluid" 0 "No_LSHED1_Features" 15 "Engine_Coolant_Fan"; +VAL_TABLE_ CoolantFanStepAct 31 "Unused7" 30 "Unused6" 29 "Unused5" 28 "Unused4" 27 "Unused3" 26 "Unused2" 25 "Unused1" 23 "Step23" 22 "Step22" 21 "Step21" 20 "Step20" 19 "Step19" 18 "Step18" 17 "Step17" 16 "Step16" 15 "Step15" 14 "Step14" 13 "Step13" 12 "Step12" 11 "Step11" 10 "Step10" 9 "Step9" 8 "Step8" 7 "Step7" 6 "Step6" 5 "Step5" 4 "Step4" 3 "Step3" 2 "Step2" 1 "Step1" 24 "Max_Fan_Speed_Req" 0 "Fan_Cmd_Off"; +VAL_TABLE_ Null_Cancel 1 "Cancel" 0 "Null"; +VAL_TABLE_ Veh_Lock_Requestor 31 "Unused8" 30 "Unused7" 29 "Unused6" 28 "Rgtm_Shutlock_Switch" 27 "Boundary_Alert" 26 "Transit_Vehicle_Relock" 25 "Transit_Cargo_Relock" 24 "Transit_Ajar_Lock" 23 "Diagnostics" 22 "Console_Lock" 21 "Child_Lock" 20 "Double_Lock" 19 "Passive_Pasenger" 18 "Passive_Driver" 17 "Slam_Lock_Protect" 16 "SYNC" 15 "Passport" 14 "Passive_Smart_Unlock" 13 "Autorelock" 12 "RemoteStart" 0 "Null" 1 "Autolock" 11 "Smart_Unlock" 10 "Sliding_Door" 9 "Passive" 8 "Remote" 7 "Programming" 6 "Powerslide" 5 "Keypad" 4 "Key_Cylinder" 3 "Interior" 2 "Auto_Unlock"; +VAL_TABLE_ EPAS_FAILURE 3 "SERVICE_POWER_STEERING_NOW" 2 "SERVICE_POWER_STEERING" 1 "POWER_STRG_ASSIST_FAULT" 0 "EPAS_OK_NO_MESSAGE"; +VAL_TABLE_ Perimeter_Alarm_Mode 3 "Activated" 2 "Armed" 1 "Prearmed" 0 "Disarmed"; +VAL_TABLE_ Invalid_FFFF 65535 "Invalid"; +VAL_TABLE_ FdaStat_D_Dsply 7 "Undefined_3" 6 "Undefined_2" 5 "Undefined_1" 4 "Distance_Alert_Unavailable" 3 "DistanceAlertUnavail_Low" 2 "DistanceAlertUnavailActive" 1 "Distance_Alert_Available" 0 "Distance_Alert_Off"; +VAL_TABLE_ OilPressureWarning 1 "Low_Pressure_Lamp_On" 0 "Normal_Pressure_Lamp_Off"; +VAL_TABLE_ MyKey_KeyTypeChangeReq 3 "Search_PE_BackupSlot" 2 "Clear_All_MyKeys" 1 "Request_New_MyKey" 0 "None"; +VAL_TABLE_ MyKey_Key_Count 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero" 15 "Invalid" 14 "Unlimited"; +VAL_TABLE_ GearEngag_D_Actl 7 "Undefined" 6 "Fwd_Clutch_Fully_Engaged" 5 "Neutral_Idle" 4 "Disengaged_to_Neutral_Idle" 3 "Disengaged_to_Neutral_Park" 2 "Engagement_in_Progress" 1 "InitializeFwdClutchEngagmt" 0 "Park_Neutral"; +VAL_TABLE_ Shed_Level_Req 7 "Unused_2" 6 "Loads_On" 5 "SHED_ENG_OFF" 4 "SOON_ENG_OFF" 3 "SHED2_CONTIN" 2 "SHED2_TRANS" 1 "SHED1" 0 "NO_SHED"; +VAL_TABLE_ BpedMove_D_Actl 3 "Unknown" 2 "DriverApplyingBrakePedal" 1 "NoAutonomousBrkPdlMovement" 0 "AutonomousBrkPedalMove"; +VAL_TABLE_ Eastern_Western 0 "Invalid" 1 "Eastern" 2 "Western" 3 "Fault"; +VAL_TABLE_ EATC_Temp_Digit3 2 "_5" 1 "_0" 0 "OFF"; +VAL_TABLE_ EATC_Units 2 "Fahrenheit" 1 "Celsius" 0 "Off"; +VAL_TABLE_ BattTracOffFst_D_Actl 3 "Unexpected_Contactor_Open" 2 "Restraints_Impact_Event" 1 "Interlock_Open" 0 "Normal"; +VAL_TABLE_ Invalid_1FF 511 "Invalid"; +VAL_TABLE_ ChargeMode 7 "Undefined_2" 6 "Undefined_1" 5 "Battery_Identify" 4 "Battery_Refresh" 3 "SlowRegenAllowNoDischarge" 2 "Fast_Regen_Allowed" 1 "Slow_Regen_Allowed" 0 "Conventional_Charging"; +VAL_TABLE_ Unknown_FFFE_Invalid_FFFF 65535 "Invalid" 65534 "Unknown"; +VAL_TABLE_ SAPPAngleControlStat5 1 "StrgColTorqueExceed_EAROn" 0 "ExternalSigContentOKforEAC"; +VAL_TABLE_ Closed_Open_Active_Fault 3 "Fault" 2 "Active" 1 "Open" 0 "Closed"; +VAL_TABLE_ SAPPAngleControlStat2 1 "Rel_ExtSteeringAngleReqx" 0 "NoRel_ExtSteeringAngleReqx"; +VAL_TABLE_ SAPPAngleControlStat3 1 "EARactiveNoReverseEngage" 0 "ExternalSigContentOKforEAC"; +VAL_TABLE_ RstrnImpactEvntStatus 7 "Invalid" 6 "Not_Used_4" 5 "Threshold_2_Exceeded" 4 "Not_Used_3" 3 "Threshold_1_Exceeded" 2 "Not_Used_2" 1 "Not_Used_1" 0 "Normal"; +VAL_TABLE_ EDRTriggerEvntSync 1 "Threshold_Exceeded" 0 "Normal"; +VAL_TABLE_ EngTeColdPrtct_D_Stats 3 "Engine_Warm_RdcPwr" 2 "OK_to_Drive" 1 "Engine_Warm_PlsWait" 0 "Normal_Operation"; +VAL_TABLE_ HILL_DESC_MC 7 "Fault_Detected" 6 "Cooling_Down" 5 "Abort_Apply_Brakes" 4 "Active" 3 "Disabled" 2 "Enabled" 1 "Off_Road" 0 "Normal"; +VAL_TABLE_ Closed_Ajar 1 "Ajar" 0 "Closed"; +VAL_TABLE_ CADS_Autio_Mute 7 "Unknown" 6 "Attenuation_6" 5 "Attenuation_5" 4 "Attenuation_4" 3 "Attenuation_3" 2 "Attenuation_2" 1 "Attenuation_1" 0 "No_Attenuation_of_Audio"; +VAL_TABLE_ Quality_Factor 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_TABLE_ Null_Day_Night 3 "NotUsed" 2 "Night" 1 "Day" 0 "Null"; +VAL_TABLE_ Null_Flash_High 3 "NotUsed" 2 "High" 1 "Flash_to_Pass" 0 "Null"; +VAL_TABLE_ GearPos_D_Actl 15 "Unknown" 14 "Reverse" 13 "Undefined_5" 12 "Undefined_4" 11 "Undefined_3" 10 "Tenth" 9 "Ninth" 8 "Eighth" 7 "Seventh" 6 "Sixth" 5 "Fifth" 4 "Fourth" 3 "Third" 2 "Second" 1 "First" 0 "Neutral"; +VAL_TABLE_ OffOn_SlowFast_Flash 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_TABLE_ AwdStat_D_RqDsply 31 "NotUsed9" 30 "NotUsed8" 29 "NotUsed7" 28 "To_Engage_4x4_Release_Aped" 27 "To_Engage_4x4_Slow_To_3MPH" 26 "Shift_To_Neutral" 25 "Lkr_Mode_Unavail_TMS" 24 " _4x4_Mode_Unavail_TMS" 23 "Out_of_4Low_Crawl" 22 "AWD_PTU_Oil_Changed" 21 "Change_AWD_PTU_Oil" 20 "Neutral_Tow_Disabled" 19 "Neutral_Tow_Enabled" 18 "AWD_OFF" 17 "_4x4_Off_Road_Speed" 16 "_4x4_Extreme_Off_Road_Mode" 15 "_4x4_Exiting_Off_Road" 14 "_4x4_Off_Road_Mode" 10 "_4x4_Locked_Temporarily" 9 "Shift_In_Progress" 13 "Blocked_Shift_Assist" 12 "_4x4_Auto_Restored" 11 "_4x4_Disabled_Temporarily" 7 "Out_of_4Low__Neutral" 6 "Out_of_4Low__Brake" 5 "Out_of_4Low__Speed" 4 "Into_4Low__Clutch" 3 "Into_4Low__Neutral" 2 "Into_4Low__Brake" 1 "Into_4Low__Speed" 0 "Normal__No_Message" 8 "Out_of_4Low__Clutch"; +VAL_TABLE_ AngleReached 1 "RequestedAngleNotReached" 0 "RequestedAngleCanBeReached"; +VAL_TABLE_ WhlDir 3 "Failed" 2 "Unknown" 1 "Backward" 0 "Forward"; +VAL_TABLE_ VehVLimStat_D_Actl 7 "Undefined_3" 6 "Undefined_2" 5 "Undefined_1" 4 "ASL_Fault_Condition" 3 "Active_and_Limiting" 2 "Active_but_Not_Limiting" 1 "Standby" 0 "Off"; +VAL_TABLE_ Unknown_Fault_1FE_1FF 511 "Fault" 510 "Unknown"; +VAL_TABLE_ Fault_NoFault 1 "Fault" 0 "No_Fault"; +VAL_TABLE_ TrnIpcDsplyMde_D_Actl 7 "Manual_3" 6 "Manual_2" 5 "Manual_1_Low" 4 "Sport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_TABLE_ TrnIpcDsplyMde_D_Stat 3 "Reserved_Blank_No_Display" 2 "Flash" 1 "On" 0 "Blank_No_Display"; +VAL_TABLE_ TrnIpcDsplyGear_D_Actl 15 "No_Gear_Selected" 14 "_14th_Gear" 13 "_13th_Gear" 12 "_12th_Gear" 11 "_11th_Gear" 10 "_10th_Gear" 9 "_9th_Gear" 8 "_8th_Gear" 7 "_7th_Gear" 6 "_6th_Gear" 5 "_5th_Gear" 4 "_4th_Gear" 3 "_3rd_Gear" 2 "_2nd_Gear" 1 "_1st_Gear" 0 "Neutral"; +VAL_TABLE_ TerrMde_D_Actl 7 "Fail_Safe_Default" 6 "Dynamic_Mode" 5 "Rock_Crawl_Mode" 4 "Mud_Ruts_Mode" 3 "Sand_Mode" 2 "Undefined" 1 "Low_Mu_Mode" 0 "Special_Operating_Mode_Off"; +VAL_TABLE_ TerrMdeChng_D_Rdy 7 "Fault" 6 "Undefined_2" 5 "Undefined_1" 4 "ModeUnavailDrInputRqd" 3 "SpOpModes_NotSupported" 2 "ModeUnavailDynamicCond" 1 "Module_In_Initialization" 0 "Mode_Change_Available"; +VAL_TABLE_ Unknown_Fault_FFFE_FFFF 65535 "Fault" 65534 "Unknown"; +VAL_TABLE_ Invalid_FFFFFF 16777215 "Invalid"; +VAL_TABLE_ AutoParkSpdExitCond 1 "SpeedLimitExceededEAROn" 0 "ExternalSigContentOKforEAC"; +VAL_TABLE_ EngOilLvlDsply_D_Rq 15 "EngOil_LevelSys_CheckFault" 14 "Reserved_2" 13 "Reserved_1" 12 "Conditions_Unsuitable" 11 "Dipstick_Below_Minimum" 10 "Dipstick_Above_Maximum" 9 "Dipstick_Minimum" 8 "Dipstick_12_5_MinMaxRange" 7 "Dipstick_25_MinMaxRange" 6 "Dipstick_37_5_MinMaxRange" 5 "Dipstick_50_MinMaxRange" 4 "Dipstick_62_5_MinMaxRange" 3 "Dipstick_75_MinMaxRange" 2 "Dipstick_87_5_MinMaxRange" 1 "Dipstick_Maximum_Displayed" 0 "No_Message"; +VAL_TABLE_ HdcMde_D_Actl 7 "Fault" 6 "Temporarily_Unavailable" 5 "NotEnabled_WrongGearSel" 4 "NotEnabled_SpdLimitExceed" 3 "Active_Braking" 2 "Not_Active_Braking" 1 "Off" 0 "Undefined"; +VAL_TABLE_ GearLvrPos_D_Actl 15 "Fault" 14 "Unknown_Position" 13 "Undefined_Treat_as__Fault" 12 "Undefined_Treat_as_Fault" 11 "sixth" 10 "fifth" 9 "fourth" 8 "third" 7 "second" 6 "first" 5 "Low" 4 "Sport_DriveSport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_TABLE_ FcwMsgTxt_D_Rq 7 "Undefined_3" 6 "Undefined_2" 5 "Low_Visibility" 4 "Unavailable_DueTo_LowSpeed" 3 "Available" 2 "Unavailable" 1 "Off" 0 "No_Text"; +VAL_TABLE_ FcwSens_B_Actl 3 "FCW_Sensitivity_3" 2 "FCW_Sensitivity_2" 1 "FCW_Sensitivity_1" 0 "Not_Used"; +VAL_TABLE_ LastSettind_DefaultOn 1 "Default_On" 0 "Last_Setting"; +VAL_TABLE_ EngTurboMde_D_Actl 3 "Fault" 2 "One_Turbo_Active" 1 "Two_Turbos_Active" 0 "Initializing"; +VAL_TABLE_ EngPullUpPullDown 15 "Undefined_7" 14 "Undefined_6" 13 "Undefined_5" 12 "Undefined_4" 8 "Force_Pull_Down" 7 "Force_Pull_Up" 6 "PullDown_Inhibit_PullUp" 5 "Inhibit_Change" 4 "Inhibit_Pull_Up" 3 "Pull_Down" 2 "Inhibit_Pull_Down" 1 "Pull_Up" 0 "No_Request" 11 "Undefined_3" 10 "Undefined_2" 9 "Undefined_1"; +VAL_TABLE_ EngMde_D_Rq 8 "VSC_Sets_Speed_Type_3" 7 "VSC_Sets_Speed_Type_2" 6 "VSC_Sets_Torque_Type_2" 5 "Dependability_Shutdown" 4 "Dependability_Follow" 3 "Start" 2 "VSC_Sets_Torque_Type_1" 1 "VSC_Sets_Speed_Type_1" 0 "Off" 15 "Undefined_7" 14 "Undefined_6" 13 "Undefined_5" 12 "Undefined_4" 11 "Undefined_3" 10 "Undefined_2" 9 "Undefined_1"; +VAL_TABLE_ DrvHdcMsg_D_Rq 7 "Undefined" 6 "Speed_too_High" 5 "Temporarily_Unavailable" 4 "System_Fault" 3 "Select_Gear" 2 "Off" 1 "On" 0 "No_Message"; +VAL_TABLE_ CmbbBrkPrchg_B_Rq 3 "Undefined" 2 "Level_2_PreCharge_Request" 1 "Level_1_PreCharge_Request" 0 "No_PreCharge_Request"; +VAL_TABLE_ CmbbBaSens_D_Rq 3 "Level_3" 2 "Level_2" 1 "Level_1" 0 "Normal"; +VAL_TABLE_ CcStat_D_Actl 7 "Undefined_2" 6 "Undefined_1" 5 "Active" 4 "Active_Que_Assist" 3 "Standby" 2 "Standby_Denied" 1 "Denied" 0 "Off"; +VAL_TABLE_ CadsAudioMute_D_Rq 3 "Reserved" 2 "Partial_Audio_Mute" 1 "Full_Audio_Mute" 0 "No_Audio_Mute"; +VAL_TABLE_ BpedDrvAppl_D_Actl 3 "_Not_Allowed" 2 "Driver_Braking" 1 "Driver_Not_Braking" 0 "Not_Allowed"; +VAL_TABLE_ AslIconDsply_D_Rq 3 "On_Passive_Overridden" 2 "On_Active" 1 "On_Passive" 0 "Off"; +VAL_TABLE_ Unknown_Fault_3E_3F 63 "Fault" 62 "Unknown"; +VAL_TABLE_ AccWarn_D_Dsply 3 "BrakeReleaseWarn_In_StopMd" 2 "Brake_Capacity_Warning" 1 "Cancel_Warning" 0 "No_Warning"; +VAL_TABLE_ AccTrgDist2_D_Dsply 15 "DIST_ACTIVE_13_Farthest" 14 "DIST_ACTIVE_12" 13 "DIST_ACTIVE_11" 12 "DIST_ACTIVE_10" 11 "DIST_ACTIVE_9" 10 "DIST_ACTIVE_8" 9 "DIST_ACTIVE_7" 8 "DIST_ACTIVE_6" 7 "DIST_ACTIVE_5" 6 "DIST_ACTIVE_4" 5 "DIST_ACTIVE_3" 4 "DIST_ACTIVE_2" 3 "DIST_ACTIVE_1_Closest" 2 "DIST_ACTIVE_No_Target" 1 "DIST_STANDBY" 0 "DIST_OFF"; +VAL_TABLE_ AccTGap_D_Dsply 7 "Undefined_2" 6 "Undefined_1" 5 "Time_Gap_5" 4 "Time_Gap_4" 3 "Time_Gap_3" 2 "Time_Gap_2" 1 "Time_Gap_1" 0 "Not_Used"; +VAL_TABLE_ AccEngStat_D_Actl 7 "Undefined_2" 6 "Undefined_1" 5 "ACCSoonCancel_due_Low_Spd" 4 "Shift_Down_Recommendation" 3 "Shift_Up_Recommendation" 2 "ACCNotAllowedToBeActivated" 1 "ACCStandby_due_Auto_Cancel" 0 "Normal_Operation"; +VAL_TABLE_ NotPressed_Pressed 1 "Pressed" 0 "Not_Pressed"; +VAL_TABLE_ TrnGear_D_RqDrv 31 "Fault" 30 "NotUsed_25" 29 "NotUsed_24" 28 "NotUsed_23" 27 "NotUsed_22" 26 "Return_to_Park" 25 "NotUsed_20" 24 "NotUsed_19" 23 "NotUsed_18" 22 "NotUsed_17" 21 "Return_To_Park" 20 "NotUsed_15" 19 "NotUsed_14" 18 "NotUsed_13" 17 "NotUsed_12" 16 "Manual" 15 "Not_Used11" 14 "Not_Used10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "Drive" 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "Neutral" 3 "NotUsed_1" 2 "Reverse" 1 "Park" 0 "No_Gear"; +VAL_TABLE_ Open_Close 1 "Close" 0 "Open"; +VAL_TABLE_ OpenCloseRetainUndef 3 "Undefined" 2 "Retain" 1 "Close" 0 "Open"; +VAL_TABLE_ DasWarn 3 "Undefined" 2 "Warning_Level_2" 1 "Warning_Level_1" 0 "No_Warning"; +VAL_TABLE_ DasAlert 5 "Alertness_Level_5" 4 "Alertness_Level_4" 3 "Alertness_Level_3" 2 "Alertness_Level_2" 1 "Alertness_Level_1" 0 "Undefined"; +VAL_TABLE_ DasStat 3 "Available" 2 "Unavailable_Other" 1 "Feedback_due_to_Speed" 0 "Off"; +VAL_TABLE_ No_Crank_Req 1 "Crank_Request" 0 "No_Crank_Request"; +VAL_TABLE_ DrvSlipCtlMde_D_Rq 3 "App_Specific_Off_Mode_3" 2 "App_Specific_Off_Mode_2" 1 "App_Specific_Off_Mode_1" 0 "Default_Mode"; +VAL_TABLE_ AwdOffRoadMode 3 "Invalid" 2 "Extreme_Off_Road" 1 "Off_Road" 0 "Normal_Mode"; +VAL_TABLE_ NotQuiet_Quiet 1 "Quiet" 0 "Not_Quiet"; +VAL_TABLE_ Normal_AdaptiveCruise 1 "Adaptive_Cruise" 0 "Normal_Cruise"; +VAL_TABLE_ Remote_Device_Feedback 7 "Unused3" 6 "Unused2" 5 "Unused1" 4 "Shutdown" 3 "Running" 2 "Starting" 1 "Acknowledge" 0 "Null"; +VAL_TABLE_ TrnManShif_D_IndDrv 7 "Undefined_3" 6 "Undefined_2" 5 "Shift_to_Neutral" 4 "Downshift_Recommendation" 3 "Upshift_Warning" 2 "Upshift_Performance" 1 "Upshift_Fuel_Economy" 0 "No_Indication"; +VAL_TABLE_ Unlock_Lock 1 "Locked" 0 "Unlock"; +VAL_TABLE_ DieslPrtc_D_RqDsply 7 "Unused_2" 6 "Unused_1" 5 "DPF_SOOT_Level3_Blocked" 4 "DPFSootLvl2_SevereOverload" 3 "DPFRegen_ExhFilterComplete" 2 "DPFRegen_CleanExhFilter" 1 "DPF_Soot_Level1_Overloaded" 0 "DPF_OK_Normal_Operation"; +VAL_TABLE_ PE_BackupSlot_Status 3 "No_Valid_FOB_In_Slot" 2 "MyKey_FOB_In_Slot" 1 "Standard_FOB_In_Slot" 0 "Null"; +VAL_TABLE_ Unknown_Fault_FFE_FFF 4095 "Fault" 4094 "Unknown"; +VAL_TABLE_ Unknown_Fault_1FFE_1FFF 8191 "Fault" 8190 "Unknown"; +VAL_TABLE_ TrnCnvtClu_D_Actl 3 "Transition_or_Micro_Slip" 2 "Lock_Up_Fixed" 1 "Lock_Up_Slip" 0 "No_Lock_Up"; +VAL_TABLE_ InhibitNoinhibit 1 "Inhibit" 0 "No_Inibit"; +VAL_TABLE_ DisableEnable 1 "Enable" 0 "Disable"; +VAL_TABLE_ Unknown_Fault_7FFE_7FFF 32767 "Fault" 32766 "Unknown"; +VAL_TABLE_ Side_Detect_Sn_State 3 "Second_Warning_Audio" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_TABLE_ Litval_values 255 "Invalid" 254 "Unknown" 5 "Day" 4 "Twilight_4" 3 "Twilight_3" 2 "Twilight_2" 1 "Twilight_1" 0 "Night"; +VAL_TABLE_ Dimming_Lvl 255 "Invalid" 254 "Unknown" 18 "Day_6" 17 "Day_5" 16 "Day_4" 15 "Day_3" 14 "Day_2" 13 "Day_1" 12 "Night_12" 11 "Night_11" 10 "Night_10" 9 "Night_9" 8 "Night_8" 7 "Night_7" 6 "Night_6" 5 "Night_5" 4 "Night_4" 3 "Night_3" 2 "Night_2" 1 "Night_1" 0 "Off"; +VAL_TABLE_ EngStrtStop_B_SrcChtLo 1 "Eng_StartStop_for_CHT_Low" 0 "Not_Requested"; +VAL_TABLE_ EngStrtStop_B_SrcChtHi 1 "Eng_StartStop_for_CHT_Hi" 0 "Not_Requested"; +VAL_TABLE_ EngDiag_D_RqHtrn 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "NoUsed1" 3 "Eng_Diag_Cstdn" 2 "Eng_Diag_Run" 1 "Eng_Diag_Crank" 0 "Eng_Diag_Normal"; +VAL_TABLE_ NotOperating 1 "Operating" 0 "Not_Operating"; +VAL_TABLE_ CamraStat 3 "FrtCam_TempUnavailOther" 2 "FrtCam_TempUnavailVisibile" 1 "Front_Camera_Service_Reqd" 0 "Front_Camera_OK"; +VAL_TABLE_ EngPtoMde_D_Actl 7 "Undefined" 6 "Split_Shaft_Stationary" 5 "Not_Used_2" 4 "PTO_Mobile" 3 "Not_Used_1" 2 "PTO_Stationary" 1 "BCP" 0 "Off"; +VAL_TABLE_ ManRgen_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "CustInitManExhFilterClean" 0 "No_Customer_Request"; +VAL_TABLE_ Remote_Start_Status 3 "Invalid" 2 "Unknown" 1 "Remote" 0 "Null"; +VAL_TABLE_ Lock_Subld 15 "Unused7" 14 "Unused6" 13 "Unused5" 12 "Unused4" 11 "Unused3" 10 "Unused2" 9 "Unused1" 8 "Customer_8" 7 "Customer_7" 6 "Customer_6" 5 "Customer_5" 4 "Customer_4" 3 "Customer_3" 2 "Customer_2" 1 "Customer_1" 0 "Null"; +VAL_TABLE_ Brake_Fluid 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK"; +VAL_TABLE_ Unknown_Invalid_FE_FF 255 "Invalid" 254 "Unknown"; +VAL_TABLE_ Invalid_FF 255 "Invalid"; +VAL_TABLE_ NotLow_Low 1 "Low" 0 "Not_Low"; +VAL_TABLE_ Disabled_Enabled_Status 2 "Status" 3 "NotUsed" 1 "Enabled" 0 "Disabled"; +VAL_TABLE_ Key_In_Ignition_Status 1 "In" 0 "Out"; +VAL_TABLE_ Ignition_Status 0 "Unknown" 1 "Off" 15 "Invalid" 8 "Start" 4 "Run" 2 "Accessory"; +VAL_TABLE_ Disabled_Enabled_Faulted 3 "Faulted" 2 "Unused" 1 "Enabled" 0 "Disabled"; +VAL_TABLE_ Disabled_Enabled_NoSupport 2 "Unused" 3 "Not_Supported" 1 "Enabled" 0 "Disabled"; +VAL_TABLE_ Unknown_Fault_FE_FF 255 "Fault" 254 "Unknown"; +VAL_TABLE_ Null_Unlock 1 "Unlock" 0 "Null"; +VAL_TABLE_ Null_Active 1 "Active" 0 "Null"; +VAL_TABLE_ HsaStat_D_Actl 7 "Faulty" 6 "FaultyWithDriverIndication" 5 "SlowRelease" 4 "FastRelease" 3 "ActiveBrakePedalReleased" 2 "ActiveBrakePedalPressed" 1 "FindingGradient" 0 "Inactive"; +VAL_TABLE_ Off_Auto_Manual 3 "Undefined" 2 "Manual" 1 "Automatic" 0 "Off"; +VAL_TABLE_ HsaStat_D_Dsply 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "NotAvailable" 3 "SlowReleaseWithChime" 2 "SlowReleaseWithoutChime" 1 "Active" 0 "Inactive"; +VAL_TABLE_ EngMsgTxt_D_Rq 3 "Undefined_2" 2 "Undefined_1" 1 "Power_Reduced_to_LowerTemp" 0 "No_Message"; +VAL_TABLE_ PassRstrnInd_Req 3 "ABOnNotIllum_OffNotIllum" 2 "AirbagOnNot_Illum_OffIllum" 1 "AirbagOn_Illum_OffNotIllum" 0 "AirbagOn_Illum_Off_Illum"; +VAL_TABLE_ RearDiffLckMsg_D_Rq 7 "Locker_Disabled" 6 "Locker_Enabled" 5 "Locker_Accel_Pedal" 4 "Speed4" 3 "Speed3" 2 "Spee2" 1 "Speed1" 0 "Normal__No_Message "; +VAL_TABLE_ GPS_Compass_dirctn 7 "NorthWest" 6 "West" 5 "SouthWest" 4 "South" 3 "SouthEast" 2 "East" 1 "NorthEast" 0 "North"; +VAL_TABLE_ GPS_Actual_Infer 1 "Inferred_Position" 0 "Actual_Postition"; +VAL_TABLE_ DrvHdcWarnInfo_D_Rq 3 "Undefined" 2 "Lamp_On_Continuously" 1 "Lamp_Flashing" 0 "Lamp_Off_Continuously"; +VAL_TABLE_ DieslPrtcRgen_D_Actl 3 "Undefined" 2 "Regen_Level_2" 1 "Regen_Level_1" 0 "No_regen"; +VAL_TABLE_ Off_On 1 "On" 0 "Off"; +VAL_TABLE_ CcMde_D_Actl 7 "TapDownWaiting" 6 "TapUpWaiting" 5 "Resuming_Low" 4 "Resuming_High" 3 "Decelerating" 2 "Accelerating" 1 "Keeping_Speed" 0 "Not_Active"; +VAL_TABLE_ InactiveActive 1 "Active" 0 "Inactive"; +VAL_TABLE_ ManRgenTxt_D_RqDsply 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Cleaning_Aborted_Stopped" 3 "Cleaning_Completed" 2 "Cleaning_In_Progress" 1 "Cleaning_Allowed" 0 "Cleaning_Not_Allowed"; +VAL_TABLE_ Fault_FFFF 65535 "Fault"; +VAL_TABLE_ Fault_7F 127 "Fault"; +VAL_TABLE_ EngOilLvlWarn_D_Rq 7 "Undefined_3" 6 "Undefined_2" 5 "Engine_Oil_Monitor_Fault" 3 "Engine_Oil_High" 2 "Engine_Oil_Critical_Low" 1 "Engine_Oil_Low" 0 "No_Message" 4 "Engine_Oil_Critical_High"; +VAL_TABLE_ UreaQltySys_D_RqDsply 7 "Undefined" 6 "ZZ_Overrides" 5 "EngineIdled" 4 "Engine_Idle_Upon_Refuel" 3 "SPEED_LIMITED_to_YY_mph" 2 "YY_MPH_MAX_UPON_Restart" 1 "CONTAMINATED_ExhFluid" 0 "NoQualityProblem"; +VAL_TABLE_ Unknown_Invalid_1E_1F 31 "Invalid" 30 "Unknown"; +VAL_TABLE_ Unknown_Invalid_3FFE_3FFF 16383 "Invalid" 16382 "Unknown"; +VAL_TABLE_ NoYes 1 "Yes" 0 "No"; +VAL_TABLE_ AwdRnge_D_Actl 7 "Unknown" 6 "High_Range_2wd" 5 "High_Range_Auto" 4 "High_Range_Locked" 3 "Neutral" 2 "Low_Range_2wd" 1 "Low_Range_Auto" 0 "Low_Range_Locked"; +VAL_TABLE_ AwdLck_D_Stat 9 "Undefined" 8 "Under_External_Torque_Ctrl" 7 "Torque_Limited_by_Cmd" 6 "Fully_Locked_by_Cmd" 5 "Disabled" 4 "Warning" 3 "Fault" 2 "Inactive" 1 "Completely_Opened_by_Cmd" 0 "OK"; +VAL_TABLE_ Unknown_Fault_3FE_3FF 1023 "Fault" 1022 "Unknown"; +VAL_TABLE_ LockSwStat 3 "Invalid" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_TABLE_ Null_Override 1 "Override" 0 "Null"; +VAL_TABLE_ Off_On_Flash 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_TABLE_ immoTargetStatCoding 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "DISABLED_RESET " 2 "ENABLED_NONMOTIVE_START" 1 "ENABLED_MOTIVE_START" 0 "DISABLED"; +VAL_TABLE_ BeltBuckle 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_TABLE_ RILReqCoding 3 "Not_Used" 2 "Plant_Mode" 1 "On" 0 "Off"; +VAL_TABLE_ Update_Bit 1 "Fresh_data" 0 "Unchanged_data"; +VAL_TABLE_ Running_Board 3 "Unused" 2 "Manually_Deployed" 1 "All_Enabled" 0 "All_Disabled"; +VAL_TABLE_ HudFlashRate 3 "Unused" 2 "Flash_4Hz_50Prct_DutyCycle" 1 "On" 0 "Off"; +VAL_TABLE_ Turn_Seq 3 "Seq" 2 "On" 1 "Off" 0 "Null"; +VAL_TABLE_ immoTargetCmdCoding 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "TARGET1_IDBLOCK2" 2 "TARGET1_IDBLOCK1" 1 "CHALLENGE" 0 "IDLE"; +VAL_TABLE_ immoSubTargetCmdCoding 7 "Unused3" 6 "Unused2" 5 "ECHO_TARGET1_IDBLOCK2" 4 "Unused1" 3 "RQST_TARGET1_IDBLOCK2" 2 "RQST_TARGET1_IDBLOCK1" 1 "RESPONSE" 0 "IDLE"; +VAL_TABLE_ immoCtrlCmdCoding 0 "IDLE" 1 "MOTIVE_START_RQST" 2 "NONMOTIVE_START_RQST" 3 "RQST_TARGET1_IDBLOCK1" 4 "RQST_TARGET1_IDBLOCK2" 5 "Unused" 6 "ECHO_TARGET1_IDBLOCK2" 7 "SHUTDOWN"; +VAL_TABLE_ Rvc_Zoom 7 "Unknown" 6 "Invalid" 5 "Zoom_Level_V" 4 "Zoom_Level_IV" 3 "Zoom_Level_III" 2 "Zoom_Level_II" 1 "Zoom_Level_I" 0 "Off"; +VAL_TABLE_ NotPark 1 "Park" 0 "Not_Park"; +VAL_TABLE_ Electric_EOH 1 "Electric_Over_Hydraulic" 0 "Electric"; +VAL_TABLE_ PersOptIn 1 "OPTED_IN" 0 "NOT_OPTED_IN"; +VAL_TABLE_ PersonalSetUp 3 "Non_Moveable_Person" 2 "Moveable_Person" 1 "Vehicle" 0 "Factory"; +VAL_TABLE_ Full_Limited 1 "Limited" 0 "Full"; +VAL_TABLE_ NoConflict_Conflict 1 "Conflict" 0 "No_Conflict"; +VAL_TABLE_ Assoc_Confirm 0 "None" 7 "Associate" 6 "Keycode_Rejected" 5 "Keycode_Accepted" 4 "In_Progress" 3 "Erase" 2 "Duplicate" 1 "Disassociate"; +VAL_TABLE_ Pers1_4 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_TABLE_ Null_Query 7 "Unused_2" 6 "Unused_1" 5 "Copy" 4 "Restore" 3 "Upload" 2 "Set" 1 "Query" 0 "Null"; +VAL_TABLE_ EngExhBrkMde_D_Actl 6 "ExhBrkDisable_NoError" 5 "ExhBrkActive_AUTO" 4 "ExhBrkActive_ON" 3 "ExhBrkRequest_AUTO" 2 "ExhBrkRequest_ON" 1 "ExhBrkNoRequest_OFF" 0 "ExhBrkUnavailable_Error"; +VAL_TABLE_ UreaLvlTxt_D_RqDsply 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "System_Error" 10 "Engine_Idled_See_Manual" 9 "Engine_Idled_Upon_Refuel" 8 "Speed_Limited_To_XX_mph" 7 "XXmph_Max_Upon_Restart" 6 "Speed_Limited_To_YY_mph" 5 "YYmph_Max_Upon_Restart" 4 "SpdLimtd_YYmph_In_XXmiles" 3 "ExFlRange_XXMiles_ScndWarn" 2 "Exh_Fluid_Range_XX_Miles" 1 "Exh_Fluid_Under_Half_Full" 0 "Exh_Fluid_Over_Half_Full"; +VAL_TABLE_ RearDiffFalt_D_Stat 3 "Diff_Failed_Closed" 2 "Diff_Failed_Open" 1 "Fault_Non_Specific" 0 "No_Fault"; +VAL_TABLE_ CCOverridden 1 "Cruise_Overridden" 0 "Cruise_Req_Not_Overridden"; +VAL_TABLE_ Ign_Key_Device_Type 15 "Invalid" 14 "Unknown" 3 "Key_Not_Prgrm_Read_Failure" 2 "Key_In_Ign_My_Key" 1 "Key_In_Ign_Standard_Key" 0 "Key_Read_In_Progress"; +VAL_TABLE_ Off_No_Eff_Unknown_Invalid 3 "Invalid" 2 "Unknown" 1 "No_Effect" 0 "Off"; +VAL_TABLE_ Null_Out 1 "Out" 0 "Null"; +VAL_TABLE_ FUEL_SENSORS 1 "Dual_Sensors" 0 "Single_Sensor"; + + +BO_ 823 DTE_HPCMtoECG: 8 Vector__XXX + SG_ DteVehPwId_No_Actl : 47|5@0+ (1,0) [0|31] "unitless" GWM + SG_ DteVehEId_No_Actl : 39|8@0+ (1,0) [0|255] "unitless" GWM + SG_ DteVehEffId_No_Actl : 6|7@0+ (1,0) [0|127] "unitless" GWM + SG_ DteVeh_Pw_Actl : 31|8@0+ (50,0) [0|12750] "watts" GWM + SG_ DteVeh_Eff_Actl : 23|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" GWM + SG_ DteVeh_E_Actl : 15|8@0+ (100,0) [0|25500] "watt*hour" GWM + SG_ DteAcceptNew_B_Rq : 7|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 824 DTE_ECGtoHPCM: 8 GWM + SG_ DteCldTrlrOn_B_Stat : 51|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldTrlrOff_B_Stat : 52|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldTrip_L_Actl : 47|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" Vector__XXX + SG_ DteCldTraffic_B_Stat : 53|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldTerrain_B_Stat : 54|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldRoute_B_Stat : 55|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldPayload_B_Stat : 16|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldId_No_Actl : 21|5@0+ (1,0) [0|31] "unitless" Vector__XXX + SG_ DteCldExtTe_B_Stat : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldExt_Eff_Actl : 39|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" Vector__XXX + SG_ DteCldDrv_Eff_Actl : 31|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" Vector__XXX + SG_ DteCldDcac_B_Stat : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DteCldClimt_Eff_Actl : 15|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" Vector__XXX + SG_ DteCldBattULo_Eff_Actl : 7|8@0+ (10,-1000) [-1000|1550] "watt*hour/km" Vector__XXX + +BO_ 949 Tire_Pressure_Data_FD1: 8 GWM + SG_ Tire_Press_RR_ORR_Data : 39|16@0+ (1,0) [0|65533] "kilopascal" VDM + SG_ Tire_Press_LR_OLR_Data : 55|16@0+ (1,0) [0|65533] "kilopascal" VDM + SG_ Tire_Press_LF_Data : 7|16@0+ (1,0) [0|65533] "kilopascal" VDM + SG_ Tire_Press_RF_Data : 23|16@0+ (1,0) [0|65533] "kilopascal" VDM + +BO_ 1825 TesterPhysicalReqVDM_FD1: 64 GWM + SG_ TesterPhysicalReqVDM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" VDM + +BO_ 524 AWD_Torque_Data: 8 TCCM + SG_ PrplWhlTotTqRqMxAwd_No_Cs : 23|8@0+ (1,0) [0|255] "Unitless" ECM_Diesel + SG_ PrplWhlTot_Tq_RqMxAwd : 7|16@0+ (4,-131072) [-131072|131068] "Nm" ECM_Diesel + SG_ PrplWhlTotTqRqMxAwd_No_Cnt : 31|4@0+ (1,0) [0|15] "Unitless" ECM_Diesel + +BO_ 740 PHEV_Battery_Data1_FD1: 8 GWM + SG_ BattAuxCnnct_B_Cmd : 53|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 1160 ECG_Data2_FD1: 8 GWM + SG_ DgtlCommPncReset_B_Req : 62|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DataMntrSustn_B_Rq : 63|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PwSustnRdata_B_RqTelem : 60|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 776 SmartChargingData_ECG_3: 8 GWM + SG_ ScMnSoc_Pc_RqCld : 55|7@0+ (1,0) [0|127] "percent" Vector__XXX + SG_ ScChrgrPwMax_Pw_RqCld : 39|12@0+ (50,0) [0|204700] "watts" Vector__XXX + SG_ ScLocPwId_No_RqCld : 43|3@0+ (1,0) [0|7] "unitless" Vector__XXX + SG_ PrcondEdit_D_RqCld : 10|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ GoTEditMnte_T_RqCld : 29|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ GoTEditHr_T_RqCld : 15|5@0+ (1,0) [0|29] "SED" Vector__XXX + SG_ ChrgToPcEdit_Pc_RqCld : 7|7@0+ (1,0) [0|125] "percent" Vector__XXX + SG_ AirAmb_Te_ActlCld : 23|10@0+ (0.25,-128) [-128|127.75] "degC" Vector__XXX + SG_ ScFreshDataEnbl_B_Rq : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ScEnbl_D_RqCld : 25|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 775 SmartChargingData_ECG_2: 8 GWM + SG_ ScDayOfWeekId_D_RqCld : 63|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ScLocSetId_No_RqCld : 10|3@0+ (1,0) [0|7] "unitless" Vector__XXX + SG_ ScLocRdius_L_RqCld : 55|7@0+ (100,0) [0|12700] "meter" Vector__XXX + SG_ ScChrgToPc_Pc_RqCld : 47|7@0+ (1,0) [0|127] "percent" Vector__XXX + SG_ ScChrgPrfl_No_RqCld : 23|24@0+ (1,0) [0|16777215] "unitless" Vector__XXX + SG_ ScChrgDurSet_D_RqCld : 12|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ScChrgDur_T_RqCld : 7|11@0+ (1,0) [0|2045] "minute" Vector__XXX + +BO_ 774 SmartChargingData_ECG_1: 8 GWM + SG_ ScLocLongPostv_B_RqCld : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ScLocLongFrct_An_RqCld : 35|20@0+ (1E-006,0) [0|1.048575] "degrees" Vector__XXX + SG_ ScLocLongDeg_An_RqCld : 63|8@0+ (1,0) [0|255] "degrees" Vector__XXX + SG_ ScLocLattPostv_B_RqCld : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ScLocLattFrct_An_RqCld : 23|20@0+ (1E-006,0) [0|1.048575] "degrees" Vector__XXX + SG_ ScLocLattDeg_An_RqCld : 15|7@0+ (1,0) [0|127] "percent" Vector__XXX + SG_ ScLocId_No_RqCld : 6|3@0+ (1,0) [0|7] "unitless" Vector__XXX + SG_ ScLocDelete_B_RqCld : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 811 APIM_Data_FD1: 8 GWM + SG_ DistToStopover_L_Actl : 31|16@0+ (0.1,0) [0|6553.4] "kilometer" Vector__XXX + SG_ StopoverType_D_Stat : 47|3@0+ (1,0) [0|0] "SED" Vector__XXX + SG_ ExtLghtDsply_D_Stat : 7|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtRight_D_RqMnu : 11|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ AutoLghtOvrrd_B_RqDrv : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ExtLghtRear_D_RqMnu : 14|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtLeft_D_RqMnu : 1|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtFront_D_RqMnu : 4|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ GoTEditMnte_T_RqMnu : 63|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ GoTEditHr_T_RqMnu : 44|5@0+ (1,0) [0|29] "SED" Vector__XXX + +BO_ 850 HEV_ChargeStat_FD1: 8 SOBDMC_HPCM_FD1 + SG_ VehElRngeNut_L_Dsply : 11|12@0+ (0.1,0) [0|409.3] "km" GWM + SG_ NxtUsgSocEst_Pc_Dsply : 7|8@0+ (0.5,0) [0|126.5] "unitless" GWM + SG_ EstmChrgTimeLP_St : 39|8@0+ (0.1,0) [0|25.4] "hour" GWM + SG_ EstmChrgTimeHP_St : 47|8@0+ (0.1,0) [0|25.4] "hour" GWM + SG_ ChargeNowDuration_St : 31|8@0+ (0.1,0) [0|25.4] "hour" GWM + +BO_ 563 MasterReset_HS3_ECGDat_FD1: 8 GWM + SG_ DrvBhavWarn_B_Rq : 12|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ OfbChrgSetSync_D_Rq : 1|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ KeyOffPwMde_D_Stat : 15|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ModemReset_D_Stat : 5|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ FactoryReset_St : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 1833 TesterPhysicalResVDM: 64 VDM + SG_ TesterPhysicalResVDM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 570 Suspension_Data: 8 VDM + SG_ SuspClkSync_No_Rq : 63|8@0+ (1,0) [0|253] "unitless" GWM + SG_ SuspRearRight_L_Actl : 42|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + SG_ SuspFrntRight_L_Actl : 35|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + SG_ SuspRear_L_Prev : 28|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + SG_ SuspRear_L_Actl : 21|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + SG_ SuspFrnt_L_Prev : 14|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + SG_ SuspFrnt_L_Actl : 7|9@0+ (0.782779,-200) [-200|199.21729] "millimeter" GWM + +BO_ 837 VeyDynamics_Data: 8 VDM + SG_ Ccd_B_Falt : 24|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdeSusp_D_Stat : 20|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdptDrvMdePt_D_Rq : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ AdptDrvMdeChassis_D_Rq : 10|3@0+ (1,0) [0|7] "SED" GWM + SG_ CcdMsgTxt_D_RqDsply : 7|4@0+ (1,0) [0|15] "SED" ECM_Diesel,GWM + +BO_ 885 ECG_Data3_FD1: 8 GWM + SG_ BattULoChrg_D_RqOta : 55|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ VehStrtInhbt_T_Dsply : 39|16@0+ (1,0) [0|65535] "second" Vector__XXX + SG_ VehStrtInhbt_D_Dsply : 27|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ VehOnRqstr_D_Stat : 21|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ VehStrtInhbt_D_RqCld : 23|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ VehOn_D_RqCld : 17|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ CanMsg375_No_Cnt : 11|4@0+ (1,0) [0|15] "unitless" Vector__XXX + SG_ CanMsg375_No_Crc : 7|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ OtaActv_D_Stat : 31|4@0+ (1,0) [0|15] "SED" Vector__XXX + +BO_ 1150 LocationServices_Data1_FD1: 8 GWM + SG_ LocationServices_1 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" SOBDMC_HPCM_FD1,IPMA_ADAS + +BO_ 542 LocationServices_3_FD1: 8 GWM + SG_ LocationServices_3 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" Vector__XXX + +BO_ 2612224016 PARSEDPushPCMtoGWM_ECG: 8 PCM_HEV + SG_ PARSEDPushPCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 810 ECG_Data_FD1: 8 GWM + SG_ OBCCSerial_D_Rq : 45|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TlghtTest_D_RqArb : 47|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ChrgrPncSustn_B_Rq : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ NtfyDrvTrgtDist_L_Rq : 23|12@0+ (0.1,0) [0.1|409.4] "Km" SOBDMC_HPCM_FD1 + SG_ NtfyDrvSocLvl1_Pc_Rq : 39|7@0+ (1,0) [1|100] "%" SOBDMC_HPCM_FD1 + SG_ PtRmtRprt_D_Stat : 27|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ ChrgrPncEnbl_D_Rq : 9|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ExtLghtDsply_B_StatArb : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ExtLghtRight_D_RqOta : 12|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtRear_D_RqOta : 15|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtLeft_D_RqOta : 3|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ExtLghtFront_D_RqOta : 6|3@0+ (1,0) [0|7] "SED" Vector__XXX + +BO_ 550 ECG_Data4_FD1: 8 GWM + SG_ PtWakeupActv1_B_Rq : 7|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 639 OffBrdChrg_Signals2: 8 GWM + SG_ OfbChrgPrflUpdate_B_Rq : 31|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgClearAll_B_Rq : 7|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTTouch_D_Rq : 17|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTPrcond_D_Rq : 19|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTOn_D_Rq : 10|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTMnte_D_Rq : 23|4@0+ (1,0) [0|15] "minute" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTHr_T_Rq : 15|5@0+ (1,0) [0|29] "hour" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTExtHtr_D_Rq : 1|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTElement_D_Rq : 5|4@0+ (1,0) [0|15] "Unitless" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTDelete_B_Rq : 6|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgGoTUpdate_B_Rq : 8|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 530 OffBrdChrg_Signals: 8 GWM + SG_ OfbChrgLocIdTrgt_No_Rq : 7|4@0+ (1,0) [0|15] "Unitless" SOBDMC_HPCM_FD1 + SG_ OfbChrgToPcWknd_D_Actl : 58|3@0+ (1,0) [0|7] "percent" SOBDMC_HPCM_FD1 + SG_ OfbChrgToPcWkdy_D_Actl : 61|3@0+ (1,0) [0|7] "percent" SOBDMC_HPCM_FD1 + SG_ OfbChrgSetNow_D_Rq : 63|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgSetDelete_B_Rq : 2|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OfbChrgPrflWknd_No_Rq : 39|24@0+ (1,0) [0|16777215] "unitless" SOBDMC_HPCM_FD1 + SG_ OfbChrgPrflWkdy_No_Rq : 15|24@0+ (1,0) [0|16777215] "unitless" SOBDMC_HPCM_FD1 + SG_ OfbChrgLocIdUns_B_Rq : 3|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 1142 ConsTip_Data_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ConsTipV_No_Dsply : 49|10@0+ (0.1,0) [0|102.1] "percent" GWM + +BO_ 817 Locking_Systems_2_FD1: 8 GWM + SG_ ChildLckMde_B_Stat : 56|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ VehLckInd_D_Rq : 58|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ DrTgateOpen_B_Rq : 59|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DrTgateExtSwMde_B_Stat : 32|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Remote_Device_Feedback : 50|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ Veh_Lock_Requestor : 55|5@0+ (1,0) [0|31] "SED" Vector__XXX + SG_ R_Pwr_Sliding_Dr_Rqst : 36|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Power_Liftgate_Rqst : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Veh_Lock_EvNum : 47|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ Power_Decklid_Rqst : 1|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ L_Pwr_Sliding_Dr_Rqst : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Keyfob_Pad_Msg_Count : 15|8@0+ (1,0) [0|255] "Counts" Vector__XXX + SG_ Veh_Lock_Sub_Id : 63|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ Veh_Lock_Status : 34|2@0+ (1,0) [0|3] "SED" CMR_DSMC + SG_ ChildLck_D_Dsply : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ WindowLockout_B_Stat : 35|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ RollCodeUnlock : 23|16@0+ (1,0) [0|65535] "Unitless" Vector__XXX + SG_ Lockmsgtxt_D_Rq : 39|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ FobComm_D_Stat : 5|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ LockInhibit : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 879 BCMC_Data_FD1: 8 GWM + SG_ WndwRearHeat_I_Actl : 7|11@0+ (0.1,0) [0|204.6] "ampere" ECM_Diesel + SG_ WndwRearHeat_D_Stat : 12|3@0+ (1,0) [0|7] "SED" ECM_Diesel + +BO_ 878 DCACA_Data4: 8 PCM_HEV + SG_ DcacGfciTest_B_Rq : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ DcacOut_Pw_DsplyMx : 23|10@0+ (10,0) [0|10220] "watts" GWM + SG_ DcacOut1_Pw_Dsply : 39|7@0+ (100,0) [0|12600] "watts" GWM + SG_ DcacOut2_Pw_Dsply : 47|7@0+ (100,0) [0|12600] "watts" GWM + SG_ DcacHw_D_Confg : 11|4@0+ (1,0) [0|15] "SED" GWM + SG_ DcacFaltMsgTxt_D_Rq : 15|4@0+ (1,0) [0|15] "SED" GWM + SG_ DcacLoFuelMsgTxt_D_Rq : 29|5@0+ (1,0) [0|31] "SED" GWM + SG_ DcacEngOnMsgTxt_D_Rq : 55|2@0+ (1,0) [0|3] "SED" GWM + SG_ DcacElPw_D_Stat : 2|2@0+ (1,0) [0|3] "SED" GWM + SG_ PwBedPnlEnbl_B_Rq : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ DcacOn_B_Rq : 4|1@0+ (1,0) [0|1] "SED" GWM + SG_ DcacSys_B_Falt : 5|1@0+ (1,0) [0|1] "SED" GWM + SG_ DcacLedCtl_D_Rq : 7|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 395 HeadUpDisplayReq_FD1: 8 GWM + SG_ SelDrvMdeCnfm_D_Stat : 35|2@0+ (1,0) [0|3] "SED" ABS_ESC + +BO_ 2611055832 PARSEDPhysGWM_ECGtoSODR: 8 GWM + SG_ PARSEDPhysGWM_ECGtoSODR : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2611054808 PARSEDPhysGWM_ECGtoSODL: 8 GWM + SG_ PARSEDPhysGWM_ECGtoSODL : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2611026136 PARSEDPhysGWM_ECGtoSODCMD: 8 GWM + SG_ PARSEDPhysGWM_ECGtoSODCMD : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2611025112 PARSEDPhysGWM_ECGtoSODCMC: 8 GWM + SG_ PARSEDPhysGWM_ECGtoSODCMC : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2610975960 PARSEDPhysGWM_ECGtoCCM: 8 GWM + SG_ PARSEDPhysGWM_ECGtoCCM : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2610007256 OTAPhysGWM_ECGtoSODR: 8 GWM + SG_ OTAPhysGWM_ECGtoSODR : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2610006232 OTAPhysGWM_ECGtoSODL: 8 GWM + SG_ OTAPhysGWM_ECGtoSODL : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2609977560 OTAPhysGWM_ECGtoSODCMD: 8 GWM + SG_ OTAPhysGWM_ECGtoSODCMD : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2609976536 OTAPhysGWM_ECGtoSODCMC: 8 GWM + SG_ OTAPhysGWM_ECGtoSODCMC : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2609927384 OTAPhysGWM_ECGtoCCM: 8 GWM + SG_ OTAPhysGWM_ECGtoCCM : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2611175523 PARSEDPhysSODRtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODRtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224099 PARSEDPushSODRtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODR2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2611175522 PARSEDPhysSODLtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODLtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224098 PARSEDPushSODLtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODL2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2611175494 PARSEDPhysSODCMDtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODCMDtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224070 PARSEDPushSODCMDtoGWM: 8 IPMA_ADAS + SG_ PARSEDPhysSODCMD2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2611175493 PARSEDPhysSODCMCtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysSODCMCtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224069 PARSEDPushSODCMCtoGWM: 8 IPMA_ADAS + SG_ PARSEDPhysSODCMC2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2611175445 PARSEDPhysCCMtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysCCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224021 PARSEDPushCCMtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysCCM2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126947 OTAPhysSODRtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysSODRtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126946 OTAPhysSODLtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysSODLtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126918 OTAPhysSODCMDtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysSODCMDtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126917 OTAPhysSODCMCtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysSODCMCtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126869 OTAPhysCCMtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysCCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 984 IPMA_Data: 8 IPMA_ADAS + SG_ FeatConfigIpmaActl : 7|16@0+ (1,0) [0|65535] "Undefined" GWM + SG_ FeatNoIpmaActl : 23|16@0+ (1,0) [0|65535] "Number" GWM + SG_ PersIndexIpma_D_Actl : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ AhbcRampingV_D_Rq : 57|2@0+ (1,0) [0|3] "SED" GWM + SG_ LaActvStats_D_Dsply : 55|5@0+ (1,0) [0|31] "SED" GWM + SG_ LaDenyStats_B_Dsply : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ LaHandsOff_D_Dsply : 50|2@0+ (1,0) [0|3] "SED" GWM + SG_ CamraDefog_B_Req : 36|1@0+ (1,0) [0|1] "SED" GWM + SG_ CamraStats_D_Dsply : 35|2@0+ (1,0) [0|3] "SED" GWM + SG_ DasAlrtLvl_D_Dsply : 42|3@0+ (1,0) [0|7] "SED" GWM + SG_ DasStats_D_Dsply : 47|2@0+ (1,0) [0|3] "SED" GWM + SG_ DasWarn_D_Dsply : 44|2@0+ (1,0) [0|3] "SED" GWM + SG_ AhbHiBeam_D_Rq : 59|2@0+ (1,0) [0|3] "SED" GWM + SG_ Set_Me_X1 : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 985 IPMA_Data2: 8 IPMA_ADAS + SG_ LdwChime_B_Rq : 34|1@0+ (1,0) [0|1] "SED" GWM + SG_ TsrRegionTxt_D_Stat : 47|5@0+ (1,0) [0|31] "SED" GWM + SG_ SblmPedCrossScnr_B_Stat : 33|1@0+ (1,0) [0|1] "SED" GWM + SG_ LongCtrlEnbl_D_Rq : 42|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ SblmRndAbtScnr_B_Stat : 9|1@0+ (1,0) [0|1] "SED" GWM + SG_ DasAlrtInfo_D_Dsply : 13|2@0+ (1,0) [0|3] "SED" GWM + SG_ IaccVLim_D_Rq : 23|8@0+ (1,0) [0|255] "SED" ECM_Diesel,GWM + SG_ IaccVLimUnit_D_Rq : 11|2@0+ (1,0) [0|3] "SED" ECM_Diesel,GWM + SG_ IsaVLim_D_Rq : 7|8@0+ (1,0) [0|255] "SED" ECM_Diesel,GWM + SG_ SblmStopScnr_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ SblmYieldScnr_B_Stat : 31|1@0+ (1,0) [0|1] "SED" GWM + SG_ IsaVLimUnit_D_Rq : 15|2@0+ (1,0) [0|3] "SED" ECM_Diesel,GWM + SG_ AdbDividedRoad_B_Stat : 30|1@0+ (1,0) [0|1] "SED" GWM + SG_ LcwaMsgTxt_D_Stat : 37|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbDrvSide_B_Stat : 35|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 992 Personality_Data_FD1: 8 GWM + SG_ MsgCntrDsplyOp_D_Rq : 36|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ MsgCntrFeatNoRq : 7|16@0+ (1,0) [0|65535] "Number" IPMA_ADAS + SG_ MsgCntrFeatConfigRq : 23|16@0+ (1,0) [0|65535] "unitless" IPMA_ADAS + SG_ MsgCntrPersIndex_D_Rq : 39|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + +BO_ 2612019416 PARSEDPushFcGWM_ECGtoPCM: 8 GWM + SG_ PARSEDPhysGWM_ECG2toPCM : 7|29@0+ (1,0) [0|536870911] "unitless" PCM,PCM_HEV,ECM_Diesel + +BO_ 943 IPMA_Data4: 8 IPMA_ADAS + SG_ VehVActlAdas_D_Qf : 9|2@0+ (1,0) [0|3] "SED" PCM,PCM_HEV,ECM_Diesel + SG_ Veh_V_RqLsc : 23|14@0+ (0.01,0) [0|163.83] "kph" PCM,PCM_HEV,ECM_Diesel + SG_ Veh_V_ActlAdas : 7|14@0+ (0.01,0) [0|163.83] "kph" PCM,PCM_HEV,ECM_Diesel + SG_ AdasLcDistToObj_L_Actl : 39|12@0+ (0.002,0) [0|8.186] "meter" PCM,PCM_HEV,ECM_Diesel + +BO_ 515 PowertrainData_12: 8 ECM_Diesel + SG_ PtIgnSwtch_No_Cs : 15|8@0+ (1,0) [0|255] "Unitless" GWM + SG_ PtIgnSwtch_No_Cnt : 5|4@0+ (1,0) [0|15] "Unitless" GWM + SG_ PtIgnSwtch_D_Stat : 7|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 1111 TrailerAid_Stat2_FD1: 8 GWM + SG_ TrlrYawWActl_D_Qf : 43|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,PSCM + SG_ TrlrYaw_W_Actl : 7|16@0+ (0.0002,-6.5) [-6.5|6.6066] "radians/second" IPMA_ADAS,PSCM + SG_ TrlrHitYaw_AnRate_Actl : 27|12@0+ (0.1,-50) [-50|359.3] "degrees/second" IPMA_ADAS,PSCM + SG_ TrlrHitchYaw_D_Stat : 47|4@0+ (1,0) [0|15] "SED" IPMA_ADAS,PSCM + SG_ TrlrHitchYaw_An_Actl : 23|12@0+ (0.1,-90) [-90|319.3] "degrees" IPMA_ADAS,PSCM + +BO_ 1106 TrailerAid_Stat1_FD1: 8 GWM + SG_ TrlrSnsId_No_Actl : 7|48@0+ (1,0) [0|281474976710653] "unitless" IPMA_ADAS,PSCM + +BO_ 1985 TesterPhysicalReqCMR_DSMC: 64 TSTR + SG_ TesterPhysicalReqCMR_DSMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" CMR_DSMC + +BO_ 1993 TesterPhysicalResCMR_DSMC: 64 CMR_DSMC + SG_ TesterPhysicalResCMR_DSMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1104 DrvStatMonData: 8 CMR_DSMC + SG_ DrvEngageLevel_No_Cs : 31|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS + SG_ DrvEngageLevel_No_Cnt : 19|4@0+ (1,0) [0|15] "Unitless" IPMA_ADAS + SG_ DrvEngageLevel_D_Stat : 13|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ DrvImpLvlConfid_D_Stat : 39|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ DrvImpairLvl_D_Stat : 23|4@0+ (1,0) [0|15] "SED" IPMA_ADAS + SG_ DrvEngLvlConfid_D_Stat : 10|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ DrvCamPassIR_D_Stat : 36|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ DrvCamera_D_Stat : 15|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ DrvCamDrvIR_D_Stat : 1|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ DrvAttentZone_D_Stat : 5|4@0+ (1,0) [0|15] "SED" IPMA_ADAS + SG_ DrvAlertSt_D_Stat : 7|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + +BO_ 1503 CMR_DSMC_AutoSar_NetwrkMgt: 8 CMR_DSMC + SG_ CMR_DSMC_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_GWNMProxY : 47|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMReserved : 63|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMReserve4 : 55|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMReserve3 : 31|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMReserve2 : 23|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CMR_DSMC_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" Vector__XXX + +BO_ 2610995416 PARSEDPhysGWM_ECGtoABS: 8 GWM + SG_ PARSEDPhysGWM_ECGtoABS : 7|29@0+ (1,0) [0|536870911] "unitless" ABS_ESC + +BO_ 2612043992 PARSEDPushFcGWM_ECGtoABS: 8 GWM + SG_ PARSEDPhysGWM_ECG2toABS : 7|29@0+ (1,0) [0|536870911] "unitless" ABS_ESC + +BO_ 2609946840 OTAPhysGWM_ECGtoABS: 8 GWM + SG_ OTAPhysGWM_ECGtoABS : 7|29@0+ (1,0) [0|536870911] "unitless" ABS_ESC + +BO_ 2611175464 PARSEDPhysABStoGWM_ECG: 8 ABS_ESC + SG_ PARSEDPhysABStoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "Unitless" GWM + +BO_ 2612224040 PARSEDPushABStoGWM_ECG: 8 ABS_ESC + SG_ PARSEDPhysABS2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126888 OTAPhysABStoGWM_ECG: 8 ABS_ESC + SG_ OTAPhysABStoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610988248 PARSEDPhysGWM_ECGtoIPMA: 8 GWM + SG_ PARSEDPhysGWM_ECGtoIPMA : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 2609939672 OTAPhysGWM_ECGtoIPMA: 8 GWM + SG_ OTAPhysGWM_ECGtoIPMA : 7|29@0+ (1,0) [0|536870911] "unitless" IPMA_ADAS + +BO_ 1114 TrailerAid_Data_FD1: 8 GWM + SG_ TrailCtlSwtch_B_Stat2 : 16|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ TrlBrkInitOut_D_Rq : 60|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 1116 TrailerAid_Data3_FD1: 8 GWM + SG_ TrlrAidSetup_D2_Rq : 4|4@0+ (1,0) [0|15] "SED" IPMA_ADAS,PSCM + SG_ TrlrAidEnbl_D2_Rq : 7|3@0+ (1,0) [0|7] "SED" IPMA_ADAS,PSCM + SG_ TrlrTrgtToBmpr_L_Actl : 38|7@0+ (0.0127,0) [0|1.6129] "meter" IPMA_ADAS + SG_ TrlrTrgtPtrnId_No_Mem : 45|6@0+ (1,0) [0|63] "unitless" IPMA_ADAS + SG_ TrlrRvrseCancl_B_Rq : 0|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,PSCM + SG_ TrlrIdType_D_Stat : 51|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,PSCM + SG_ TrlrId_No_Actl : 55|4@0+ (1,0) [0|15] "unitless" IPMA_ADAS,PSCM + SG_ TrlrBallToBmpr_L_Actl : 22|7@0+ (0.0127,0) [0|1.6129] "meter" IPMA_ADAS,PSCM + SG_ TrlrAxleToBmpr_L_Actl : 31|9@0+ (0.0254,0) [0|12.9794] "meter" IPMA_ADAS,PSCM + SG_ TrlrAnOffstDir_D_Mem : 47|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,PSCM + SG_ TrlrAnOffst_An_Mem : 15|9@0+ (0.1,0) [0|51.1] "degrees" IPMA_ADAS + SG_ TrlrTrgtOffst_L_Actl : 63|7@0+ (0.0127,0) [0|1.6129] "meter" IPMA_ADAS + +BO_ 2611175457 PARSEDPhysIPMAtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysIPMAtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224033 PARSEDPushIPMAtoGWM_ECG: 8 IPMA_ADAS + SG_ PARSEDPhysIPMA2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126881 OTAPhysIPMAtoGWM_ECG: 8 IPMA_ADAS + SG_ OTAPhysIPMAtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 1085 Low_Voltage_Power_Data_FD1: 8 PCM + SG_ ULoRgenTestMde_B_Stat : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwSrcULoOvrTe_B_Actl : 7|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwSrcULoFalt_D_Stat : 5|2@0+ (1,0) [0|3] "SED" GWM + SG_ PwSrcULoDcnnt_B_Stat : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwSrcULo_Pc_Mx : 31|8@0+ (0.4,0) [0|101.6] "%" GWM + SG_ PwSrcULoComm_B_Falt : 2|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwSrcULo_I_Mx : 23|8@0+ (1,0) [0|254] "ampere" PCM_HEV,GWM + SG_ PwSrcULo_I_Actl : 15|8@0+ (1,0) [0|254] "ampere" PCM_HEV,GWM + +BO_ 791 Cluster_HEV_Data8_FD1: 8 GWM + SG_ EngAirFilt_B_RqReset : 48|1@0+ (1,0) [0|1] "SED" ECM_Diesel + SG_ GpsElMdeSel_B_Rq : 50|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ LongTermReset_B_Rq : 49|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DrvEffLvl_No_Stat : 61|6@0+ (1,0) [0|61] "unitless" Vector__XXX + SG_ ConsAvgTrip_Fe_Dsply : 31|24@0+ (0.0001,0) [0|1677.7215] "litre/100km" Vector__XXX + +BO_ 2610970840 PARSEDPhysGWM_ECGtoPCM: 8 GWM + SG_ PARSEDPhysGWM_ECGtoPCM : 7|29@0+ (1,0) [0|536870911] "unitless" ECM_Diesel,PCM_HEV,PCM + +BO_ 2609922264 OTAPhysGWM_ECGtoPCM: 8 GWM + SG_ OTAPhysGWM_ECGtoPCM : 7|29@0+ (1,0) [0|536870911] "unitless" ECM_Diesel,PCM_HEV,PCM + +BO_ 868 BattRgenLo_4_FD1: 8 GWM + SG_ BattRgenLoStat_D_Qlty : 25|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM + SG_ BattRgenLoSoc_Pc_Actl : 23|7@0+ (1,0) [0|100] "percent" PCM_HEV,PCM + SG_ BattRgenLoPulse_U_Pred : 15|8@0+ (0.0625,0) [0|15.9375] "volt" PCM_HEV,PCM + SG_ BattRgenLoPrtct_B_Stat : 39|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + SG_ BattRgenLoDChrg_D_Stat : 27|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM + SG_ BattRgenLoDchrg_B_Rq : 28|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + SG_ BattRgenLoChrg_D_Stat : 30|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM + SG_ BattRgenLoChrg_B_Rq : 31|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + SG_ BattRgenLo_T_Est : 7|8@0+ (8,0) [0|2040] "second" PCM_HEV,PCM + SG_ BattRgenLo_B_Falt : 16|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + +BO_ 867 BattRgenLo_3_FD1: 8 GWM + SG_ BattRgenLoBalnc_B_Rq : 16|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + SG_ BattRgenLo_Te_Hi : 55|8@0+ (1,-20) [-20|235] "degC" PCM_HEV,PCM + SG_ BattRgenLo_Te_Actl : 47|8@0+ (1,-60) [-60|194] "degC" PCM_HEV,PCM + SG_ BattRgenLo_R_Actl : 31|9@0+ (0.0625,0) [0|31.9375] "milliohm" PCM_HEV,PCM + SG_ BattRgenLo_AhRide_Actl : 15|15@0+ (0.0078125,-100) [-100|155.9921875] "amperehour" PCM_HEV,PCM + SG_ BattRgenLo_Ah_Actl : 7|8@0+ (0.1,0) [0|25.5] "amperehour" PCM_HEV,PCM + +BO_ 866 BattRgenLo_2_FD1: 8 GWM + SG_ BattRgenLoOpen_U_Actl : 55|9@0+ (0.025,8.5) [8.5|21.275] "volt" PCM_HEV,PCM + SG_ BattRgenLoDchrg_U_Mn : 39|9@0+ (0.025,4) [4|16.775] "volt" PCM_HEV,PCM + SG_ BattRgenLoDchrg_I_Mx : 31|8@0+ (2,0) [0|510] "ampere" PCM_HEV,PCM + SG_ BattRgenLoChrg_U_Mx : 15|9@0+ (0.025,10.6) [10.6|23.375] "volt" PCM_HEV,PCM + SG_ BattRgenLoChrg_I_Mx : 7|8@0+ (2,0) [0|510] "ampere" PCM_HEV,PCM + +BO_ 865 BattRgenLo_1_FD1: 8 GWM + SG_ BattRgenLo_U_Actl : 23|11@0+ (0.015625,0) [0|31.96875] "volt" PCM_HEV,PCM + SG_ BattRgenLo_I_Actl : 7|16@0+ (0.015625,-512) [-512|511.96875] "ampere" PCM_HEV,PCM + +BO_ 2611175440 PARSEDPhysPCMtoGWM_ECG: 8 PCM + SG_ PARSEDPhysPCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126864 OTAPhysPCMtoGWM_ECG: 8 PCM + SG_ OTAPhysPCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2611175441 PARSEDHPCMtoGWM_ECG_FD1: 8 SOBDMC_HPCM_FD1 + SG_ PARSEDPhysHPCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2612224017 PARSEDPushSOBDMCtoGWM_FD1: 8 SOBDMC_HPCM_FD1 + SG_ PARSEDPhysHPCM2toGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 2610126865 OTAPhysSOBDMCtoGWM_FD1: 8 SOBDMC_HPCM_FD1 + SG_ OTAPhysHPCMtoGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" GWM + +BO_ 1679 SOBDMC_RapidData_Resp4_FD1: 8 SOBDMC_HPCM_FD1 + SG_ UUDTSOBDMCResponse4 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1678 SOBDMC_RapidData_Resp3_FD1: 8 SOBDMC_HPCM_FD1 + SG_ UUDTSOBDMCResponse3 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1677 SOBDMC_RapidData_Resp2_FD1: 8 SOBDMC_HPCM_FD1 + SG_ UUDTSOBDMCResponse2 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1676 SOBDMC_RapidData_Resp1_FD1: 8 SOBDMC_HPCM_FD1 + SG_ UUDTSOBDMCResponse1 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1445 SOBDMC_AutoSar_NetMgmt_FD1: 8 SOBDMC_HPCM_FD1 + SG_ SOBDMC_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ SOBDMC_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" Vector__XXX + +BO_ 1144 MHT_EV_Wakeup_FD1: 8 SOBDMC_HPCM_FD1 + SG_ WakeAlarm0_T_Rq : 7|15@0+ (1,0) [0|32767] "minute" GWM + SG_ WakeAlarm0_B_Typ : 21|1@0+ (1,0) [0|1] "SED" GWM + SG_ PreCondBatt_B_Actl : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ HtrnDcdcDis_B_Rq : 26|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgNowEvnt_B_Stat : 22|1@0+ (1,0) [0|1] "SED" GWM + SG_ CabinDrvSustn_B_Rq : 23|1@0+ (1,0) [0|1] "SED" GWM + SG_ BattChrgTrgtSoC_D_Rq : 35|3@0+ (1,0) [0|7] "Percent" GWM + SG_ CabnEvapSovFront_B_Rq : 38|1@0+ (1,0) [0|1] "SED" GWM + SG_ HeatCoreSovRear_B_Rq : 36|1@0+ (1,0) [0|1] "SED" GWM + SG_ BattChlrSov_B_Rq : 39|1@0+ (1,0) [0|1] "SED" GWM + SG_ CabnEvapSovRear_B_Rq : 37|1@0+ (1,0) [0|1] "SED" GWM + SG_ BrkAppl_D_RqPt : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ HtrnCnnctPwr_B_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ PtcHtr_D_Stat : 18|2@0+ (1,0) [0|3] "SED" GWM,PCM_HEV + SG_ HtrnClntFlw_D_Rq : 20|2@0+ (1,0) [0|3] "SED" GWM + SG_ BattTracDrvSustn_B_Rq : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BattTracClntVlv_B_Rq : 47|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 1141 Cluster_HEV_Data9_FD1: 8 SOBDMC_HPCM_FD1 + SG_ OfbChrgSetSync_D_Stat : 31|2@0+ (1,0) [0|3] "SED" GWM + SG_ PtRmtRprt_D_Rq : 59|4@0+ (1,0) [0|15] "SED" GWM + SG_ MtrTrac2_Tq_Actl : 29|12@0+ (1,-2047) [-2047|2048] "Nm" GWM + SG_ NtfctnConflict1_D_Rq : 53|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 1140 Cluster_HEV_Data7_FD1: 8 SOBDMC_HPCM_FD1 + SG_ RgenEvntLvl_Pc_Dsply : 9|10@0+ (0.1,0) [0|102.1] "percent" GWM + SG_ BrkEvntComplt_B_Dsply : 31|1@0+ (1,0) [0|1] "SED" GWM + SG_ PreCondStat_D_Dsply : 12|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 1139 GWM_HPCM_i_FrP11_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ActChrgStrtYr_No2_Actl : 7|7@0+ (1,2017) [2017|2144] "year" GWM + SG_ BattChrgTrgtLMax_T_Est : 10|11@0+ (1,0) [0|2045] "minute" GWM + SG_ ActChrgStrtYr_No_Actl : 60|5@0+ (1,2010) [2010|2040] "year" GWM + SG_ ActChrgStrtMin_No_Actl : 29|6@0+ (1,0) [0|61] "minute" GWM + SG_ ActChrgStrtHr_No_Actl : 36|5@0+ (1,0) [0|29] "hour" GWM + SG_ ActChrgStrtDay_No_Actl : 44|5@0+ (1,1) [1|31] "days" GWM + SG_ ActChrgStrMnth_No_Actl : 51|4@0+ (1,1) [1|15] "month" GWM + +BO_ 1138 GWM_HPCM_i_FrP10_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ActChrgEndYr_No2_Actl : 7|7@0+ (1,2017) [2017|2144] "year" GWM + SG_ BattChrgTrgtLMin_T_Est : 10|11@0+ (1,0) [0|2045] "minute" GWM + SG_ ActChrgEndYr_No_Actl : 60|5@0+ (1,2010) [2010|2040] "year" GWM + SG_ ActChrgEndMnth_No_Actl : 51|4@0+ (1,1) [1|15] "month" GWM + SG_ ActChrgEndMin_No_Actl : 29|6@0+ (1,0) [0|61] "minute" GWM + SG_ ActChrgEndHr_No_Actl : 36|5@0+ (1,0) [0|29] "hour" GWM + SG_ ActChrgEndDay_No_Actl : 44|5@0+ (1,1) [1|31] "days" GWM + +BO_ 1089 MtrTracData_1_FD1: 8 SOBDMC_HPCM_FD1 + SG_ Mtr2Aout_W_ActlMntr : 45|10@0+ (6.28,-3209) [-3209|3209.16] "radians/sec" GWM + SG_ Inv1_Te_Actl : 63|8@0+ (1,-40) [-40|213] "degC" GWM + SG_ MtrTrac2Coil_Te_Actl : 23|8@0+ (1,-40) [-40|213] "degC" GWM + SG_ MtrTrac2_U_Actl : 39|10@0+ (1,0) [0|1023] "volt" GWM + SG_ MtrTrac2Falt_B_Stat : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ MtrTrac2TeAlrm_B_Stat : 49|1@0+ (1,0) [0|1] "SED" GWM + SG_ Mtr2CntlTeAlrm_B_Stat : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ MtrTrac2Inv_Te_Actl : 31|8@0+ (1,-40) [-40|213] "degC" GWM + SG_ MtrTrac2_I_Actl : 7|16@0+ (0.1,-1000) [-1000|5553.4] "ampere" GWM + +BO_ 1088 PreCond_Hev_Data1_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ChrgTMatch_B_Stat : 55|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgStat_D2_Dsply : 7|4@0+ (1,0) [0|15] "SED" GWM + SG_ HvacPrecondRecirc_D_Rq : 63|2@0+ (1,0) [0|3] "SED" GWM + SG_ HvacPrecondMode2_D_Rq : 51|4@0+ (1,0) [0|15] "SED" GWM + SG_ HvacPrecondBlwr2_D_Rq : 61|4@0+ (1,0) [0|15] "SED" GWM + SG_ HvacPrecondAC_D_Rq : 57|2@0+ (1,0) [0|3] "SED" GWM + SG_ HvacPrecond_Te_Rq : 44|5@0+ (0.5,14.5) [14.5|30] "deg C" GWM + SG_ BattChrgInhbt_D_Rq : 53|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 1040 AC_Compressor_Req_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ElCmprEnbl_B_Rq : 23|1@0+ (1,0) [0|1] "SED" GWM,PCM_HEV + SG_ ElCmpr_N_Rq : 15|8@0+ (50,0) [0|12750] "RPM" GWM + +BO_ 1016 GoTimeSettings_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ChrgGoTElement_B_Dsply : 27|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocIdCurnt_D_Uns : 31|4@0+ (1,0) [0|15] "unitless" GWM + SG_ ChrgGoTTouchEnbl_B_Rq : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgGoTTouch_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgGoTPrcond_D_Stat : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ ChrgGoTNext_D_Stat : 19|4@0+ (1,0) [0|15] "Unitless" GWM + SG_ ChrgGoTMnte_D_Stat : 23|4@0+ (1,0) [0|15] "SED" GWM + SG_ ChrgGoTHr_T_Stat : 15|5@0+ (1,0) [0|29] "hour" GWM + SG_ ChrgGoTExtHtrEnbl_B_Rq : 1|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgGoTExtHtr_B_Stat : 2|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgGoTElement_D_Stat : 6|4@0+ (1,0) [0|15] "Unitless" GWM + SG_ ChrgGoTAllOn_B_Stat : 7|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 1013 ChargeSettings_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ChrgToPcWkndSav_D_Stat : 60|3@0+ (1,0) [0|7] "SED" GWM + SG_ ChrgToPcWkdySav_D_Stat : 63|3@0+ (1,0) [0|7] "SED" GWM + SG_ ChrgProgIdSaved_D_Stat : 51|4@0+ (1,0) [0|15] "Unitless" GWM + SG_ ChrgNowEnbl_B_Saved : 56|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocIdUnsAck_B_Stat : 57|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocIdCurnt_D_Sav : 55|4@0+ (1,0) [0|15] "unitless" GWM + SG_ ChrgPrflWknd_No_Actl : 31|24@0+ (1,0) [0|16777215] "unitless" GWM + SG_ ChrgPrflWkdy_No_Actl : 7|24@0+ (1,0) [0|16777215] "unitless" GWM + +BO_ 1012 Saved_Charge_Location_FD1: 8 SOBDMC_HPCM_FD1 + SG_ ChrgNowCurnt_B_Dsply : 58|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocSaved_B_Dsply : 57|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocLongPostv_B_Sav : 59|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocLongFrct_An_Sav : 47|20@0+ (1E-006,0) [0|1.048575] "degrees" GWM + SG_ ChrgLocLongDeg_An_Sav : 39|8@0+ (1,0) [0|255] "degrees" GWM + SG_ ChrgLocLattPostv_B_Sav : 24|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocLattFrct_An_Sav : 7|20@0+ (1E-006,0) [0|1.048575] "degrees" GWM + SG_ ChrgLocLattDeg_An_Sav : 31|7@0+ (1,0) [0|127] "unitless" GWM + SG_ ChrgLocId_D_Sav : 19|4@0+ (1,0) [0|15] "unitless" GWM + +BO_ 1011 Unsaved_Charge_LocationFD1: 8 SOBDMC_HPCM_FD1 + SG_ ChrgLocLongPostv_B_Uns : 59|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocLongFrct_An_Uns : 47|20@0+ (1E-006,0) [0|1.048575] "degrees" GWM + SG_ ChrgLocLongDeg_An_Uns : 39|8@0+ (1,0) [0|255] "degrees" GWM + SG_ ChrgLocLattPostv_B_Uns : 24|1@0+ (1,0) [0|1] "SED" GWM + SG_ ChrgLocLattFrct_An_Uns : 7|20@0+ (1E-006,0) [0|1.048575] "degrees" GWM + SG_ ChrgLocLattDeg_An_Uns : 31|7@0+ (1,0) [0|127] "unitless" GWM + SG_ ChrgLocId_D_Uns : 19|4@0+ (1,0) [0|15] "unitless" GWM + +BO_ 871 Cluster_HEV_Data4_FD1: 8 SOBDMC_HPCM_FD1 + SG_ BattElecPerf_D_Actl : 55|3@0+ (1,0) [0|7] "SED" GWM + SG_ BattChrgTrgtLPt_T_Est : 2|11@0+ (1,0) [0|2045] "minute" GWM + SG_ BattChrgTrgSocPt_T_Est : 18|11@0+ (1,0) [0|2045] "minute" GWM + SG_ BattChrgCmpltPt_T_Est : 34|11@0+ (1,0) [0|2045] "minute" GWM + +BO_ 786 Cluster_HEV_Data1_FD1: 8 SOBDMC_HPCM_FD1 + SG_ RgenTrip_Pc_Dsply : 33|10@0+ (0.1,0) [0|102.3] "percent" GWM + SG_ RgenTrip_L_Dsply : 55|16@0+ (0.1,0) [0|6553.3] "kilometer" GWM + SG_ ChrgStat_D_Dsply : 36|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 72 Global_PATS_Target2_FD1: 8 SOBDMC_HPCM_FD1 + SG_ immoTarget2Status : 7|3@0+ (1,0) [0|7] "SED" GWM + SG_ immoTarget2Data : 15|40@0+ (1,0) [0|1099511627775] "Encrypted" GWM + SG_ immoTarget2Cmd : 4|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 912 PowerDist_Data1_FD1: 8 GWM + SG_ CabnEvapSovFront_D_Stat : 15|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + SG_ BattChlrSov_D_Stat : 7|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracClntVlv_D_Stat : 28|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + +BO_ 874 PowerDistData_2_FD1: 8 GWM + SG_ AirCondCluOpen_D_Falt : 17|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ AirCondCluLife_D_Falt : 19|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ AirCondCluGnd_D_Falt : 21|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ AirCondClu_D_Stat : 31|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ AirCondCluBatt_D_Falt : 23|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ BattTracShrtGrnd_D_Falt : 9|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracShrtBatt_D_Falt : 11|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracOpnCirct_D_Falt : 13|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracLifeLim_D_Falt : 15|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattChlrShrtGrnd_D_Falt : 1|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattChlrShrtBatt_D_Falt : 3|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattChlrOpnCirct_D_Falt : 5|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattChlrLifeLim_D_Falt : 7|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracLow_D_Falt : 28|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 651 TCU_Send_Signals_FD1: 8 GWM + SG_ TelematicsSrvc_D_St : 47|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + SG_ EmgcyCallMute_D_Stat : 39|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ OfbChrgSetSync_D_Rq : 3|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 529 APIM_Request_Signals_5_FD1: 8 GWM + SG_ OnbChrgToPcWknd_D_Actl : 2|3@0+ (1,0) [0|7] "percent" SOBDMC_HPCM_FD1 + SG_ OnbChrgToPcWkdy_D_Actl : 60|3@0+ (1,0) [0|7] "percent" SOBDMC_HPCM_FD1 + SG_ OnbChrgSetNow_D_Rq : 63|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgSetDelete_B_Rq : 3|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgPrflWknd_No_Rq : 39|24@0+ (1,0) [0|16777215] "unitless" SOBDMC_HPCM_FD1 + SG_ OnbChrgPrflWkdy_No_Rq : 15|24@0+ (1,0) [0|16777215] "unitless" SOBDMC_HPCM_FD1 + SG_ OnbChrgPrflUpdate_B_Rq : 56|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgLocIdUns_B_Rq : 57|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgLocIdTrgt_No_Rq : 7|4@0+ (1,0) [0|15] "Unitless" SOBDMC_HPCM_FD1 + +BO_ 66 Global_PATS_Ctrl_Info2_FD1: 8 GWM + SG_ immoControlData_T2 : 15|40@0+ (1,0) [0|1099511627775] "Encrypted" SOBDMC_HPCM_FD1 + SG_ immoControlCmd_T2 : 7|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + +BO_ 2610971864 PARSEDPhysGWMtoSOBDMC_FD1: 8 GWM + SG_ PARSEDPhysGWM_ECGtoHPCM : 7|29@0+ (1,0) [0|536870911] "unitless" SOBDMC_HPCM_FD1 + +BO_ 2612002008 PARSEDFuncGWM_ECG_FD1: 8 GWM + SG_ PARSEDFuncGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" ABS_ESC,IPMA_ADAS,ECM_Diesel,PCM_HEV,PCM,SOBDMC_HPCM_FD1 + +BO_ 2609923288 OTAPhysGWM_ECGtoSOBDMC_FD1: 8 GWM + SG_ OTAPhysGWM_ECGtoHPCM : 7|29@0+ (1,0) [0|536870911] "unitless" SOBDMC_HPCM_FD1 + +BO_ 2610953432 OTAFuncGWM_ECG_FD1: 8 GWM + SG_ OTAFuncGWM_ECG : 7|29@0+ (1,0) [0|536870911] "unitless" ABS_ESC,IPMA_ADAS,ECM_Diesel,PCM_HEV,PCM,SOBDMC_HPCM_FD1 + +BO_ 2022 TesterPhysicalReqSOBDMC_FD: 64 TSTR + SG_ TesterPhysicalReqSOBDMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" SOBDMC_HPCM_FD1 + +BO_ 1124 APIMGPS_Data_Nav_3_FD1: 8 GWM + SG_ GPS_Vdop : 63|5@0+ (0.2,0) [0|5.8] "unitless" IPMA_ADAS + SG_ GPS_Speed : 47|8@0+ (1,0) [0|253] "MPH" Vector__XXX + SG_ GPS_Sat_num_in_view : 7|5@0+ (1,0) [0|29] "unitless" SOBDMC_HPCM_FD1 + SG_ GPS_MSL_altitude : 15|12@0+ (10,-20460) [-20460|20470] "feet" Vector__XXX + SG_ GPS_Heading : 31|16@0+ (0.01,0) [0|655.33] "Degrees" IPMA_ADAS + SG_ GPS_Hdop : 55|5@0+ (0.2,0) [0|5.8] "unitless" IPMA_ADAS + SG_ GPS_dimension : 2|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + +BO_ 1119 Voltage_Power_Data2_FD1: 8 GWM + SG_ CoolFanDcdc_D_Rq : 5|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ DcdcClntFlw_D_Rq : 7|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 132 GlobalClock_Data_FD1: 8 GWM + SG_ GlblClkYr_No_Actl : 7|8@0+ (1,2000) [2000|2255] "year" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GlblClkScnd_No_Actl : 47|8@0+ (1,0) [0|255] "second" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GlblClkMnte_No_Actl : 39|8@0+ (1,0) [0|255] "minute" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GlblClkHr_No_Actl : 55|8@0+ (1,0) [0|255] "hour" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GlblClkDay_No_Actl : 23|16@0+ (1,0) [0|65535] "julian day" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS + +BO_ 1990 TesterPhysicalReqSODR: 64 TSTR + SG_ TesterPhysicalReqSODR : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 1892 TesterPhysicalReqCCM: 64 TSTR + SG_ TesterPhysicalReqCCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 1798 TesterPhysicalReqIPMA: 64 TSTR + SG_ TesterPhysicalReqIPMA : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 1123 APIMGPS_Data_Nav_2_FD1: 8 GWM + SG_ GpsUtcYr_No_Actl : 55|5@0+ (1,2010) [2010|2040] "Year" IPMA_ADAS + SG_ GpsUtcMnth_No_Actl : 47|4@0+ (1,1) [1|15] "Month" IPMA_ADAS + SG_ GpsUtcDay_No_Actl : 37|5@0+ (1,1) [1|32] "Day" IPMA_ADAS + SG_ GPS_UTC_seconds : 23|6@0+ (1,0) [0|59] "seconds" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_UTC_minutes : 15|6@0+ (1,0) [0|59] "Minutes" IPMA_ADAS + SG_ GPS_UTC_hours : 7|5@0+ (1,0) [0|23] "Hours" IPMA_ADAS + SG_ GPS_Pdop : 31|5@0+ (0.2,0) [0|5.8] "unitless" IPMA_ADAS + SG_ GPS_Compass_direction : 26|4@0+ (1,0) [0|15] "SED" IPMA_ADAS + SG_ GPS_Actual_vs_Infer_pos : 38|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ Gps_B_Falt : 2|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,IPMA_ADAS + +BO_ 1122 APIMGPS_Data_Nav_1_FD1: 8 GWM + SG_ GpsHsphLongEast_D_Actl : 9|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,SOBDMC_HPCM_FD1 + SG_ GpsHsphLattSth_D_Actl : 25|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,SOBDMC_HPCM_FD1 + SG_ GPS_Longitude_Minutes : 46|6@0+ (1,0) [0|61] "Minutes" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_Longitude_Min_dec : 55|14@0+ (0.0001,0) [0|1.6381] "Minutes" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_Longitude_Degrees : 39|9@0+ (1,-179) [-179|330] "Degrees" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_Latitude_Minutes : 15|6@0+ (1,0) [0|61] "Minutes" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_Latitude_Min_dec : 23|14@0+ (0.0001,0) [0|1.6381] "Minutes" SOBDMC_HPCM_FD1,IPMA_ADAS + SG_ GPS_Latitude_Degrees : 7|8@0+ (1,-89) [-89|164] "Degrees" SOBDMC_HPCM_FD1,IPMA_ADAS + +BO_ 1003 Personality_BCM2_Data_FD1: 8 GWM + SG_ PersRecallSrc_D_Actl : 63|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ Pers4Key_D_Stat : 49|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Pers3Key_D_Stat : 41|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Pers2Key_D_Stat : 43|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Pers1Key_D_Stat : 12|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ EmPrflNo_D_Stat : 52|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ EmPrflKeyAssoc_D_Stat : 55|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ VehKeyActv_D_Stat : 47|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ PersNoPos_D_Actl : 18|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ PersSetupRestr_D_Actl : 21|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PersSetupAccessCtrl : 19|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PersSetup_No_Actl : 31|16@0+ (1,0) [0|65535] "Number" Vector__XXX + SG_ PersConflict_D_Actl : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AssocConfirm_D_Actl : 15|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ RecallEvent_No_Cnt : 7|8@0+ (1,0) [0|255] "Counts" IPMA_ADAS + SG_ PersNo_D_Actl : 10|3@0+ (1,0) [0|7] "SED" ABS_ESC,IPMA_ADAS + +BO_ 994 Personality_APIM_Data_FD1: 8 GWM + SG_ PersStore_D_Rq : 36|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ Pers4OptIn_B_Stats : 43|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Pers3OptIn_B_Stats : 33|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Pers2OptIn_B_Stats : 32|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Pers1OptIn_B_Stats : 44|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CtrStkPersIndex_D_Actl : 39|3@0+ (1,0) [0|7] "SED" ABS_ESC,IPMA_ADAS + SG_ CtrStkFeatNoActl : 23|16@0+ (1,0) [0|65535] "Undefined" ABS_ESC,IPMA_ADAS + SG_ CtrStkFeatConfigActl : 7|16@0+ (1,0) [0|65535] "Undefined" ABS_ESC,IPMA_ADAS + SG_ CtrStkDsplyOp_D_Rq : 47|3@0+ (1,0) [0|7] "SED" ABS_ESC,IPMA_ADAS + +BO_ 778 ParkAid_Aud_Warn_CmdM_FD1: 8 GWM + SG_ PrkAidFront_D_RqDrv : 5|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ PrkAidAcsyRear_D_RqDrv : 13|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ PrkAidAcsyFront_D_RqDrv : 15|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ Cta_D_Rq : 1|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ PrkAidRear_D_RqDrv : 3|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ SteEffort_D_Rq : 10|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ Sod_D_Rq : 7|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + +BO_ 549 IPC_Infotainment_FD1: 8 GWM + SG_ Veh_V2_Dsply : 39|9@0+ (1,0) [0|511] "unitless" IPMA_ADAS + SG_ IPC_MyKeyVolLimit_St : 9|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ HdcOn_B_Rq : 19|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ IPC_Attn_Info_Audio : 4|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ BeltminderAudioMute : 6|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Power_Up_Chime_Modules : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Chime_Source : 15|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ IPC_New_Attn_Event : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 551 APIM_Request_Signals_1_FD1: 8 GWM + SG_ PmCabnLvl_D_Stat : 36|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ PmCabn_D_Stat : 38|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Cntr_Plg_Mode_Cmd : 39|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ChrgCrdLckEnbl_B_Stat : 47|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PwRnngBoardT_D_Rq : 25|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PwRnngBoardSwtch_D_Rq : 27|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PwRnngBoardMde_D_Rq : 29|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Btt_L_Actl2 : 55|7@0+ (0.1,0) [0|12.5] "meter" IPMA_ADAS + SG_ Rba_D_Rq : 31|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ EmPrflNo_D_Rq : 61|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ EmPrflButtnAssoc_D_Rq : 33|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ EmPrflKeyAssoc_D_Rq : 46|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ Em_D_Stat : 63|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ChrgOvrdExitScrn_D_Rq : 58|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 1010 IPMA_Data3: 8 IPMA_ADAS + SG_ MbdblActv_B_RqAdas : 48|1@0+ (1,0) [0|1] "SED" GWM + SG_ CbdblActv_B_RqAdas : 49|1@0+ (1,0) [0|1] "SED" GWM + SG_ AdbUrbanArea_B_Stat : 40|1@0+ (1,0) [0|1] "SED" GWM + SG_ LightRng_L_Max : 55|6@0+ (2,0) [0|126] "meter" GWM + SG_ LightPathOffst_L_Actl : 31|10@0+ (0.01,-5.12) [-5.12|5.11] "meter" GWM + SG_ LightPath_An_Actl : 12|11@0+ (0.0005,-0.5) [-0.5|0.5235] "radians" GWM + SG_ LightCurv_NoRate_Actl : 37|13@0+ (2.5E-007,-0.001024) [-0.001024|0.00102375] "1/meter" GWM + SG_ LightCurv_No_Actl : 7|11@0+ (2E-005,-0.02) [-0.02|0.02094] "1/meter" GWM + +BO_ 1070 Battery_Mgmt_24V_FD1: 8 GWM + SG_ BattULo24_D_Falt : 55|2@0+ (1,0) [0|3] "SED" PCM + SG_ BattULo24_Te_Actl : 47|7@0+ (1,-40) [-40|86] "degC" PCM + SG_ BattULo24State_D_Qlty : 25|2@0+ (1,0) [0|3] "SED" PCM + SG_ BattULo24Soc_Pc_Actl : 39|7@0+ (1,0) [0|127] "percent" PCM + SG_ BattULo24_I_Actl : 23|14@0+ (0.0625,-512) [-512|511.875] "ampere" PCM + SG_ BattULo24_B_Falt : 8|1@0+ (1,0) [0|1] "SED" PCM + SG_ BattULo24_Ah_DeltaRide : 7|15@0+ (0.0078125,-100) [-100|155.9921875] "amperehour" PCM + +BO_ 1186 Driveline_Data_2: 8 TCCM + SG_ SelDrvMdeAwd2_D_Stat : 31|5@0+ (1,0) [0|31] "SED" ABS_ESC,GWM + SG_ RearDiffLckMsg_D_Rq : 20|3@0+ (1,0) [0|7] "SED" GWM + SG_ RearDiffLckLamp_D_Rq : 11|2@0+ (1,0) [0|3] "SED" VDM,GWM,ABS_ESC + SG_ RearDiffLck_Tq_Actl : 7|12@0+ (1,0) [0|4093] "Nm" ABS_ESC,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ RearDiffFalt_D_Stat : 23|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + SG_ LsdSrvcRqd_B_Rq : 21|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 611 Driveline_Data_1: 8 TCCM + SG_ AwdSys_D_Stat : 27|2@0+ (1,0) [0|3] "SED" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AwdStat_D_RqDsply : 63|5@0+ (1,0) [0|31] "SED" TCM_DSL,ABS_ESC,GWM + SG_ AwdLck_D_Stat : 31|4@0+ (1,0) [0|15] "SED" TCM_DSL,GWM,ABS_ESC + SG_ AwdSrvcRqd_B_Rq : 0|1@0+ (1,0) [0|1] "SED" GWM,PCM,PCM_HEV,TCM_DSL,ABS_ESC + SG_ NtrlTowAvail_B_Stat : 4|1@0+ (1,0) [0|1] "SED" GWM + SG_ AwdLck_Tq_Rq : 15|12@0+ (1,0) [0|4093] "Nm" PCM_HEV,GWM,ABS_ESC + SG_ TrnAout_Tq_RqMx : 47|13@0+ (1,-1250) [-1250|6941] "Nm" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AwdOffRoadMode_D_Stats : 25|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ AwdLoLamp_D_RqDsply : 35|2@0+ (1,0) [0|3] "SED" GWM + SG_ AwdHiLamp_D_RqDsply : 19|2@0+ (1,0) [0|3] "SED" GWM,ABS_ESC + SG_ AwdAutoLamp_D_RqDsply : 17|2@0+ (1,0) [0|3] "SED" GWM,ABS_ESC + SG_ Awd2wdLamp_D_RqDsply : 2|2@0+ (1,0) [0|3] "SED" GWM + SG_ AwdRnge_D_Actl : 7|3@0+ (1,0) [0|7] "SED" VDM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,ABS_ESC,GWM,IPMA_ADAS + +BO_ 1461 PSCM_AutoSar_NetwrkMgmt: 8 PSCM + SG_ PSCM_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + SG_ PSCM_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" GWM,ABS_ESC + +BO_ 1047 TrailerAid_Data2: 8 PSCM + SG_ TrlrAnOffst_An2_Calc : 39|8@0+ (0.5,-64) [-64|63.5] "degrees" IPMA_ADAS + SG_ TrlrAn_An_WarnCalc : 28|5@0+ (1,0) [0|31] "degrees" IPMA_ADAS + SG_ TrlrAn_An_MxCalc : 55|7@0+ (1,0) [0|127] "degrees" IPMA_ADAS + SG_ TrlrAidTrlrId_No_Rq : 63|4@0+ (1,0) [0|15] "unitless" GWM + SG_ TrlrAidTrgtId_No_Rq : 44|5@0+ (1,0) [0|31] "unitless" IPMA_ADAS + SG_ TrlrAidSetup_D2_Stat : 47|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ TrlrAidEnbl_D2_Stat : 31|3@0+ (1,0) [0|7] "SED" ABS_ESC,IPMA_ADAS,GWM,PCM,ECM_Diesel + SG_ TrlrAidMsgTxt_D2_Rq : 14|6@0+ (1,0) [0|63] "SED" IPMA_ADAS,GWM,ABS_ESC + SG_ EsaOn_B_Stat : 23|1@0+ (1,0) [0|1] "SED" GWM + SG_ HitchToTrlrAxle_L_Calc : 7|9@0+ (0.0254,0) [0|12.9794] "meter" IPMA_ADAS + SG_ SelDrvMdeSte_D_Stat : 17|2@0+ (1,0) [0|3] "SED" ABS_ESC + +BO_ 972 Lane_Assist_Data3_FD1: 8 PSCM + SG_ LatCtlSte_D_Stat : 18|3@0+ (1,0) [0|7] "SED" IPMA_ADAS,GWM + SG_ LatCtlLim_D_Stat : 33|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ LatCtlCpblty_D_Stat : 39|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ LatCtlCpbltyDStat_No_Cnt : 37|4@0+ (1,0) [0|15] "Unitless" IPMA_ADAS,GWM + SG_ LatCtlCpbltyDStat_No_Cs : 47|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,GWM + SG_ TrlrAn_An_TrgtCalc : 31|8@0+ (1,-128) [-128|127] "degrees" IPMA_ADAS + SG_ LsmcBrkDecelEnbl_D_Rq : 1|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ TjaHandsOnCnfdnc_B_Est : 3|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ LsmcBrk_Tq_Rq : 15|13@0+ (4,0) [0|32764] "Nm" ABS_ESC + +BO_ 130 EPAS_INFO: 8 PSCM + SG_ TrlrHitchLamp_D_Rqst : 24|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ VehVTrlrAid_B_Rq : 25|1@0+ (1,0) [0|1] "SED" PCM_HEV,GWM,ECM_Diesel,PCM + SG_ Veh_V_RqMxTrlrAid : 63|8@0+ (0.1,0) [0|25.5] "km/h" PCM_HEV,GWM,ECM_Diesel,PCM + SG_ DrvSteActv_B_Stat : 10|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ DrvSte_Tq_Actl : 47|8@0+ (0.0625,-8) [-8|7.8125] "Nm" GWM,ABS_ESC + SG_ SteMdule_D_Stat : 55|3@0+ (1,0) [0|7] "SED" GWM + SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6) [6|18.7] "Volts" GWM + SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64) [-64|140.7] "Amps" GWM + SG_ EPAS_Failure : 9|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8) [-8|7.8125] "Nm" GWM,IPMA_ADAS,ABS_ESC + SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|3] "SED" GWM,IPMA_ADAS + +BO_ 126 SteeringPinion_Data: 8 PSCM + SG_ StePw_B_Rq : 23|1@0+ (1,0) [0|1] "SED" GWM,ECM_Diesel,PCM + SG_ StePinRelInit_An_Sns : 7|16@0+ (0.1,-3200) [-3200|3353.3] "degrees" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM + SG_ StePinCompAnEst_D_Qf : 43|2@0+ (1,0) [0|3] "SED" VDM,CMR_DSMC,IPMA_ADAS,TCM_DSL,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM,GWM + SG_ StePinComp_An_Est : 22|15@0+ (0.1,-1600) [-1600|1676.7] "degrees" VDM,CMR_DSMC,IPMA_ADAS,TCM_DSL,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM,GWM + SG_ StePinAn_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless" VDM,ABS_ESC,TCCM,GWM + SG_ StePinAn_No_Cnt : 47|4@0+ (1,0) [0|15] "unitless" VDM,TCCM,GWM,ABS_ESC + +BO_ 1430 ABS_AutoSar_NetworkMgt: 8 ABS_ESC + SG_ ABS_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ABS_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" GWM + +BO_ 1200 ABS_BrkBst_Data: 8 ABS_ESC + SG_ BrkHold_D_Stat : 34|3@0+ (1,0) [0|7] "SED" ECM_Diesel,GWM,IPMA_ADAS,PCM,PCM_HEV + SG_ HsaTrnAout_Tq_Rq : 23|16@0+ (4,-131072) [-131072|131060] "Nm" GWM + SG_ BrkBstrVac_P_Actl : 7|7@0+ (8,0) [0|1008] "Millibar" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ YawStabilityIndex : 0|9@0+ (1,-256) [-256|255] "%" VDM,IPMA_ADAS,PSCM,GWM + SG_ BrkTot_Tq_RqDrv : 47|13@0+ (4,0) [0|32760] "Nm" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM,TCCM,PSCM + SG_ BrkTotTqRqDrv_No_Cnt : 39|4@0+ (1,0) [0|15] "unitless" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ BrkTotTqRqDrv_No_Cs : 63|8@0+ (1,0) [0|255] "unitless" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ HsaStat_D_Dsply : 50|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 1102 SelectDriveModeData2: 8 ABS_ESC + SG_ SelDrvMdePos12_D_Stat : 34|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos11_D_Stat : 45|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos10_D_Stat : 55|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos09_D_Stat : 50|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos08_D_Stat : 61|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos07_D_Stat : 39|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos06_D_Stat : 29|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos05_D_Stat : 18|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos04_D_Stat : 23|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos03_D_Stat : 13|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos02_D_Stat : 2|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePos01_D_Stat : 7|5@0+ (1,0) [0|31] "SED" GWM + +BO_ 1056 SelectDriveModeData: 8 ABS_ESC + SG_ AutoEpbMsgTxt_D_Rq : 58|3@0+ (1,0) [0|7] "SED" GWM + SG_ AutoEpbDsply_D_Stat : 37|2@0+ (1,0) [0|3] "SED" GWM + SG_ AutoEpbButtnOn_B_Stat : 48|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos12_B_Avail : 54|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos11_B_Avail : 55|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos10_B_Avail : 40|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos09_B_Avail : 41|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos08_B_Avail : 42|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos07_B_Avail : 43|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos06_B_Avail : 44|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos05_B_Avail : 45|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos04_B_Avail : 46|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos03_B_Avail : 47|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos02_B_Avail : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ SelDrvMdePos01_B_Avail : 24|1@0+ (1,0) [0|1] "SED" GWM + SG_ ActvDrvMde_D2_Stat : 53|5@0+ (1,0) [0|31] "SED" IPMA_ADAS,GWM + SG_ SelDrvMde_D2_Rq : 63|5@0+ (1,0) [0|31] "SED" GWM + SG_ SelDrvMdePt_D_Rq : 31|5@0+ (1,0) [0|31] "SED" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ SelDrvMdeMsgTxt_D_Rq : 19|4@0+ (1,0) [0|15] "SED" GWM + SG_ SelDrvMde_D_Stat : 26|2@0+ (1,0) [0|3] "SED" GWM + SG_ AwdMde_D_RqBrk : 35|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 1054 BrakeSysFeatures_3: 8 ABS_ESC + SG_ AirDamUp_B_RqBrk : 32|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM_HEV,PCM + SG_ RbaBrk_D_Stat : 63|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ SelDrvMdeChassis2_D_Rq : 45|5@0+ (1,0) [0|31] "SED" PSCM,GWM + SG_ TrailCtl_D_Stat : 55|3@0+ (1,0) [0|7] "SED" TCCM,PCM,GWM + SG_ TrailCtlMsgTxt_D_Rq : 52|4@0+ (1,0) [0|15] "SED" GWM + SG_ BrkBstrVac_D_Stat : 18|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ DrvSlipCtlOffLamp_D_Rq : 23|2@0+ (1,0) [0|3] "SED" GWM + SG_ DrvSlipCtlMdeMsg_D_Rq : 13|5@0+ (1,0) [0|31] "SED" GWM + SG_ AutoHoldMsgTxt_D_Rq : 4|4@0+ (1,0) [0|15] "SED" GWM + SG_ CtaBrk_D_Stat : 47|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ SelDrvMdeAwd_D_Rq : 29|5@0+ (1,0) [0|31] "SED" TCCM,GWM + SG_ AutoHoldSwMde_B_Ind : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ AutoHoldMde_D_Ind : 15|2@0+ (1,0) [0|3] "SED" GWM + SG_ SelDrvMdeChassis_D_Rq : 39|5@0+ (1,0) [0|31] "SED" VDM,GWM + SG_ ApaBrk_D_Stat : 34|2@0+ (1,0) [0|3] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,GWM + +BO_ 1046 BrakeSysFeatures_2: 8 ABS_ESC + SG_ HsaMde_D_Mem : 33|2@0+ (1,0) [0|3] "SED" GWM + SG_ BrkBstrVac_B_Rq : 27|1@0+ (1,0) [0|1] "Discrete" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ HdcMde_D_Actl : 31|3@0+ (1,0) [0|7] "SED" GWM + SG_ RearDiffLck_Tq2_RqMx : 51|12@0+ (4,0) [0|16376] "Nm" GWM + SG_ TRLR_SWAY_EVNT_IN_PROG : 25|1@0+ (1,0) [0|1] "SED" GWM + SG_ TRLR_SWAY_CONFIG_STAT : 26|1@0+ (1,0) [0|1] "SED" GWM + SG_ TCMode : 15|1@0+ (1,0) [0|1] "SED" VDM,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ DrvSlipCtlLamp_D_Rq : 42|2@0+ (1,0) [0|3] "SED" VDM,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ Abs_B_Falt : 5|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ DrvSlipCtlMde_D_Ind : 44|2@0+ (1,0) [0|3] "SED" TCCM,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ DrvAntiLckLamp_D_Rq : 55|2@0+ (1,0) [0|3] "SED" ECM_Diesel,GWM,IPMA_ADAS + SG_ BpedMove_No_Cnt : 3|4@0+ (1,0) [0|15] "Unitless" ECM_Diesel,GWM + SG_ StabCtlBrk_B_Avail : 4|1@0+ (1,0) [0|1] "SED" VDM,TCCM,GWM + SG_ DrvHdcWarnInfo_D_Rq : 35|2@0+ (1,0) [0|3] "SED" GWM + SG_ DrvHdcMsg_D_Rq : 10|3@0+ (1,0) [0|7] "SED" GWM + SG_ DrvHdcLampInfo_D_Rq : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ BpedMove_D_Actl : 7|2@0+ (1,0) [0|3] "SED" ECM_Diesel,GWM + SG_ ChimeBrk_B_Rq : 14|1@0+ (1,0) [0|1] "SED" GWM + SG_ BrkLamp_B_Rq : 13|1@0+ (1,0) [0|1] "SED" GWM + SG_ HILL_DESC_MC : 47|3@0+ (1,0) [0|7] "SED" GWM + SG_ RearDiffElckrOpen_B_Rq : 40|1@0+ (1,0) [0|1] "SED" GWM,TCCM + +BO_ 1045 BrakeSysFeatures: 8 ABS_ESC + SG_ VehStab_D_Stat : 55|4@0+ (1,0) [0|15] "SED" TCCM,PCM_HEV,PCM,GWM + SG_ BrkFluidLvl_D_Stat : 17|2@0+ (1,0) [0|3] "SED" GWM + SG_ LsmcBrkDecel_D_Stat : 39|3@0+ (1,0) [0|7] "SED" PSCM,GWM + SG_ VehYawNonLin_W_Rq : 51|12@0+ (0.03663,-75) [-75|74.92659] "deg/s" ECM_Diesel,GWM + SG_ VehYawLin_W_Rq : 35|12@0+ (0.03663,-75) [-75|74.92659] "deg/s" ECM_Diesel,GWM + SG_ VehVActlBrk_No_Cs : 31|8@0+ (1,0) [0|255] "Unitless" TCCM,CMR_DSMC,SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV,PSCM,TCM_DSL,GWM,IPMA_ADAS + SG_ Veh_V_ActlBrk : 7|16@0+ (0.01,0) [0|655.35] "kph" TCCM,CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,PSCM,TCM_DSL,GWM + SG_ VehVActlBrk_No_Cnt : 21|4@0+ (1,0) [0|15] "Unitless" TCCM,CMR_DSMC,SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV,PSCM,TCM_DSL,GWM,IPMA_ADAS + SG_ VehVActlBrk_D_Qf : 23|2@0+ (1,0) [0|3] "SED" TCCM,CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,PSCM,TCM_DSL,GWM + +BO_ 1044 BrakeSnData_6: 8 ABS_ESC + SG_ StePinOffst_An_Est : 7|16@0+ (0.1,-3200) [-3200|3353.3] "degrees" GWM,PSCM + SG_ StePinOffst_No_Cs : 31|8@0+ (1,0) [0|255] "Unitless" GWM,PSCM + SG_ StePinOffst_No_Cnt : 21|4@0+ (1,0) [0|15] "unitless" GWM,PSCM + SG_ StePinOffst_D_Stat : 23|2@0+ (1,0) [0|3] "SED" GWM,PSCM + +BO_ 1042 TrailerBrakeData: 8 ABS_ESC + SG_ VehRol_An_Dsply : 31|7@0+ (1,-64) [-64|61] "degrees" GWM + SG_ VehPtch_An_Dsply : 23|7@0+ (1,-64) [-64|61] "degrees" GWM,TCCM + SG_ TrlrBrk_Pc_Rq : 14|7@0+ (1,0) [0|127] "percent" GWM + +BO_ 535 WheelSpeed: 8 ABS_ESC + SG_ WhlRr_W_Meas : 54|15@0+ (0.01,0) [0|327.65] "rad/s" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + SG_ WhlRl_W_Meas : 38|15@0+ (0.01,0) [0|327.65] "rad/s" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + SG_ WhlFr_W_Meas : 22|15@0+ (0.01,0) [0|327.65] "rad/s" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + SG_ WhlFl_W_Meas : 6|15@0+ (0.01,0) [0|327.65] "rad/s" VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + +BO_ 534 WheelData: 8 ABS_ESC + SG_ BrkObdData_No_Actl : 63|8@0+ (1,0) [0|255] "unitless" SOBDMC_HPCM_FD1,GWM + SG_ BrkObdIndex_No_Actl : 53|6@0+ (1,0) [0|63] "unitless" SOBDMC_HPCM_FD1,GWM + SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,GWM,PSCM + SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM,ECM_Diesel,PCM_HEV,PSCM + SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM,PSCM,ECM_Diesel,PCM_HEV + SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM,ECM_Diesel,PCM_HEV,PSCM + SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM,ECM_Diesel,PCM_HEV,PSCM + SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,GWM,PSCM + SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,GWM,PSCM + SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,GWM,PSCM + +BO_ 532 DesiredTorqBrk_2: 8 ABS_ESC + SG_ RgenTqFalt_B_Actl : 59|1@0+ (1,0) [0|1] "SED" GWM,PCM_HEV + SG_ RgenBrkDynoMde_B_Actl : 58|1@0+ (1,0) [0|1] "SED" GWM,PCM_HEV + SG_ PrplWhlTqRqMn_No_Cs : 55|8@0+ (1,0) [0|255] "Unitless" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ PrplWhlTot_Tq_RqMn : 7|16@0+ (4,-131072) [-131072|131068] "Nm" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ PrplWhlTqRqMn_No_Cnt : 63|4@0+ (1,0) [0|15] "Unitless" GWM,ECM_Diesel,PCM,PCM_HEV + +BO_ 531 DesiredTorqBrk: 8 ABS_ESC + SG_ VehStop_D_Stat : 28|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM + SG_ TracCtlPtActv_B_Actl : 31|1@0+ (1,0) [0|1] "SED" VDM,IPMA_ADAS,TCCM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + SG_ LscmbbMntr_B_Err : 17|1@0+ (1,0) [0|1] "SED" GWM + SG_ LscmbbBrkDis_B_Actl : 19|1@0+ (1,0) [0|1] "SED" GWM + SG_ LscmbbDeny_B_ActlBrk : 18|1@0+ (1,0) [0|1] "SED" GWM + SG_ PrkBrkYwLamp_D_Rq : 38|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkBrkRedLamp_D_Rq : 30|2@0+ (1,0) [0|3] "SED" GWM + SG_ LscmbbBrkDecel_B_Actl : 20|1@0+ (1,0) [0|1] "SED" GWM + SG_ AbsActv_B_Actl : 45|1@0+ (1,0) [0|1] "SED" VDM,SOBDMC_HPCM_FD1,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,PSCM,GWM + SG_ StabCtlBrkActv_B_Actl : 23|1@0+ (1,0) [0|1] "SED" VDM,IPMA_ADAS,PCM,PCM_HEV,TCM_DSL,PSCM,TCCM,ECM_Diesel,GWM + SG_ CmbbBrkPrchg_B_Actl : 59|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ CmbbBrkDecel_B_Actl : 58|1@0+ (1,0) [0|1] "SED" CMR_DSMC,IPMA_ADAS,GWM + SG_ CmbbBaSensInc_B_Actl : 57|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ AccBrkWarm_B_Actl : 63|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ AccBrkTotTqMn_B_Actl : 62|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ AccBrkPrchgActv_B_Actl : 61|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ AccBrkDis_B_Actl : 44|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ AccBrkDeny_B_Actl : 42|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ AccBrkActv_B_Actl : 43|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,ECM_Diesel,GWM + SG_ PrplDrgCtlActv_B_Actl : 46|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + SG_ PrplWhlTot_Tq_RqMx : 7|16@0+ (4,-131072) [-131072|131068] "Nm" ECM_Diesel,PCM,PCM_HEV,TCCM,GWM + SG_ LscmbbBaSensInc_B_Actl : 21|1@0+ (1,0) [0|1] "SED" GWM + SG_ CmbbBrkDis_B_Actl : 56|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,PSCM,GWM + SG_ CmbbDeny_B_ActlBrk : 60|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,PSCM,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ CcDis_B_Cmd : 47|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,GWM + SG_ VehLongOvrGnd_A_Est : 41|10@0+ (0.035,-17.9) [-17.9|17.835] "m/s^2" VDM,IPMA_ADAS,TCCM,GWM + SG_ LscmbBrkPrchg_B_Actl : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccStopActv_B_ActlBrk : 22|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ AccDis_B_ActlEpb : 32|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ PrkBrkMsgTxt_D_Rq : 36|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkBrkStatus : 26|3@0+ (1,0) [0|7] "SED" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + +BO_ 136 ActiveFronSteering_Req: 8 ABS_ESC + SG_ SteWhlBrkOffst_An_Rq : 7|15@0+ (0.1,-1600) [-1600|1676.5] "degrees" GWM + SG_ SteWhlBrkAnRq_No_Cs : 23|8@0+ (1,0) [0|255] "Unitless" GWM + SG_ SteWhlBrkAnRq_No_Cnt : 31|4@0+ (1,0) [0|15] "Unitless" GWM + +BO_ 125 BrakeSnData_4: 8 ABS_ESC + SG_ VehRolComp_W_Actl : 51|12@0+ (0.03663,-75) [-75|74.92659] "degrees/sec" VDM,GWM + SG_ VehVertComp_A_Actl : 45|10@0+ (0.035,-17.9) [-17.9|17.835] "m/s^2" VDM,PSCM,GWM + SG_ BrkTotTqRqArb_No_Cs : 23|8@0+ (1,0) [0|255] "Unitless" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ BrkTotTqRqArb_No_Cnt : 31|4@0+ (1,0) [0|15] "Unitless" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ BrkTot_Tq_RqArb : 4|13@0+ (4,0) [0|32756] "Nm" VDM,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,PSCM,GWM + SG_ BrkTot_Tq_Actl : 27|13@0+ (4,0) [0|32756] "Nm" ECM_Diesel,PCM,PCM_HEV,PSCM,GWM,TCCM + SG_ HsaStat_D_Actl : 7|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + +BO_ 119 BrakeSnData_3: 8 ABS_ESC + SG_ VehTrvlDir_D_Stat : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ VehOverGnd_V_Est : 7|16@0+ (0.01,0) [0|655.33] "kph" VDM,IPMA_ADAS,TCCM,PSCM,GWM + SG_ VehLongComp_A_Actl : 49|10@0+ (0.035,-17.9) [-17.9|17.835] "m/s^2" VDM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,PSCM,GWM + SG_ VehLatComp_A_Actl : 43|10@0+ (0.035,-17.9) [-17.9|17.835] "m/s^2" VDM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,PSCM,TCCM,GWM + SG_ VehYawComp_W_Actl : 19|12@0+ (0.03663,-75) [-75|74.92659] "deg/s" VDM,TCCM,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,PSCM,GWM + +BO_ 118 BrakeSnData_5: 8 ABS_ESC + SG_ BrkCtrFnd_B_Stat : 39|1@0+ (1,0) [0|1] "SED" GWM + SG_ AwdLck_Tq_RqMx : 35|12@0+ (1,0) [0|4095] "Nm" GWM,TCCM + SG_ AwdLck_Tq_RqMn : 51|12@0+ (1,0) [0|4095] "Nm" GWM,TCCM + SG_ DrvSte_D_Stat : 19|4@0+ (1,0) [0|15] "SED" PSCM,GWM + SG_ DrvSte_Tq_Rq : 31|8@0+ (0.0625,-8) [-8|7.8125] "Nm" PSCM,GWM + SG_ EmgcyBrkLamp_D_Rq : 21|2@0+ (1,0) [0|3] "SED" GWM + SG_ StopLamp_B_RqBrk : 7|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 73 Global_PATS_SubTarget: 8 ABS_ESC + SG_ immoSubTarget1Data_T1 : 15|40@0+ (1,0) [0|1099511627775] "Encrypted" ECM_Diesel,GWM,PCM,PCM_HEV + SG_ immoSubTarget1Cmd_T1 : 7|3@0+ (1,0) [0|7] "SED" ECM_Diesel,GWM,PCM,PCM_HEV + +BO_ 1034 GGCC_Config_Mgmt_ID_1_FD1: 8 GWM + SG_ VehicleGGCCData : 7|64@0+ (1,0) [0|1.84467E+019] "mixed" VDM,CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,ECM_Diesel,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + +BO_ 1440 TCM_AutoSar_NetworkMgt: 8 TCM_DSL + SG_ TCM_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCM_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" Vector__XXX + +BO_ 561 TransGearData_2: 8 TCM_DSL + SG_ TrnMsgTxt2_D_Rq : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ TrnMsgTxt_D_Rq : 23|4@0+ (1,0) [0|15] "SED" GWM + +BO_ 330 TransData_3: 8 TCM_DSL + SG_ TrnAout_W_ActlUnfilt : 22|15@0+ (0.1,0) [0|3276.5] "rad/s" ECM_Diesel,GWM + +BO_ 1090 MtrTrac_Data2_FD1: 8 PCM_HEV + SG_ Mtr2State_D_ActlMntr : 31|3@0+ (1,0) [0|7] "SED" GWM + SG_ Inv1Ain_I_ActlMntr : 7|15@0+ (0.1,-1000) [-1000|2276.5] "ampere" GWM + SG_ HybVehMde_D_ActlMntr : 20|3@0+ (1,0) [0|7] "SED" GWM + SG_ ChrgStat_D_ActlMntr : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ VehElRnge_L_Dsply : 28|12@0+ (0.1,0) [0|409.3] "kilometer" GWM + +BO_ 870 Cluster_HEV_Data3_FD1: 8 PCM_HEV + SG_ EngMdeMsgTxt_D_Rq : 12|3@0+ (1,0) [0|7] "SED" GWM + SG_ EffRgenThres_Pc_Dsply : 9|10@0+ (0.1,-102.3) [-102.3|0] "percent" GWM + SG_ RngPerChrgInst_L_Dsply : 45|12@0+ (0.1,0) [0|409.3] "km" GWM + +BO_ 869 Cluster_HEV_Data2: 8 PCM_HEV + SG_ PwrFlowTxt_D_Dsply : 21|4@0+ (1,0) [0|15] "SED" GWM + SG_ EngOnMsg2_D_Dsply : 54|5@0+ (1,0) [0|31] "SED" GWM + SG_ EngOnMsg1_D_Dsply : 38|5@0+ (1,0) [0|31] "SED" GWM + SG_ FuelMaintMde_D_Dsply : 23|2@0+ (1,0) [0|3] "SED" GWM + SG_ EffWhlLvl2_Pc_Dsply : 17|10@0+ (0.2,-102.2) [-102.2|102.4] "percent" GWM + SG_ EffWhlThres_Pc_Dsply : 49|10@0+ (0.1,0) [0|102.3] "percent" GWM + SG_ EngPwLvl_Pc_Dsply : 1|10@0+ (0.1,0) [0|102.3] "percent" GWM + SG_ EngActv_B_Dsply : 2|1@0+ (1,0) [0|1] "SED" GWM + SG_ EffWhlThresOn_B_Dsply : 3|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 606 HEV_Powertrain_Data8_FD1: 8 PCM_HEV + SG_ ElVehLaterMde_D_Stat : 7|2@0+ (1,0) [0|3] "SED" GWM + SG_ ElVehNowMde_D_Stat : 5|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 374 PowertrainData_10: 8 PCM + SG_ GearEngag_D_Actl : 47|3@0+ (1,0) [0|7] "SED" GWM + SG_ TrnRng_D_Rq : 27|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1,ABS_ESC,IPMA_ADAS,PSCM,ECM_Diesel,GWM + SG_ TrnPrkSys_D_Actl : 31|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1,ABS_ESC,IPMA_ADAS,ECM_Diesel,GWM + SG_ GearLvr_D_ActlDrv : 7|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1,ABS_ESC,IPMA_ADAS,TCCM,ECM_Diesel,GWM + SG_ GearPos_No_Cs : 23|8@0+ (1,0) [0|255] "unitless" SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,ECM_Diesel,GWM + SG_ GearPos_D_Trg : 15|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,TCCM,ECM_Diesel,GWM + SG_ GearPos_No_Cnt : 11|4@0+ (1,0) [0|15] "unitless" SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,ECM_Diesel,GWM + SG_ TrnIgnOffDly_T_Rq : 39|8@0+ (4,0) [0|1020] "ms" GWM + SG_ GearPos_D_Actl : 3|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1,PSCM,IPMA_ADAS,ABS_ESC,ECM_Diesel,GWM + +BO_ 603 HEV_Powertrain_Data2: 8 PCM_HEV + SG_ WhlDirAvgDrv_D_Actl : 6|2@0+ (1,0) [0|3] "SED" ABS_ESC,IPMA_ADAS,GWM + SG_ PrplTqMnRgen_B_Actl : 7|1@0+ (1,0) [0|1] "SED" ABS_ESC,GWM + SG_ BattTracCnnct_D_Rq : 20|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 602 HEV_Powertrain_Data: 8 PCM_HEV + SG_ HtrnWarnLamp_B_Dsply : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ HybPwLimOn_B_Stat : 7|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwPckTqRdy_B_Dsply : 31|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 1152 HEV_Powertrain_Data6: 8 PCM_HEV + SG_ BattTracDiagClr_B_Stat : 2|1@0+ (1,0) [0|1] "SED" GWM + SG_ EngTeHi_B_Actl : 5|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,GWM + SG_ DcdcOn_B_Rq : 6|1@0+ (1,0) [0|1] "SED" GWM + SG_ ULoBattSpprtSustn_B_Rq : 7|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,GWM + SG_ VehElEff_No_Avg : 15|7@0+ (10,-100) [-100|1150] "watt*hr/km" SOBDMC_HPCM_FD1,GWM + +BO_ 872 Cluster_HEV_Data5: 8 PCM_HEV + SG_ PlgActvArb_B_Dsply : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ HybMdeStat_D_Dsply : 39|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1,GWM + +BO_ 560 TransGearData: 8 TCM_DSL + SG_ SelDrvMdeSwtch_D_Stat3 : 15|2@0+ (1,0) [0|3] "SED" GWM,ABS_ESC + SG_ TrnSrvcRqd_B_Rq : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrnShifActv_B_Actl : 0|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC,ECM_Diesel + SG_ GearLvrPos_D_Actl : 12|4@0+ (1,0) [0|15] "SED" VDM,IPMA_ADAS,GWM,ABS_ESC,PSCM,TCCM,ECM_Diesel + SG_ GboxOil_Te_Actl : 39|8@0+ (1,-60) [-60|193] "degC" SOBDMC_HPCM_FD1,GWM,TCCM,ECM_Diesel + +BO_ 369 EngineData_1: 8 PCM + SG_ SeatWorkSrfc_B_Falt : 12|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrnIpcDsplyRng2_D_Actl : 23|4@0+ (1,0) [0|15] "SED" GWM + SG_ TrnIpcDsplyRng_D_Stat : 9|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnIpcDsplyGear_D_Actl : 7|4@0+ (1,0) [0|15] "SED" GWM + SG_ TrnIpcDsplyMde_D_Stat : 3|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnIpcDsplyMde_D_Actl : 15|3@0+ (1,0) [0|7] "SED" GWM + SG_ TrnIpcDsplyGear_D_Stat : 1|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 92 Gear_Shift_by_Wire_3: 8 PCM_HEV + SG_ TrnLvrV_D_Rq : 43|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnSbwSysHlth_D_Actl : 1|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnGearNtmAllow_B_Stat : 47|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrnDtpCmd_D_Actl : 46|3@0+ (1,0) [0|7] "SED" GWM + SG_ GearSelLck_D_Rq : 41|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnGearCmd_No_Cs : 31|8@0+ (1,0) [0|255] "Unitless" GWM + SG_ TrnValidGear_D_Cnfm : 11|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrnNtrlTowCmd_D_Actl : 6|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,GWM,ABS_ESC + SG_ TrnGearCmd_Pc_ActlPt : 9|10@0+ (0.1,0) [0|102.2] "percent duty cycle" GWM + SG_ TrnGear_D_RqPt : 4|3@0+ (1,0) [0|7] "SED" GWM + SG_ TrnCmdState_B_Actl : 39|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrnCmdCnt_B_Actl : 7|1@0+ (1,0) [0|1] "unitless" GWM + SG_ PrkBrkActv_D_RqTrnGear : 38|2@0+ (1,0) [0|3] "SED" GWM,ABS_ESC + SG_ TrnGearMsgTxt_D_Rq : 36|5@0+ (1,0) [0|31] "SED" GWM + SG_ TrnGearCmd_No_Cnt : 15|4@0+ (1,0) [0|15] "Unitless" GWM + +BO_ 2030 TesterPhysicalResSOBDMCFD1: 64 ECM_Diesel + SG_ TesterPhysicalResSOBDMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1087 Powertrain_Data_5: 8 PCM_HEV + SG_ BattRgenLoChrg_D_RqEng : 15|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdasLcObtclAbrt_B_Stat : 0|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ BattRgenLoDChrg_D_RqEng : 13|2@0+ (1,0) [0|3] "SED" GWM + SG_ AirDamPos_D_Stat : 11|2@0+ (1,0) [0|3] "SED" GWM,ABS_ESC + SG_ FapLcInhbt_B_Rq : 1|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ FapLcStopHold_B_Rq : 2|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ FapLcPrchgBrk_B_Rq : 3|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ FapLcObstcl_B_Stat : 4|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ FapLcMaxGrdInhbt_B_Stat : 5|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ FapLcMaxGrdAbrt_B_Stat : 6|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + SG_ FapLcActv_B_Stat : 7|1@0+ (1,0) [0|1] "SED" GWM,IPMA_ADAS + +BO_ 332 CGEA_Urea_Strategy: 8 ECM_Diesel + SG_ UreaLvlQlty_D_RqDsply : 51|3@0+ (1,0) [0|7] "SED" GWM + SG_ UreaLvlTxtWarn_D_Rq : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ UreaQltySysWarn_D_Rq : 59|3@0+ (1,0) [0|7] "SED" GWM + SG_ DieslPrtcWarn_D_Rq : 55|4@0+ (1,0) [0|15] "SED" GWM + SG_ UreaQltyFlg_B_RqDsply : 24|1@0+ (1,0) [0|1] "SED" GWM + SG_ UreaLvl_Pc_Actl : 47|8@0+ (0.4,0) [0|102] "percent" GWM + SG_ VehUreaRnge2_L_DsplyMx : 3|12@0+ (1,0) [0|4095] "kilometer" GWM + SG_ UreaQltySys_D_RqDsply : 27|3@0+ (1,0) [0|7] "SED" GWM + SG_ UreaLvlTxt_D_RqDsply : 31|4@0+ (1,0) [0|15] "SED" GWM + SG_ VehUreaWarn_V_DsplyMx : 23|7@0+ (1,0) [0|127] "km/h" GWM + +BO_ 1896 TesterPhysicalResABS: 64 ABS_ESC + SG_ TesterPhysicalResABS : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1889 TesterPhysicalReqTCCM: 64 TSTR + SG_ TesterPhysicalReqTCCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TCCM + +BO_ 1888 TesterPhysicalReqABS: 64 TSTR + SG_ TesterPhysicalReqABS : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" ABS_ESC + +BO_ 1848 TesterPhysicalResPSCM: 64 PSCM + SG_ TesterPhysicalResPSCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1840 TesterPhysicalReqPSCM: 64 TSTR + SG_ TesterPhysicalReqPSCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" PSCM + +BO_ 1713 ABS_Rapid_Data_Response_2: 8 ABS_ESC + SG_ UUDTABSResponse2 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1712 ABS_Rapid_Data_Response_1: 8 ABS_ESC + SG_ UUDTABSResponse1 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 2025 TesterPhysicalResTCM: 64 TCM_DSL + SG_ TesterPhysicalResTCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 2024 TesterPhysicalResPCM: 64 PCM_HEV + SG_ TesterPhysicalResPCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 2017 TesterPhysicalReqTCM: 64 TSTR + SG_ TesterPhysicalReqTCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TCM_DSL + +BO_ 2016 TesterPhysicalReqPCM: 64 TSTR + SG_ TesterPhysicalReqPCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" ECM_Diesel,PCM,PCM_HEV + +BO_ 2015 TesterFunctionalReq_FD1: 64 TSTR + SG_ TesterFunctionalReq : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" VDM,CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCCM,TCM_DSL,PSCM,ABS_ESC,GWM + +BO_ 1897 TesterPhysicalResTCCM: 64 TCCM + SG_ TesterPhysicalResTCCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1814 TesterPhysicalReqGWM_FD1: 64 TSTR + SG_ TesterPhysicalReqGWM_F1 : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" GWM + +BO_ 1701 TCM_Rapid_Data_Response_2: 8 TCM_DSL + SG_ UUDTTCMResponse2 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1700 TCM_Rapid_Data_Response_1: 8 TCM_DSL + SG_ UUDTTCMResponse1 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1697 PCM_Rapid_Data_Response_2: 8 PCM_HEV + SG_ UUDTPCMResponse2 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1696 PCM_Rapid_Data_Response_1: 8 PCM_HEV + SG_ UUDTPCMResponse1 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" TSTR + +BO_ 1429 PCM_AutoSar_NetworkMgmt: 8 PCM_HEV + SG_ PCM_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" TCM_DSL + SG_ PCM_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" TCM_DSL + +BO_ 1100 PowertrainData_9: 8 PCM_HEV + SG_ EngExhMdeQuiet_D2_Stat : 28|3@0+ (1,0) [0|7] "SED" GWM + SG_ HvacCmprLim_D_Stat : 34|3@0+ (1,0) [0|7] "SED" GWM + SG_ WakeAlarm1_T_Rq : 55|15@0+ (1,0) [0|32767] "minute" GWM + SG_ WakeAlarm1_B_Typ : 56|1@0+ (1,0) [0|1] "SED" GWM + SG_ Veh_V_DsplyTrailCtlSet : 47|6@0+ (0.5,0) [0|31] "unitless" GWM + SG_ TrailCtlPt_B_Falt : 36|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + SG_ AutoTowAllw_D_StatMnu : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ AutoTowActv_B_Stat : 39|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ GrossTrainWeight_M_Est : 7|8@0+ (100,0) [0|25300] "kilogram" VDM,ABS_ESC,PSCM,IPMA_ADAS,TCCM,TCM_DSL,GWM + +BO_ 1098 EffDrvModeData: 8 ECM_Diesel + SG_ EdmVeh_V_Dsply : 31|5@0+ (5,0) [0|155] "km/h" GWM + SG_ EdmSailMdeOn_B_Stat : 25|1@0+ (1,0) [0|1] "SED" GWM + SG_ EdmPrev_Fe_Dsply : 23|8@0+ (0.1,0) [0|25.5] "litre/100km" GWM + SG_ EdmMsgTxt_D_Rq : 11|4@0+ (1,0) [0|15] "SED" GWM + SG_ EdmLamp_D_Dsply : 15|4@0+ (1,0) [0|15] "SED" GWM + SG_ EdmCurrent_Fe_Dsply : 7|8@0+ (0.1,0) [0|25.5] "litre/100km" GWM + SG_ EdmCmplnc_B_Dsply : 26|1@0+ (1,0) [0|1] "SED" GWM + SG_ EdmCmplnc_Pc_Dsply : 24|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + +BO_ 1086 PowertrainData_3: 8 PCM_HEV + SG_ EngMnfld_P_Actl : 47|13@0+ (0.1,-206.8) [-206.8|612.3] "kilopascal" GWM + SG_ FuelPumpPwr_B_Rq : 20|1@0+ (1,0) [0|1] "SED" GWM + SG_ BattULoChrg_U_Cmd : 15|8@0+ (0.025,10.6) [10.6|16.975] "volt" GWM + SG_ ElLoadCtl_D_Rq : 23|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 1071 Engine_Clutch_Data: 8 PCM_HEV + SG_ EngAout_N_Dsply : 52|13@0+ (2,0) [0|16382] "rpm" GWM + SG_ CluPdl_PcRate_Actl : 7|8@0+ (0.04,-5) [-5|5.2] "%/ms" GWM + SG_ CluPdlPosPcMeas_D_Qf : 11|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + SG_ CluPdlPos_Pc_Meas : 9|10@0+ (0.1,0) [0|102.3] "%" ABS_ESC,GWM + SG_ EngAoutIdl_N_Ntrl : 31|11@0+ (2,0) [0|4094] "rpm" ABS_ESC,GWM + +BO_ 1069 PowertrainData_2: 8 PCM_HEV + SG_ SlMde_D_Stat : 57|2@0+ (1,0) [0|3] "SED" GWM + SG_ SlMde_D_RqDsply : 59|2@0+ (1,0) [0|3] "SED" GWM + SG_ IsaOffst_D_Stat : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ GrllShtrPos_D_Cmd : 55|4@0+ (1,0) [0|15] "SED" GWM + SG_ GrllShtrPos_B_Falt : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ ObdWarmUp_B_Complt : 12|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,GWM + SG_ EngMsgTxt_D_Rq : 11|2@0+ (1,0) [0|3] "SED" GWM + SG_ EngClnt_Te_ActlDiag : 39|8@0+ (1,-40) [-40|215] "degC" SOBDMC_HPCM_FD1,TCM_DSL,GWM + SG_ EngLoad_Pc_CalcDiag : 47|8@0+ (0.392157,0) [0|100.000035] "%" SOBDMC_HPCM_FD1,TCM_DSL,GWM + SG_ EngAirIn_Te_Actl : 9|10@0+ (0.25,-128) [-128|127.25] "degC" GWM,TCM_DSL + SG_ ApedPos_Pc_ActlDiag : 31|8@0+ (0.392157,0) [0|100.000035] "%" SOBDMC_HPCM_FD1,TCM_DSL,GWM + +BO_ 1060 Powertrain_Data_4: 8 PCM_HEV + SG_ RearDiffOilTeWarn_B_Rq : 20|1@0+ (1,0) [0|1] "SED" GWM + SG_ RearDiffOil_Te_Actl : 15|9@0+ (1,-40) [-40|470] "degC" GWM + SG_ BpedDrvMsgTxt_B_Dsply : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ FuelLvl_Pc_DsplyEng : 41|10@0+ (0.108696,-5.217408) [-5.217408|105.9786] "percent" GWM + SG_ FuelLvlWarn_D_ActlEng : 19|3@0+ (1,0) [0|7] "SED" GWM + SG_ FuelRange_L_DsplyEng : 39|14@0+ (0.1,0) [0|1638.3] "kilometer" GWM + SG_ SelDrvMdePt_D_Stat : 25|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + +BO_ 1057 PowertrainData_1: 8 PCM_HEV + SG_ FohEng_D_Rq : 1|2@0+ (1,0) [0|3] "SED" GWM + SG_ EngIdlShutDwnTxt_D_Rq : 17|2@0+ (1,0) [0|3] "SED" GWM + SG_ EngIdlShutDown_D_Stat : 9|2@0+ (1,0) [0|3] "SED" GWM + SG_ FUEL_ALCOHOL_PERCNT : 63|8@0+ (0.393700787,0) [0|99.999899898] "Percent" GWM + SG_ TrnTotTq_Rt_Est : 39|16@0+ (0.001,0) [0|65.533] "Unitless" GWM + SG_ TrnTotLss_Tq_Est : 31|8@0+ (0.5,0) [0|126.5] "Nm" GWM + SG_ ECMMILRequest : 3|2@0+ (1,0) [0|3] "SED" GWM + SG_ AirCondFluidHi_P_Actl : 55|8@0+ (0.125,0) [0|31.625] "bar" SOBDMC_HPCM_FD1,GWM + SG_ OilPressureWarning : 18|1@0+ (1,0) [0|1] "SED" GWM + SG_ VehVLimStat_D_Actl : 6|3@0+ (1,0) [0|7] "SED" GWM,TCM_DSL + SG_ VehVLimActv_B_Actl : 7|1@0+ (1,0) [0|1] "SED" GWM,TCM_DSL + SG_ CoolantFanStepAct : 23|5@0+ (1,0) [0|31] "Steps" GWM + +BO_ 1055 PowertrainData_7: 8 PCM_HEV + SG_ EcoCochInstNeg_B_Dsply : 53|1@0+ (1,0) [0|1] "SED" GWM + SG_ EcoCochShif_Pc_Dsply : 39|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + SG_ EcoCochInst_Pc_Dsply : 47|10@0+ (0.1,0) [0|102.3] "percent" GWM + SG_ EcoCochIdlFuel_Pc_Dsply : 31|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + SG_ EcoCochDecel_Pc_Dsply : 23|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + SG_ EcoCochCrus_Pc_Dsply : 15|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + SG_ EcoCochA_Pc_Dsply : 7|8@0+ (0.392157,0) [0|100.000035] "percent" GWM + +BO_ 562 PowertrainData_11: 8 ECM_Diesel + SG_ GearNtrl_No_Cs : 15|8@0+ (1,0) [0|255] "unitless" GWM + SG_ GearNtrl_No_Cnt : 5|4@0+ (1,0) [0|15] "unitless" GWM + SG_ GearNtrl_D_Stat : 7|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + +BO_ 523 Engine_Data_18: 8 ECM_Diesel + SG_ EngAirFiltMsgTxt_D_Rq : 2|3@0+ (1,0) [0|7] "SED" GWM + SG_ WaterInFuel_B_Falt : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ UreaMnAdd_L2_Actl : 23|8@0+ (0.1,0) [0|25.4] "litre" GWM + SG_ VehUreaRnge3_L_DsplyMx : 31|16@0+ (1,0) [0|65535] "unitless" GWM + SG_ UreaMxAdd_L2_Actl : 47|9@0+ (0.1,0) [0|51] "litre" GWM + +BO_ 517 PowertrainData_6: 8 PCM_HEV + SG_ FapLc_B_Err : 10|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ BrkTot_Tq_RqFapLc : 7|13@0+ (4,0) [0|32764] "Nm" ABS_ESC,GWM + SG_ TrnAin_Pc_RqDrv : 9|10@0+ (0.1,0) [0|102.3] "percent" TCCM,GWM + +BO_ 516 EngVehicleSpThrottle: 8 PCM_HEV + SG_ EngAoutNActl_D_QF : 31|2@0+ (1,0) [0|3] "SED" TCM_DSL,GWM + SG_ EngAout3_N_Actl : 55|16@0+ (0.25,0) [0|16383.5] "RPM" SOBDMC_HPCM_FD1,GWM + SG_ ApedPos_PcRate_ActlArb : 23|8@0+ (0.04,-5) [-5|5.12] "%/ms" TCM_DSL,GWM + SG_ ApedPos_Pc_ActlArb : 1|10@0+ (0.1,0) [0|102.3] "%" VDM,CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,TCCM,ABS_ESC,PSCM,TCM_DSL,GWM + SG_ ApedPosPcActl_D_Qf : 7|2@0+ (1,0) [0|3] "SED" VDM,CMR_DSMC,IPMA_ADAS,SOBDMC_HPCM_FD1,ABS_ESC,PSCM,TCM_DSL,GWM + SG_ EngAout_N_Actl : 28|13@0+ (2,0) [0|16382] "rpm" VDM,ABS_ESC,PSCM,TCCM,TCM_DSL,GWM + SG_ ApedPosPcActl_No_Cnt : 5|4@0+ (1,0) [0|15] "Unitless" ABS_ESC,SOBDMC_HPCM_FD1,GWM + SG_ ApedPosPcActl_No_Cs : 47|8@0+ (1,0) [0|255] "Unitless" ABS_ESC,SOBDMC_HPCM_FD1,GWM + +BO_ 514 EngVehicleSpThrottle2: 8 PCM_HEV + SG_ StrtrMtrDlyStrt_B_Stat : 39|1@0+ (1,0) [0|1] "SED" GWM + SG_ VehVTrlrAid_B_Avail : 23|1@0+ (1,0) [0|1] "SED" PSCM,GWM + SG_ StrtrMtrCtlMsgTxt_D_Rq : 7|3@0+ (1,0) [0|7] "SED" GWM + SG_ VehVActlEng_No_Cs : 15|8@0+ (1,0) [0|255] "Unitless" PSCM,GWM + SG_ VehVActlEng_No_Cnt : 22|4@0+ (1,0) [0|15] "Unitless" PSCM,GWM + SG_ Veh_V_RqCcSet : 32|9@0+ (0.5,0) [0|255.5] "kph" IPMA_ADAS,ABS_ESC,TCM_DSL,GWM + SG_ VehVActlEng_D_Qf : 38|2@0+ (1,0) [0|3] "SED" VDM,IPMA_ADAS,ABS_ESC,PSCM,TCM_DSL,GWM + SG_ Veh_V_ActlEng : 55|16@0+ (0.01,0) [0|655.35] "kph" VDM,SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,PSCM,TCM_DSL,GWM + SG_ GearRvrse_D_Actl : 4|3@0+ (1,0) [0|7] "SED" CMR_DSMC,IPMA_ADAS,ABS_ESC,PSCM,GWM + SG_ StrtrMtrCtlMsgTxt_D2_Rq : 1|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 512 TorqueDataEngFlags: 8 PCM_HEV + SG_ PrplWhlTotTqRq_No_Cs : 63|8@0+ (1,0) [0|255] "Unitless" ABS_ESC,GWM + SG_ PrplWhlTotTqRq_No_Cnt : 51|4@0+ (1,0) [0|15] "Unitless" ABS_ESC,GWM + SG_ PrplWhlTot_Tq_Rq : 39|16@0+ (4,-131072) [-131072|131068] "Nm" VDM,TCCM,ABS_ESC,GWM + SG_ PrplWhlTot_Tq_LimMn : 23|16@0+ (4,-131072) [-131072|131068] "Nm" ABS_ESC,GWM + SG_ PtDrvMde_D_Stat : 55|4@0+ (1,0) [0|15] "SED" IPMA_ADAS,GWM + +BO_ 381 EngineData_17: 8 ECM_Diesel + SG_ EngOilLife_T_Actl : 23|11@0+ (1,0) [0|2047] "days" GWM + SG_ EngOilSrvcMsgTxt_D_Rq : 55|3@0+ (1,0) [0|7] "SED" GWM + SG_ DistToNextOilChange : 7|16@0+ (1,0) [0|65535] "unitless" GWM + SG_ RunDryPrevent_B_Stat : 28|1@0+ (1,0) [0|1] "SED" GWM + SG_ WaterInFuel : 52|1@0+ (1,0) [0|1] "SED" GWM + SG_ GlowIndication : 51|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 380 EngineData_16: 8 PCM + SG_ EngOilLvlWarn_D_Rq1 : 55|3@0+ (1,0) [0|7] "SED" GWM + SG_ EngExhBrkOnLamp_B_Rq : 27|1@0+ (1,0) [0|1] "SED" GWM + SG_ EngExhBrkAutoLamp_B_Rq : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ EngAout_N_MxAllw : 52|13@0+ (2,0) [0|16382] "rpm" SOBDMC_HPCM_FD1,GWM + SG_ EngExhBrkMde_D_Actl : 31|4@0+ (1,0) [0|15] "SED" TCM_DSL,GWM + +BO_ 377 EngineData_7: 8 PCM_HEV + SG_ HvacAirFullOut_B_Rq : 23|1@0+ (1,0) [0|1] "SED" GWM + SG_ FuelFlw_Vl_Dsply : 49|10@0+ (25,0) [0|25575] "Micro_Liter" GWM + SG_ FuelFillInlet_B_Dsply : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ EngSrvcRqd_B_Rq : 19|1@0+ (1,0) [0|1] "SED" GWM + SG_ OdoCount : 47|8@0+ (0.2,0) [0|50.8] "Meters" GWM + SG_ EngOilLife_Pc_Actl : 39|7@0+ (1,0) [0|100] "Percent" GWM + SG_ FuelFilterLamp_B_Dsply : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ AirCondRec_B_Rq : 55|1@0+ (1,0) [0|1] "SED" GWM + SG_ AirCondClutch_B_Stats : 51|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 376 EngineClimateData: 8 PCM_HEV + SG_ GasPrtc_D_RqDsply : 22|3@0+ (1,0) [0|7] "SED" GWM + SG_ EngAout_Aa_Actl : 17|10@0+ (0.05,-25.6) [-25.6|25.55] "rpm/ms" ABS_ESC,GWM + SG_ DynoMde_B_Cmd : 4|1@0+ (1,0) [0|1] "SED" TCM_DSL,ABS_ESC,GWM + SG_ AslIconDsply_D_Rq : 3|2@0+ (1,0) [0|3] "SED" GWM + SG_ AslChime_B_Rq : 39|1@0+ (1,0) [0|1] "SED" GWM + SG_ HvacHtrCore2_Te_Actl : 1|10@0+ (0.25,-50) [-50|205.5] "degC" SOBDMC_HPCM_FD1,GWM + SG_ EcssLamp_D_RqDsply : 19|2@0+ (1,0) [0|3] "SED" GWM + SG_ AirAmbTe_D_Qf : 35|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,TCCM,GWM + SG_ AirAmb_Te_ActlFilt : 49|10@0+ (0.25,-128) [-128|127.75] "deg C" SOBDMC_HPCM_FD1,IPMA_ADAS,GWM + SG_ AirAmb_Te_Actl : 33|10@0+ (0.25,-128) [-128|127.75] "degC" ABS_ESC,TCCM,GWM + SG_ AirAmb_P_Actl : 55|6@0+ (10,500) [500|1110] "mbar" ABS_ESC,TCM_DSL,GWM + +BO_ 373 EngineData_11: 8 ECM_Diesel + SG_ DieslPrtc2_D_RqDsply : 47|4@0+ (1,0) [0|15] "SED" GWM + SG_ DieslPrtcRgen_D_Actl : 38|2@0+ (1,0) [0|3] "SED" TCM_DSL,GWM + SG_ EngTeColdPrtct_D_Stats : 4|2@0+ (1,0) [0|3] "SED" GWM + SG_ EngExhOvrTe_B_RqDsply : 39|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 359 VehicleOperatingModes: 8 PCM_HEV + SG_ PrplWhlRgenMn_Tq_Actl : 25|13@0+ (4,-16380) [-16380|16380] "Nm" ABS_ESC,GWM + SG_ ElPw_D_StatStrtStop : 31|4@0+ (1,0) [0|15] "SED" ABS_ESC,PSCM,GWM + SG_ TrnAin_Tq_Actl : 42|11@0+ (1,-500) [-500|1547] "Nm" ABS_ESC,GWM + SG_ PrplWhlTot2_Tq_Actl : 15|16@0+ (4,-131072) [-131072|131060] "Nm" ABS_ESC,PSCM,TCCM,GWM + SG_ PwPckTq_D_Stat : 5|2@0+ (1,0) [0|3] "SED" VDM,CMR_DSMC,IPMA_ADAS,ABS_ESC,PSCM,TCCM,TCM_DSL,GWM + SG_ Eng_D_Stat : 7|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + SG_ PlgActvArb_B_Actl : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ ElPw_D_Stat : 3|3@0+ (1,0) [0|7] "SED" VDM,CMR_DSMC,IPMA_ADAS,ABS_ESC,PSCM,TCCM,TCM_DSL,GWM + SG_ TrnAinTq_D_Qf : 44|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + +BO_ 358 Stop_Start: 8 PCM_HEV + SG_ StopStrtStdby_D_Indic : 55|3@0+ (1,0) [0|7] "SED" GWM + SG_ StopStrtIODTxt_D_Rq : 52|5@0+ (1,0) [0|31] "SED" GWM + SG_ StopStrtDrvMde_D_Indic : 13|2@0+ (1,0) [0|3] "SED" GWM + SG_ StopStrtMsgTxt_D_Rq : 11|4@0+ (1,0) [0|15] "SED" GWM + SG_ OdoTripVerify_L_Actl : 31|24@0+ (0.1,0) [0|1677721.4] "km" GWM + SG_ HiElPwInhbt_B_Stat : 15|1@0+ (1,0) [0|1] "SED" GWM + SG_ AutoStopPtDelta_I_Est : 7|8@0+ (1,-127) [-127|127] "Amps" GWM + +BO_ 357 EngBrakeData: 8 PCM_HEV + SG_ BPedDrvAppl_D_QF : 15|2@0+ (1,0) [0|3] "SED" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,PSCM,TCM_DSL,GWM + SG_ CmbbDeny_B_ActlPrpl : 3|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ PrplTqMnSat_B_Actl : 41|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ BpedDrvAppl_D_Actl : 5|2@0+ (1,0) [0|3] "SED" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,PSCM,TCCM,TCM_DSL,GWM + SG_ CmbbEngTqMn_B_Actl : 7|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,GWM + SG_ Veh_V_DsplyCcSet : 23|8@0+ (1,0) [0|253] "Unitless" GWM,IPMA_ADAS + SG_ AccEngStat_D_Actl : 2|3@0+ (1,0) [0|7] "SED" IPMA_ADAS,GWM + SG_ CcMde_D_Actl : 13|3@0+ (1,0) [0|7] "SED" VDM,TCM_DSL,ABS_ESC,GWM + SG_ CcStat_D_Actl : 10|3@0+ (1,0) [0|7] "SED" CMR_DSMC,SOBDMC_HPCM_FD1,IPMA_ADAS,ABS_ESC,TCCM,TCM_DSL,GWM + SG_ EngAout_N_MnAllw : 52|13@0+ (2,0) [0|16382] "rpm" SOBDMC_HPCM_FD1,GWM + SG_ CcOvrrdActv_B_Actl : 6|1@0+ (1,0) [0|1] "SED" VDM,IPMA_ADAS,ABS_ESC,TCCM,TCM_DSL,GWM + SG_ AccStopMde_D_Rq : 39|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,ABS_ESC,GWM + +BO_ 355 EngineData_10: 8 ECM_Diesel + SG_ AutoRgenTxt_B_RqDsply : 48|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccFllwMdeActv_B_Actl : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ EngPtoMde_D_Actl : 60|3@0+ (1,0) [0|7] "SED" GWM + SG_ ManRgenTxt_D_RqDsply : 63|3@0+ (1,0) [0|7] "SED" GWM + SG_ ManRgenSoot_Pc_RqDsply : 39|7@0+ (1,0) [0|126] "%" GWM + SG_ DieslMsgTxt_D_Rq : 57|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 342 EngineData_6: 8 PCM_HEV + SG_ EngOvrhtMitgActv_D_Ind : 36|2@0+ (1,0) [0|3] "SED" GWM + SG_ EngClntTe_D_Qf : 33|2@0+ (1,0) [0|3] "SED" VDM,SOBDMC_HPCM_FD1,TCM_DSL,GWM + SG_ EngGoutLss_Tq_Est : 31|8@0+ (1,0) [0|255] "Nm" SOBDMC_HPCM_FD1,GWM + SG_ EngOil_Te_Actl : 15|8@0+ (1,-60) [-60|193] "degC" GWM + SG_ EngClnt_Te_Actl : 7|8@0+ (1,-60) [-60|195] "degC" VDM,SOBDMC_HPCM_FD1,TCM_DSL,GWM + +BO_ 71 Global_PATS_TargetInfo: 8 PCM_HEV + SG_ immoTarget1Status : 7|3@0+ (1,0) [0|7] "SED" ABS_ESC,TCM_DSL,GWM + SG_ immoTarget1Data : 15|40@0+ (1,0) [0|1099511627775] "Encrypted" ABS_ESC,GWM + SG_ immoTarget1Cmd : 4|3@0+ (1,0) [0|7] "SED" ABS_ESC,GWM + +BO_ 1822 TesterPhysicalResGWM_FD1: 64 GWM + SG_ TesterPhysicalResGWM_F1 : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1438 GWM_AutoSar_NetMgmt_FD1: 8 GWM + SG_ GWM_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + SG_ GWM_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" PCM_HEV,PCM,SOBDMC_HPCM_FD1,PSCM,ABS_ESC + +BO_ 954 Body_Info_10_FD1: 8 GWM + SG_ GenericSwtch3_No_Actl : 15|3@0+ (1,0) [0|7] "unitless" Vector__XXX + SG_ GenericSwtch2_No_Actl : 4|3@0+ (1,0) [0|7] "unitless" Vector__XXX + SG_ GenericSwtch1_No_Actl : 7|3@0+ (1,0) [0|7] "unitless" Vector__XXX + +BO_ 1006 Personality_IPMB_Data: 8 IPMA_ADAS + SG_ PersIndexIpmb_D_Actl : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ FeatNoIpmbActl : 23|16@0+ (1,0) [0|65535] "Number" GWM + SG_ FeatConfigIpmbActl : 7|16@0+ (1,0) [0|65535] "Undefined" GWM + +BO_ 820 Adaptive_Headlamp_Stat: 8 GWM + SG_ AhbStatGfhbFdbk_D_Actl : 53|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ HeadLghtDrvSide_B_Stat : 33|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ HeadLghtHiOn_B_StatHcm : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Adaptive_Hdlmp_Fault : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 137 ActiveFrontStrg_Stat_FD1: 8 GWM + SG_ SteWhlOffstRq_D_Stat : 43|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ SteWhlOffst_An_TotActl : 23|15@0+ (0.1,-1600) [-1600|1676.5] "degrees" ABS_ESC + SG_ SteWhlBrkOffst_An_Actl : 7|15@0+ (0.1,-1600) [-1600|1676.5] "degrees" ABS_ESC + SG_ SteWhlBrkAnActl_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless" ABS_ESC + SG_ SteWhlBrkAnActl_No_Cnt : 47|4@0+ (1,0) [0|15] "Unitless" ABS_ESC + +BO_ 129 Steering_Wheel_Data2_FD1: 8 GWM + SG_ SelDrvMdeSwtch_D_Stat4 : 21|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ SteWhlSwtchView_B_Stat : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchSet_B_Stat : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchPhon_B_Stat : 9|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchNav_B_Stat : 10|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchMed_B_Stat : 11|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchIod_B_Stat : 12|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchHud_B_Stat : 13|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchBack_B_Stat : 14|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchMenu_B_Stat : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteEffortInc_B_RqDrv : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SelDrvMdeInc_B_RqDrv : 6|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SelDrvMdeDec_B_RqDrv : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SuspDampInc_B_RqDrv : 15|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchUp_B_Stat : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchRght_B_Stat : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchOk_B_Stat : 4|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchLeft_B_Stat : 1|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchDown_B_Stat : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchHome_B_Stat : 19|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ SteWhlSwtchInfo_B_Stat : 18|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 935 Side_Detect_R_Stat: 8 IPMA_ADAS + SG_ SodRight_D_Stat : 15|3@0+ (1,0) [0|7] "SED" GWM + SG_ CtaAlrtRight2_D_Stat : 30|3@0+ (1,0) [0|7] "SED" GWM + SG_ BttRight_D_Stat : 45|3@0+ (1,0) [0|7] "SED" GWM + SG_ BttRight_D_RqDrv : 47|2@0+ (1,0) [0|3] "SED" GWM + SG_ CtaBrkRightMsgTxt_B_Rq : 42|1@0+ (1,0) [0|1] "SED" GWM + SG_ CtaRightBrkEnbl_B_Rq : 31|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ CtaRightBrkDecel_B_Rq : 7|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ Side_Detect_R_Illum : 39|8@0+ (1,0) [0|255] "Percent" GWM + SG_ CtaSnsRight_D_Stat : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ CtaAlrtRight_D_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ CtaRight_D_Stat : 18|3@0+ (1,0) [0|7] "SED" GWM + SG_ SodSnsRight_D_Stat : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ SodAlrtRight_D_Stat : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ SodDetctRight_D_Stat : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ SodWarnRight_Prd_Rq : 6|7@0+ (1,0) [0|127] "millisecond" GWM + +BO_ 1108 RCMSerialNumber_FD1: 8 GWM + SG_ RCMSerialNoByte8 : 63|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte7 : 55|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte6 : 47|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte5 : 39|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte4 : 31|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte3 : 23|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte2 : 15|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + SG_ RCMSerialNoByte1 : 7|8@0+ (1,0) [0|253] "Unitless" ABS_ESC + +BO_ 261 APIM_Request_Signals_FD1: 8 GWM + SG_ ChrgStatDsply_D_Rq : 47|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ OffPeakTimeSetMin_Rq : 13|6@0+ (1,0) [0|63] "unitless" Vector__XXX + SG_ OffPeakTimeSetHR_Rq : 7|5@0+ (1,0) [0|31] "unitless" Vector__XXX + SG_ NextUsageTimeToggle_Rq : 15|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ LongTermParking_Rq : 17|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ CbnCmrtPrefLstNmItm_Rq : 31|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ CbnCmrtPrefListIndx_Rq : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ ModemReset_D_Rq : 45|4@0+ (1,0) [0|15] "SED" SOBDMC_HPCM_FD1 + SG_ StopStrtDrvMde_B_RqBtn3 : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TCU_ESN_D_Rq : 22|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FactoryReset_Rq : 18|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 1146 TrailerInfo_2_FD1: 8 GWM + SG_ TrlrAidSwtch_D_RqDrv : 35|2@0+ (1,0) [0|3] "SED" PSCM,IPMA_ADAS + SG_ TrlrAidCtl_U_RqDrv : 31|12@0+ (0.00125,0) [0|5.11625] "volt" PSCM + +BO_ 533 APIM_Send_Signals_2_FD1: 8 GWM + SG_ DcacGfciTestBttn_B_Stat : 9|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ TrlrBrkGain_No_Rq : 55|5@0+ (0.5,0) [0|15.5] "unitless" Vector__XXX + SG_ DcacPwResetButtn_B_Stat : 11|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacPwOffButtn_B_Stat : 12|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacPwLoButtn_B_Stat : 13|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacPwHiButtn_B_Stat : 14|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacPwButtn_B_Falt : 15|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ TrlrHitch_D_RqMnu : 23|4@0+ (1,0) [0|15] "SED" IPMA_ADAS + SG_ AutoEpbZoomView_B_Stat : 32|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ AutoEpbButtn_B_Stat : 19|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ TrlrAidMde_D_Rq : 5|2@0+ (1,0) [0|3] "SED" PSCM + SG_ TCU_Init_Actvtn_St : 1|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TCU_Final_Actvtn_St : 3|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ OtaTrg_D_Stat : 41|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ OnbChrgGoTTouch_D_Rq : 43|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTPrcond_D_Rq : 34|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTOn_D_Rq : 25|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTMnte_D_Rq : 47|4@0+ (1,0) [0|15] "minute" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTHr_T_Rq : 39|5@0+ (1,0) [0|29] "hour" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTExtHtr_D_Rq : 27|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTElement_D_Rq : 31|4@0+ (1,0) [0|15] "Unitless" SOBDMC_HPCM_FD1 + SG_ OnbChrgGoTDelete_B_Rq : 17|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ OnbChrgClearAll_B_Rq : 18|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ PaakMyKey_D_Rq : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ OnbChrgGoTUpdate_B_Rq : 16|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + +BO_ 1041 AC_Compressor_Data_FD1: 8 GWM + SG_ ElCmprUHi_U_Actl : 31|8@0+ (2,0) [0|510] "volt" SOBDMC_HPCM_FD1 + SG_ ElCmprUHi_D_Stat : 23|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprOverTe_D_Stat : 21|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmpr_N_Actl : 15|8@0+ (50,0) [0|12700] "RPM" SOBDMC_HPCM_FD1 + SG_ ElCmpr_Pw_Actl : 7|8@0+ (40,0) [0|10160] "watts" SOBDMC_HPCM_FD1,PCM_HEV + SG_ ElCmpr_D_Stat : 19|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprPerfErr_D_Falt : 43|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprInnrErr_D_Falt : 35|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprLostComm_D_Falt : 33|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprOverLoad_D_Falt : 47|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprOverTe_D_Falt : 45|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprBattURng_D_Falt : 37|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprBattSysU_D_Falt : 39|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ ElCmprSysU_D_Falt : 41|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 1067 Battery_Mgmt_4_FD1: 8 GWM + SG_ BattULoAuxIsol_D_Rq : 25|2@0+ (1,0) [0|3] "SED" PCM_HEV + SG_ BattULoAux_U_Rq : 55|12@0+ (0.00390625,0) [0|15.9921875] "volt" PCM_HEV + SG_ BattULoAuxSoc_Pc_Actl : 15|7@0+ (1,0) [0|127] "percent" PCM_HEV + SG_ BattULoAux_I_Actl : 23|12@0+ (0.0625,-128) [-128|127.875] "ampere" PCM_HEV + SG_ BattULoAux_D_Qlty : 27|2@0+ (1,0) [0|3] "SED" PCM_HEV + SG_ BattULoCrnkStrt_U_Pred : 47|7@0+ (0.1,0) [0|12.7] "volt" PCM_HEV + SG_ BattULoCrnkBelt_U_Pred : 39|7@0+ (0.1,0) [0|12.7] "volt" PCM_HEV + SG_ BattULoAux_U_Actl : 7|8@0+ (0.0625,0) [0|15.875] "volt" PCM_HEV + SG_ BattULoAux_B_Falt : 8|1@0+ (1,0) [0|1] "SED" PCM_HEV + +BO_ 1112 Battery_Traction_6_FD1: 8 GWM + SG_ BattTracChrgSustn_B_Rq : 4|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracCnnct_D_Cmd : 18|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracHvilOpen_B_Stat : 8|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracDcdcDis_B_Rq : 7|1@0+ (1,0) [0|1] "SED" PCM_HEV + SG_ HtrnClntPump_D_Stat : 6|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ BattTracDelta_Te_Actl : 63|8@0+ (0.5,-60) [-60|67.5] "degC" SOBDMC_HPCM_FD1 + SG_ BattTracClntPmp_D_Stat : 33|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 139 CruiseCtrl_Strg_Data_FD1: 8 GWM + SG_ AfsPw_B_Rq : 24|1@0+ (1,0) [0|1] "SED" PCM + SG_ AccButtnGpTogglePress2 : 25|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TjaButtnOnOffPress2 : 26|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ActvFrontSteMsgTxt_D_Rq : 31|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ ActvFrontSteLck_D_Stat : 17|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ SelDrvMdeAdptSte_D_Stat : 28|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ AslButtnOnOffPress2 : 4|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AslButtnOnOffCnclPres2 : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcButtnOnPress2 : 18|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcButtnOnOffPress2 : 19|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcButtnOnOffCnclPress2 : 20|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcButtnOffPress2 : 21|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAsllButtnResPress2 : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnSetPress2 : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnSetIncPress2 : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnSetDecPress2 : 9|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnResIncPress2 : 10|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnResDecPress2 : 11|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnOnPress2 : 12|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnOnOffCncl2 : 13|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnOffCnclPres2 : 14|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnIndxIncPres2 : 15|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnIndxDecPres2 : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnDeny_B_Actl2 : 1|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnCnclResPres2 : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnCnclPress2 : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AccButtnGapIncPress2 : 6|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AccButtnGapDecPress2 : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 1121 AllTerrainControlData_FD1: 8 GWM + SG_ SelDrvMdeSwtch_No_Actl : 2|2@0+ (1,0) [0|3] "unitless" ABS_ESC + SG_ SelDrvMdeSwtch_D_Stat : 4|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ SelDrvMdeCnt_D_Stat : 7|3@0+ (1,0) [0|7] "Counts" ABS_ESC + +BO_ 1120 FourByFourSwitchData_FD1: 8 GWM + SG_ DrvSlipCtlMde_B_Rq3 : 14|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ HybMdeSwtch_B_Rq : 13|1@0+ (1,0) [0|1] "SED" PCM_HEV + SG_ TrailCtlSwtch_B_Stat3 : 15|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ RearDiffLck_D_RqDrv : 4|2@0+ (1,0) [0|3] "SED" PCM,TCCM + SG_ AwdMde_D_RqDrv : 7|3@0+ (1,0) [0|7] "SED" TCCM + SG_ HdcSwtchPos_B_Actl : 0|1@0+ (1,0) [0|1] "SED" ABS_ESC + +BO_ 1050 Climate_Control_Data_FD1: 8 GWM + SG_ AutoHoldSwtch_D_Stat : 20|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ LpdbPtc3_B_Rq : 36|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ LpdbPtc2_B_Rq : 37|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ LpdbPtc1_B_Rq : 38|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ LpdbHeatWiprPrk_B_Rq : 39|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ LpdbDfrstRearOn_B_Rq : 24|1@0+ (1,0) [0|1] "SED" ECM_Diesel + SG_ SteWhlHeat_D_Rq : 13|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ MirrorHeatOn_B_Rq : 14|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Remote_Start_QuietMode : 15|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Outside_Air_Temp_Stat : 7|8@0+ (0.5,-40) [-40|86.5] "Degrees C" VDM,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,PSCM + +BO_ 1137 Cluster_HEV_Data10_FD1: 8 PCM_HEV + SG_ RngPerChrgAvg_L_Dsply : 7|12@0+ (0.1,0) [0|409.3] "km" GWM + +BO_ 1255 BoundaryAlert_Right_4: 8 IPMA_ADAS + SG_ BalrRight4Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight4Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight4Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight4CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight4CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1254 BoundaryAlert_Right_3: 8 IPMA_ADAS + SG_ BalrRight3Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight3Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight3Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight3CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight3CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1253 BoundaryAlert_Right_2: 8 IPMA_ADAS + SG_ BalrRight2Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight2Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight2Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight2CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight2CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1252 BoundaryAlert_Right_1: 8 IPMA_ADAS + SG_ BalrRight1Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight1Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight1Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrRight1CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrRight1CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1251 BoundaryAlert_Left_4: 8 IPMA_ADAS + SG_ BalrLeft4Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft4Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft4Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft4CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft4CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1250 BoundaryAlert_Left_3: 8 IPMA_ADAS + SG_ BalrLeft3Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft3Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft3Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft3CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft3CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1249 BoundaryAlert_Left_2: 8 IPMA_ADAS + SG_ BalrLeft2Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft2Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft2Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft2CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft2CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1248 BoundaryAlert_Left_1: 8 IPMA_ADAS + SG_ BalrLeft1Threat_D_Stat : 16|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft1Prev3Y_L_Actl : 51|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Prev3X_L_Actl : 42|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Prev2Y_L_Actl : 33|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Prev2X_L_Actl : 24|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Prev1Y_L_Actl : 31|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Prev1X_L_Actl : 23|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1Fast_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft1Dsply_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrLeft1CurntY_L_Actl : 15|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + SG_ BalrLeft1CurntX_L_Actl : 7|7@0+ (0.5,-32) [-32|31.5] "meter" GWM + +BO_ 1113 TrailerAid_Stat3: 8 IPMA_ADAS + SG_ TrlrTrgtAcquire_D_Stat : 51|3@0+ (1,0) [0|7] "SED" PSCM,GWM + SG_ TrlrAnOffst_An_Calc : 48|9@0+ (0.1,0) [0|51.1] "degrees" GWM + SG_ TrlrAnOffstDir_D_Calc : 33|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrlrAnCalib_B_Complt : 40|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrlrRvrse_D_Stat : 42|2@0+ (1,0) [0|3] "SED" GWM,PSCM + SG_ TrlrAid_D2_Stat : 55|4@0+ (1,0) [0|15] "SED" GWM,PSCM + SG_ TrlrAidTrgtId_No_Actl : 47|5@0+ (1,0) [0|31] "unitless" GWM,PSCM + SG_ TrlrAid_An3_Actl : 28|11@0+ (0.125,-90) [-90|165.75] "degrees" PSCM,GWM + SG_ TrlrAid_AnRate2_Actl : 22|10@0+ (0.125,-50) [-50|77.75] "degrees/second" PSCM,GWM + SG_ HitchToVehAxle_L_Calc : 7|8@0+ (0.0127,-0.508) [-0.508|2.7178] "meter" PSCM,GWM + SG_ HitchToTrlrAxle_L_Calc2 : 15|9@0+ (0.0254,0) [0|12.9794] "meter" GWM + +BO_ 1105 Image_Processing_Data: 8 IPMA_ADAS + SG_ TrlrAidSwtchLamp_B_Rq : 32|1@0+ (1,0) [0|1] "SED" GWM + SG_ TrlrHitchMsgTxt_D_Rq : 47|6@0+ (1,0) [0|63] "SED" GWM + SG_ TrlrHitchIcon_D_Rq : 36|4@0+ (1,0) [0|15] "SED" GWM + SG_ TrlrHitchChime_D_Rq : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ TrlrAidEnbl_D_RqAdas : 5|3@0+ (1,0) [0|7] "SED" GWM,PSCM + SG_ TrlrRvrseMsgTxt_D2_Rq : 31|6@0+ (1,0) [0|63] "SED" PSCM,GWM + SG_ TrlrRvrseEnbl_D2_Stat : 18|3@0+ (1,0) [0|7] "SED" PSCM,GWM + SG_ RbaMsg_D_Rq : 22|2@0+ (1,0) [0|3] "SED" GWM + SG_ BrkDecel_B_RqRba : 8|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ BrkEnbl_B_RqRba : 23|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ Rba_D_Stat : 14|2@0+ (1,0) [0|3] "SED" GWM + SG_ RbaAlrt_D_Dsply : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ RbaMnu_D_Rq : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ CamraFrntStat_D_Stat : 7|2@0+ (1,0) [0|3] "SED" GWM + SG_ TrlrHitchLamp_D_Rq2 : 15|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 938 ParkAid_Aud_Warn_Stat: 8 IPMA_ADAS + SG_ SidePrkSnsR2_D_Stat : 59|4@0+ (1,0) [0|15] "SED" GWM + SG_ SidePrkSnsR1_D_Stat : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ SidePrkSnsL2_D_Stat : 51|4@0+ (1,0) [0|15] "SED" GWM + SG_ ApaMde_D_Stat : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ ApaActvSd_D_Actl : 14|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkAidSwtch_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ ApaMde_D_Avail : 12|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsFrCrnr_D_Stat : 47|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsFrCntr_D_Stat : 35|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsFlCrnr_D_Stat : 27|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsFlCntr_D_Stat : 31|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkBrkEl_B_RqFap : 20|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ RpaChime_D_Rq : 7|4@0+ (1,0) [0|15] "SED" GWM + SG_ FpaChime_D_Rq : 3|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidMsgTxt_D_Rq : 19|4@0+ (1,0) [0|15] "SED" GWM,PSCM + SG_ SidePrkSnsL1_D_Stat : 55|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidAudioMute_B_Rq : 15|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 939 ParkAid_Aud_Warn_Stat2: 8 IPMA_ADAS + SG_ ApaBrk_D_Rq : 51|2@0+ (1,0) [0|3] "SED" GWM + SG_ SidePrkSnsR4_D_Stat : 55|4@0+ (1,0) [0|15] "SED" GWM + SG_ SidePrkSnsR3_D_Stat : 47|4@0+ (1,0) [0|15] "SED" GWM + SG_ SidePrkSnsL4_D_Stat : 43|4@0+ (1,0) [0|15] "SED" GWM + SG_ SidePrkSnsL3_D_Stat : 37|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidChime_D_Stat : 4|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkAidSnsRlCntr_D_Stat : 15|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsRrCrnr_D_Stat : 31|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsRrCntr_D_Stat : 19|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidSnsRlCrnr_D_Stat : 11|4@0+ (1,0) [0|15] "SED" GWM + SG_ PrkAidRear_D_Stat : 39|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkAidFront_D_Stat : 2|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkAid_D_Falt : 7|3@0+ (1,0) [0|7] "SED" GWM + SG_ ApaLongCtrlEnbl_D_Rq : 0|1@0+ (1,0) [0|1] "SED" ABS_ESC,ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + SG_ ApaBrk_A_Rq : 63|8@0+ (0.05,-12.75) [-12.75|0] "m/sec^2" ABS_ESC,ECM_Diesel,PCM,PCM_HEV,GWM + SG_ PrkAidLamp_D_Rq : 33|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 937 ParkAid_Data_2: 8 IPMA_ADAS + SG_ Veh_V_RqFap : 31|8@0+ (0.1,0) [0|25.5] "km/h" ECM_Diesel,PCM,PCM_HEV + SG_ TrnRngDRqFap_No_Cs : 23|8@0+ (1,0) [0|255] "unitless" PCM,PCM_HEV,TCM_DSL + SG_ TrnRngDRqFap_No_Cnt : 15|4@0+ (1,0) [0|15] "unitless" PCM,PCM_HEV,TCM_DSL + SG_ TrnRng_D_RqFap : 11|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV,TCM_DSL,GWM + SG_ FapLcDistToObj_L_Actl : 7|8@0+ (0.01,0) [0|2.53] "meter" ECM_Diesel,PCM,PCM_HEV + +BO_ 936 ParkAid_Data: 8 IPMA_ADAS + SG_ ApaButtnPrssd_B_Stat : 58|1@0+ (1,0) [0|1] "SED" PSCM + SG_ SAPPStatusCoding : 7|8@0+ (1,0) [0|255] "unitless" GWM + SG_ ApaSys_D_Stat : 61|3@0+ (1,0) [0|7] "SED" PSCM,GWM,ECM_Diesel,PCM,PCM_HEV + SG_ ApaSteWhl_D_RqDrv : 63|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaSteScanMde_D_Stat : 49|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaSelSapp_D_Stat : 51|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaSelPpa_D_Stat : 53|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaSelPoa_D_Stat : 55|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaScan_D_Stat : 41|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaLongCtl_D_RqDrv : 44|3@0+ (1,0) [0|7] "SED" GWM + SG_ ApaGearShif_D_RqDrv : 47|3@0+ (1,0) [0|7] "SED" GWM + SG_ ApaActvSide2_D_Stat : 33|2@0+ (1,0) [0|3] "SED" GWM + SG_ ApaAcsy_D_RqDrv : 36|3@0+ (1,0) [0|7] "SED" GWM + SG_ ApaTrgtDist_D_Stat : 11|4@0+ (1,0) [0|15] "SED" GWM + SG_ ApaMsgTxt_D_Rq : 15|4@0+ (1,0) [0|15] "SED" GWM + SG_ ApaChime_D_Rq : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ EPASExtAngleStatReq : 23|1@0+ (1,0) [0|1] "SED" PSCM,GWM,ABS_ESC + SG_ ExtSteeringAngleReq2 : 22|15@0+ (0.1,-1000) [-1000|2276.5] "Degrees" GWM,PSCM + +BO_ 877 HEV_Powertrain_Data7_FD1: 8 PCM_HEV + SG_ RngImpctDrv_L_Dsply : 39|9@0+ (1,-255) [-255|256] "km" GWM + SG_ RngImpctClim_L_Dsply : 16|9@0+ (1,-255) [-255|256] "km" GWM + SG_ VehElEffAvg_No_Dsply : 23|7@0+ (10,-100) [-100|1150] "wattHr/km" GWM + SG_ PwFlwFuelDrv_D_Dsply : 15|3@0+ (1,0) [0|7] "SED" GWM + SG_ PwFlwFuelClimt_B_Dsply : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwFlwFuelBatt_B_Dsply : 1|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwFlwBattClimt_B_Dsply : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ PwFlwBatt_D_Dsply : 7|4@0+ (1,0) [0|15] "SED" GWM + +BO_ 589 Battery_Traction_5_FD1: 8 GWM + SG_ BattTrac2_Pw_LimChrg : 31|13@0+ (50,0) [0|409550] "watts" PCM_HEV + SG_ BattTrac2_Pw_LimDchrg : 34|13@0+ (50,0) [0|409550] "watts" PCM_HEV + SG_ BattTrac2_Pw_DchrgInst : 53|13@0+ (50,0) [0|409550] "watts" PCM_HEV + SG_ BattTrac2_Pw_ChrgInst : 7|13@0+ (50,0) [0|409550] "watts" PCM_HEV + +BO_ 588 Battery_Traction_4_FD1: 8 GWM + SG_ BattTracSoc2_Pc_Actl : 29|14@0+ (0.01,0) [0|163.81] "%" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTrac_Te_Actl : 9|10@0+ (0.5,-50) [-50|460.5] "degC" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracDiagClr_B_Rq : 30|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 587 Battery_Traction_3_FD1: 8 GWM + SG_ BattTracClnt_Te_Actl : 41|8@0+ (0.5,-60) [-60|67.5] "degC" SOBDMC_HPCM_FD1 + SG_ BattTracWarnLamp_B_Rq : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ BattTracSrvcRqd_B_Rq : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ BattTracSoc_Pc_MxPrtct : 35|10@0+ (0.1,0) [0|100] "%" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracSoc_Pc_MnPrtct : 29|10@0+ (0.1,0) [0|100] "%" PCM_HEV + SG_ BattTracSoc_Pc_LimLo : 23|10@0+ (0.1,0) [0|100] "%" PCM_HEV + SG_ BattTracSoc_Pc_LimHi : 1|10@0+ (0.1,0) [0|100] "%" PCM_HEV + +BO_ 389 PreCond_Hev_Data2_FD1: 8 SOBDMC_HPCM_FD1 + SG_ BattTracClntFlw_Pc_Rq : 63|7@0+ (1,0) [0|127] "percent" GWM + SG_ HtrnOvrTeLamp_B_Dsply : 5|1@0+ (1,0) [0|1] "SED" GWM + SG_ HtrnMil_D_Rq : 7|2@0+ (1,0) [0|3] "SED" GWM + SG_ HtrnAin_UHi_Actl : 39|10@0+ (0.5,0) [0|510.5] "volt" GWM,PCM_HEV + SG_ HtrnSrvcRqd_B_Dsply : 3|1@0+ (1,0) [0|1] "SED" GWM + SG_ HtrnHvilOpen_B_Actl : 24|1@0+ (1,0) [0|1] "SED" GWM,PCM_HEV + SG_ PtWakeupDeltaT_T_Rq : 2|11@0+ (1,0) [0|2045] "minute" GWM + SG_ PreCondActv_B_Actl : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ DrvCondTpRrDefrs_B_Rq : 49|1@0+ (1,0) [0|1] "SED" GWM + SG_ BattTrac_I_EstVsc : 23|15@0+ (0.05,-750) [-750|888.25] "Amps" GWM + +BO_ 1009 APIM_Send_Signals1_FD1: 8 GWM + SG_ ChrgCordUnlock_B_Rq : 60|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AutoHoldSwtch_D_Stat3 : 50|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ TrlrTrgtAcquire_D_Rq : 63|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ TrlrAidCancl_B_Rq : 48|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,PSCM + SG_ CenterStackRing_D_Actl : 59|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ APIM_NumberofTracks_St : 39|16@0+ (1,0) [0|65535] "unitless" Vector__XXX + SG_ APIM_ActiveTrackNum_St : 7|32@0+ (1,0) [0|4294967295] "unitless" Vector__XXX + SG_ ValetMode_D_Stat : 57|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrlrAidSetup_D_Stat : 55|3@0+ (1,0) [0|7] "SED" Vector__XXX + +BO_ 360 Gear_Shift_by_Wire_2_FD1: 8 GWM + SG_ GsmSrvcRqd_B_Rq : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrnGearPwmFalt_B_Actl : 15|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ GearButtnStuck_B_Actl : 14|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + +BO_ 122 Battery_Traction_1_FD1: 8 GWM + SG_ BattTrac_U_LimLo : 47|8@0+ (2,0) [0|510] "volt" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTrac_U_LimHi : 39|8@0+ (2,0) [0|510] "volt" SOBDMC_HPCM_FD1,PCM_HEV + SG_ VehStrtInhbt_B_RqBatt : 23|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracOffFst_D_Actl : 22|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracOff_B_Actl : 20|1@0+ (1,0) [0|1] "SED" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTracMil_D_Rq : 19|2@0+ (1,0) [0|3] "SED" PCM_HEV + SG_ BattTrac_U_Actl : 17|10@0+ (0.5,0) [0|510.5] "Volts" SOBDMC_HPCM_FD1,PCM_HEV + SG_ BattTrac_I_Actl : 6|15@0+ (0.05,-750) [-750|888.25] "Amps" SOBDMC_HPCM_FD1,PCM_HEV + +BO_ 90 Gear_Shift_by_Wire_FD1: 8 GWM + SG_ TrnGsmNtmState_D_Actl : 55|2@0+ (1,0) [0|3] "SED" ABS_ESC,PCM,PCM_HEV,TCM_DSL + SG_ DrQltyDrv_D_StatGsm : 42|3@0+ (1,0) [0|7] "SED" ABS_ESC,PCM,PCM_HEV,TCM_DSL,IPMA_ADAS + SG_ TrnBtsiOvrrd_B_Stat : 43|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ GsmGearMsgTxt_D_Rq : 63|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrnRng_D_RqGsm : 51|4@0+ (1,0) [0|15] "SED" PCM,TCM_DSL + SG_ PrkBrkActv_D_RqGsmGear : 53|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ TrnValidGearRq_D_Stat : 25|2@0+ (1,0) [0|3] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearRqCnt_B_Actl : 26|1@0+ (1,0) [0|1] "unitless" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_U_Actl : 23|8@0+ (0.05,0) [0|12.7] "VOLT" TCM_DSL + SG_ TrnGearButtn_B_ActlR2 : 8|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlR1 : 9|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlR0 : 10|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlP2 : 11|1@0+ (1,0) [0|1] "SED" TCM_DSL,PCM,PCM_HEV + SG_ TrnGearButtn_B_ActlP1 : 12|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlP0 : 13|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlN2 : 14|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlN1 : 15|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlN0 : 0|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlM2 : 1|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlM1 : 2|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlM0 : 3|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlD2 : 4|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlD1 : 5|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGearButtn_B_ActlD0 : 6|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ TrnGear_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless" SOBDMC_HPCM_FD1,PCM,PCM_HEV,TCM_DSL + SG_ TrnGear_No_Cnt : 47|4@0+ (1,0) [0|15] "Unitless" SOBDMC_HPCM_FD1,PCM,PCM_HEV,TCM_DSL + SG_ TrnGear_D_RqDrv : 31|5@0+ (1,0) [0|31] "SED" SOBDMC_HPCM_FD1,PCM,PCM_HEV,TCM_DSL + SG_ BrkSwtchPos_B_ActlGsm : 7|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + +BO_ 1091 TrailerInfo_FD1: 8 GWM + SG_ ParkLampTrlrOut_B_Stat : 15|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrlrLampCtl_D_Stat : 4|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrlrBattChrg_D_Stat : 2|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ StopLampTrlrOut_B_Stat : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TurnLampTrlrRr_B_Stat : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TurnLampTrlrRl_B_Stat : 6|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrlrLampCnnct_B_Actl : 7|1@0+ (1,0) [0|1] "SED" VDM,PCM_HEV,ECM_Diesel,PCM,TCM_DSL,ABS_ESC,IPMA_ADAS,PSCM + +BO_ 138 ActiveFrontStrg_Stat2_FD1: 8 GWM + SG_ SteWhlRelCalib_T_Actl : 7|8@0+ (1,0) [0|255] "ms" ABS_ESC + SG_ SteWhlRelCalib_An_Sns : 15|15@0+ (0.1,-1600) [-1600|1676.5] "deg" CMR_DSMC,PSCM,TCCM + +BO_ 131 Steering_Data_FD1: 8 GWM + SG_ HeadLghtHiFlash_D_Stat : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TurnLghtSwtch_D_Stat : 5|2@0+ (1,0) [0|3] "SED" IPMA_ADAS,PSCM + SG_ WiprFront_D_Stat : 3|4@0+ (1,0) [0|15] "SED" ABS_ESC,IPMA_ADAS,PCM,PCM_HEV + SG_ LghtAmb_D_Sns : 15|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ AccButtnGapDecPress : 12|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ AccButtnGapIncPress : 11|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ AslButtnOnOffCnclPress : 10|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ AslButtnOnOffPress : 9|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ CcAslButtnCnclPress : 8|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ LaSwtchPos_D_Stat : 23|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ CcAslButtnCnclResPress : 21|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnDeny_B_Actl : 20|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnIndxDecPress : 19|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ CcAslButtnIndxIncPress : 18|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ CcAslButtnOffCnclPress : 17|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnOnOffCncl : 16|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnOnPress : 31|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnResDecPress : 30|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAslButtnResIncPress : 29|1@0+ (1,0) [0|1] "SED" ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnSetDecPress : 28|1@0+ (1,0) [0|1] "SED" ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnSetIncPress : 27|1@0+ (1,0) [0|1] "SED" ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcAslButtnSetPress : 26|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CcAsllButtnResPress : 25|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcButtnOffPress : 24|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcButtnOnOffCnclPress : 39|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcButtnOnOffPress : 38|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ CcButtnOnPress : 37|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ HeadLghtHiFlash_D_Actl : 36|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ HeadLghtHiOn_B_StatAhb : 34|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ AhbStat_B_Dsply : 33|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AccButtnGapTogglePress : 32|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ WiprFrontSwtch_D_Stat : 47|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ HeadLghtHiCtrl_D_RqAhb : 43|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ TjaButtnOnOffPress : 40|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + +BO_ 787 Power_Liftgate_Stat_FD1: 8 GWM + SG_ DrLckCnt_No_ActlTgate : 12|4@0+ (1,0) [0|15] "unitless" Vector__XXX + SG_ DrTgateChime2_D_Rq : 15|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ DrTGate_D_Rq : 2|2@0+ (1,0) [0|3] "SED" ECM_Diesel + SG_ PwLftgtIntSw_B_Stat : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Power_Liftgate_Mode_Stt : 4|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 953 Body_Info_8_FD1: 8 GWM + SG_ BattRgenLoDChrg_D_Rq : 27|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM + SG_ BattRgenLoChrg_D_Rq : 25|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM + SG_ ChrgCordLck_B_Stat : 31|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ChrgCordResp2_No_Actl : 23|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ ChrgCordResp1_No_Actl : 15|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ WakeAlarm3_D_Stat : 1|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ WakeAlarm2_D_Stat : 3|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ WakeAlarm1_D_Stat : 5|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM_HEV + SG_ WakeAlarm0_D_Stat : 7|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_ 1093 TrailerBrakeInfo_FD1: 8 GWM + SG_ TrlBrkInitOut_D_Stat : 10|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrlrBrkOut_No_Dsply : 23|4@0+ (1,0) [0|15] "unitless" Vector__XXX + SG_ TrlrBrkMde_D_Actl : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrlrBrkGain_No_Actl : 15|5@0+ (0.5,0) [0|15.5] "unitless" Vector__XXX + SG_ TrlrBrkDsply_B_Rq : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrlrBrkDcnnt_B_Actl : 5|1@0+ (1,0) [0|1] "SED" VDM + SG_ TrlrBrkActCnnct_B_Actl : 6|1@0+ (1,0) [0|1] "SED" VDM,ECM_Diesel,PCM,TCM_DSL,ABS_ESC,PSCM,TCCM,IPMA_ADAS + SG_ StopLamp_B_RqTrlrBrk : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TrlrBrkCtl_B_Falt : 4|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ TrlrBrkActCirct_B_Falt : 1|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + +BO_ 792 IPC_Send_Signals_2_FD1: 8 GWM + SG_ FuelRange_L_Dsply : 45|14@0+ (0.1,0) [0|1638.3] "km" ECM_Diesel + SG_ ElTrip_L_Dsply : 31|16@0+ (0.1,0) [0|6553.3] "unitless" Vector__XXX + SG_ ElLongTerm_L_Dsply : 7|24@0+ (0.1,0) [0|1677721.3] "unitless" Vector__XXX + +BO_ 968 Cluster_Lighting_Rq_FD1: 8 GWM + SG_ SlMde_D_Rq : 27|2@0+ (1,0) [0|3] "SED" ECM_Diesel + SG_ IsaOffst_D_Rq : 31|4@0+ (1,0) [0|15] "SED" ECM_Diesel + +BO_ 819 Pass_Dr_Stat_FD1: 8 GWM + SG_ RollCode_No_ActlPdm : 31|16@0+ (1,0) [0|65535] "Unitless" Vector__XXX + SG_ Memory_3_SwPsngr_Stat : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Memory_2_SwPsngr_Stat : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Memory_1_SwPsngr_Stat : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ BLISLEDStatPassSide : 2|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ WndwPsngrSide_D_Stat : 4|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM + SG_ Pasngr_Lock_Sw_Stat : 6|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Pasngr_Lock_Sw_Cnt : 15|8@0+ (1,0) [0|255] "Cnt" Vector__XXX + SG_ ChildLckFdbckRp_B_Stat : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 818 Driver_Dr_Stat_FD1: 8 GWM + SG_ BLISLEDStatDriverSide : 47|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ ChildLckPw_N_Cnt : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ WndwDrvSide_D_Stat : 1|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM + SG_ RollCodeDrvDrKeyCyl : 23|16@0+ (1,0) [0|65535] "Unitless" Vector__XXX + SG_ KeyCylSwDrvDr_D_Stat : 3|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Driver_Lock_Sw_Stat : 5|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Driver_Lock_Sw_Cnt : 15|8@0+ (1,0) [0|255] "Cnt" Vector__XXX + SG_ ChildLckPw_D_Rq : 6|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ChildLckFdbckRd_B_Stat : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ RvrseMirrorChime_B_Rq : 45|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 806 Compressor_Req_FD1: 8 GWM + SG_ SnowPlowMde_B_Enbl : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ StopStrtDrvMde_B_RqBtn : 3|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM + SG_ HvacHtrCore_Te_Rq : 49|10@0+ (0.25,-50) [-50|205.75] "degC" PCM_HEV,SOBDMC_HPCM_FD1,ECM_Diesel + SG_ ClimtHeat_D_Rq : 20|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV + SG_ ClimtCool_D_Rq : 23|3@0+ (1,0) [0|7] "SED" SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV + SG_ HvacEvap_Te_Rq : 33|10@0+ (0.125,-50) [-50|77.875] "Degrees C" SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV + SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50) [-50|77.75] "Degrees C" SOBDMC_HPCM_FD1,ECM_Diesel,PCM,PCM_HEV + SG_ HvacAirCond_B_Rq : 7|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ HvacEvap_Te_Offst : 1|10@0+ (0.125,-50) [-50|77.875] "Degrees C" ECM_Diesel,PCM,PCM_HEV + SG_ ClimtPw_B_Rq : 5|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM + +BO_ 765 Mc_Send_Signals_2_FD1: 8 GWM + SG_ Mc_VehTimeFrmtUsrSel_St : 1|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Running_Board_Cmd : 21|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ EngExhMdeQuiet_D2_Rq : 55|3@0+ (1,0) [0|7] "SED" PCM + SG_ EdmSailMde_B_RqDrv : 48|1@0+ (1,0) [0|1] "SED" ECM_Diesel + SG_ DrvInputRequired_B_Rq : 32|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AwdRnge_D_ActlIpc : 29|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ BalrSwtch_D_Stat : 57|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ BalrMde_D_Rq : 59|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ WaitToStartLamp_D_Falt : 50|2@0+ (1,0) [0|3] "SED" ECM_Diesel + SG_ EsaOn_B_Rq : 15|1@0+ (1,0) [0|1] "SED" PSCM + SG_ BttOn_B_Rq : 26|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ Btt_L_Actl : 39|7@0+ (0.1,0) [0|12.5] "meter" IPMA_ADAS + SG_ SelDrvMdeTxtReset_B_Rq : 40|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ SelDrvMdeDsply_B_Avail : 41|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ Mc_VehUntTrpCoUsrSel_St : 23|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Mc_VehUnitTempUsrSel_St : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Mc_VehLangUsrSel_St : 7|6@0+ (1,0) [0|63] "SED" Vector__XXX + +BO_ 559 ElecHorizon_Data2_FD1: 8 GWM + SG_ EhData2_No_Actl : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" IPMA_ADAS,ECM_Diesel + +BO_ 558 ElecHorizon_Data1_FD1: 8 GWM + SG_ EhData1_No_Actl : 7|64@0+ (1,0) [0|1.84467440737096E+019] "unitless" IPMA_ADAS,ECM_Diesel + +BO_ 934 Side_Detect_L_Stat: 8 IPMA_ADAS + SG_ CtaAlrtLeft2_D_Stat : 30|3@0+ (1,0) [0|7] "SED" GWM + SG_ CtaBrkLeftMsgTxt_B_Rq : 42|1@0+ (1,0) [0|1] "SED" GWM + SG_ CtaLeftBrkDecel_B_Rq : 7|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ CtaLeftBrkEnbl_B_Rq : 31|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ Side_Detect_L_Illum : 39|8@0+ (1,0) [0|255] "Percent" GWM + SG_ BttLeft_D_Stat : 45|3@0+ (1,0) [0|7] "SED" GWM + SG_ BttLeft_D_RqDrv : 47|2@0+ (1,0) [0|3] "SED" GWM + SG_ CtaSnsLeft_D_Stat : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ SodDetctLeft_D_Stat : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ CtaLeft_D_Stat : 18|3@0+ (1,0) [0|7] "SED" GWM + SG_ CtaAlrtLeft_D_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ SodLeft_D_Stat : 15|3@0+ (1,0) [0|7] "SED" GWM + SG_ SodSnsLeft_D_Stat : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ SodAlrtLeft_D_Stat : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ SodWarnLeft_Prd_Rq : 6|7@0+ (1,0) [0|127] "millisecond" GWM + +BO_ 1072 Cluster_Info1_FD1: 8 GWM + SG_ LscmbbStat_B_Actl : 2|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ HaDsplyCpblty_B_Stat : 42|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ AccDeny_B_RqIpc : 7|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ DrvSlipCtlMde_D_Rq : 33|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ EngIdlShutDown_B_RqDrv : 3|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ HsaMde_D_Rq : 54|2@0+ (1,0) [0|3] "SED" ABS_ESC + SG_ NtrlTowMdeEnbl_B_RqDrv : 1|1@0+ (1,0) [0|1] "SED" TCCM,TCM_DSL,PCM_HEV,PCM + SG_ BulbChkActv_B_Stat : 55|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ParkDetect_Stat : 52|1@0+ (1,0) [0|1] "SED" PCM_HEV,PCM + SG_ ReducedGuard_D_Rq : 51|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrlrBrkMde_D_Rq : 57|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TRLR_SWAY_CONFIG_CMD : 56|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ TRAILER_BRAKE_CONFIG : 37|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Power_Liftgate_Mode_Cmd : 39|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ AccEnbl_B_RqDrv : 35|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ OdometerMasterValue : 15|24@0+ (1,0) [0|16777214] "km" VDM,SOBDMC_HPCM_FD1,TCCM,CMR_DSMC,ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,PSCM,TCM_DSL + SG_ EngOilLife_B_RqReset : 43|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ ePRNDL_MODE : 0|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ DrvSlipCtlMde_B_Rq2 : 34|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ MetricActv_B_Actl : 6|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ KeyTypeChngMykey_D_Rq : 41|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ManRgen_D_Rq : 5|2@0+ (1,0) [0|3] "SED" ECM_Diesel + +BO_ 909 Body_Info_6_FD1: 8 GWM + SG_ IgnPsswrdDsply_B_Rq : 57|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ ElPwPoint_D_Rq : 59|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PoliceIdlMde_D_Stat : 55|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ DrLatchMsgTxt_D_Rq : 43|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ SecurityMsgTxt_D_Rq : 47|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PrmtrAlrmEvnt_D_Stat : 35|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ HeadLghtHiPrmsn_D_Stat : 51|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ SteWhlLckMsgTxt_D_Rq : 25|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ immoMsgTxt_D_Rq : 39|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ PrsnlDevcChrgEnbl_B_Rq : 40|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TracKeyMde_D_Stat : 45|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PEBackupSlot_Stats : 27|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ KeyMykeyTot_No_Cnt : 3|4@0+ (1,0) [0|15] "Counts" Vector__XXX + SG_ Keycode_Status : 15|20@0+ (1,0) [0|1048575] "unitless" Vector__XXX + SG_ KeyAdmnTot_No_Cnt : 7|4@0+ (1,0) [0|15] "Counts" Vector__XXX + +BO_ 963 BCM_Lamp_Stat_FD1: 8 GWM + SG_ Illuminated_Entry_Stat : 63|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Dr_Courtesy_Light_Stat : 49|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Courtesy_Delay_Status : 51|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ImpactEvntFdbck_D_Stat : 53|2@0+ (1,0) [0|3] "SED" CMR_DSMC + SG_ WrlssAcsyChrgInhbt_B_Rq : 40|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PudLampPsngr_D_Rq : 57|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ HeadLampLoOut_B_Stat : 32|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CrnrLghtRight_Pc_Rq : 47|7@0+ (1,0) [0|100] "percent" Vector__XXX + SG_ CrnrLghtLeft_Pc_Rq : 39|7@0+ (1,0) [0|100] "percent" Vector__XXX + SG_ HeadLghtHiFdbck_D_Stat : 55|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PudLampDrv_D_Rq : 59|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ TrnNotInPrkChime_B_Rq : 24|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PrkLightChime_B_Rq : 25|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ KeyInIgnWarn_B_Cmd : 27|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ HomeSafeLtChime_B_Rq : 28|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ StopLghtOn_B_Stat : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ RvrseLghtOn_B_Stat : 9|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PrkLght_D_Stat : 13|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ HeadLghtSwtch_D_Stat : 15|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ HeadLampLoFrOn_B_Stat : 2|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ HeadLampLoFlOn_B_Stat : 3|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ HeadLampLoActv_B_Stat : 4|1@0+ (1,0) [0|1] "SED" IPMA_ADAS,PCM,ECM_Diesel + SG_ Headlamp_On_Wrning_Cmd : 29|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Park_Brake_Chime_Rqst : 26|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ HeadLghtHiOn_B_Stat : 1|1@0+ (1,0) [0|1] "SED" ECM_Diesel,IPMA_ADAS,PCM + SG_ BrkWarnInd_B_Rq : 20|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Brk_Fluid_Lvl_Low : 31|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ ReducedGuard_D_Stat : 19|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Perimeter_Alarm_Status : 17|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ Courtesy_BSave_Stat : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ DrTgateLck_D_Stat : 61|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ WndwGlbl_D_Cmd : 23|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ PudLamp_D_Rq : 11|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ DayRnngLampOn_B_Stat : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PerimeterAlarmChimeRq : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 145 Yaw_Data_FD1: 8 GWM + SG_ VehYawWActl_D_Qf : 53|2@0+ (1,0) [0|3] "SED" VDM,IPMA_ADAS,ABS_ESC + SG_ VehRolWActl_D_Qf : 55|2@0+ (1,0) [0|3] "SED" VDM,IPMA_ADAS,ABS_ESC + SG_ VehRollYawW_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless" IPMA_ADAS,ABS_ESC + SG_ VehRollYaw_No_Cnt : 47|8@0+ (1,0) [0|255] "Unitless" VDM,IPMA_ADAS,ABS_ESC + SG_ VehYaw_W_Actl : 23|16@0+ (0.0002,-6.5) [-6.5|6.6066] "rad/s" VDM,ABS_ESC,PSCM,IPMA_ADAS + SG_ VehRol_W_Actl : 7|16@0+ (0.0002,-6.5) [-6.5|6.6066] "rad/s" VDM,ABS_ESC,IPMA_ADAS + +BO_ 76 RCMStatusMessage2_FD1: 8 GWM + SG_ FirstRowBuckleMid : 28|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ SecondRowBucklePsngr : 23|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ SecondRowBuckleMid : 9|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ SecondRowBuckleDriver : 11|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FirstRowBuckleDriver : 15|2@0+ (1,0) [0|3] "SED" CMR_DSMC,ABS_ESC,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL + SG_ RILReq : 7|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FirstRowBucklePsngr : 13|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ RstrnImpactEvntStatus : 3|3@0+ (1,0) [0|7] "SED" CMR_DSMC,SOBDMC_HPCM_FD1,ABS_ESC,IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV,TCM_DSL + SG_ PsngrFrntDetct_D_Actl : 5|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ EDRTriggerEvntSync : 29|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ PassRstrnInd_Req : 31|2@0+ (1,0) [0|3] "SED" Vector__XXX + +BO_ 65 Global_PATS_Cntrl_Info_FD1: 8 GWM + SG_ immoControlData_T1 : 15|40@0+ (1,0) [0|1099511627775] "Encrypted" ECM_Diesel,PCM,PCM_HEV + SG_ immoControlCmd_T1 : 7|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV + +BO_ 1076 Cluster_Info_3_FD1: 8 GWM + SG_ HILL_DESC_SW : 32|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ AutoRgen_D_Rq : 34|2@0+ (1,0) [0|3] "SED" ECM_Diesel + SG_ W2S_LAMP_OK : 37|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ OdoTripRx_B_Actl : 2|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ Veh_V_CompLimMx : 47|12@0+ (0.1,0) [0|409.5] "km/h" ECM_Diesel,PCM,PCM_HEV + SG_ DrvSlipCtlMde_B_RqMyKey : 38|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ FuelLvlWarn_D_Actl : 51|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FuelSecndActv_B_Actl : 39|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ FuelLvlPssvSide_No_Raw : 17|10@0+ (1,0) [0|1023] "Unitless" ECM_Diesel,PCM,PCM_HEV + SG_ FUEL_SENSOR_NUM : 35|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ FuelLvlActvSide_No_Raw : 49|10@0+ (1,0) [0|1023] "Unitless" ECM_Diesel,PCM,PCM_HEV + SG_ FuelLvl_Pc_Dsply : 1|10@0+ (0.108696,-5.217408) [-5.217408|105.9786] "Percent" VDM,ECM_Diesel + SG_ DISPLAY_SPEED_SCALING : 23|4@0+ (0.5,100) [100|107.5] "%" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV + SG_ DISPLAY_SPEED_OFFSET : 7|3@0+ (0.5,0) [0|3.5] "kph" IPMA_ADAS,ECM_Diesel,PCM,PCM_HEV + +BO_ 862 Climate_Cntrl_Data_2_FD1: 8 GWM + SG_ AutoStpHvacDelta_I_Est : 15|8@0+ (1,-192) [-192|62] "ampere" Vector__XXX + SG_ HvacBlwrFront_D_Stat : 55|5@0+ (1,0) [0|31] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ CabnAmb_Te_Actl : 39|8@0+ (0.5,-57) [-57|70] "degreesC" SOBDMC_HPCM_FD1,PCM_HEV + SG_ HvacRemoteStrt_N_Rq : 7|4@0+ (100,450) [450|1950] "RPM" ECM_Diesel,PCM,PCM_HEV + SG_ ClimtThrmlLoad_No_Actl : 47|8@0+ (1,0) [0|254] "unitless" SOBDMC_HPCM_FD1,PCM_HEV + SG_ HvacRec_Pc_Est : 23|7@0+ (1,0) [0|127] "Percent" PCM_HEV,SOBDMC_HPCM_FD1 + SG_ HvacAir_Flw_Est : 16|9@0+ (0.5,0) [0|255.5] "liter/second" SOBDMC_HPCM_FD1 + +BO_ 931 Body_Info_9_FD1: 8 GWM + SG_ PtWakeReas_D_Stat : 38|4@0+ (1,0) [0|15] "SED" PCM_HEV + SG_ VehOnSrc_D_Stat : 19|4@0+ (1,0) [0|15] "SED" ABS_ESC,PCM_HEV,ECM_Diesel,PCM + SG_ StrtrMtrCtlDStat_No_Cs : 31|8@0+ (1,0) [0|255] "unitless" PCM_HEV,ECM_Diesel,PCM + SG_ EngStrtActv_B_Stat : 39|1@0+ (1,0) [0|1] "SED" PCM_HEV,ECM_Diesel,PCM + SG_ EngStrt_B_Rq : 0|1@0+ (1,0) [0|1] "SED" PCM_HEV,ECM_Diesel,PCM + SG_ DrvInCtl_B_Stat : 1|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ AdvStrt_D_Stat : 23|4@0+ (1,0) [0|15] "SED" PCM_HEV,ECM_Diesel,PCM + SG_ CrnkInhbt_No_Cs : 15|8@0+ (1,0) [0|255] "Unitless" ECM_Diesel,PCM,PCM_HEV + SG_ CrnkInhbt_No_Cnt : 6|4@0+ (1,0) [0|15] "Unitless" ECM_Diesel,PCM,PCM_HEV + SG_ CrnkInhbt_B_Stat : 7|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ IgnPreOffActv_B_Stat : 2|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + +BO_ 578 Body_Info_4_FD1: 8 GWM + SG_ PtLatchActv_B_RqBcm : 56|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV,TCM_DSL + SG_ immoSecureIdleMode : 61|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ ReFuelSwtchStat_D_Actl : 63|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FuelPumpPwr_D_Stat : 50|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ BattULo_U_Actl : 39|8@0+ (0.0625,0) [0|15.875] "volt" CMR_DSMC,SOBDMC_HPCM_FD1,ABS_ESC,IPMA_ADAS,PSCM,ECM_Diesel,PCM,PCM_HEV + SG_ PrkLckCtl_B_Enbl : 22|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PrkLckCtlMsgTxt_D_Rq : 55|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PrkLckCtlAvail_T_Stat : 47|8@0+ (1,0) [0|255] "second" Vector__XXX + SG_ BrkTrnShifLck_B_Stat : 23|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV,TCM_DSL + SG_ PrkLckCtlUnlck_D_Stat : 58|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ PrkLckCtlTow_B_Enbl : 59|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DriverCrankingReq : 51|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ EngOff_T_Actl : 7|16@0+ (1,0) [0|65534] "second^0.5" ABS_ESC,IPMA_ADAS,TCCM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL + SG_ DcacElPw_D_Rq : 53|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM + SG_ BattULo_I_Actl : 21|14@0+ (0.0625,-512) [-512|511.875] "ampere" ECM_Diesel,PCM,PCM_HEV + +BO_ 947 BodyInfo_3_FD1: 8 GWM + SG_ ValetMode_D_Mem : 16|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DimmingLvlEvnt_No_Actl : 18|2@0+ (1,0) [0|3] "unitless" Vector__XXX + SG_ DrStatDrvErrCnt_B_Stat : 19|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ TurnLghtRight_D_Rq : 63|2@0+ (1,0) [0|3] "SED" CMR_DSMC,IPMA_ADAS + SG_ TurnLghtRightOn_B_Stat : 35|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ TurnLghtLeftOn_B_Stat : 54|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ FogLghtRearOn_B_Stat : 1|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ Backlit_LED_Status : 23|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ TurnLghtLeft_D_Rq : 9|2@0+ (1,0) [0|3] "SED" CMR_DSMC,IPMA_ADAS + SG_ FogLghtFrontOn_B_Stat : 56|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ IgnKeyType_D_Actl : 39|4@0+ (1,0) [0|15] "SED" ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV + SG_ Parklamp_Status : 3|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ Litval : 47|8@0+ (1,0) [0|253] "SED" IPMA_ADAS + SG_ Key_In_Ignition_Stat : 11|1@0+ (1,0) [0|1] "SED" ABS_ESC + SG_ Ignition_Status : 7|4@0+ (1,0) [0|15] "SED" VDM,CMR_DSMC,SOBDMC_HPCM_FD1,ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,PSCM,TCCM,TCM_DSL + SG_ Dimming_Lvl : 31|8@0+ (1,0) [0|253] "SED" IPMA_ADAS + SG_ Day_Night_Status : 15|2@0+ (1,0) [0|3] "SED" CMR_DSMC,ECM_Diesel,IPMA_ADAS,PCM + SG_ Remote_Start_Status : 13|2@0+ (1,0) [0|3] "SED" CMR_DSMC,IPMA_ADAS + SG_ DrStatTgate_B_Actl : 0|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ DrStatRr_B_Actl : 49|1@0+ (1,0) [0|1] "SED" ABS_ESC,IPMA_ADAS + SG_ DrStatRl_B_Actl : 48|1@0+ (1,0) [0|1] "SED" ABS_ESC,IPMA_ADAS + SG_ DrStatPsngr_B_Actl : 60|1@0+ (1,0) [0|1] "SED" CMR_DSMC,ABS_ESC,IPMA_ADAS + SG_ DrStatInnrTgate_B_Actl : 58|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ DrStatHood_B_Actl : 59|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DrStatDrv_B_Actl : 61|1@0+ (1,0) [0|1] "SED" CMR_DSMC,ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,TCCM + SG_ PrkBrkActv_B_Actl : 55|1@0+ (1,0) [0|1] "SED" ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,TCCM,TCM_DSL + SG_ LifeCycMde_D_Actl : 53|4@0+ (1,0) [0|15] "SED" VDM,SOBDMC_HPCM_FD1,ABS_ESC,ECM_Diesel,IPMA_ADAS,PCM,PCM_HEV,PSCM,TCM_DSL + SG_ Delay_Accy : 57|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CrashEvnt_D_Stat : 34|2@0+ (1,0) [0|3] "SED" Vector__XXX + SG_ FuelPmpInhbt_B_Stat : 32|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ BodySrvcRqd_B_Rq : 10|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 1084 Battery_Mgmt_3_FD1: 8 GWM + SG_ BattULoChrg_URate_RqMx : 63|6@0+ (0.1,0) [0|6.3] "volts/second" ECM_Diesel,PCM,PCM_HEV + SG_ BattULoChrg_U_RqMx : 55|6@0+ (0.1,10.6) [10.6|16.9] "volt" ECM_Diesel,PCM,PCM_HEV + SG_ BattULoChrg_U_RqMn : 45|6@0+ (0.1,10.6) [10.6|16.9] "volt" ECM_Diesel,PCM,PCM_HEV + SG_ BattULoState_D_Qlty : 47|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ BSFault : 7|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV + SG_ BattULo2_Te_Actl : 30|7@0+ (1,-40) [-40|86] "degC" ECM_Diesel,PCM,PCM_HEV + SG_ BSBattSOC : 22|7@0+ (1,0) [0|127] "%" ECM_Diesel,PCM,PCM_HEV + SG_ BSBattQDeltaRideAh : 6|15@0+ (0.0078125,-100) [-100|155.9921875] "ampere*hour" ECM_Diesel,PCM,PCM_HEV + SG_ BSBattQCapAh : 38|7@0+ (1,0) [0|127] "ampere*hour" ECM_Diesel,PCM,PCM_HEV + +BO_ 1068 Battery_Mgmt_2_FD1: 8 GWM + SG_ EngStrtInhbt_B_RqBatt : 2|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM + SG_ BattULoChrg_D_Rq : 7|2@0+ (1,0) [0|3] "SED" ECM_Diesel,PCM + SG_ PwSysULoFalt_D_Stat : 12|4@0+ (1,0) [0|15] "SED" Vector__XXX + SG_ Shed_T_Eng_Off_B : 8|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Shed_Feature_Group_ID : 20|5@0+ (1,0) [0|31] "SED" ECM_Diesel,PCM,PCM_HEV,IPMA_ADAS + SG_ Shed_Drain_Eng_Off_B : 0|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Shed_Level_Req : 23|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM,PCM_HEV,IPMA_ADAS + SG_ BattULoSrvc_T_Actl : 39|12@0+ (1,0) [0|4095] "days" Vector__XXX + SG_ ULoRgenTestMde_B_Rq : 31|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM + SG_ ChargeMode : 15|3@0+ (1,0) [0|7] "SED" ECM_Diesel,PCM + SG_ IdleSpeedIncrease_El : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ Batt_Lo_SoC_B : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ PeriodicElLoad_B_Stat : 1|1@0+ (1,0) [0|1] "SED" ECM_Diesel + SG_ Batt_Crit_SoC_B : 4|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 146 Accel_Data_FD1: 8 GWM + SG_ VehVert2_A_Actl : 36|13@0+ (0.01,-40) [-40|41.89] "m/s^2" VDM,TCCM,IPMA_ADAS,ABS_ESC,ECM_Diesel + SG_ VehLatLongVertA_No_Cs : 55|8@0+ (1,0) [0|255] "Unitless" TCCM,IPMA_ADAS,ABS_ESC + SG_ VehLatLongVert_No_Cnt : 63|8@0+ (1,0) [0|255] "Unitless" VDM,TCCM,IPMA_ADAS,ABS_ESC + SG_ VehLong2_A_Actl : 20|13@0+ (0.01,-40) [-40|41.89] "m/s^2" VDM,TCCM,ABS_ESC,ECM_Diesel,IPMA_ADAS + SG_ VehLat2_A_Actl : 4|13@0+ (0.01,-40) [-40|41.89] "m/s^2" VDM,TCCM,ABS_ESC,ECM_Diesel,IPMA_ADAS + SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|3] "SED" VDM,TCCM,IPMA_ADAS,ABS_ESC + SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|3] "SED" VDM,TCCM,ABS_ESC,ECM_Diesel + SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|3] "SED" VDM,TCCM,ABS_ESC + +BO_ 1900 TesterPhysicalResCCM: 64 IPMA_ADAS + SG_ TesterPhysicalResCCM : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1806 TesterPhysicalResIPMA: 64 IPMA_ADAS + SG_ TesterPhysicalResIPMA : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 997 Personality_CCM_Data: 8 IPMA_ADAS + SG_ PersIndexCcm_D_Actl : 39|3@0+ (1,0) [0|7] "SED" GWM + SG_ FeatNoCcmActl : 23|16@0+ (1,0) [0|65535] "Number" GWM + SG_ FeatConfigCcmActl : 7|16@0+ (1,0) [0|65535] "Undefined" GWM + +BO_ 983 Steer_Assist_Data: 8 IPMA_ADAS + SG_ CmbbObjRelLong_V_Actl : 39|10@0+ (0.1,-102.1) [-102.1|0] "meters/sec" PSCM + SG_ CmbbObjRelLat_V_Actl : 23|9@0+ (0.1,-25.5) [-25.5|25.4] "meters/sec" PSCM + SG_ CmbbObjDistLong_L_Actl : 7|10@0+ (0.1,0) [0|102.1] "meter" PSCM + SG_ CmbbObjDistLat_L_Actl : 45|9@0+ (0.1,-25.5) [-25.5|25.4] "meter" PSCM + SG_ CmbbObjConfdnc_D_Stat : 9|2@0+ (1,0) [0|3] "SED" PSCM + SG_ CmbbObjColl_T_Actl : 30|7@0+ (0.05,0) [0|6.25] "second" PSCM + SG_ CmbbObjClass_D_Stat : 13|4@0+ (1,0) [0|15] "SED" PSCM + SG_ EsaEnbl_D2_Rq : 52|2@0+ (1,0) [0|3] "SED" PSCM + +BO_ 982 LateralMotionControl2: 8 IPMA_ADAS + SG_ LatCtlCrv_NoRate2_Actl : 55|11@0+ (1E-006,-0.001024) [-0.001024|0.001023] "meter^2" PSCM + SG_ LatCtlPath_No_Cnt : 60|4@0+ (1,0) [0|15] "Unitless" PSCM + SG_ LatCtlPath_No_Cs : 15|8@0+ (1,0) [0|255] "Unitless" PSCM + SG_ LatCtl_D2_Rq : 6|3@0+ (1,0) [0|7] "SED" PSCM + SG_ HandsOffCnfm_B_Rq : 7|1@0+ (1,0) [0|1] "SED" PSCM + SG_ LatCtlRampType_D_Rq : 1|2@0+ (1,0) [0|3] "SED" PSCM + SG_ LatCtlPrecision_D_Rq : 3|2@0+ (1,0) [0|3] "SED" PSCM + SG_ LatCtlPathOffst_L_Actl : 33|10@0+ (0.01,-5.12) [-5.12|5.11] "meter" PSCM + SG_ LatCtlPath_An_Actl : 28|11@0+ (0.0005,-0.5) [-0.5|0.5235] "radians" PSCM + SG_ LatCtlCurv_No_Actl : 23|11@0+ (2E-005,-0.02) [-0.02|0.02094] "1/meter" PSCM + +BO_ 981 GlareFreeBeam: 8 IPMA_ADAS + SG_ AdbRamping_T_Rq : 44|4@0+ (200,0) [0|3000] "millisecond" GWM + SG_ AdbBrdrTop_An_Rq : 7|8@0+ (0.04,-9.54) [-9.54|0.58] "degrees" GWM + SG_ AdbBrdrRight_L_Stat : 37|9@0+ (2,0) [0|1018] "meter" GWM + SG_ AdbBrdrRight_An_Rq : 31|10@0+ (0.04,-20.4) [-20.4|20.44] "degrees" GWM + SG_ AdbBrdrLeft_L_Stat : 40|9@0+ (2,0) [0|1018] "meter" GWM + SG_ AdbBrdrLeft_An_Rq : 9|10@0+ (0.04,-20.4) [-20.4|20.44] "degrees" GWM + SG_ AdbBrdrBottom_An_Rq : 15|6@0+ (0.04,-1.86) [-1.86|0.58] "degrees" GWM + SG_ AdbBeam_D_Rq : 63|3@0+ (1,0) [0|7] "SED" GWM + +BO_ 980 AutoDriveBeam_Data1: 8 IPMA_ADAS + SG_ AdbBrdr1DistRigh_D_Stat : 59|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbBrdr1DistLeft_D_Stat : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbMde1_D_Rq : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbIntns1_D_Rq : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbBrdr1Up_An_Rq : 36|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr1Right_An_Rq : 31|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr1Low_An_Rq : 8|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr1Left_An_Rq : 7|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr1CritRigh_T_Stat : 43|4@0+ (100,0) [0|1500] "millisecond" GWM + SG_ AdbBrdr1CritLeft_T_Stat : 55|4@0+ (100,0) [0|1500] "millisecond" GWM + +BO_ 979 LateralMotionControl: 8 IPMA_ADAS + SG_ LatCtlRng_L_Max : 63|6@0+ (2,0) [0|126] "meter" GWM + SG_ HandsOffCnfm_B_Rq : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ LatCtl_D_Rq : 36|3@0+ (1,0) [0|7] "SED" GWM + SG_ LatCtlRampType_D_Rq : 53|2@0+ (1,0) [0|3] "SED" GWM + SG_ LatCtlPrecision_D_Rq : 33|2@0+ (1,0) [0|3] "SED" GWM + SG_ LatCtlPathOffst_L_Actl : 47|10@0+ (0.01,-5.12) [-5.12|5.11] "meter" GWM + SG_ LatCtlPath_An_Actl : 31|11@0+ (0.0005,-0.5) [-0.5|0.5235] "radians" GWM + SG_ LatCtlCurv_NoRate_Actl : 12|13@0+ (2.5E-007,-0.001024) [-0.001024|0.00102375] "1/meter" GWM + SG_ LatCtlCurv_No_Actl : 7|11@0+ (2E-005,-0.02) [-0.02|0.02094] "1/meter" GWM + +BO_ 976 SuspensionRoad_Data: 8 IPMA_ADAS + SG_ SuspClkSync_No_Actl : 55|8@0+ (1,0) [0|253] "unitless" GWM + SG_ SrpSigValid_B_Stat : 47|1@0+ (1,0) [0|1] "SED" GWM + SG_ SrpHghtRight_L_Actl : 24|9@0+ (0.000625,-0.16) [-0.16|0.158125] "meter" GWM + SG_ SrpHghtLeft_L_Actl : 17|9@0+ (0.000625,-0.16) [-0.16|0.158125] "meter" GWM + SG_ SrpEventRight_D_Stat : 19|2@0+ (1,0) [0|3] "SED" GWM + SG_ SrpEventLeft_D_Stat : 21|2@0+ (1,0) [0|3] "SED" GWM + SG_ SrpDistRight_L_Actl : 14|9@0+ (0.02,0) [0|10.18] "meter" GWM + SG_ SrpDistLeft_L_Actl : 7|9@0+ (0.02,0) [0|10.18] "meter" GWM + +BO_ 973 Traffic_RecognitnData: 8 IPMA_ADAS + SG_ TsrVl2PrmntMsgTxt_D_Rq : 60|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVl1PrmntMsgTxt_D_Rq : 41|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVl2RstrcMsgTxt2_D_Rq : 63|3@0+ (1,0) [0|7] "SED" GWM + SG_ TsrVl1RstrcMsgTxt2_D_Rq : 51|3@0+ (1,0) [0|7] "SED" GWM + SG_ TsrOvtkMsgTxt2_D_Rq : 55|4@0+ (1,0) [0|15] "SED" GWM + SG_ WwaWarn_B_Rq : 48|1@0+ (1,0) [0|1] "SED" GWM + SG_ TsrVlUnitMsgTxt_D_Rq : 43|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVLim2MsgTxt_D_Rq : 39|8@0+ (1,0) [0|255] "SED" GWM + SG_ TsrVLim1MsgTxt_D_Rq : 31|8@0+ (1,0) [0|255] "SED" GWM + SG_ TsrVl2StatMsgTxt_D_Rq : 47|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVl2RstrcMsgTxt_D_Rq : 17|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVl1StatMsgTxt_D_Rq : 21|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrVl1RstrcMsgTxt_D_Rq : 23|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrStatMsgTxt_D_Rq : 10|3@0+ (1,0) [0|7] "SED" GWM + SG_ TsrOvtkStatMsgTxt_D_Rq : 1|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrOvtkMsgTxt_D_Rq : 15|3@0+ (1,0) [0|7] "SED" GWM + SG_ TsrOswWarnMsgTxt_D_Rq : 3|2@0+ (1,0) [0|3] "SED" GWM + SG_ TsrMsgTxt_D_Rq : 7|4@0+ (1,0) [0|15] "SED" GWM + +BO_ 970 Lane_Assist_Data1: 8 IPMA_ADAS + SG_ LkaDrvOvrrd_D_Rq : 38|2@0+ (1,0) [0|3] "SED" PSCM + SG_ LkaActvStats_D2_Req : 7|3@0+ (1,0) [0|7] "SED" PSCM + SG_ LaRefAng_No_Req : 19|12@0+ (0.05,-102.4) [-102.4|102.3] "mrad" PSCM + SG_ LaRampType_B_Req : 39|1@0+ (1,0) [0|1] "SED" PSCM + SG_ LaCurvature_No_Calc : 15|12@0+ (5E-006,-0.01024) [-0.01024|0.01023] "1/m" PSCM + SG_ LdwActvStats_D_Req : 4|3@0+ (1,0) [0|7] "SED" PSCM + SG_ LdwActvIntns_D_Req : 1|2@0+ (1,0) [0|3] "SED" PSCM + +BO_ 962 AutoDriveBeam_Data3: 8 IPMA_ADAS + SG_ AdbBrdr3DistRigh_D_Stat : 59|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbBrdr3DistLeft_D_Stat : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbMde3_D_Rq : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbIntns3_D_Rq : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbBrdr3Up_An_Rq : 36|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr3Right_An_Rq : 31|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr3Low_An_Rq : 8|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr3Left_An_Rq : 7|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr3CritRigh_T_Stat : 43|4@0+ (100,0) [0|1500] "millisecond" GWM + SG_ AdbBrdr3CritLeft_T_Stat : 55|4@0+ (100,0) [0|1500] "millisecond" GWM + +BO_ 961 AutoDriveBeam_Data2: 8 IPMA_ADAS + SG_ AdbBrdr2DistRigh_D_Stat : 59|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbBrdr2DistLeft_D_Stat : 63|4@0+ (1,0) [0|15] "SED" GWM + SG_ AdbMde2_D_Rq : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbIntns2_D_Rq : 12|2@0+ (1,0) [0|3] "SED" GWM + SG_ AdbBrdr2Up_An_Rq : 36|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr2Right_An_Rq : 31|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr2Low_An_Rq : 8|9@0+ (0.02,-8) [-8|2.18] "degrees" GWM + SG_ AdbBrdr2Left_An_Rq : 7|11@0+ (0.02,-20) [-20|20.9] "degrees" GWM + SG_ AdbBrdr2CritRigh_T_Stat : 43|4@0+ (100,0) [0|1500] "millisecond" GWM + SG_ AdbBrdr2CritLeft_T_Stat : 55|4@0+ (100,0) [0|1500] "millisecond" GWM + +BO_ 394 ACCDATA_3: 8 IPMA_ADAS + SG_ HaDsply_No_Cs : 63|8@0+ (1,0) [0|255] "Unitless" GWM + SG_ HaDsply_No_Cnt : 4|4@0+ (1,0) [0|15] "Unitless" GWM + SG_ AccStopStat_D_Dsply : 41|2@0+ (1,0) [0|3] "SED" GWM + SG_ AccTrgDist2_D_Dsply : 27|4@0+ (1,0) [0|15] "SED" GWM + SG_ AccStopRes_B_Dsply : 54|1@0+ (1,0) [0|1] "SED" GWM + SG_ TjaWarn_D_Rq : 50|3@0+ (1,0) [0|7] "SED" GWM + SG_ Tja_D_Stat : 44|3@0+ (1,0) [0|7] "SED" GWM + SG_ TjaMsgTxt_D_Dsply : 53|3@0+ (1,0) [0|7] "SED" GWM + SG_ IaccLamp_D_Rq : 46|2@0+ (1,0) [0|3] "SED" GWM + SG_ AccMsgTxt_D2_Rq : 31|4@0+ (1,0) [0|15] "SED" GWM + SG_ FcwDeny_B_Dsply : 10|1@0+ (1,0) [0|1] "SED" GWM + SG_ FcwMemStat_B_Actl : 13|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccTGap_B_Dsply : 35|1@0+ (1,0) [0|1] "SED" GWM + SG_ CadsAlignIncplt_B_Actl : 11|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccFllwMde_B_Dsply : 17|1@0+ (1,0) [0|1] "SED" GWM + SG_ CadsRadrBlck_B_Actl : 22|1@0+ (1,0) [0|1] "SED" GWM + SG_ CmbbPostEvnt_B_Dsply : 15|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccStopMde_B_Dsply : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ FcwMemSens_D_Actl : 20|2@0+ (1,0) [0|3] "SED" GWM + SG_ FcwMsgTxt_D_Rq : 7|3@0+ (1,0) [0|7] "SED" GWM + SG_ AccWarn_D_Dsply : 39|2@0+ (1,0) [0|3] "SED" GWM + SG_ FcwVisblWarn_B_Rq : 47|1@0+ (1,0) [0|1] "SED" GWM + SG_ FcwAudioWarn_B_Rq : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ AccTGap_D_Dsply : 34|3@0+ (1,0) [0|7] "SED" GWM + SG_ AccMemEnbl_B_RqDrv : 36|1@0+ (1,0) [0|1] "SED" GWM + SG_ FdaMem_B_Stat : 37|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 391 ACCDATA_2: 8 IPMA_ADAS + SG_ CmbbBrkDecel_No_Cnt : 47|4@0+ (1,0) [0|15] "Unitless" GWM,ABS_ESC + SG_ HudDsplyIntns_No_Actl : 31|8@0+ (0.5,0) [0|100] "%" GWM + SG_ HudBlk3_B_Rq : 37|1@0+ (1,0) [0|1] "SED" GWM + SG_ HudBlk2_B_Rq : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ HudBlk1_B_Rq : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ HudFlashRate_D_Actl : 53|2@0+ (1,0) [0|3] "SED" GWM + SG_ CmbbBrkDecel_No_Cs : 7|8@0+ (1,0) [0|255] "Unitless" GWM,ABS_ESC + SG_ CmbbBrkDecel_A_Rq : 12|13@0+ (0.0039,-20) [-20|11.9449] "m/s^2" ABS_ESC,GWM + SG_ CmbbBrkPrchg_D_Rq : 55|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + SG_ CmbbBrkDecel_B_Rq : 15|1@0+ (1,0) [0|1] "SED" ABS_ESC,GWM + SG_ CmbbBaSens_D_Rq : 14|2@0+ (1,0) [0|3] "SED" ABS_ESC,GWM + +BO_ 390 ACCDATA: 8 IPMA_ADAS + SG_ AccBrkPulse_B_Rq : 36|1@0+ (1,0) [0|1] "SED" ABS_ESC,GWM + SG_ AccAutoResum_D_Rq : 7|2@0+ (1,0) [0|3] "SED" PCM_HEV,PCM,ECM_Diesel + SG_ AccBrkTot_A_Rq : 4|13@0+ (0.0039,-20) [-20|11.9449] "m/s^2" GWM,ABS_ESC + SG_ AccPrpl_A_Pred : 17|10@0+ (0.01,-5) [-5|5.23] "m/s^2" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AccVeh_V_Trg : 32|9@0+ (0.5,0) [0|255.5] "kph" GWM,ECM_Diesel,PCM,PCM_HEV,TCM_DSL + SG_ AccBrkPrkEl_B_Rq : 38|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ Cmbb_B_Enbl : 50|1@0+ (1,0) [0|1] "SED" GWM + SG_ CmbbOvrrd_B_RqDrv : 51|1@0+ (1,0) [0|1] "SED" GWM + SG_ CmbbDeny_B_Actl : 37|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ CmbbEngTqMn_B_Rq : 52|1@0+ (1,0) [0|1] "SED" ECM_Diesel,PCM,PCM_HEV,GWM + SG_ AccPrpl_A_Rq : 49|10@0+ (0.01,-5) [-5|5.23] "m/s^2" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AccDeny_B_Rq : 53|1@0+ (1,0) [0|1] "SED" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AccResumEnbl_B_Rq : 33|1@0+ (1,0) [0|1] "SED" GWM,ECM_Diesel,PCM,PCM_HEV + SG_ AccCancl_B_Rq : 39|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC,ECM_Diesel,PCM,PCM_HEV + SG_ AccBrkPrchg_B_Rq : 54|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ AccBrkDecel_B_Rq : 55|1@0+ (1,0) [0|1] "SED" GWM,ABS_ESC + SG_ AccStopStat_B_Rq : 34|1@0+ (1,0) [0|1] "SED" GWM,ECM_Diesel,PCM,PCM_HEV,ABS_ESC + +BO_ 1441 TCCM_AutoSar_NetwkMgmt: 8 TCCM + SG_ TCCM_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMReserved4 : 63|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMReserved3 : 55|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMReserved2 : 31|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMReserved1 : 23|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMNodeId : 7|8@0+ (1,0) [0|255] "unitless" Vector__XXX + SG_ TCCM_AutoSarNMControl : 15|8@0+ (1,0) [0|255] "unitless" Vector__XXX + +BO_ 1787 TesterPhysicalResSODCMD: 64 IPMA_ADAS + SG_ TesterPhysicalResSODCMD : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1779 TesterPhysicalReqSODCMD: 64 TSTR + SG_ TesterPhysicalReqSODCMD : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 1786 TesterPhysicalResSODCMC: 64 IPMA_ADAS + SG_ TesterPhysicalResSODCMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1778 TesterPhysicalReqSODCMC: 64 TSTR + SG_ TesterPhysicalReqSODCMC : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 1153 All_Terrain_Data_FD1: 8 GWM + SG_ TerrMde_D_RqDrv : 3|3@0+ (1,0) [0|7] "SED" Vector__XXX + +BO_ 942 ParkAid_Data2: 8 IPMA_ADAS + SG_ PrkAidRdiusRight_L_Dsply : 15|8@0+ (1,0) [0|255] "unitless" GWM + SG_ PrkAidRdiusLeft_L_Dsply : 7|8@0+ (1,0) [0|255] "unitless" GWM + SG_ PrkAidDrvDir_D_Stat : 23|3@0+ (1,0) [0|7] "SED" GWM + SG_ PrkAidAcsyRear_D_Stat : 18|2@0+ (1,0) [0|3] "SED" GWM + SG_ PrkAidAcsyFront_D_Stat : 20|2@0+ (1,0) [0|3] "SED" GWM + +BO_ 930 Bndry_Alert_R_Data: 8 IPMA_ADAS + SG_ BalrWndwRight_B_Stat : 19|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrSnsRight_D_Falt : 21|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwPsngrRear_D_RqBalrr : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwPsngr_D_RqBalrr : 27|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwDrvRear_D_RqBalrr : 29|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwDrv_D_RqBalrr : 31|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrRight_D_Stat : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrMdeSelRight_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrMdeRight_D_Stat : 23|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrLckRight_B_Stat : 11|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrChimeRight_D_Rq : 2|2@0+ (1,0) [0|3] "SED" GWM + SG_ CamraRearOn_B_RqBalrr : 7|1@0+ (1,0) [0|1] "SED" GWM + SG_ DrLckCnt_No_ActlBalrr : 5|3@0+ (1,0) [0|7] "unitless" GWM + SG_ DrLckActv_B_RqBalrr : 6|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 929 Bndry_Alert_L_Data: 8 IPMA_ADAS + SG_ BalrChimeLeft_D_Rq : 2|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrLeft_D_Stat : 10|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrWndwLeft_B_Stat : 0|1@0+ (1,0) [0|1] "SED" GWM + SG_ WndwPsngrRear_D_RqBalrl : 25|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwPsngr_D_RqBalrl : 27|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwDrvRear_D_RqBalrl : 29|2@0+ (1,0) [0|3] "SED" GWM + SG_ WndwDrv_D_RqBalrl : 31|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrSnsLeft_D_Falt : 21|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrMdeSelLeft_B_Stat : 8|1@0+ (1,0) [0|1] "SED" GWM + SG_ BalrMdeLeft_D_Stat : 23|2@0+ (1,0) [0|3] "SED" GWM + SG_ BalrLckLeft_B_Stat : 11|1@0+ (1,0) [0|1] "SED" GWM + SG_ CamraRearOn_B_RqBalrl : 7|1@0+ (1,0) [0|1] "SED" GWM + SG_ DrLckCnt_No_ActlBalrl : 5|3@0+ (1,0) [0|7] "unitless" GWM + SG_ DrLckActv_B_RqBalrl : 6|1@0+ (1,0) [0|1] "SED" GWM + +BO_ 402 Dsp_Request_Signals11_FD1: 8 GWM + SG_ PrkAidSwtch_D_RqMnu : 11|1@0+ (1,0) [0|1] "SED" IPMA_ADAS + SG_ ApaSwtch_D_RqMnu : 10|2@0+ (1,0) [0|3] "SED" IPMA_ADAS + SG_ ApaMdeStat_D_RqDrv : 2|3@0+ (1,0) [0|7] "SED" IPMA_ADAS + SG_ CamraViewSplit_B_Rq : 3|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CamraZoomMan_D_Rq : 15|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ CamraOvrlStat_D_Rq : 4|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CamraOvrlDyn_D_Rq : 7|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ CamAutoTowbarZoom : 6|1@0+ (1,0) [0|1] "SED" Vector__XXX + SG_ DistanceBarSetting : 5|1@0+ (1,0) [0|1] "SED" Vector__XXX + +BO_ 924 DCACA_Data3_FD1: 8 GWM + SG_ DcacOut_Pw_Mx : 34|11@0+ (5,0) [0|10225] "watts" PCM,PCM_HEV + SG_ DcacOut2_Pw_Actl : 31|13@0+ (1,0) [0|8189] "watts" PCM_HEV + SG_ DcacOut1_Pw_Actl : 12|13@0+ (1,0) [0|8189] "watts" PCM,PCM_HEV + SG_ DcacIn_Pw_Mx : 7|11@0+ (5,0) [0|10225] "watts" PCM,PCM_HEV + +BO_ 923 DCACA_Data2_FD1: 8 GWM + SG_ DcacIn_U2_Actl : 39|12@0+ (0.01,0) [0|40.93] "volt" PCM + SG_ DcacIn_U_Actl : 19|12@0+ (0.1,0) [0|409.3] "volt" PCM,PCM_HEV + SG_ DcacIn_I_Actl : 15|11@0+ (0.1,0) [0|204.5] "Amps" PCM,PCM_HEV + SG_ Dcac_Te_Actl : 7|8@0+ (1,-60) [-60|193] "degC" PCM + +BO_ 1998 TesterPhysicalResSODR: 64 IPMA_ADAS + SG_ TesterPhysicalResSODR : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1996 TesterPhysicalResSODL: 64 IPMA_ADAS + SG_ TesterPhysicalResSODL : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" TSTR + +BO_ 1988 TesterPhysicalReqSODL: 64 TSTR + SG_ TesterPhysicalReqSODL : 7|64@0+ (1,0) [0|1.84467E+019] "unitless" IPMA_ADAS + +BO_ 922 DCACA_Data1_FD1: 8 GWM + SG_ DcacBp2BrkrOpn_B_Falt : 13|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacBp1BrkrOpn_B_Falt : 14|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacIpRcBrkrOpn_B_Falt : 10|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacRdy_D2_Stat : 23|2@0+ (1,0) [0|3] "SED" PCM,PCM_HEV + SG_ DcacOvrld_B_Falt : 8|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacOverTe_B_Falt : 9|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacGfci_B_Falt : 11|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacErr_B_Stat : 12|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacAcUDetct_B_Falt : 15|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacRdy_D_Stat : 2|3@0+ (1,0) [0|7] "SED" Vector__XXX + SG_ DcacPlugPrsnt_B_Stat : 3|1@0+ (1,0) [0|1] "SED" PCM,PCM_HEV + SG_ DcacClntFlw_D_Rq : 5|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + SG_ CoolFanDcac_D_Rq : 7|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1 + +BO_TX_BU_ 2612224016 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 878 : PCM,PCM_HEV; +BO_TX_BU_ 1085 : ECM_Diesel,PCM; +BO_TX_BU_ 2611175440 : ECM_Diesel,PCM_HEV,PCM; +BO_TX_BU_ 2610126864 : ECM_Diesel,PCM_HEV,PCM; +BO_TX_BU_ 786 : PCM_HEV,SOBDMC_HPCM_FD1; +BO_TX_BU_ 1090 : SOBDMC_HPCM_FD1,PCM_HEV; +BO_TX_BU_ 374 : PCM_HEV,TCM_DSL,PCM; +BO_TX_BU_ 872 : SOBDMC_HPCM_FD1,PCM_HEV; +BO_TX_BU_ 560 : PCM,PCM_HEV,TCM_DSL; +BO_TX_BU_ 369 : PCM_HEV,TCM_DSL,PCM; +BO_TX_BU_ 92 : PCM,TCM_DSL,PCM_HEV; +BO_TX_BU_ 2030 : SOBDMC_HPCM_FD1,ECM_Diesel; +BO_TX_BU_ 1087 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 2024 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1697 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1696 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1429 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1100 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1086 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1071 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1069 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1060 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1057 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 1055 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 517 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 516 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 514 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 512 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 380 : ECM_Diesel,PCM; +BO_TX_BU_ 377 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 376 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 359 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 358 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 357 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 342 : ECM_Diesel,PCM,PCM_HEV; +BO_TX_BU_ 71 : ECM_Diesel,PCM,PCM_HEV; + +BA_DEF_ BO_ "OvtpPushApplication" ENUM "FALSE","TRUE"; +BA_DEF_ BU_ "OvtpOperationMode" ENUM "SERVER","CLIENT"; +BA_DEF_ BU_ "OvtpEcuAddress" INT 0 1022; +BA_DEF_ SG_ "ECGUsedRxSignal" ENUM "No","Yes"; +BA_DEF_ SG_ "U_S650_MY2022_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "ECGUsedTxSignal" ENUM "No","Yes"; +BA_DEF_ SG_ "U_S650_MY2022_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "GenSigTimeoutTime_CHCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_SOBDMC_HPCM_F" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_CMR_DSMC" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ECM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_TCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ECM_HEVDSL" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_AWD_DLCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ECM_HEV" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_GENERIC" INT 0 100000; +BA_DEF_ BO_ "VFrameFormat" ENUM "StandardCAN","ExtendedCAN","reserved","reserved","reserved","reserved","reserved","reserved","reserved","reserved","reserved","reserved","reserved","reserved","StandardCAN_FD","ExtendedCAN_FD"; +BA_DEF_ SG_ "GenSigTimeoutTime_PSCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_HCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ABS_ESC" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_ECM_Diesel" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_TCCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime__delete" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_TCM_DSL" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_TSTR" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_IPMA_ADAS" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_GWM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_PCM" INT 0 100000; +BA_DEF_ SG_ "GenSigTimeoutTime_PCM_HEV" INT 0 100000; +BA_DEF_ "BusType" STRING; +BA_DEF_ BO_ "FrameRouting" STRING; +BA_DEF_ BO_ "FrameGatewayNetwork" STRING; +BA_DEF_ BO_ "FrameGateway_LC1" HEX 0 1407; +BA_DEF_ BO_ "FrameGatewayLC1_HS3" HEX 0 1407; +BA_DEF_ BO_ "FrameGatewayMS1" HEX 0 1407; +BA_DEF_ BO_ "FrameGatewayHS3" HEX 0 1407; +BA_DEF_ BO_ "FrameGatewayHS2" HEX 0 1407; +BA_DEF_ BO_ "FrameGatewayHS1" HEX 0 1407; +BA_DEF_ BO_ "NetworkInitialization" ENUM "No","Yes"; +BA_DEF_ BO_ "FrameGatewayId" HEX 0 1407; +BA_DEF_ BO_ "EventRateOfChange" INT 10 10000; +BA_DEF_ BO_ "ConfiguredTransmitter" ENUM "No","Yes"; +BA_DEF_ BO_ "GenMsgStartDelayTime" INT 0 10000; +BA_DEF_ BO_ "GenMsgNrOfRepetition" INT 0 100; +BA_DEF_ BO_ "GenMsgDelayTime" INT 0 1000; +BA_DEF_ BO_ "GenMsgCycleTimeFast" INT 0 100000; +BA_DEF_ BO_ "GenMsgCycleTime" INT 0 100000; +BA_DEF_ BO_ "GenMsgSendType" ENUM "FixedPeriodic","Event","EnabledPeriodic","NotUsed","NotUsed","EventPeriodic","NotUsed","NotUsed","NoMsgSendType"; +BA_DEF_ SG_ "U_T6_MCA_MY2020_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_P702_MY2021_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_CX727_MY2021_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_F5X_MY20_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_Commodity_MYXX_Tx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_T6_MCA_MY2020_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_P702_MY2021_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_CX727_MY2021_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_F5X_MY20_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "U_Commodity_MYXX_Rx" ENUM "No","Yes"; +BA_DEF_ SG_ "GenSigStartValue" HEX 0 268435455; +BA_DEF_ SG_ "MetaData" ENUM "No","Yes"; +BA_DEF_ SG_ "ApprovedOrphan" ENUM "No","Yes"; +BA_DEF_ SG_ "ContentDependant" ENUM "No","Yes"; +BA_DEF_ SG_ "GenSigStartValueInteger" INT 0 1000000000; +BA_DEF_ SG_ "UsedOnPgmDBC" ENUM "No","Yes"; +BA_DEF_ SG_ "CrossOver_InfoCAN" ENUM "No","Yes"; +BA_DEF_ SG_ "WakeupSignal" ENUM "No","Yes"; +BA_DEF_ SG_ "GenSigInactiveValue" INT 0 100000; +BA_DEF_ SG_ "GenSigSendType" ENUM "Cyclic","OnWrite","vector_leerstring","OnChange","vector_leerstring","IfActive","vector_leerstring","NoSigSendType"; +BA_DEF_ BO_ "SCP_FreshnessValueLength" INT 0 512; +BA_DEF_ BO_ "AuthFreshnessCounterSyncAttempt" INT 0 512; +BA_DEF_ BO_ "SCP_DataID" INT 0 65535; +BA_DEF_ BO_ "SCP_FreshnessValueTxLength" INT 0 512; +BA_DEF_ BO_ "SCP_AuthInfoTxLength" INT 0 512; +BA_DEF_ BO_ "SC_Message" ENUM "No","Yes"; +BA_DEF_ BO_ "ProgBWConditional" STRING; +BA_DEF_ BO_ "GenMsgRoutingTimeoutTime" INT 0 5000; +BA_DEF_ BO_ "MessageGateway" ENUM "No","Yes"; +BA_DEF_ BO_ "NmAsrMessage" ENUM "No","Yes"; +BA_DEF_ BO_ "TpApplType" STRING; +BA_DEF_ BO_ "DiagState" ENUM "No","Yes"; +BA_DEF_ BO_ "TpTxIndex" INT 0 536870911; +BA_DEF_ BO_ "NetworkInitializationCommand" ENUM "No","Yes"; +BA_DEF_ BO_ "DiagRequest" ENUM "No","Yes"; +BA_DEF_ BO_ "DiagResponse" ENUM "No","Yes"; +BA_DEF_ BO_ "NmMessage" ENUM "No","Yes"; +BA_DEF_ BO_ "GenMsgILSupport" ENUM "No","Yes"; +BA_DEF_ BU_ "Terminator" ENUM "No","Yes"; +BA_DEF_ BU_ "NodeWakeUpTime" INT 0 10000; +BA_DEF_ BU_ "NodeStartUpTime" INT 0 10000; +BA_DEF_ BU_ "NmAsrNodeIdentifier" HEX 128 255; +BA_DEF_ BU_ "NmAsrNode" ENUM "No","Yes"; +BA_DEF_ BU_ "PowerType" ENUM "Switched","Latched","Sleep","vector_leerstring","vector_leerstring"; +BA_DEF_ BU_ "DiagNode" ENUM "GGDS","GDS","NONE"; +BA_DEF_ BU_ "EOL_SB_Flash" ENUM "GGDS","GDS","NONE","vector_leerstring"; +BA_DEF_ BU_ "NetworkInitializationUsed" ENUM "No","Yes"; +BA_DEF_ BU_ "NmNode" ENUM "No","Yes"; +BA_DEF_ BU_ "NmStationAddress" INT 0 255; +BA_DEF_ BU_ "ILUsed" ENUM "No","Yes"; +BA_DEF_ BU_ "NosPackage" ENUM "None","I3_1","I3_2","1.0.1","RP","EuCD","Volcano","I3_3","FNOS_Autosar"; +BA_DEF_ BU_ "LIN_Master" ENUM "No","Yes"; +BA_DEF_ BU_ "PackageID" STRING; +BA_DEF_ BU_ "GatewayECU" ENUM "No","Yes"; +BA_DEF_ "NetworkSpeed" ENUM "500kBits/s","125kBit/s"; +BA_DEF_ "VersionNumber" INT 0 10000; +BA_DEF_ "StarNetworkGwType" ENUM "0=NotDefined","1=HS1","2=HS2","3=HS3","4=HS4","5=HS5","6=MS1","7=HS6","8=HS7","9=MS2","10=FD1","11=FD2","12=FD3","13=FD4","14=FD5","15=FD6","16=FD7","17=FD8"; +BA_DEF_ "CMDB_Version" STRING; +BA_DEF_ "NmType" STRING; +BA_DEF_ "NmAsrMessageCount" INT 128 128; +BA_DEF_ "NmAsrBaseAddress" HEX 1408 1408; +BA_DEF_ "DBName" STRING; +BA_DEF_ "VersionDay" INT 1 31; +BA_DEF_ "Manufacturer" STRING; +BA_DEF_ "VersionMonth" INT 1 12; +BA_DEF_ "VersionYear" INT 2000 3000; +BA_DEF_ "NmBaseAddress" HEX 1280 1280; +BA_DEF_ "NmMessageCount" INT 0 128; +BA_DEF_DEF_ "OvtpPushApplication" "FALSE"; +BA_DEF_DEF_ "OvtpOperationMode" "SERVER"; +BA_DEF_DEF_ "OvtpEcuAddress" 0; +BA_DEF_DEF_ "ECGUsedRxSignal" "No"; +BA_DEF_DEF_ "U_S650_MY2022_Rx" "No"; +BA_DEF_DEF_ "ECGUsedTxSignal" "No"; +BA_DEF_DEF_ "U_S650_MY2022_Tx" "No"; +BA_DEF_DEF_ "GenSigTimeoutTime_CHCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_SOBDMC_HPCM_F" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_CMR_DSMC" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ECM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_TCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ECM_HEVDSL" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_AWD_DLCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ECM_HEV" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_GENERIC" 0; +BA_DEF_DEF_ "VFrameFormat" "ExtendedCAN_FD"; +BA_DEF_DEF_ "GenSigTimeoutTime_PSCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_HCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ABS_ESC" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_ECM_Diesel" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_TCCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime__delete" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_TCM_DSL" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_TSTR" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_IPMA_ADAS" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_GWM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_PCM" 0; +BA_DEF_DEF_ "GenSigTimeoutTime_PCM_HEV" 0; +BA_DEF_DEF_ "BusType" ""; +BA_DEF_DEF_ "FrameRouting" "NONE"; +BA_DEF_DEF_ "FrameGatewayNetwork" "NONE"; +BA_DEF_DEF_ "FrameGateway_LC1" 0; +BA_DEF_DEF_ "FrameGatewayLC1_HS3" 0; +BA_DEF_DEF_ "FrameGatewayMS1" 0; +BA_DEF_DEF_ "FrameGatewayHS3" 0; +BA_DEF_DEF_ "FrameGatewayHS2" 0; +BA_DEF_DEF_ "FrameGatewayHS1" 0; +BA_DEF_DEF_ "NetworkInitialization" "Yes"; +BA_DEF_DEF_ "FrameGatewayId" 0; +BA_DEF_DEF_ "EventRateOfChange" 10000; +BA_DEF_DEF_ "ConfiguredTransmitter" "No"; +BA_DEF_DEF_ "GenMsgStartDelayTime" 0; +BA_DEF_DEF_ "GenMsgNrOfRepetition" 1; +BA_DEF_DEF_ "GenMsgDelayTime" 20; +BA_DEF_DEF_ "GenMsgCycleTimeFast" 0; +BA_DEF_DEF_ "GenMsgCycleTime" 0; +BA_DEF_DEF_ "GenMsgSendType" "NoMsgSendType"; +BA_DEF_DEF_ "U_T6_MCA_MY2020_Tx" "No"; +BA_DEF_DEF_ "U_P702_MY2021_Tx" "No"; +BA_DEF_DEF_ "U_CX727_MY2021_Tx" "No"; +BA_DEF_DEF_ "U_F5X_MY20_Tx" "No"; +BA_DEF_DEF_ "U_Commodity_MYXX_Tx" "No"; +BA_DEF_DEF_ "U_T6_MCA_MY2020_Rx" "No"; +BA_DEF_DEF_ "U_P702_MY2021_Rx" "No"; +BA_DEF_DEF_ "U_CX727_MY2021_Rx" "No"; +BA_DEF_DEF_ "U_F5X_MY20_Rx" "No"; +BA_DEF_DEF_ "U_Commodity_MYXX_Rx" "No"; +BA_DEF_DEF_ "GenSigStartValue" 0; +BA_DEF_DEF_ "MetaData" "No"; +BA_DEF_DEF_ "ApprovedOrphan" "No"; +BA_DEF_DEF_ "ContentDependant" "No"; +BA_DEF_DEF_ "GenSigStartValueInteger" 0; +BA_DEF_DEF_ "UsedOnPgmDBC" "Yes"; +BA_DEF_DEF_ "CrossOver_InfoCAN" "No"; +BA_DEF_DEF_ "WakeupSignal" "No"; +BA_DEF_DEF_ "GenSigInactiveValue" 0; +BA_DEF_DEF_ "GenSigSendType" "NoSigSendType"; +BA_DEF_DEF_ "SCP_FreshnessValueLength" 64; +BA_DEF_DEF_ "AuthFreshnessCounterSyncAttempt" 2; +BA_DEF_DEF_ "SCP_DataID" 0; +BA_DEF_DEF_ "SCP_FreshnessValueTxLength" 8; +BA_DEF_DEF_ "SCP_AuthInfoTxLength" 56; +BA_DEF_DEF_ "SC_Message" "No"; +BA_DEF_DEF_ "ProgBWConditional" "NONE"; +BA_DEF_DEF_ "GenMsgRoutingTimeoutTime" 0; +BA_DEF_DEF_ "MessageGateway" "No"; +BA_DEF_DEF_ "NmAsrMessage" "No"; +BA_DEF_DEF_ "TpApplType" ""; +BA_DEF_DEF_ "DiagState" "No"; +BA_DEF_DEF_ "TpTxIndex" 0; +BA_DEF_DEF_ "NetworkInitializationCommand" "No"; +BA_DEF_DEF_ "DiagRequest" "No"; +BA_DEF_DEF_ "DiagResponse" "No"; +BA_DEF_DEF_ "NmMessage" "No"; +BA_DEF_DEF_ "GenMsgILSupport" "Yes"; +BA_DEF_DEF_ "Terminator" "No"; +BA_DEF_DEF_ "NodeWakeUpTime" 10; +BA_DEF_DEF_ "NodeStartUpTime" 250; +BA_DEF_DEF_ "NmAsrNodeIdentifier" 128; +BA_DEF_DEF_ "NmAsrNode" "No"; +BA_DEF_DEF_ "PowerType" "Switched"; +BA_DEF_DEF_ "DiagNode" "GGDS"; +BA_DEF_DEF_ "EOL_SB_Flash" "GGDS"; +BA_DEF_DEF_ "NetworkInitializationUsed" "No"; +BA_DEF_DEF_ "NmNode" "No"; +BA_DEF_DEF_ "NmStationAddress" 0; +BA_DEF_DEF_ "ILUsed" "Yes"; +BA_DEF_DEF_ "NosPackage" "I3_3"; +BA_DEF_DEF_ "LIN_Master" "No"; +BA_DEF_DEF_ "PackageID" "08.05.00.00.71.xx.xx.rr.00.00"; +BA_DEF_DEF_ "GatewayECU" "No"; +BA_DEF_DEF_ "NetworkSpeed" "500kBits/s"; +BA_DEF_DEF_ "VersionNumber" 1; +BA_DEF_DEF_ "StarNetworkGwType" "0=NotDefined"; +BA_DEF_DEF_ "CMDB_Version" "v11.01"; +BA_DEF_DEF_ "NmType" "Ford-OSEK"; +BA_DEF_DEF_ "NmAsrMessageCount" 128; +BA_DEF_DEF_ "NmAsrBaseAddress" 1408; +BA_DEF_DEF_ "DBName" ""; +BA_DEF_DEF_ "VersionDay" 1; +BA_DEF_DEF_ "Manufacturer" "Ford"; +BA_DEF_DEF_ "VersionMonth" 1; +BA_DEF_DEF_ "VersionYear" 2011; +BA_DEF_DEF_ "NmBaseAddress" 1280; +BA_DEF_DEF_ "NmMessageCount" 128; +BA_ "BusType" "CAN FD"; +BA_ "VersionYear" 2019; +BA_ "VersionMonth" 4; +BA_ "Manufacturer" "Ford"; +BA_ "VersionDay" 11; +BA_ "CMDB_Version" "FNV2_v18.07"; +BA_ "StarNetworkGwType" 10; +BA_ "VersionNumber" 6; +BA_ "NmType" "Ford-OSEK"; +BA_ "DBName" "FD1_CAN"; +BA_ "NmStationAddress" BU_ VDM 48; +BA_ "OvtpEcuAddress" BU_ VDM 32; +BA_ "OvtpEcuAddress" BU_ CMR_DSMC 187; +BA_ "NmStationAddress" BU_ CMR_DSMC 95; +BA_ "PowerType" BU_ CMR_DSMC 2; +BA_ "NmAsrNode" BU_ CMR_DSMC 1; +BA_ "NmAsrNodeIdentifier" BU_ CMR_DSMC 223; +BA_ "OvtpEcuAddress" BU_ SOBDMC_HPCM_FD1 17; +BA_ "NmStationAddress" BU_ SOBDMC_HPCM_FD1 37; +BA_ "OvtpEcuAddress" BU_ IPMA_ADAS 33; +BA_ "NmStationAddress" BU_ IPMA_ADAS 28; +BA_ "NodeStartUpTime" BU_ IPMA_ADAS 300; +BA_ "OvtpEcuAddress" BU_ PSCM 48; +BA_ "NmStationAddress" BU_ PSCM 53; +BA_ "PowerType" BU_ PSCM 1; +BA_ "NmAsrNode" BU_ PSCM 1; +BA_ "NmAsrNodeIdentifier" BU_ PSCM 181; +BA_ "Terminator" BU_ PSCM 1; +BA_ "OvtpEcuAddress" BU_ ABS_ESC 40; +BA_ "NmStationAddress" BU_ ABS_ESC 22; +BA_ "PowerType" BU_ ABS_ESC 2; +BA_ "NmAsrNode" BU_ ABS_ESC 1; +BA_ "NmAsrNodeIdentifier" BU_ ABS_ESC 150; +BA_ "NodeStartUpTime" BU_ ABS_ESC 1000; +BA_ "NodeWakeUpTime" BU_ ABS_ESC 300; +BA_ "OvtpEcuAddress" BU_ TCCM 25; +BA_ "NmStationAddress" BU_ TCCM 33; +BA_ "NmAsrNode" BU_ TCCM 1; +BA_ "NmAsrNodeIdentifier" BU_ TCCM 161; +BA_ "NodeStartUpTime" BU_ TCCM 1000; +BA_ "NodeWakeUpTime" BU_ TCCM 25; +BA_ "OvtpEcuAddress" BU_ TCM_DSL 24; +BA_ "NmStationAddress" BU_ TCM_DSL 32; +BA_ "PowerType" BU_ TCM_DSL 1; +BA_ "NmAsrNode" BU_ TCM_DSL 1; +BA_ "NmAsrNodeIdentifier" BU_ TCM_DSL 160; +BA_ "NodeWakeUpTime" BU_ TCM_DSL 200; +BA_ "NosPackage" BU_ TCM_DSL 4; +BA_ "OvtpEcuAddress" BU_ PCM_HEV 16; +BA_ "NmStationAddress" BU_ PCM_HEV 21; +BA_ "PowerType" BU_ PCM_HEV 1; +BA_ "NmAsrNode" BU_ PCM_HEV 1; +BA_ "NmAsrNodeIdentifier" BU_ PCM_HEV 149; +BA_ "NodeStartUpTime" BU_ PCM_HEV 350; +BA_ "OvtpEcuAddress" BU_ PCM 16; +BA_ "NmStationAddress" BU_ PCM 21; +BA_ "PowerType" BU_ PCM 1; +BA_ "NmAsrNode" BU_ PCM 1; +BA_ "NmAsrNodeIdentifier" BU_ PCM 149; +BA_ "NodeStartUpTime" BU_ PCM 350; +BA_ "OvtpEcuAddress" BU_ ECM_Diesel 16; +BA_ "NmStationAddress" BU_ ECM_Diesel 21; +BA_ "PowerType" BU_ ECM_Diesel 1; +BA_ "NmAsrNode" BU_ ECM_Diesel 1; +BA_ "NmAsrNodeIdentifier" BU_ ECM_Diesel 149; +BA_ "OvtpEcuAddress" BU_ GWM 216; +BA_ "OvtpOperationMode" BU_ GWM 1; +BA_ "NmStationAddress" BU_ GWM 30; +BA_ "PowerType" BU_ GWM 2; +BA_ "NmAsrNode" BU_ GWM 1; +BA_ "NmAsrNodeIdentifier" BU_ GWM 158; +BA_ "NodeStartUpTime" BU_ GWM 100; +BA_ "Terminator" BU_ GWM 1; +BA_ "GatewayECU" BU_ GWM 1; +BA_ "NosPackage" BU_ GWM 4; +BA_ "GenMsgSendType" BO_ 823 5; +BA_ "GenMsgCycleTime" BO_ 823 1000; +BA_ "VFrameFormat" BO_ 823 14; +BA_ "GenMsgSendType" BO_ 824 5; +BA_ "GenMsgCycleTime" BO_ 824 1000; +BA_ "VFrameFormat" BO_ 824 14; +BA_ "FrameGatewayId" BO_ 949 949; +BA_ "FrameGatewayNetwork" BO_ 949 "HS1_CAN"; +BA_ "FrameRouting" BO_ 949 ""; +BA_ "VFrameFormat" BO_ 949 14; +BA_ "GenMsgILSupport" BO_ 1825 0; +BA_ "DiagRequest" BO_ 1825 1; +BA_ "GenMsgSendType" BO_ 1825 1; +BA_ "GenMsgDelayTime" BO_ 1825 0; +BA_ "NetworkInitialization" BO_ 1825 0; +BA_ "VFrameFormat" BO_ 1825 14; +BA_ "GenMsgDelayTime" BO_ 524 0; +BA_ "GenMsgCycleTime" BO_ 524 10; +BA_ "GenMsgSendType" BO_ 524 0; +BA_ "ProgBWConditional" BO_ 524 "MSGDCR1008_CX48X_V03_HS1D_56.84_mHEV_54.89"; +BA_ "VFrameFormat" BO_ 524 14; +BA_ "FrameRouting" BO_ 740 ""; +BA_ "FrameGatewayNetwork" BO_ 740 "HS1_CAN"; +BA_ "FrameGatewayId" BO_ 740 740; +BA_ "VFrameFormat" BO_ 740 14; +BA_ "GenMsgCycleTime" BO_ 1160 1000; +BA_ "GenMsgSendType" BO_ 1160 5; +BA_ "VFrameFormat" BO_ 1160 14; +BA_ "GenMsgCycleTime" BO_ 776 1000; +BA_ "GenMsgSendType" BO_ 776 5; +BA_ "VFrameFormat" BO_ 776 14; +BA_ "GenMsgCycleTime" BO_ 775 1000; +BA_ "GenMsgSendType" BO_ 775 5; +BA_ "VFrameFormat" BO_ 775 14; +BA_ "GenMsgCycleTime" BO_ 774 1000; +BA_ "GenMsgSendType" BO_ 774 5; +BA_ "VFrameFormat" BO_ 774 14; +BA_ "FrameGatewayId" BO_ 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"FrameGatewayId" BO_ 146 146; +BA_ "FrameGatewayNetwork" BO_ 146 "HS2_CAN"; +BA_ "VFrameFormat" BO_ 146 14; +BA_ "FrameRouting" BO_ 1900 ""; +BA_ "GenMsgILSupport" BO_ 1900 0; +BA_ "DiagResponse" BO_ 1900 1; +BA_ "GenMsgSendType" BO_ 1900 1; +BA_ "GenMsgDelayTime" BO_ 1900 0; +BA_ "NetworkInitialization" BO_ 1900 0; +BA_ "VFrameFormat" BO_ 1900 14; +BA_ "FrameRouting" BO_ 1806 ""; +BA_ "GenMsgILSupport" BO_ 1806 0; +BA_ "DiagResponse" BO_ 1806 1; +BA_ "GenMsgSendType" BO_ 1806 1; +BA_ "GenMsgDelayTime" BO_ 1806 0; +BA_ "NetworkInitialization" BO_ 1806 0; +BA_ "VFrameFormat" BO_ 1806 14; +BA_ "FrameRouting" BO_ 997 ""; +BA_ "GenMsgSendType" BO_ 997 5; +BA_ "GenMsgCycleTime" BO_ 997 1000; +BA_ "VFrameFormat" BO_ 997 14; +BA_ "FrameRouting" BO_ 983 ""; +BA_ "GenMsgSendType" BO_ 983 0; +BA_ "GenMsgCycleTime" BO_ 983 50; +BA_ "VFrameFormat" BO_ 983 14; +BA_ "FrameRouting" BO_ 980 ""; +BA_ "GenMsgSendType" BO_ 980 0; +BA_ "GenMsgCycleTime" BO_ 980 30; +BA_ "GenMsgDelayTime" BO_ 980 10; +BA_ "VFrameFormat" BO_ 980 14; +BA_ "FrameRouting" BO_ 979 ""; +BA_ "GenMsgSendType" BO_ 979 0; +BA_ "GenMsgCycleTime" BO_ 979 50; +BA_ "VFrameFormat" BO_ 979 14; +BA_ "FrameRouting" BO_ 976 ""; +BA_ "GenMsgSendType" BO_ 976 0; +BA_ "GenMsgCycleTime" BO_ 976 100; +BA_ "VFrameFormat" BO_ 976 14; +BA_ "FrameRouting" BO_ 973 ""; +BA_ "GenMsgSendType" BO_ 973 5; +BA_ "GenMsgCycleTime" BO_ 973 1000; +BA_ "VFrameFormat" BO_ 973 14; +BA_ "FrameRouting" BO_ 970 ""; +BA_ "GenMsgSendType" BO_ 970 0; +BA_ "GenMsgCycleTime" BO_ 970 30; +BA_ "GenMsgDelayTime" BO_ 970 10; +BA_ "VFrameFormat" BO_ 970 14; +BA_ "FrameRouting" BO_ 962 ""; +BA_ "GenMsgSendType" BO_ 962 5; +BA_ "GenMsgCycleTime" BO_ 962 1000; +BA_ "VFrameFormat" BO_ 962 14; +BA_ "FrameRouting" BO_ 961 ""; +BA_ "GenMsgSendType" BO_ 961 5; +BA_ "GenMsgCycleTime" BO_ 961 1000; +BA_ "VFrameFormat" BO_ 961 14; +BA_ "FrameRouting" BO_ 394 ""; +BA_ "GenMsgSendType" BO_ 394 5; +BA_ "GenMsgCycleTime" BO_ 394 200; +BA_ "VFrameFormat" BO_ 394 14; +BA_ "FrameRouting" BO_ 391 ""; +BA_ "GenMsgSendType" BO_ 391 0; +BA_ "GenMsgCycleTime" BO_ 391 20; +BA_ "GenMsgDelayTime" BO_ 391 10; +BA_ "VFrameFormat" BO_ 391 14; +BA_ "FrameRouting" BO_ 390 ""; +BA_ "GenMsgSendType" BO_ 390 0; +BA_ "GenMsgCycleTime" BO_ 390 20; +BA_ "GenMsgDelayTime" BO_ 390 10; +BA_ "VFrameFormat" BO_ 390 14; +BA_ "FrameRouting" BO_ 1441 ""; +BA_ "GenMsgILSupport" BO_ 1441 0; +BA_ "NmAsrMessage" BO_ 1441 1; +BA_ "GenMsgSendType" BO_ 1441 0; +BA_ "GenMsgCycleTime" BO_ 1441 1000; +BA_ "NetworkInitialization" BO_ 1441 0; +BA_ "VFrameFormat" BO_ 1441 14; +BA_ "FrameRouting" BO_ 1787 ""; +BA_ "GenMsgILSupport" BO_ 1787 0; +BA_ "DiagResponse" BO_ 1787 1; +BA_ "GenMsgSendType" BO_ 1787 1; +BA_ "GenMsgDelayTime" BO_ 1787 0; +BA_ "VFrameFormat" BO_ 1787 14; +BA_ "FrameRouting" BO_ 1779 ""; +BA_ "GenMsgILSupport" BO_ 1779 0; +BA_ "DiagRequest" BO_ 1779 1; +BA_ "GenMsgSendType" BO_ 1779 1; +BA_ "GenMsgDelayTime" BO_ 1779 0; +BA_ "VFrameFormat" BO_ 1779 14; +BA_ "FrameRouting" BO_ 1786 ""; +BA_ "GenMsgILSupport" BO_ 1786 0; +BA_ "DiagResponse" BO_ 1786 1; +BA_ "GenMsgSendType" BO_ 1786 1; +BA_ "GenMsgDelayTime" BO_ 1786 0; +BA_ "VFrameFormat" BO_ 1786 14; +BA_ "FrameRouting" BO_ 1778 ""; +BA_ "GenMsgILSupport" BO_ 1778 0; +BA_ "DiagRequest" BO_ 1778 1; +BA_ "GenMsgSendType" BO_ 1778 1; +BA_ "GenMsgDelayTime" BO_ 1778 0; +BA_ "VFrameFormat" BO_ 1778 14; +BA_ "FrameRouting" BO_ 1153 ""; +BA_ "FrameGatewayId" BO_ 1153 1152; +BA_ "FrameGatewayNetwork" BO_ 1153 "HS2_CAN"; +BA_ "VFrameFormat" BO_ 1153 14; +BA_ "FrameRouting" BO_ 942 ""; +BA_ "GenMsgSendType" BO_ 942 5; +BA_ "GenMsgCycleTime" BO_ 942 1000; +BA_ "VFrameFormat" BO_ 942 14; +BA_ "FrameRouting" BO_ 930 ""; +BA_ "GenMsgSendType" BO_ 930 5; +BA_ "GenMsgCycleTime" BO_ 930 1000; +BA_ "VFrameFormat" BO_ 930 14; +BA_ "FrameRouting" BO_ 929 ""; +BA_ "GenMsgSendType" BO_ 929 5; +BA_ "GenMsgCycleTime" BO_ 929 1000; +BA_ "VFrameFormat" BO_ 929 14; +BA_ "FrameRouting" BO_ 402 ""; +BA_ "FrameGatewayId" BO_ 402 402; +BA_ "FrameGatewayNetwork" BO_ 402 "HS3_CAN"; +BA_ "VFrameFormat" BO_ 402 14; +BA_ "FrameRouting" BO_ 924 ""; +BA_ "FrameGatewayId" BO_ 924 924; +BA_ "FrameGatewayNetwork" BO_ 924 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 924 14; +BA_ "FrameRouting" BO_ 923 ""; +BA_ "FrameGatewayId" BO_ 923 923; +BA_ "FrameGatewayNetwork" BO_ 923 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 923 14; +BA_ "FrameRouting" BO_ 1998 ""; +BA_ "GenMsgILSupport" BO_ 1998 0; +BA_ "DiagResponse" BO_ 1998 1; +BA_ "GenMsgSendType" BO_ 1998 1; +BA_ "GenMsgDelayTime" BO_ 1998 0; +BA_ "NetworkInitialization" BO_ 1998 0; +BA_ "VFrameFormat" BO_ 1998 14; +BA_ "FrameRouting" BO_ 1996 ""; +BA_ "GenMsgILSupport" BO_ 1996 0; +BA_ "DiagResponse" BO_ 1996 1; +BA_ "GenMsgSendType" BO_ 1996 1; +BA_ "GenMsgDelayTime" BO_ 1996 0; +BA_ "NetworkInitialization" BO_ 1996 0; +BA_ "VFrameFormat" BO_ 1996 14; +BA_ "FrameRouting" BO_ 1988 ""; +BA_ "GenMsgILSupport" BO_ 1988 0; +BA_ "DiagRequest" BO_ 1988 1; +BA_ "GenMsgSendType" BO_ 1988 1; +BA_ "GenMsgDelayTime" BO_ 1988 0; +BA_ "NetworkInitialization" BO_ 1988 0; +BA_ "VFrameFormat" BO_ 1988 14; +BA_ "FrameRouting" BO_ 922 ""; +BA_ "FrameGatewayId" BO_ 922 922; +BA_ "FrameGatewayNetwork" BO_ 922 "HS1_CAN"; +BA_ "VFrameFormat" BO_ 922 14; +BA_ "GenSigSendType" SG_ 823 DteVehPwId_No_Actl 3; +BA_ "ECGUsedRxSignal" SG_ 823 DteVehPwId_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 823 DteVehEId_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 823 DteVehEffId_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 823 DteVeh_Pw_Actl 1; +BA_ "GenSigStartValue" SG_ 823 DteVeh_Eff_Actl 100; +BA_ "ECGUsedRxSignal" SG_ 823 DteVeh_Eff_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 823 DteVeh_E_Actl 1; +BA_ "GenSigSendType" SG_ 823 DteAcceptNew_B_Rq 3; +BA_ "ECGUsedRxSignal" SG_ 823 DteAcceptNew_B_Rq 1; +BA_ "GenSigSendType" SG_ 824 DteCldTrlrOn_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldTrlrOn_B_Stat 1; +BA_ "GenSigSendType" SG_ 824 DteCldTrlrOff_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldTrlrOff_B_Stat 1; +BA_ "GenSigStartValue" SG_ 824 DteCldTrip_L_Actl 100; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldTrip_L_Actl 1; +BA_ "GenSigSendType" SG_ 824 DteCldTraffic_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldTraffic_B_Stat 1; +BA_ "GenSigSendType" SG_ 824 DteCldTerrain_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldTerrain_B_Stat 1; +BA_ "GenSigSendType" SG_ 824 DteCldRoute_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldRoute_B_Stat 1; +BA_ "GenSigSendType" SG_ 824 DteCldPayload_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldPayload_B_Stat 1; +BA_ "GenSigSendType" SG_ 824 DteCldId_No_Actl 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldId_No_Actl 1; +BA_ "GenSigSendType" SG_ 824 DteCldExtTe_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldExtTe_B_Stat 1; +BA_ "GenSigStartValue" SG_ 824 DteCldExt_Eff_Actl 100; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldExt_Eff_Actl 1; +BA_ "GenSigStartValue" SG_ 824 DteCldDrv_Eff_Actl 100; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldDrv_Eff_Actl 1; +BA_ "GenSigSendType" SG_ 824 DteCldDcac_B_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldDcac_B_Stat 1; +BA_ "GenSigStartValue" SG_ 824 DteCldClimt_Eff_Actl 100; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldClimt_Eff_Actl 1; +BA_ "GenSigStartValue" SG_ 824 DteCldBattULo_Eff_Actl 100; +BA_ "ECGUsedTxSignal" SG_ 824 DteCldBattULo_Eff_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 949 Tire_Press_RR_ORR_Data 65533; +BA_ "GenSigStartValue" SG_ 949 Tire_Press_RR_ORR_Data 65533; +BA_ "GenSigStartValueInteger" SG_ 949 Tire_Press_LR_OLR_Data 65533; +BA_ "GenSigStartValue" SG_ 949 Tire_Press_LR_OLR_Data 65533; +BA_ "GenSigStartValueInteger" SG_ 949 Tire_Press_LF_Data 65533; +BA_ "GenSigStartValue" SG_ 949 Tire_Press_LF_Data 65533; +BA_ "GenSigStartValueInteger" SG_ 949 Tire_Press_RF_Data 65533; +BA_ "GenSigStartValue" SG_ 949 Tire_Press_RF_Data 65533; +BA_ "GenSigSendType" SG_ 1825 TesterPhysicalReqVDM 3; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs 1; +BA_ "MetaData" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs 1; +BA_ "ContentDependant" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 524 PrplWhlTot_Tq_RqMxAwd 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 524 PrplWhlTot_Tq_RqMxAwd 1; +BA_ "GenSigStartValue" SG_ 524 PrplWhlTot_Tq_RqMxAwd 65535; +BA_ "GenSigStartValueInteger" SG_ 524 PrplWhlTot_Tq_RqMxAwd 65535; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt 1; +BA_ "MetaData" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt 1; +BA_ "ContentDependant" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 740 BattAuxCnnct_B_Cmd 1; +BA_ "GenSigSendType" SG_ 1160 DgtlCommPncReset_B_Req 3; +BA_ "ECGUsedTxSignal" SG_ 1160 DgtlCommPncReset_B_Req 1; +BA_ "ECGUsedTxSignal" SG_ 1160 DataMntrSustn_B_Rq 1; +BA_ "GenSigSendType" SG_ 1160 DataMntrSustn_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 1160 PwSustnRdata_B_RqTelem 1; +BA_ "GenSigSendType" SG_ 1160 PwSustnRdata_B_RqTelem 3; +BA_ "ECGUsedTxSignal" SG_ 776 ScMnSoc_Pc_RqCld 1; +BA_ "GenSigStartValue" SG_ 776 ScMnSoc_Pc_RqCld 100; +BA_ "GenSigSendType" SG_ 776 ScMnSoc_Pc_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 ScChrgrPwMax_Pw_RqCld 1; +BA_ "GenSigSendType" SG_ 776 ScChrgrPwMax_Pw_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 ScLocPwId_No_RqCld 1; +BA_ "GenSigSendType" SG_ 776 ScLocPwId_No_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 PrcondEdit_D_RqCld 1; +BA_ "GenSigSendType" SG_ 776 PrcondEdit_D_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 GoTEditMnte_T_RqCld 1; +BA_ "GenSigStartValue" SG_ 776 GoTEditMnte_T_RqCld 14; +BA_ "GenSigSendType" SG_ 776 GoTEditMnte_T_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 GoTEditHr_T_RqCld 1; +BA_ "GenSigStartValue" SG_ 776 GoTEditHr_T_RqCld 30; +BA_ "GenSigSendType" SG_ 776 GoTEditHr_T_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 ChrgToPcEdit_Pc_RqCld 1; +BA_ "GenSigStartValue" SG_ 776 ChrgToPcEdit_Pc_RqCld 126; +BA_ "GenSigSendType" SG_ 776 ChrgToPcEdit_Pc_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 AirAmb_Te_ActlCld 1; +BA_ "GenSigStartValueInteger" SG_ 776 AirAmb_Te_ActlCld 512; +BA_ "UsedOnPgmDBC" SG_ 776 AirAmb_Te_ActlCld 1; +BA_ "GenSigSendType" SG_ 776 AirAmb_Te_ActlCld 3; +BA_ "ECGUsedTxSignal" SG_ 776 ScFreshDataEnbl_B_Rq 1; +BA_ "GenSigSendType" SG_ 776 ScFreshDataEnbl_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 776 ScEnbl_D_RqCld 1; +BA_ "GenSigStartValue" SG_ 776 ScEnbl_D_RqCld 1; +BA_ "GenSigSendType" SG_ 776 ScEnbl_D_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScDayOfWeekId_D_RqCld 1; +BA_ "GenSigStartValue" SG_ 775 ScDayOfWeekId_D_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScDayOfWeekId_D_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScLocSetId_No_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScLocSetId_No_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScLocRdius_L_RqCld 1; +BA_ "GenSigStartValue" SG_ 775 ScLocRdius_L_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScLocRdius_L_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScChrgToPc_Pc_RqCld 1; +BA_ "GenSigStartValue" SG_ 775 ScChrgToPc_Pc_RqCld 100; +BA_ "GenSigSendType" SG_ 775 ScChrgToPc_Pc_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScChrgPrfl_No_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScChrgPrfl_No_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScChrgDurSet_D_RqCld 1; +BA_ "GenSigStartValue" SG_ 775 ScChrgDurSet_D_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScChrgDurSet_D_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 775 ScChrgDur_T_RqCld 1; +BA_ "GenSigSendType" SG_ 775 ScChrgDur_T_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLongPostv_B_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocLongPostv_B_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLongFrct_An_RqCld 1; +BA_ "GenSigStartValue" SG_ 774 ScLocLongFrct_An_RqCld 1048575; +BA_ "GenSigSendType" SG_ 774 ScLocLongFrct_An_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLongDeg_An_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocLongDeg_An_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLattPostv_B_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocLattPostv_B_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLattFrct_An_RqCld 1; +BA_ "GenSigStartValue" SG_ 774 ScLocLattFrct_An_RqCld 1048575; +BA_ "GenSigSendType" SG_ 774 ScLocLattFrct_An_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocLattDeg_An_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocLattDeg_An_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocId_No_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocId_No_RqCld 3; +BA_ "ECGUsedTxSignal" SG_ 774 ScLocDelete_B_RqCld 1; +BA_ "GenSigSendType" SG_ 774 ScLocDelete_B_RqCld 3; +BA_ "GenSigStartValue" SG_ 811 DistToStopover_L_Actl 65535; +BA_ "WakeupSignal" SG_ 811 ExtLghtRight_D_RqMnu 1; +BA_ "WakeupSignal" SG_ 811 AutoLghtOvrrd_B_RqDrv 1; +BA_ "WakeupSignal" SG_ 811 ExtLghtRear_D_RqMnu 1; +BA_ "WakeupSignal" SG_ 811 ExtLghtLeft_D_RqMnu 1; +BA_ "WakeupSignal" SG_ 811 ExtLghtFront_D_RqMnu 1; +BA_ "GenSigStartValue" SG_ 811 GoTEditMnte_T_RqMnu 14; +BA_ "GenSigStartValue" SG_ 811 GoTEditHr_T_RqMnu 30; +BA_ "U_CX727_MY2021_Tx" SG_ 850 VehElRngeNut_L_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 850 NxtUsgSocEst_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 850 EstmChrgTimeLP_St 1; +BA_ "U_CX727_MY2021_Tx" SG_ 850 EstmChrgTimeLP_St 1; +BA_ "ECGUsedRxSignal" SG_ 850 EstmChrgTimeHP_St 1; +BA_ "U_CX727_MY2021_Tx" SG_ 850 EstmChrgTimeHP_St 1; +BA_ "ECGUsedRxSignal" SG_ 850 ChargeNowDuration_St 1; +BA_ "U_CX727_MY2021_Tx" SG_ 850 ChargeNowDuration_St 1; +BA_ "ECGUsedTxSignal" SG_ 563 DrvBhavWarn_B_Rq 1; +BA_ "GenSigSendType" SG_ 563 DrvBhavWarn_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 563 OfbChrgSetSync_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 563 KeyOffPwMde_D_Stat 1; +BA_ "GenSigSendType" SG_ 563 KeyOffPwMde_D_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 563 ModemReset_D_Stat 1; +BA_ "GenSigSendType" SG_ 563 ModemReset_D_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 563 FactoryReset_St 1; +BA_ "GenSigSendType" SG_ 563 FactoryReset_St 3; +BA_ "GenSigSendType" SG_ 1833 TesterPhysicalResVDM 3; +BA_ "GenSigStartValueInteger" SG_ 570 SuspRearRight_L_Actl 511; +BA_ "GenSigStartValue" SG_ 570 SuspRearRight_L_Actl 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspRearRight_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 570 SuspFrntRight_L_Actl 511; +BA_ "GenSigStartValue" SG_ 570 SuspFrntRight_L_Actl 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspFrntRight_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 570 SuspRear_L_Prev 511; +BA_ "GenSigStartValue" SG_ 570 SuspRear_L_Prev 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspRear_L_Prev 1; +BA_ "U_P702_MY2021_Rx" SG_ 570 SuspRear_L_Prev 1; +BA_ "GenSigStartValueInteger" SG_ 570 SuspRear_L_Actl 511; +BA_ "GenSigStartValue" SG_ 570 SuspRear_L_Actl 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspRear_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 570 SuspRear_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 570 SuspFrnt_L_Prev 511; +BA_ "GenSigStartValue" SG_ 570 SuspFrnt_L_Prev 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspFrnt_L_Prev 1; +BA_ "U_P702_MY2021_Rx" SG_ 570 SuspFrnt_L_Prev 1; +BA_ "GenSigStartValueInteger" SG_ 570 SuspFrnt_L_Actl 511; +BA_ "GenSigStartValue" SG_ 570 SuspFrnt_L_Actl 511; +BA_ "U_CX727_MY2021_Rx" SG_ 570 SuspFrnt_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 570 SuspFrnt_L_Actl 1; +BA_ "GenSigSendType" SG_ 837 Ccd_B_Falt 3; +BA_ "GenSigInactiveValue" SG_ 837 Ccd_B_Falt 0; +BA_ "GenSigSendType" SG_ 837 SelDrvMdeSusp_D_Stat 3; +BA_ "GenSigInactiveValue" SG_ 837 SelDrvMdeSusp_D_Stat 0; +BA_ "U_CX727_MY2021_Rx" SG_ 837 SelDrvMdeSusp_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 837 SelDrvMdeSusp_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 837 SelDrvMdeSusp_D_Stat 1; +BA_ "GenSigSendType" SG_ 837 AdptDrvMdePt_D_Rq 3; +BA_ "GenSigInactiveValue" SG_ 837 AdptDrvMdePt_D_Rq 0; +BA_ "U_CX727_MY2021_Rx" SG_ 837 AdptDrvMdePt_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 837 AdptDrvMdePt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 837 AdptDrvMdePt_D_Rq 1; +BA_ "GenSigSendType" SG_ 837 AdptDrvMdeChassis_D_Rq 3; +BA_ "GenSigInactiveValue" SG_ 837 AdptDrvMdeChassis_D_Rq 0; +BA_ "U_CX727_MY2021_Rx" SG_ 837 AdptDrvMdeChassis_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 837 AdptDrvMdeChassis_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 837 AdptDrvMdeChassis_D_Rq 1; +BA_ "GenSigSendType" SG_ 837 CcdMsgTxt_D_RqDsply 3; +BA_ "GenSigInactiveValue" SG_ 837 CcdMsgTxt_D_RqDsply 0; +BA_ "UsedOnPgmDBC" SG_ 837 CcdMsgTxt_D_RqDsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 837 CcdMsgTxt_D_RqDsply 1; +BA_ "ECGUsedTxSignal" SG_ 885 BattULoChrg_D_RqOta 1; +BA_ "ECGUsedTxSignal" SG_ 885 VehStrtInhbt_T_Dsply 1; +BA_ "ECGUsedTxSignal" SG_ 885 VehStrtInhbt_D_Dsply 1; +BA_ "ECGUsedTxSignal" SG_ 885 VehOnRqstr_D_Stat 1; +BA_ "ECGUsedTxSignal" SG_ 885 VehStrtInhbt_D_RqCld 1; +BA_ "ECGUsedTxSignal" SG_ 885 VehOn_D_RqCld 1; +BA_ "ECGUsedTxSignal" SG_ 885 CanMsg375_No_Cnt 1; +BA_ "ECGUsedTxSignal" SG_ 885 CanMsg375_No_Crc 1; +BA_ "ECGUsedTxSignal" SG_ 885 OtaActv_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1150 LocationServices_1 1; +BA_ "GenSigSendType" SG_ 2612224016 PARSEDPushPCMtoGWM_ECG 3; +BA_ "U_P702_MY2021_Tx" SG_ 2612224016 PARSEDPushPCMtoGWM_ECG 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2612224016 PARSEDPushPCMtoGWM_ECG 1; +BA_ "ECGUsedRxSignal" SG_ 2612224016 PARSEDPushPCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 810 OBCCSerial_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 810 OBCCSerial_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 810 TlghtTest_D_RqArb 1; +BA_ "GenSigSendType" SG_ 810 TlghtTest_D_RqArb 3; +BA_ "ECGUsedTxSignal" SG_ 810 ChrgrPncSustn_B_Rq 1; +BA_ "GenSigStartValue" SG_ 810 ChrgrPncSustn_B_Rq 0; +BA_ "GenSigStartValueInteger" SG_ 810 ChrgrPncSustn_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 810 NtfyDrvTrgtDist_L_Rq 1; +BA_ "GenSigStartValue" SG_ 810 NtfyDrvTrgtDist_L_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 810 NtfyDrvTrgtDist_L_Rq 1; +BA_ "WakeupSignal" SG_ 810 NtfyDrvTrgtDist_L_Rq 1; +BA_ "GenSigSendType" SG_ 810 NtfyDrvTrgtDist_L_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 810 NtfyDrvSocLvl1_Pc_Rq 1; +BA_ "GenSigStartValue" SG_ 810 NtfyDrvSocLvl1_Pc_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 810 NtfyDrvSocLvl1_Pc_Rq 1; +BA_ "WakeupSignal" SG_ 810 NtfyDrvSocLvl1_Pc_Rq 1; +BA_ "GenSigSendType" SG_ 810 NtfyDrvSocLvl1_Pc_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 810 PtRmtRprt_D_Stat 1; +BA_ "WakeupSignal" SG_ 810 PtRmtRprt_D_Stat 1; +BA_ "GenSigSendType" SG_ 810 PtRmtRprt_D_Stat 3; +BA_ "ECGUsedTxSignal" SG_ 810 ChrgrPncEnbl_D_Rq 1; +BA_ "GenSigStartValue" SG_ 810 ChrgrPncEnbl_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 810 ChrgrPncEnbl_D_Rq 3; +BA_ "GenSigSendType" SG_ 810 ChrgrPncEnbl_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 810 ExtLghtDsply_B_StatArb 1; +BA_ "WakeupSignal" SG_ 810 ExtLghtDsply_B_StatArb 1; +BA_ "GenSigSendType" SG_ 810 ExtLghtDsply_B_StatArb 3; +BA_ "ECGUsedTxSignal" SG_ 810 ExtLghtRight_D_RqOta 1; +BA_ "WakeupSignal" SG_ 810 ExtLghtRight_D_RqOta 1; +BA_ "GenSigSendType" SG_ 810 ExtLghtRight_D_RqOta 3; +BA_ "ECGUsedTxSignal" SG_ 810 ExtLghtRear_D_RqOta 1; +BA_ "WakeupSignal" SG_ 810 ExtLghtRear_D_RqOta 1; +BA_ "GenSigSendType" SG_ 810 ExtLghtRear_D_RqOta 3; +BA_ "ECGUsedTxSignal" SG_ 810 ExtLghtLeft_D_RqOta 1; +BA_ "WakeupSignal" SG_ 810 ExtLghtLeft_D_RqOta 1; +BA_ "GenSigSendType" SG_ 810 ExtLghtLeft_D_RqOta 3; +BA_ "ECGUsedTxSignal" SG_ 810 ExtLghtFront_D_RqOta 1; +BA_ "WakeupSignal" SG_ 810 ExtLghtFront_D_RqOta 1; +BA_ "GenSigSendType" SG_ 810 ExtLghtFront_D_RqOta 3; +BA_ "ECGUsedTxSignal" SG_ 550 PtWakeupActv1_B_Rq 1; +BA_ "WakeupSignal" SG_ 550 PtWakeupActv1_B_Rq 1; +BA_ "GenSigSendType" SG_ 550 PtWakeupActv1_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgPrflUpdate_B_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgPrflUpdate_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgClearAll_B_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgClearAll_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTTouch_D_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgGoTTouch_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTPrcond_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTOn_D_Rq 1; +BA_ "GenSigStartValue" SG_ 639 OfbChrgGoTOn_D_Rq 2; +BA_ "GenSigStartValueInteger" SG_ 639 OfbChrgGoTOn_D_Rq 2; +BA_ "GenSigSendType" SG_ 639 OfbChrgGoTOn_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTMnte_D_Rq 1; +BA_ "MetaData" SG_ 639 OfbChrgGoTMnte_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 639 OfbChrgGoTMnte_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTHr_T_Rq 1; +BA_ "GenSigStartValue" SG_ 639 OfbChrgGoTHr_T_Rq 30; +BA_ "GenSigStartValueInteger" SG_ 639 OfbChrgGoTHr_T_Rq 30; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTExtHtr_D_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgGoTExtHtr_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTElement_D_Rq 1; +BA_ "MetaData" SG_ 639 OfbChrgGoTElement_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 639 OfbChrgGoTElement_D_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgGoTElement_D_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTDelete_B_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 639 OfbChrgGoTUpdate_B_Rq 1; +BA_ "GenSigSendType" SG_ 639 OfbChrgGoTUpdate_B_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgLocIdTrgt_No_Rq 1; +BA_ "MetaData" SG_ 530 OfbChrgLocIdTrgt_No_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 530 OfbChrgLocIdTrgt_No_Rq 1; +BA_ "GenSigSendType" SG_ 530 OfbChrgLocIdTrgt_No_Rq 3; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgToPcWknd_D_Actl 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgToPcWkdy_D_Actl 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgSetNow_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgSetDelete_B_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgPrflWknd_No_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgPrflWkdy_No_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 530 OfbChrgLocIdUns_B_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 1142 ConsTipV_No_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1142 ConsTipV_No_Dsply 1; +BA_ "WakeupSignal" SG_ 817 DrTgateOpen_B_Rq 1; +BA_ "WakeupSignal" SG_ 817 DrTgateExtSwMde_B_Stat 1; +BA_ "WakeupSignal" SG_ 817 Remote_Device_Feedback 1; +BA_ "WakeupSignal" SG_ 817 Veh_Lock_Requestor 1; +BA_ "WakeupSignal" SG_ 817 R_Pwr_Sliding_Dr_Rqst 1; +BA_ "WakeupSignal" SG_ 817 Power_Liftgate_Rqst 1; +BA_ "WakeupSignal" SG_ 817 Veh_Lock_EvNum 1; +BA_ "WakeupSignal" SG_ 817 Power_Decklid_Rqst 1; +BA_ "WakeupSignal" SG_ 817 L_Pwr_Sliding_Dr_Rqst 1; +BA_ "WakeupSignal" SG_ 817 Keyfob_Pad_Msg_Count 1; +BA_ "WakeupSignal" SG_ 817 Veh_Lock_Status 1; +BA_ "GenSigStartValueInteger" SG_ 817 Veh_Lock_Status 1; +BA_ "GenSigStartValue" SG_ 817 Veh_Lock_Status 1; +BA_ "WakeupSignal" SG_ 817 ChildLck_D_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 817 ChildLck_D_Dsply 1; +BA_ "GenSigStartValue" SG_ 817 ChildLck_D_Dsply 1; +BA_ "WakeupSignal" SG_ 817 Lockmsgtxt_D_Rq 1; +BA_ "WakeupSignal" SG_ 817 LockInhibit 1; +BA_ "GenSigSendType" SG_ 878 DcacGfciTest_B_Rq 3; +BA_ "GenSigStartValue" SG_ 878 DcacOut_Pw_DsplyMx 0; +BA_ "GenSigStartValue" SG_ 878 DcacOut1_Pw_Dsply 0; +BA_ "GenSigStartValue" SG_ 878 DcacOut2_Pw_Dsply 0; +BA_ "GenSigSendType" SG_ 878 DcacHw_D_Confg 3; +BA_ "UsedOnPgmDBC" SG_ 878 DcacHw_D_Confg 1; +BA_ "GenSigStartValueInteger" SG_ 878 DcacHw_D_Confg 1; +BA_ "GenSigStartValue" SG_ 878 DcacHw_D_Confg 1; +BA_ "GenSigSendType" SG_ 878 DcacFaltMsgTxt_D_Rq 3; +BA_ "UsedOnPgmDBC" SG_ 878 DcacFaltMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 878 DcacFaltMsgTxt_D_Rq 1; +BA_ "GenSigStartValue" SG_ 878 DcacFaltMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 878 DcacLoFuelMsgTxt_D_Rq 3; +BA_ "GenSigSendType" SG_ 878 DcacEngOnMsgTxt_D_Rq 3; +BA_ "GenSigSendType" SG_ 878 DcacElPw_D_Stat 3; +BA_ "UsedOnPgmDBC" SG_ 878 DcacElPw_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 878 DcacElPw_D_Stat 1; +BA_ "GenSigStartValue" SG_ 878 DcacElPw_D_Stat 1; +BA_ "GenSigSendType" SG_ 878 PwBedPnlEnbl_B_Rq 3; +BA_ "GenSigSendType" SG_ 878 DcacOn_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 878 DcacOn_B_Rq 1; +BA_ "GenSigSendType" SG_ 878 DcacSys_B_Falt 3; +BA_ "U_P702_MY2021_Tx" SG_ 878 DcacSys_B_Falt 1; +BA_ "GenSigSendType" SG_ 878 DcacLedCtl_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 878 DcacLedCtl_D_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 2611055832 PARSEDPhysGWM_ECGtoSODR 1; +BA_ "GenSigSendType" SG_ 2611055832 PARSEDPhysGWM_ECGtoSODR 3; +BA_ "ECGUsedTxSignal" SG_ 2611054808 PARSEDPhysGWM_ECGtoSODL 1; +BA_ "GenSigSendType" SG_ 2611054808 PARSEDPhysGWM_ECGtoSODL 3; +BA_ "ECGUsedTxSignal" SG_ 2611026136 PARSEDPhysGWM_ECGtoSODCMD 1; +BA_ "GenSigSendType" SG_ 2611026136 PARSEDPhysGWM_ECGtoSODCMD 3; +BA_ "ECGUsedTxSignal" SG_ 2611025112 PARSEDPhysGWM_ECGtoSODCMC 1; +BA_ "GenSigSendType" SG_ 2611025112 PARSEDPhysGWM_ECGtoSODCMC 3; +BA_ "ECGUsedTxSignal" SG_ 2610975960 PARSEDPhysGWM_ECGtoCCM 1; +BA_ "GenSigSendType" SG_ 2610975960 PARSEDPhysGWM_ECGtoCCM 3; +BA_ "ECGUsedTxSignal" SG_ 2610007256 OTAPhysGWM_ECGtoSODR 1; +BA_ "GenSigSendType" SG_ 2610007256 OTAPhysGWM_ECGtoSODR 3; +BA_ "ECGUsedTxSignal" SG_ 2610006232 OTAPhysGWM_ECGtoSODL 1; +BA_ "GenSigSendType" SG_ 2610006232 OTAPhysGWM_ECGtoSODL 3; +BA_ "ECGUsedTxSignal" SG_ 2609977560 OTAPhysGWM_ECGtoSODCMD 1; +BA_ "GenSigSendType" SG_ 2609977560 OTAPhysGWM_ECGtoSODCMD 3; +BA_ "ECGUsedTxSignal" SG_ 2609976536 OTAPhysGWM_ECGtoSODCMC 1; +BA_ "GenSigSendType" SG_ 2609976536 OTAPhysGWM_ECGtoSODCMC 3; +BA_ "ECGUsedTxSignal" SG_ 2609927384 OTAPhysGWM_ECGtoCCM 1; +BA_ "GenSigSendType" SG_ 2609927384 OTAPhysGWM_ECGtoCCM 3; +BA_ "ECGUsedRxSignal" SG_ 2611175523 PARSEDPhysSODRtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175523 PARSEDPhysSODRtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224099 PARSEDPhysSODR2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224099 PARSEDPhysSODR2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2611175522 PARSEDPhysSODLtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175522 PARSEDPhysSODLtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224098 PARSEDPhysSODL2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224098 PARSEDPhysSODL2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2611175494 PARSEDPhysSODCMDtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175494 PARSEDPhysSODCMDtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224070 PARSEDPhysSODCMD2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224070 PARSEDPhysSODCMD2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2611175493 PARSEDPhysSODCMCtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175493 PARSEDPhysSODCMCtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224069 PARSEDPhysSODCMC2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224069 PARSEDPhysSODCMC2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2611175445 PARSEDPhysCCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175445 PARSEDPhysCCMtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224021 PARSEDPhysCCM2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224021 PARSEDPhysCCM2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126947 OTAPhysSODRtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126947 OTAPhysSODRtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126946 OTAPhysSODLtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126946 OTAPhysSODLtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126918 OTAPhysSODCMDtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126918 OTAPhysSODCMDtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126917 OTAPhysSODCMCtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126917 OTAPhysSODCMCtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126869 OTAPhysCCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126869 OTAPhysCCMtoGWM_ECG 3; +BA_ "CrossOver_InfoCAN" SG_ 984 FeatConfigIpmaActl 1; +BA_ "CrossOver_InfoCAN" SG_ 984 FeatNoIpmaActl 1; +BA_ "GenSigStartValue" SG_ 984 PersIndexIpma_D_Actl 4; +BA_ "GenSigStartValueInteger" SG_ 984 PersIndexIpma_D_Actl 4; +BA_ "CrossOver_InfoCAN" SG_ 984 PersIndexIpma_D_Actl 1; +BA_ "GenSigSendType" SG_ 984 PersIndexIpma_D_Actl 3; +BA_ "U_P702_MY2021_Rx" SG_ 984 AhbcRampingV_D_Rq 1; +BA_ "GenSigSendType" SG_ 984 AhbcRampingV_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 984 LaActvStats_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 LaActvStats_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 LaDenyStats_B_Dsply 1; +BA_ "GenSigSendType" SG_ 984 LaDenyStats_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 LaHandsOff_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 LaHandsOff_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 CamraDefog_B_Req 1; +BA_ "GenSigSendType" SG_ 984 CamraDefog_B_Req 3; +BA_ "CrossOver_InfoCAN" SG_ 984 CamraStats_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 CamraStats_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 DasAlrtLvl_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 DasAlrtLvl_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 DasStats_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 DasStats_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 984 DasWarn_D_Dsply 1; +BA_ "GenSigSendType" SG_ 984 DasWarn_D_Dsply 3; +BA_ "GenSigSendType" SG_ 984 AhbHiBeam_D_Rq 3; +BA_ "GenSigSendType" SG_ 985 LdwChime_B_Rq 3; +BA_ "GenSigSendType" SG_ 985 TsrRegionTxt_D_Stat 3; +BA_ "GenSigSendType" SG_ 985 SblmPedCrossScnr_B_Stat 3; +BA_ "GenSigSendType" SG_ 985 LongCtrlEnbl_D_Rq 3; +BA_ "GenSigSendType" SG_ 985 SblmRndAbtScnr_B_Stat 3; +BA_ "GenSigSendType" SG_ 985 DasAlrtInfo_D_Dsply 3; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 985 IaccVLim_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 985 IaccVLim_D_Rq 1; +BA_ "GenSigStartValue" SG_ 985 IaccVLim_D_Rq 254; +BA_ "GenSigStartValueInteger" SG_ 985 IaccVLim_D_Rq 254; +BA_ "GenSigSendType" SG_ 985 IaccVLim_D_Rq 3; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 985 IaccVLimUnit_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 985 IaccVLimUnit_D_Rq 1; +BA_ "GenSigStartValue" SG_ 985 IaccVLimUnit_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 985 IaccVLimUnit_D_Rq 3; +BA_ "GenSigSendType" SG_ 985 IaccVLimUnit_D_Rq 3; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 985 IsaVLim_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 985 IsaVLim_D_Rq 1; +BA_ "GenSigStartValue" SG_ 985 IsaVLim_D_Rq 254; +BA_ "GenSigStartValueInteger" SG_ 985 IsaVLim_D_Rq 254; +BA_ "GenSigSendType" SG_ 985 IsaVLim_D_Rq 3; +BA_ "GenSigSendType" SG_ 985 SblmStopScnr_B_Stat 3; +BA_ "GenSigSendType" SG_ 985 SblmYieldScnr_B_Stat 3; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 985 IsaVLimUnit_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 985 IsaVLimUnit_D_Rq 1; +BA_ "GenSigSendType" SG_ 985 IsaVLimUnit_D_Rq 3; +BA_ "GenSigSendType" SG_ 985 AdbDividedRoad_B_Stat 3; +BA_ "GenSigSendType" SG_ 985 LcwaMsgTxt_D_Stat 3; +BA_ "GenSigSendType" SG_ 985 AdbDrvSide_B_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 992 MsgCntrDsplyOp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 992 MsgCntrDsplyOp_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 992 MsgCntrFeatNoRq 1; +BA_ "CrossOver_InfoCAN" SG_ 992 MsgCntrFeatNoRq 1; +BA_ "U_P702_MY2021_Rx" SG_ 992 MsgCntrFeatConfigRq 1; +BA_ "CrossOver_InfoCAN" SG_ 992 MsgCntrFeatConfigRq 1; +BA_ "U_P702_MY2021_Rx" SG_ 992 MsgCntrPersIndex_D_Rq 1; +BA_ "GenSigStartValue" SG_ 992 MsgCntrPersIndex_D_Rq 4; +BA_ "GenSigStartValueInteger" SG_ 992 MsgCntrPersIndex_D_Rq 4; +BA_ "CrossOver_InfoCAN" SG_ 992 MsgCntrPersIndex_D_Rq 1; +BA_ "GenSigSendType" SG_ 2612019416 PARSEDPhysGWM_ECG2toPCM 3; +BA_ "ECGUsedTxSignal" SG_ 2612019416 PARSEDPhysGWM_ECG2toPCM 1; +BA_ "UsedOnPgmDBC" SG_ 943 VehVActlAdas_D_Qf 1; +BA_ "MetaData" SG_ 943 VehVActlAdas_D_Qf 1; +BA_ "GenSigStartValue" SG_ 943 VehVActlAdas_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 943 Veh_V_RqLsc 1; +BA_ "UsedOnPgmDBC" SG_ 943 Veh_V_ActlAdas 1; +BA_ "GenSigStartValue" SG_ 943 AdasLcDistToObj_L_Actl 4094; +BA_ "UsedOnPgmDBC" SG_ 515 PtIgnSwtch_No_Cs 1; +BA_ "MetaData" SG_ 515 PtIgnSwtch_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 515 PtIgnSwtch_No_Cnt 1; +BA_ "MetaData" SG_ 515 PtIgnSwtch_No_Cnt 1; +BA_ "GenSigSendType" SG_ 515 PtIgnSwtch_D_Stat 3; +BA_ "GenSigStartValue" SG_ 515 PtIgnSwtch_D_Stat 2; +BA_ "GenSigStartValueInteger" SG_ 1111 TrlrYawWActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 1111 TrlrYawWActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 1111 TrlrYawWActl_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1111 TrlrYawWActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 1111 TrlrYaw_W_Actl 65534; +BA_ "GenSigStartValue" SG_ 1111 TrlrYaw_W_Actl 65534; +BA_ "U_P702_MY2021_Rx" SG_ 1111 TrlrYaw_W_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1111 TrlrYaw_W_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1111 TrlrHitYaw_AnRate_Actl 4094; +BA_ "GenSigStartValue" SG_ 1111 TrlrHitYaw_AnRate_Actl 4093; +BA_ "U_P702_MY2021_Rx" SG_ 1111 TrlrHitYaw_AnRate_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1111 TrlrHitYaw_AnRate_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1111 TrlrHitchYaw_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1111 TrlrHitchYaw_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1111 TrlrHitchYaw_An_Actl 4094; +BA_ "GenSigStartValue" SG_ 1111 TrlrHitchYaw_An_Actl 4093; +BA_ "U_P702_MY2021_Rx" SG_ 1111 TrlrHitchYaw_An_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1111 TrlrHitchYaw_An_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1106 TrlrSnsId_No_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1106 TrlrSnsId_No_Actl 1; +BA_ "GenSigStartValue" SG_ 982 LatCtlCrv_NoRate2_Actl 1024; +BA_ "UsedOnPgmDBC" SG_ 982 LatCtlPath_No_Cnt 1; +BA_ "ContentDependant" SG_ 982 LatCtlPath_No_Cnt 1; +BA_ "MetaData" SG_ 982 LatCtlPath_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 982 LatCtlPath_No_Cs 1; +BA_ "ContentDependant" SG_ 982 LatCtlPath_No_Cs 1; +BA_ "MetaData" SG_ 982 LatCtlPath_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 982 HandsOffCnfm_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 HandsOffCnfm_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 982 LatCtlRampType_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 LatCtlRampType_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 982 LatCtlPrecision_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 LatCtlPrecision_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 982 LatCtlPathOffst_L_Actl 512; +BA_ "U_CX727_MY2021_Rx" SG_ 982 LatCtlPathOffst_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 LatCtlPathOffst_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 982 LatCtlPath_An_Actl 1000; +BA_ "U_CX727_MY2021_Rx" SG_ 982 LatCtlPath_An_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 LatCtlPath_An_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 982 LatCtlCurv_No_Actl 1000; +BA_ "U_CX727_MY2021_Rx" SG_ 982 LatCtlCurv_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 982 LatCtlCurv_No_Actl 1; +BA_ "GenSigSendType" SG_ 1985 TesterPhysicalReqCMR_DSMC 3; +BA_ "GenSigSendType" SG_ 1993 TesterPhysicalResCMR_DSMC 3; +BA_ "MetaData" SG_ 1104 DrvEngageLevel_No_Cs 1; +BA_ "ContentDependant" SG_ 1104 DrvEngageLevel_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 1104 DrvEngageLevel_No_Cs 1; +BA_ "MetaData" SG_ 1104 DrvEngageLevel_No_Cnt 1; +BA_ "ContentDependant" SG_ 1104 DrvEngageLevel_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 1104 DrvEngageLevel_No_Cnt 1; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_GWOnBoardTester 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_GWNMProxY 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_GWNMProxY 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_GWNMProxY 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_AutoSarNMReserved 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMReserved 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_AutoSarNMReserved 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_AutoSarNMReserve4 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMReserve4 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_AutoSarNMReserve4 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_AutoSarNMReserve3 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMReserve3 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_AutoSarNMReserve3 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_AutoSarNMReserve2 255; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMReserve2 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_AutoSarNMReserve2 255; +BA_ "GenSigStartValue" SG_ 1503 CMR_DSMC_AutoSarNMNodeId 223; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMNodeId 1; +BA_ "GenSigStartValueInteger" SG_ 1503 CMR_DSMC_AutoSarNMNodeId 222; +BA_ "ContentDependant" SG_ 1503 CMR_DSMC_AutoSarNMControl 1; +BA_ "ECGUsedTxSignal" SG_ 2610995416 PARSEDPhysGWM_ECGtoABS 1; +BA_ "GenSigSendType" SG_ 2610995416 PARSEDPhysGWM_ECGtoABS 3; +BA_ "ECGUsedTxSignal" SG_ 2612043992 PARSEDPhysGWM_ECG2toABS 1; +BA_ "GenSigSendType" SG_ 2612043992 PARSEDPhysGWM_ECG2toABS 3; +BA_ "ECGUsedTxSignal" SG_ 2609946840 OTAPhysGWM_ECGtoABS 1; +BA_ "GenSigSendType" SG_ 2609946840 OTAPhysGWM_ECGtoABS 3; +BA_ "ECGUsedRxSignal" SG_ 2611175464 PARSEDPhysABStoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175464 PARSEDPhysABStoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224040 PARSEDPhysABS2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224040 PARSEDPhysABS2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126888 OTAPhysABStoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126888 OTAPhysABStoGWM_ECG 3; +BA_ "ECGUsedTxSignal" SG_ 2610988248 PARSEDPhysGWM_ECGtoIPMA 1; +BA_ "ECGUsedTxSignal" SG_ 2609939672 OTAPhysGWM_ECGtoIPMA 1; +BA_ "GenSigSendType" SG_ 2609939672 OTAPhysGWM_ECGtoIPMA 3; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1114 TrailCtlSwtch_B_Stat2 1; +BA_ "U_P702_MY2021_Rx" SG_ 1114 TrailCtlSwtch_B_Stat2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1116 TrlrAidSetup_D2_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1116 TrlrAidSetup_D2_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1116 TrlrAidEnbl_D2_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1116 TrlrAidEnbl_D2_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1116 TrlrTrgtToBmpr_L_Actl 0; +BA_ "U_P702_MY2021_Rx" SG_ 1116 TrlrIdType_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1116 TrlrIdType_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1116 TrlrBallToBmpr_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1116 TrlrAxleToBmpr_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1116 TrlrAnOffst_An_Mem 0; +BA_ "GenSigStartValueInteger" SG_ 1116 TrlrTrgtOffst_L_Actl 0; +BA_ "ECGUsedRxSignal" SG_ 2611175457 PARSEDPhysIPMAtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175457 PARSEDPhysIPMAtoGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2612224033 PARSEDPhysIPMA2toGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612224033 PARSEDPhysIPMA2toGWM_ECG 3; +BA_ "ECGUsedRxSignal" SG_ 2610126881 OTAPhysIPMAtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126881 OTAPhysIPMAtoGWM_ECG 3; +BA_ "UsedOnPgmDBC" SG_ 1085 ULoRgenTestMde_B_Stat 1; +BA_ "ContentDependant" SG_ 1085 ULoRgenTestMde_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 ULoRgenTestMde_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 ULoRgenTestMde_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1085 PwSrcULoOvrTe_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULoOvrTe_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULoOvrTe_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1085 PwSrcULoFalt_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULoFalt_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULoFalt_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1085 PwSrcULoDcnnt_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULoDcnnt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULoDcnnt_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULo_Pc_Mx 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULo_Pc_Mx 1; +BA_ "UsedOnPgmDBC" SG_ 1085 PwSrcULoComm_B_Falt 1; +BA_ "ContentDependant" SG_ 1085 PwSrcULoComm_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULoComm_B_Falt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULoComm_B_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1085 PwSrcULo_I_Mx 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULo_I_Mx 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULo_I_Mx 1; +BA_ "U_P702_MY2021_Rx" SG_ 1085 PwSrcULo_I_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1085 PwSrcULo_I_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1085 PwSrcULo_I_Actl 1; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrTop_An_Rq 254; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrRight_L_Stat 510; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrRight_An_Rq 1022; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrLeft_L_Stat 510; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrLeft_An_Rq 1022; +BA_ "GenSigStartValue" SG_ 981 AdbBrdrBottom_An_Rq 62; +BA_ "U_P702_MY2021_Rx" SG_ 791 EngAirFilt_B_RqReset 1; +BA_ "CrossOver_InfoCAN" SG_ 791 GpsElMdeSel_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 791 LongTermReset_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 791 DrvEffLvl_No_Stat 1; +BA_ "ECGUsedTxSignal" SG_ 2610970840 PARSEDPhysGWM_ECGtoPCM 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2610970840 PARSEDPhysGWM_ECGtoPCM 1; +BA_ "U_P702_MY2021_Rx" SG_ 2610970840 PARSEDPhysGWM_ECGtoPCM 1; +BA_ "GenSigSendType" SG_ 2610970840 PARSEDPhysGWM_ECGtoPCM 3; +BA_ "ECGUsedTxSignal" SG_ 2609922264 OTAPhysGWM_ECGtoPCM 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2609922264 OTAPhysGWM_ECGtoPCM 1; +BA_ "U_P702_MY2021_Rx" SG_ 2609922264 OTAPhysGWM_ECGtoPCM 1; +BA_ "GenSigSendType" SG_ 2609922264 OTAPhysGWM_ECGtoPCM 3; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoStat_D_Qlty 1; +BA_ "GenSigStartValue" SG_ 868 BattRgenLoStat_D_Qlty 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoSoc_Pc_Actl 1; +BA_ "GenSigStartValue" SG_ 868 BattRgenLoSoc_Pc_Actl 50; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoPulse_U_Pred 1; +BA_ "GenSigStartValue" SG_ 868 BattRgenLoPulse_U_Pred 216; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoPrtct_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoDChrg_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoDchrg_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoChrg_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLoChrg_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLo_T_Est 1; +BA_ "U_P702_MY2021_Rx" SG_ 868 BattRgenLo_B_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLoBalnc_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLo_Te_Hi 1; +BA_ "GenSigStartValue" SG_ 867 BattRgenLo_Te_Hi 45; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLo_Te_Actl 1; +BA_ "GenSigStartValue" SG_ 867 BattRgenLo_Te_Actl 85; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLo_R_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLo_AhRide_Actl 1; +BA_ "GenSigStartValue" SG_ 867 BattRgenLo_AhRide_Actl 12800; +BA_ "U_P702_MY2021_Rx" SG_ 867 BattRgenLo_Ah_Actl 1; +BA_ "GenSigStartValue" SG_ 867 BattRgenLo_Ah_Actl 50; +BA_ "U_P702_MY2021_Rx" SG_ 866 BattRgenLoOpen_U_Actl 1; +BA_ "GenSigStartValue" SG_ 866 BattRgenLoOpen_U_Actl 180; +BA_ "U_P702_MY2021_Rx" SG_ 866 BattRgenLoDchrg_U_Mn 1; +BA_ "GenSigStartValue" SG_ 866 BattRgenLoDchrg_U_Mn 280; +BA_ "U_P702_MY2021_Rx" SG_ 866 BattRgenLoDchrg_I_Mx 1; +BA_ "U_P702_MY2021_Rx" SG_ 866 BattRgenLoChrg_U_Mx 1; +BA_ "GenSigStartValue" SG_ 866 BattRgenLoChrg_U_Mx 96; +BA_ "U_P702_MY2021_Rx" SG_ 866 BattRgenLoChrg_I_Mx 1; +BA_ "U_P702_MY2021_Rx" SG_ 865 BattRgenLo_U_Actl 1; +BA_ "GenSigStartValue" SG_ 865 BattRgenLo_U_Actl 768; +BA_ "U_P702_MY2021_Rx" SG_ 865 BattRgenLo_I_Actl 1; +BA_ "GenSigStartValue" SG_ 865 BattRgenLo_I_Actl 32768; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2611175440 PARSEDPhysPCMtoGWM_ECG 1; +BA_ "U_P702_MY2021_Tx" SG_ 2611175440 PARSEDPhysPCMtoGWM_ECG 1; +BA_ "ECGUsedRxSignal" SG_ 2611175440 PARSEDPhysPCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2611175440 PARSEDPhysPCMtoGWM_ECG 3; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2610126864 OTAPhysPCMtoGWM_ECG 1; +BA_ "U_P702_MY2021_Tx" SG_ 2610126864 OTAPhysPCMtoGWM_ECG 1; +BA_ "ECGUsedRxSignal" SG_ 2610126864 OTAPhysPCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126864 OTAPhysPCMtoGWM_ECG 3; +BA_ "GenSigSendType" SG_ 2611175441 PARSEDPhysHPCMtoGWM_ECG 3; +BA_ "GenSigSendType" SG_ 2612224017 PARSEDPhysHPCM2toGWM_ECG 3; +BA_ "U_P702_MY2021_Tx" SG_ 2610126865 OTAPhysHPCMtoGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610126865 OTAPhysHPCMtoGWM_ECG 3; +BA_ "U_P702_MY2021_Tx" SG_ 1679 UUDTSOBDMCResponse4 1; +BA_ "UsedOnPgmDBC" SG_ 1679 UUDTSOBDMCResponse4 1; +BA_ "GenSigSendType" SG_ 1679 UUDTSOBDMCResponse4 3; +BA_ "U_P702_MY2021_Tx" SG_ 1678 UUDTSOBDMCResponse3 1; +BA_ "UsedOnPgmDBC" SG_ 1678 UUDTSOBDMCResponse3 1; +BA_ "GenSigSendType" SG_ 1678 UUDTSOBDMCResponse3 3; +BA_ "U_P702_MY2021_Tx" SG_ 1677 UUDTSOBDMCResponse2 1; +BA_ "UsedOnPgmDBC" SG_ 1677 UUDTSOBDMCResponse2 1; +BA_ "GenSigSendType" SG_ 1677 UUDTSOBDMCResponse2 3; +BA_ "U_P702_MY2021_Tx" SG_ 1676 UUDTSOBDMCResponse1 1; +BA_ "UsedOnPgmDBC" SG_ 1676 UUDTSOBDMCResponse1 1; +BA_ "GenSigSendType" SG_ 1676 UUDTSOBDMCResponse1 3; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_AutoSarNMReserved4 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_AutoSarNMReserved3 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_AutoSarNMReserved2 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_AutoSarNMReserved1 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_AutoSarNMNodeId 165; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_AutoSarNMNodeId 165; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1445 SOBDMC_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_AutoSarNMControl 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_GWOnBoardTester 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1445 SOBDMC_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1445 SOBDMC_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1445 SOBDMC_GWNMProxy 255; +BA_ "U_P702_MY2021_Tx" SG_ 1445 SOBDMC_GWNMProxy 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 WakeAlarm0_T_Rq 1; +BA_ "GenSigStartValue" SG_ 1144 WakeAlarm0_T_Rq 32767; +BA_ "GenSigStartValueInteger" SG_ 1144 WakeAlarm0_T_Rq 32767; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 WakeAlarm0_B_Typ 1; +BA_ "GenSigSendType" SG_ 1144 WakeAlarm0_B_Typ 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 PreCondBatt_B_Actl 1; +BA_ "GenSigSendType" SG_ 1144 PreCondBatt_B_Actl 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 HtrnDcdcDis_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1144 HtrnDcdcDis_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 HtrnDcdcDis_B_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 ChrgNowEvnt_B_Stat 1; +BA_ "GenSigSendType" SG_ 1144 ChrgNowEvnt_B_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1144 CabinDrvSustn_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1144 CabinDrvSustn_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 CabinDrvSustn_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1144 BattChrgTrgtSoC_D_Rq 1; +BA_ "GenSigSendType" SG_ 1144 CabnEvapSovFront_B_Rq 3; +BA_ "WakeupSignal" SG_ 1144 CabnEvapSovFront_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 CabnEvapSovFront_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 HeatCoreSovRear_B_Rq 3; +BA_ "WakeupSignal" SG_ 1144 HeatCoreSovRear_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 HeatCoreSovRear_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 BattChlrSov_B_Rq 3; +BA_ "WakeupSignal" SG_ 1144 BattChlrSov_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 BattChlrSov_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 CabnEvapSovRear_B_Rq 3; +BA_ "WakeupSignal" SG_ 1144 CabnEvapSovRear_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 CabnEvapSovRear_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 BrkAppl_D_RqPt 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1144 BrkAppl_D_RqPt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1144 BrkAppl_D_RqPt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 BrkAppl_D_RqPt 1; +BA_ "GenSigSendType" SG_ 1144 HtrnCnnctPwr_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1144 HtrnCnnctPwr_B_Stat 1; +BA_ "GenSigSendType" SG_ 1144 PtcHtr_D_Stat 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1144 PtcHtr_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1144 PtcHtr_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 PtcHtr_D_Stat 1; +BA_ "GenSigSendType" SG_ 1144 HtrnClntFlw_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1144 HtrnClntFlw_D_Rq 1; +BA_ "GenSigSendType" SG_ 1144 BattTracDrvSustn_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1144 BattTracDrvSustn_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1144 BattTracDrvSustn_B_Rq 1; +BA_ "GenSigSendType" SG_ 1144 BattTracClntVlv_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1144 BattTracClntVlv_B_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1141 OfbChrgSetSync_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1141 OfbChrgSetSync_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1141 PtRmtRprt_D_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 1141 PtRmtRprt_D_Rq 1; +BA_ "WakeupSignal" SG_ 1141 PtRmtRprt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1141 MtrTrac2_Tq_Actl 4095; +BA_ "GenSigStartValue" SG_ 1141 MtrTrac2_Tq_Actl 4095; +BA_ "U_P702_MY2021_Tx" SG_ 1141 MtrTrac2_Tq_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1141 MtrTrac2_Tq_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1141 NtfctnConflict1_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1141 NtfctnConflict1_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1140 RgenEvntLvl_Pc_Dsply 1; +BA_ "GenSigStartValue" SG_ 1140 RgenEvntLvl_Pc_Dsply 1022; +BA_ "GenSigStartValueInteger" SG_ 1140 RgenEvntLvl_Pc_Dsply 1023; +BA_ "U_CX727_MY2021_Tx" SG_ 1140 BrkEvntComplt_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1140 PreCondStat_D_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1140 PreCondStat_D_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1139 ActChrgStrtYr_No2_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrtYr_No2_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1139 ActChrgStrtYr_No2_Actl 0; +BA_ "U_P702_MY2021_Tx" SG_ 1139 BattChrgTrgtLMax_T_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1139 ActChrgStrtYr_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1139 ActChrgStrtYr_No_Actl 0; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrtYr_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1139 ActChrgStrtMin_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrtMin_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1139 ActChrgStrtHr_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrtHr_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1139 ActChrgStrtDay_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1139 ActChrgStrtDay_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1139 ActChrgStrtDay_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrtDay_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1139 ActChrgStrMnth_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1139 ActChrgStrMnth_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1139 ActChrgStrMnth_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1139 ActChrgStrMnth_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1138 ActChrgEndYr_No2_Actl 0; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndYr_No2_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1138 ActChrgEndYr_No2_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 BattChrgTrgtLMin_T_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 ActChrgEndYr_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1138 ActChrgEndYr_No_Actl 0; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndYr_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 ActChrgEndMnth_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1138 ActChrgEndMnth_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1138 ActChrgEndMnth_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndMnth_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 ActChrgEndMin_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndMin_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 ActChrgEndHr_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndHr_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1138 ActChrgEndDay_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1138 ActChrgEndDay_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1138 ActChrgEndDay_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1138 ActChrgEndDay_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 Mtr2Aout_W_ActlMntr 1; +BA_ "GenSigStartValue" SG_ 1089 Mtr2Aout_W_ActlMntr 1023; +BA_ "GenSigStartValueInteger" SG_ 1089 Mtr2Aout_W_ActlMntr 1023; +BA_ "ECGUsedRxSignal" SG_ 1089 Mtr2Aout_W_ActlMntr 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 Inv1_Te_Actl 1; +BA_ "GenSigStartValue" SG_ 1089 Inv1_Te_Actl 254; +BA_ "GenSigStartValueInteger" SG_ 1089 Inv1_Te_Actl 254; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2Coil_Te_Actl 1; +BA_ "GenSigStartValue" SG_ 1089 MtrTrac2Coil_Te_Actl 254; +BA_ "GenSigStartValueInteger" SG_ 1089 MtrTrac2Coil_Te_Actl 254; +BA_ "ECGUsedRxSignal" SG_ 1089 MtrTrac2Coil_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2_U_Actl 1; +BA_ "GenSigStartValue" SG_ 1089 MtrTrac2_U_Actl 1023; +BA_ "GenSigStartValueInteger" SG_ 1089 MtrTrac2_U_Actl 1023; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2Falt_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2TeAlrm_B_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1089 MtrTrac2TeAlrm_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 Mtr2CntlTeAlrm_B_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1089 Mtr2CntlTeAlrm_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2Inv_Te_Actl 1; +BA_ "GenSigStartValue" SG_ 1089 MtrTrac2Inv_Te_Actl 214; +BA_ "GenSigStartValueInteger" SG_ 1089 MtrTrac2Inv_Te_Actl 214; +BA_ "ECGUsedRxSignal" SG_ 1089 MtrTrac2Inv_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1089 MtrTrac2_I_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1089 MtrTrac2_I_Actl 10000; +BA_ "U_CX727_MY2021_Tx" SG_ 1088 ChrgTMatch_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 ChrgStat_D2_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1088 ChrgStat_D2_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 HvacPrecondRecirc_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 HvacPrecondMode2_D_Rq 1; +BA_ "ContentDependant" SG_ 1088 HvacPrecondMode2_D_Rq 1; +BA_ "WakeupSignal" SG_ 1088 HvacPrecondMode2_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 HvacPrecondBlwr2_D_Rq 1; +BA_ "ContentDependant" SG_ 1088 HvacPrecondBlwr2_D_Rq 1; +BA_ "WakeupSignal" SG_ 1088 HvacPrecondBlwr2_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 HvacPrecondAC_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1088 HvacPrecond_Te_Rq 1; +BA_ "GenSigStartValue" SG_ 1088 HvacPrecond_Te_Rq 2; +BA_ "GenSigStartValueInteger" SG_ 1088 HvacPrecond_Te_Rq 2; +BA_ "U_P702_MY2021_Tx" SG_ 1088 BattChrgInhbt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1040 ElCmprEnbl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1040 ElCmprEnbl_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1040 ElCmprEnbl_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1040 ElCmpr_N_Rq 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTElement_B_Dsply 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTElement_B_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1016 ChrgGoTElement_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgLocIdCurnt_D_Uns 1; +BA_ "GenSigSendType" SG_ 1016 ChrgLocIdCurnt_D_Uns 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgLocIdCurnt_D_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTTouchEnbl_B_Rq 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTTouchEnbl_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTTouch_B_Stat 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTTouch_B_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTTouch_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTPrcond_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTPrcond_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTNext_D_Stat 1; +BA_ "MetaData" SG_ 1016 ChrgGoTNext_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1016 ChrgGoTNext_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1016 ChrgGoTNext_D_Stat 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTNext_D_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTNext_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTMnte_D_Stat 1; +BA_ "MetaData" SG_ 1016 ChrgGoTMnte_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1016 ChrgGoTMnte_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1016 ChrgGoTMnte_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTMnte_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTHr_T_Stat 1; +BA_ "GenSigStartValue" SG_ 1016 ChrgGoTHr_T_Stat 30; +BA_ "GenSigStartValueInteger" SG_ 1016 ChrgGoTHr_T_Stat 30; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTHr_T_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTExtHtrEnbl_B_Rq 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTExtHtrEnbl_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTExtHtr_B_Stat 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTExtHtr_B_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTExtHtr_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTElement_D_Stat 1; +BA_ "MetaData" SG_ 1016 ChrgGoTElement_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1016 ChrgGoTElement_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1016 ChrgGoTElement_D_Stat 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTElement_D_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTElement_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1016 ChrgGoTAllOn_B_Stat 1; +BA_ "GenSigSendType" SG_ 1016 ChrgGoTAllOn_B_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1016 ChrgGoTAllOn_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgToPcWkndSav_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1013 ChrgToPcWkndSav_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgToPcWkndSav_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgToPcWkdySav_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1013 ChrgToPcWkdySav_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgToPcWkdySav_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgProgIdSaved_D_Stat 1; +BA_ "MetaData" SG_ 1013 ChrgProgIdSaved_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1013 ChrgProgIdSaved_D_Stat 1; +BA_ "GenSigSendType" SG_ 1013 ChrgProgIdSaved_D_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgProgIdSaved_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgNowEnbl_B_Saved 1; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgNowEnbl_B_Saved 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgLocIdUnsAck_B_Stat 1; +BA_ "GenSigSendType" SG_ 1013 ChrgLocIdUnsAck_B_Stat 3; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgLocIdUnsAck_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgLocIdCurnt_D_Sav 1; +BA_ "MetaData" SG_ 1013 ChrgLocIdCurnt_D_Sav 1; +BA_ "GenSigSendType" SG_ 1013 ChrgLocIdCurnt_D_Sav 3; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgLocIdCurnt_D_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgPrflWknd_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgPrflWknd_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1013 ChrgPrflWkdy_No_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 1013 ChrgPrflWkdy_No_Actl 1; +BA_ "GenSigSendType" SG_ 1012 ChrgNowCurnt_B_Dsply 3; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgNowCurnt_B_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1012 ChrgNowCurnt_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgNowCurnt_B_Dsply 1; +BA_ "GenSigSendType" SG_ 1012 ChrgLocSaved_B_Dsply 3; +BA_ "UsedOnPgmDBC" SG_ 1012 ChrgLocSaved_B_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocSaved_B_Dsply 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1012 ChrgLocSaved_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocSaved_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLongPostv_B_Sav 1; +BA_ "UsedOnPgmDBC" SG_ 1012 ChrgLocLongPostv_B_Sav 1; +BA_ "CrossOver_InfoCAN" SG_ 1012 ChrgLocLongPostv_B_Sav 1; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLongPostv_B_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLongFrct_An_Sav 1; +BA_ "GenSigStartValue" SG_ 1012 ChrgLocLongFrct_An_Sav 1048575; +BA_ "GenSigStartValueInteger" SG_ 1012 ChrgLocLongFrct_An_Sav 1048575; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLongFrct_An_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLongDeg_An_Sav 1; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLongDeg_An_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLattPostv_B_Sav 1; +BA_ "UsedOnPgmDBC" SG_ 1012 ChrgLocLattPostv_B_Sav 1; +BA_ "CrossOver_InfoCAN" SG_ 1012 ChrgLocLattPostv_B_Sav 1; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLattPostv_B_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLattFrct_An_Sav 1; +BA_ "GenSigStartValue" SG_ 1012 ChrgLocLattFrct_An_Sav 1048575; +BA_ "GenSigStartValueInteger" SG_ 1012 ChrgLocLattFrct_An_Sav 1048575; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLattFrct_An_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocLattDeg_An_Sav 1; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocLattDeg_An_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1012 ChrgLocId_D_Sav 1; +BA_ "GenSigSendType" SG_ 1012 ChrgLocId_D_Sav 3; +BA_ "ECGUsedRxSignal" SG_ 1012 ChrgLocId_D_Sav 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLongPostv_B_Uns 1; +BA_ "UsedOnPgmDBC" SG_ 1011 ChrgLocLongPostv_B_Uns 1; +BA_ "CrossOver_InfoCAN" SG_ 1011 ChrgLocLongPostv_B_Uns 1; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLongPostv_B_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLongFrct_An_Uns 1; +BA_ "GenSigStartValue" SG_ 1011 ChrgLocLongFrct_An_Uns 1048575; +BA_ "GenSigStartValueInteger" SG_ 1011 ChrgLocLongFrct_An_Uns 1048575; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLongFrct_An_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLongDeg_An_Uns 1; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLongDeg_An_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLattPostv_B_Uns 1; +BA_ "UsedOnPgmDBC" SG_ 1011 ChrgLocLattPostv_B_Uns 1; +BA_ "CrossOver_InfoCAN" SG_ 1011 ChrgLocLattPostv_B_Uns 1; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLattPostv_B_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLattFrct_An_Uns 1; +BA_ "GenSigStartValue" SG_ 1011 ChrgLocLattFrct_An_Uns 1048575; +BA_ "GenSigStartValueInteger" SG_ 1011 ChrgLocLattFrct_An_Uns 1048575; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLattFrct_An_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocLattDeg_An_Uns 1; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocLattDeg_An_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 1011 ChrgLocId_D_Uns 1; +BA_ "GenSigSendType" SG_ 1011 ChrgLocId_D_Uns 3; +BA_ "ECGUsedRxSignal" SG_ 1011 ChrgLocId_D_Uns 1; +BA_ "U_P702_MY2021_Tx" SG_ 871 BattElecPerf_D_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 871 BattElecPerf_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 871 BattChrgTrgtLPt_T_Est 1; +BA_ "ECGUsedRxSignal" SG_ 871 BattChrgTrgtLPt_T_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 871 BattChrgTrgSocPt_T_Est 1; +BA_ "ECGUsedRxSignal" SG_ 871 BattChrgTrgSocPt_T_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 871 BattChrgCmpltPt_T_Est 1; +BA_ "ECGUsedRxSignal" SG_ 871 BattChrgCmpltPt_T_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 786 RgenTrip_Pc_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 786 RgenTrip_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 786 RgenTrip_Pc_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 786 RgenTrip_L_Dsply 1; +BA_ "GenSigStartValue" SG_ 786 RgenTrip_L_Dsply 65535; +BA_ "GenSigStartValueInteger" SG_ 786 RgenTrip_L_Dsply 65535; +BA_ "CrossOver_InfoCAN" SG_ 786 RgenTrip_L_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 786 RgenTrip_L_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 786 ChrgStat_D_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 786 ChrgStat_D_Dsply 1; +BA_ "UsedOnPgmDBC" SG_ 72 immoTarget2Status 1; +BA_ "UsedOnPgmDBC" SG_ 72 immoTarget2Data 1; +BA_ "UsedOnPgmDBC" SG_ 72 immoTarget2Cmd 1; +BA_ "U_P702_MY2021_Rx" SG_ 912 CabnEvapSovFront_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 912 BattChlrSov_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 912 BattTracClntVlv_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattTracShrtGrnd_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattTracShrtBatt_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattTracOpnCirct_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattChlrShrtGrnd_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattChlrShrtBatt_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 874 BattChlrOpnCirct_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 651 TelematicsSrvc_D_St 1; +BA_ "ECGUsedTxSignal" SG_ 651 OfbChrgSetSync_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgToPcWknd_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgToPcWknd_D_Actl 1; +BA_ "ECGUsedTxSignal" SG_ 529 OnbChrgToPcWknd_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgToPcWkdy_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgToPcWkdy_D_Actl 1; +BA_ "ECGUsedTxSignal" SG_ 529 OnbChrgToPcWkdy_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgSetNow_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgSetDelete_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgSetDelete_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgPrflWknd_No_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgPrflWkdy_No_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgPrflUpdate_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgPrflUpdate_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgLocIdUns_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgLocIdUns_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 529 OnbChrgLocIdTrgt_No_Rq 1; +BA_ "MetaData" SG_ 529 OnbChrgLocIdTrgt_No_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 529 OnbChrgLocIdTrgt_No_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 529 OnbChrgLocIdTrgt_No_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 66 immoControlData_T2 1; +BA_ "ContentDependant" SG_ 66 immoControlData_T2 1; +BA_ "U_P702_MY2021_Rx" SG_ 66 immoControlCmd_T2 1; +BA_ "ContentDependant" SG_ 66 immoControlCmd_T2 1; +BA_ "U_P702_MY2021_Rx" SG_ 2610971864 PARSEDPhysGWM_ECGtoHPCM 1; +BA_ "GenSigSendType" SG_ 2610971864 PARSEDPhysGWM_ECGtoHPCM 3; +BA_ "ECGUsedTxSignal" SG_ 2610971864 PARSEDPhysGWM_ECGtoHPCM 1; +BA_ "ECGUsedTxSignal" SG_ 2612002008 PARSEDFuncGWM_ECG 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2612002008 PARSEDFuncGWM_ECG 1; +BA_ "U_P702_MY2021_Rx" SG_ 2612002008 PARSEDFuncGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2612002008 PARSEDFuncGWM_ECG 3; +BA_ "U_P702_MY2021_Rx" SG_ 2609923288 OTAPhysGWM_ECGtoHPCM 1; +BA_ "GenSigSendType" SG_ 2609923288 OTAPhysGWM_ECGtoHPCM 3; +BA_ "ECGUsedTxSignal" SG_ 2609923288 OTAPhysGWM_ECGtoHPCM 1; +BA_ "ECGUsedTxSignal" SG_ 2610953432 OTAFuncGWM_ECG 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2610953432 OTAFuncGWM_ECG 1; +BA_ "U_P702_MY2021_Rx" SG_ 2610953432 OTAFuncGWM_ECG 1; +BA_ "GenSigSendType" SG_ 2610953432 OTAFuncGWM_ECG 3; +BA_ "GenSigSendType" SG_ 2022 TesterPhysicalReqSOBDMC 3; +BA_ "U_P702_MY2021_Rx" SG_ 2022 TesterPhysicalReqSOBDMC 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_Vdop 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_Speed 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_Sat_num_in_view 1; +BA_ "U_P702_MY2021_Rx" SG_ 1124 GPS_Sat_num_in_view 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_MSL_altitude 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_Heading 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_Hdop 1; +BA_ "CrossOver_InfoCAN" SG_ 1124 GPS_dimension 1; +BA_ "U_P702_MY2021_Rx" SG_ 1124 GPS_dimension 1; +BA_ "U_P702_MY2021_Rx" SG_ 1119 CoolFanDcdc_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1119 DcdcClntFlw_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 132 GlblClkYr_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 132 GlblClkScnd_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 132 GlblClkMnte_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 132 GlblClkHr_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 132 GlblClkDay_No_Actl 1; +BA_ "GenSigSendType" SG_ 1990 TesterPhysicalReqSODR 3; +BA_ "GenSigSendType" SG_ 1892 TesterPhysicalReqCCM 3; +BA_ "GenSigSendType" SG_ 1798 TesterPhysicalReqIPMA 3; +BA_ "GenSigStartValueInteger" SG_ 1123 GpsUtcYr_No_Actl 0; +BA_ "CrossOver_InfoCAN" SG_ 1123 GpsUtcYr_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1123 GpsUtcMnth_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1123 GpsUtcMnth_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GpsUtcMnth_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1123 GpsUtcDay_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1123 GpsUtcDay_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GpsUtcDay_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_UTC_seconds 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_UTC_minutes 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_UTC_hours 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_Pdop 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_Compass_direction 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 GPS_Actual_vs_Infer_pos 1; +BA_ "CrossOver_InfoCAN" SG_ 1123 Gps_B_Falt 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GpsHsphLongEast_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GpsHsphLattSth_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Longitude_Minutes 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Longitude_Min_dec 1; +BA_ "GenSigStartValueInteger" SG_ 1122 GPS_Longitude_Degrees 179; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Longitude_Degrees 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Latitude_Minutes 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Latitude_Min_dec 1; +BA_ "CrossOver_InfoCAN" SG_ 1122 GPS_Latitude_Degrees 1; +BA_ "GenSigStartValue" SG_ 1003 PersNoPos_D_Actl 4; +BA_ "GenSigStartValueInteger" SG_ 1003 PersNoPos_D_Actl 4; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersNoPos_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersSetupRestr_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersSetupAccessCtrl 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersSetup_No_Actl 1; +BA_ "GenSigStartValue" SG_ 1003 PersConflict_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1003 PersConflict_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersConflict_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 AssocConfirm_D_Actl 1; +BA_ "MetaData" SG_ 1003 RecallEvent_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 1003 RecallEvent_No_Cnt 1; +BA_ "GenSigStartValue" SG_ 1003 PersNo_D_Actl 4; +BA_ "GenSigStartValueInteger" SG_ 1003 PersNo_D_Actl 4; +BA_ "CrossOver_InfoCAN" SG_ 1003 PersNo_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 994 PersStore_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 994 Pers4OptIn_B_Stats 1; +BA_ "WakeupSignal" SG_ 994 Pers4OptIn_B_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 994 Pers3OptIn_B_Stats 1; +BA_ "WakeupSignal" SG_ 994 Pers3OptIn_B_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 994 Pers2OptIn_B_Stats 1; +BA_ "WakeupSignal" SG_ 994 Pers2OptIn_B_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 994 Pers1OptIn_B_Stats 1; +BA_ "WakeupSignal" SG_ 994 Pers1OptIn_B_Stats 1; +BA_ "GenSigStartValue" SG_ 994 CtrStkPersIndex_D_Actl 4; +BA_ "GenSigStartValueInteger" SG_ 994 CtrStkPersIndex_D_Actl 4; +BA_ "CrossOver_InfoCAN" SG_ 994 CtrStkPersIndex_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 994 CtrStkFeatNoActl 1; +BA_ "CrossOver_InfoCAN" SG_ 994 CtrStkFeatConfigActl 1; +BA_ "CrossOver_InfoCAN" SG_ 994 CtrStkDsplyOp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 778 PrkAidFront_D_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 778 Cta_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 778 Cta_D_Rq 1; +BA_ "GenSigStartValue" SG_ 778 Cta_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 778 PrkAidRear_D_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 778 Sod_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 778 Sod_D_Rq 2; +BA_ "GenSigStartValue" SG_ 778 Sod_D_Rq 2; +BA_ "WakeupSignal" SG_ 549 Power_Up_Chime_Modules 1; +BA_ "WakeupSignal" SG_ 551 Cntr_Plg_Mode_Cmd 1; +BA_ "GenSigStartValue" SG_ 551 Btt_L_Actl2 30; +BA_ "GenSigStartValueInteger" SG_ 551 Btt_L_Actl2 126; +BA_ "WakeupSignal" SG_ 551 Em_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1010 CbdblActv_B_RqAdas 1; +BA_ "UsedOnPgmDBC" SG_ 1010 CbdblActv_B_RqAdas 1; +BA_ "U_P702_MY2021_Rx" SG_ 1010 LightRng_L_Max 1; +BA_ "U_P702_MY2021_Rx" SG_ 1010 LightPathOffst_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1010 LightPathOffst_L_Actl 512; +BA_ "U_P702_MY2021_Rx" SG_ 1010 LightPath_An_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1010 LightPath_An_Actl 1000; +BA_ "U_P702_MY2021_Rx" SG_ 1010 LightCurv_NoRate_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1010 LightCurv_NoRate_Actl 4096; +BA_ "U_P702_MY2021_Rx" SG_ 1010 LightCurv_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1010 LightCurv_No_Actl 1000; +BA_ "GenSigStartValue" SG_ 1070 BattULo24_Te_Actl 127; +BA_ "GenSigStartValueInteger" SG_ 1070 BattULo24_Te_Actl 127; +BA_ "UsedOnPgmDBC" SG_ 1070 BattULo24_Te_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1070 BattULo24State_D_Qlty 1; +BA_ "GenSigStartValue" SG_ 1070 BattULo24State_D_Qlty 1; +BA_ "U_P702_MY2021_Rx" SG_ 1070 BattULo24Soc_Pc_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1070 BattULo24Soc_Pc_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1070 BattULo24_I_Actl 1; +BA_ "GenSigStartValue" SG_ 1070 BattULo24_I_Actl 8192; +BA_ "U_P702_MY2021_Rx" SG_ 1070 BattULo24_B_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1070 BattULo24_Ah_DeltaRide 1; +BA_ "GenSigStartValue" SG_ 1070 BattULo24_Ah_DeltaRide 12800; +BA_ "GenSigStartValueInteger" SG_ 1186 SelDrvMdeAwd2_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1186 SelDrvMdeAwd2_D_Stat 31; +BA_ "U_CX727_MY2021_Rx" SG_ 1186 SelDrvMdeAwd2_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1186 SelDrvMdeAwd2_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 SelDrvMdeAwd2_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 RearDiffLckMsg_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1186 RearDiffLckLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 RearDiffLckLamp_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1186 RearDiffLck_Tq_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1186 RearDiffLck_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 RearDiffLck_Tq_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1186 RearDiffFalt_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 RearDiffFalt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1186 LsdSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1186 LsdSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdSys_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 AwdSys_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdSys_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdStat_D_RqDsply 1; +BA_ "ContentDependant" SG_ 611 AwdStat_D_RqDsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdStat_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 AwdStat_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdStat_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdLck_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 611 AwdLck_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdLck_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 AwdLck_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdLck_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdSrvcRqd_B_Rq 1; +BA_ "ContentDependant" SG_ 611 AwdSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdSrvcRqd_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 AwdSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 NtrlTowAvail_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdLck_Tq_Rq 1; +BA_ "ContentDependant" SG_ 611 AwdLck_Tq_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdLck_Tq_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdLck_Tq_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 611 TrnAout_Tq_RqMx 1; +BA_ "GenSigStartValueInteger" SG_ 611 TrnAout_Tq_RqMx 8191; +BA_ "GenSigStartValue" SG_ 611 TrnAout_Tq_RqMx 8191; +BA_ "U_P702_MY2021_Rx" SG_ 611 TrnAout_Tq_RqMx 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 TrnAout_Tq_RqMx 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 TrnAout_Tq_RqMx 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdOffRoadMode_D_Stats 1; +BA_ "UsedOnPgmDBC" SG_ 611 AwdOffRoadMode_D_Stats 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdOffRoadMode_D_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdLoLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdLoLamp_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdHiLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdHiLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdHiLamp_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdAutoLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdAutoLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdAutoLamp_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 611 Awd2wdLamp_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 Awd2wdLamp_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 611 AwdRnge_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 611 AwdRnge_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 611 AwdRnge_D_Actl 7; +BA_ "GenSigStartValue" SG_ 611 AwdRnge_D_Actl 7; +BA_ "U_P702_MY2021_Rx" SG_ 611 AwdRnge_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 611 AwdRnge_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 611 AwdRnge_D_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 611 AwdRnge_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1461 PSCM_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_GWOnBoardTester 255; +BA_ "U_P702_MY2021_Rx" SG_ 1461 PSCM_GWOnBoardTester 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_GWOnBoardTester 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1461 PSCM_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_GWNMProxy 255; +BA_ "U_P702_MY2021_Rx" SG_ 1461 PSCM_GWNMProxy 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_GWNMProxy 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_AutoSarNMReserved4 255; +BA_ "U_P702_MY2021_Rx" SG_ 1461 PSCM_AutoSarNMReserved4 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved4 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_AutoSarNMReserved3 255; +BA_ "U_P702_MY2021_Rx" SG_ 1461 PSCM_AutoSarNMReserved3 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved3 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_AutoSarNMReserved2 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_AutoSarNMReserved1 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1461 PSCM_AutoSarNMNodeId 181; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1461 PSCM_AutoSarNMNodeId 181; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMNodeId 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1461 PSCM_AutoSarNMControl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1461 PSCM_AutoSarNMControl 1; +BA_ "GenSigStartValueInteger" SG_ 1047 TrlrAnOffst_An2_Calc 128; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAnOffst_An2_Calc 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAn_An_WarnCalc 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAn_An_MxCalc 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAidTrlrId_No_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAidTrgtId_No_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAidSetup_D2_Stat 1; +BA_ "GenSigSendType" SG_ 1047 TrlrAidEnbl_D2_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1047 TrlrAidEnbl_D2_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1047 TrlrAidEnbl_D2_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAidEnbl_D2_Stat 1; +BA_ "GenSigSendType" SG_ 1047 TrlrAidMsgTxt_D2_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 1047 TrlrAidMsgTxt_D2_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 TrlrAidMsgTxt_D2_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1047 EsaOn_B_Stat 1; +BA_ "GenSigStartValue" SG_ 1047 EsaOn_B_Stat 1; +BA_ "GenSigSendType" SG_ 1047 EsaOn_B_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1047 EsaOn_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 EsaOn_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 HitchToTrlrAxle_L_Calc 1; +BA_ "GenSigSendType" SG_ 1047 SelDrvMdeSte_D_Stat 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1047 SelDrvMdeSte_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1047 SelDrvMdeSte_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1047 SelDrvMdeSte_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1047 SelDrvMdeSte_D_Stat 1; +BA_ "GenSigSendType" SG_ 972 LatCtlSte_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 972 LatCtlSte_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LatCtlSte_D_Stat 1; +BA_ "GenSigSendType" SG_ 972 LatCtlLim_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 972 LatCtlLim_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LatCtlLim_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 972 LatCtlCpbltyDStat_No_Cnt 1; +BA_ "MetaData" SG_ 972 LatCtlCpbltyDStat_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 972 LatCtlCpbltyDStat_No_Cs 1; +BA_ "MetaData" SG_ 972 LatCtlCpbltyDStat_No_Cs 1; +BA_ "GenSigStartValueInteger" SG_ 972 TrlrAn_An_TrgtCalc 128; +BA_ "U_P702_MY2021_Tx" SG_ 972 TrlrAn_An_TrgtCalc 1; +BA_ "U_P702_MY2021_Rx" SG_ 972 LsmcBrkDecelEnbl_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LsmcBrkDecelEnbl_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 972 TjaHandsOnCnfdnc_B_Est 1; +BA_ "GenSigStartValue" SG_ 972 TjaHandsOnCnfdnc_B_Est 1; +BA_ "U_CX727_MY2021_Tx" SG_ 972 TjaHandsOnCnfdnc_B_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 TjaHandsOnCnfdnc_B_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 972 LaHandsOff_B_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 972 LaHandsOff_B_Actl 1; +BA_ "GenSigStartValue" SG_ 972 LaHandsOff_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 972 LaHandsOff_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LaHandsOff_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 972 LaActDeny_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 972 LaActDeny_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LaActDeny_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 972 LaActAvail_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 972 LaActAvail_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LaActAvail_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 972 LsmcBrk_Tq_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 972 LsmcBrk_Tq_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 130 TrlrHitchLamp_D_Rqst 1; +BA_ "UsedOnPgmDBC" SG_ 130 TrlrHitchLamp_D_Rqst 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 TrlrHitchLamp_D_Rqst 1; +BA_ "CrossOver_InfoCAN" SG_ 130 VehVTrlrAid_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 130 VehVTrlrAid_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 130 VehVTrlrAid_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 VehVTrlrAid_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 130 Veh_V_RqMxTrlrAid 255; +BA_ "GenSigStartValue" SG_ 130 Veh_V_RqMxTrlrAid 255; +BA_ "U_P702_MY2021_Rx" SG_ 130 Veh_V_RqMxTrlrAid 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 130 Veh_V_RqMxTrlrAid 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 Veh_V_RqMxTrlrAid 1; +BA_ "UsedOnPgmDBC" SG_ 130 DrvSteActv_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 130 DrvSteActv_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 DrvSteActv_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 130 DrvSte_Tq_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 130 DrvSte_Tq_Actl 128; +BA_ "U_P702_MY2021_Rx" SG_ 130 DrvSte_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 DrvSte_Tq_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SteMdule_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SteMdule_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 130 SteMdule_U_Meas 1; +BA_ "GenSigStartValueInteger" SG_ 130 SteMdule_U_Meas 255; +BA_ "GenSigStartValue" SG_ 130 SteMdule_U_Meas 255; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SteMdule_U_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SteMdule_U_Meas 1; +BA_ "UsedOnPgmDBC" SG_ 130 SteMdule_I_Est 1; +BA_ "GenSigStartValueInteger" SG_ 130 SteMdule_I_Est 4095; +BA_ "GenSigStartValue" SG_ 130 SteMdule_I_Est 4095; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SteMdule_I_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SteMdule_I_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 130 EPAS_Failure 1; +BA_ "UsedOnPgmDBC" SG_ 130 EPAS_Failure 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 EPAS_Failure 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 EPAS_Failure 1; +BA_ "UsedOnPgmDBC" SG_ 130 SteeringColumnTorque 1; +BA_ "GenSigStartValueInteger" SG_ 130 SteeringColumnTorque 254; +BA_ "GenSigStartValue" SG_ 130 SteeringColumnTorque 254; +BA_ "U_CX727_MY2021_Rx" SG_ 130 SteeringColumnTorque 1; +BA_ "U_P702_MY2021_Rx" SG_ 130 SteeringColumnTorque 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SteeringColumnTorque 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SteeringColumnTorque 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat6 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat6 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat6 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat5 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat5 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat5 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat4 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat4 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat4 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat3 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat3 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat3 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat2 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat2 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat2 1; +BA_ "UsedOnPgmDBC" SG_ 130 SAPPAngleControlStat1 1; +BA_ "U_CX727_MY2021_Tx" SG_ 130 SAPPAngleControlStat1 1; +BA_ "U_P702_MY2021_Tx" SG_ 130 SAPPAngleControlStat1 1; +BA_ "UsedOnPgmDBC" SG_ 126 StePw_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePw_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 126 StePw_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePw_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "GenSigStartValueInteger" SG_ 126 StePinRelInit_An_Sns 65535; +BA_ "ContentDependant" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "GenSigStartValue" SG_ 126 StePinRelInit_An_Sns 65535; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "U_CX727_MY2021_Rx" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "U_CX727_MY2021_Tx" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePinRelInit_An_Sns 1; +BA_ "CrossOver_InfoCAN" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "GenSigStartValue" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "U_CX727_MY2021_Tx" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "ECGUsedRxSignal" SG_ 126 StePinCompAnEst_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 126 StePinComp_An_Est 16000; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePinComp_An_Est 1; +BA_ "U_CX727_MY2021_Rx" SG_ 126 StePinComp_An_Est 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 126 StePinComp_An_Est 1; +BA_ "U_CX727_MY2021_Tx" SG_ 126 StePinComp_An_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePinComp_An_Est 1; +BA_ "ECGUsedRxSignal" SG_ 126 StePinComp_An_Est 1; +BA_ "UsedOnPgmDBC" SG_ 126 StePinAn_No_Cs 1; +BA_ "ContentDependant" SG_ 126 StePinAn_No_Cs 1; +BA_ "MetaData" SG_ 126 StePinAn_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePinAn_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 126 StePinAn_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 126 StePinAn_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePinAn_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 126 StePinAn_No_Cnt 1; +BA_ "MetaData" SG_ 126 StePinAn_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 126 StePinAn_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 126 StePinAn_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 126 StePinAn_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 126 StePinAn_No_Cnt 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1430 ABS_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_GWOnBoardTester 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_GWOnBoardTester 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1430 ABS_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_GWNMProxy 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_GWNMProxy 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_AutoSarNMReserved4 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved4 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_AutoSarNMReserved3 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved3 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_AutoSarNMReserved2 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_AutoSarNMReserved1 255; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1430 ABS_AutoSarNMNodeId 150; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1430 ABS_AutoSarNMNodeId 150; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMNodeId 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1430 ABS_AutoSarNMControl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1430 ABS_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1430 ABS_AutoSarNMControl 1; +BA_ "GenSigStartValueInteger" SG_ 1200 HsaTrnAout_Tq_Rq 32768; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 HsaTrnAout_Tq_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 HsaTrnAout_Tq_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1200 BrkBstrVac_P_Actl 127; +BA_ "GenSigStartValue" SG_ 1200 BrkBstrVac_P_Actl 127; +BA_ "U_P702_MY2021_Rx" SG_ 1200 BrkBstrVac_P_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1200 BrkBstrVac_P_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 BrkBstrVac_P_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 BrkBstrVac_P_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1200 YawStabilityIndex 256; +BA_ "U_CX727_MY2021_Rx" SG_ 1200 YawStabilityIndex 1; +BA_ "U_P702_MY2021_Rx" SG_ 1200 YawStabilityIndex 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 YawStabilityIndex 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 YawStabilityIndex 1; +BA_ "U_P702_MY2021_Rx" SG_ 1200 BrkTot_Tq_RqDrv 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1200 BrkTot_Tq_RqDrv 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 BrkTot_Tq_RqDrv 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 BrkTot_Tq_RqDrv 1; +BA_ "MetaData" SG_ 1200 BrkTotTqRqDrv_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1200 BrkTotTqRqDrv_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1200 BrkTotTqRqDrv_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 BrkTotTqRqDrv_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 BrkTotTqRqDrv_No_Cnt 1; +BA_ "MetaData" SG_ 1200 BrkTotTqRqDrv_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 1200 BrkTotTqRqDrv_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1200 BrkTotTqRqDrv_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 BrkTotTqRqDrv_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 BrkTotTqRqDrv_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1200 HsaStat_D_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1200 HsaStat_D_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos12_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos12_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos12_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos12_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos12_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos11_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos11_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos11_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos11_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos11_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos10_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos10_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos10_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos10_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos10_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos09_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos09_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos09_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos09_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos09_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos08_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos08_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos08_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos08_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos08_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos07_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos07_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos07_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos07_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos07_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos06_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos06_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos06_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos06_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos06_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos05_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos05_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos05_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos05_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos05_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos04_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos04_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos04_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos04_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos04_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos03_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos03_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos03_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos03_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos03_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos02_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos02_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos02_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos02_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos02_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1102 SelDrvMdePos01_D_Stat 31; +BA_ "GenSigStartValue" SG_ 1102 SelDrvMdePos01_D_Stat 31; +BA_ "GenSigSendType" SG_ 1102 SelDrvMdePos01_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1102 SelDrvMdePos01_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1102 SelDrvMdePos01_D_Stat 1; +BA_ "GenSigSendType" SG_ 1056 AutoEpbMsgTxt_D_Rq 3; +BA_ "GenSigSendType" SG_ 1056 AutoEpbDsply_D_Stat 3; +BA_ "GenSigSendType" SG_ 1056 AutoEpbButtnOn_B_Stat 3; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos12_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos12_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos12_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos11_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos11_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos11_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos10_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos10_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos10_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos09_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos09_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos09_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos08_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos08_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos08_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos07_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos07_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos07_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos06_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos06_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos06_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos05_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos05_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos05_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos04_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos04_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos04_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos03_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos03_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos03_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos02_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos02_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos02_B_Avail 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePos01_B_Avail 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePos01_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePos01_B_Avail 1; +BA_ "GenSigStartValueInteger" SG_ 1056 ActvDrvMde_D2_Stat 31; +BA_ "GenSigStartValue" SG_ 1056 ActvDrvMde_D2_Stat 31; +BA_ "GenSigSendType" SG_ 1056 ActvDrvMde_D2_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 ActvDrvMde_D2_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 ActvDrvMde_D2_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1056 SelDrvMde_D2_Rq 31; +BA_ "GenSigStartValue" SG_ 1056 SelDrvMde_D2_Rq 31; +BA_ "GenSigSendType" SG_ 1056 SelDrvMde_D2_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMde_D2_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMde_D2_Rq 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdePt_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 1056 SelDrvMdePt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1056 SelDrvMdePt_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdePt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdePt_D_Rq 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMdeMsgTxt_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMdeMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMdeMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 1056 SelDrvMde_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 SelDrvMde_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 SelDrvMde_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1056 AwdMde_D_RqBrk 5; +BA_ "GenSigStartValue" SG_ 1056 AwdMde_D_RqBrk 5; +BA_ "GenSigSendType" SG_ 1056 AwdMde_D_RqBrk 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1056 AwdMde_D_RqBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 1056 AwdMde_D_RqBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 AirDamUp_B_RqBrk 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1054 AirDamUp_B_RqBrk 1; +BA_ "U_P702_MY2021_Rx" SG_ 1054 AirDamUp_B_RqBrk 1; +BA_ "GenSigSendType" SG_ 1054 AirDamUp_B_RqBrk 3; +BA_ "GenSigSendType" SG_ 1054 RbaBrk_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 RbaBrk_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 RbaBrk_D_Stat 1; +BA_ "GenSigSendType" SG_ 1054 SelDrvMdeChassis2_D_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1054 SelDrvMdeChassis2_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1054 SelDrvMdeChassis2_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 SelDrvMdeChassis2_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 TrailCtl_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1054 TrailCtl_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1054 TrailCtl_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 TrailCtl_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 TrailCtl_D_Stat 1; +BA_ "GenSigSendType" SG_ 1054 TrailCtlMsgTxt_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 TrailCtlMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 TrailCtlMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 BrkBstrVac_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1054 BrkBstrVac_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1054 BrkBstrVac_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 BrkBstrVac_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 BrkBstrVac_D_Stat 1; +BA_ "GenSigSendType" SG_ 1054 DrvSlipCtlOffLamp_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 DrvSlipCtlOffLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 DrvSlipCtlOffLamp_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 DrvSlipCtlMdeMsg_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 DrvSlipCtlMdeMsg_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 DrvSlipCtlMdeMsg_D_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 1054 DrvSlipCtlMdeMsg_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 AutoHoldMsgTxt_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 AutoHoldMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 AutoHoldMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 CtaBrk_D_Stat 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 CtaBrk_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 CtaBrk_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1054 SelDrvMdeAwd_D_Rq 31; +BA_ "GenSigStartValue" SG_ 1054 SelDrvMdeAwd_D_Rq 31; +BA_ "GenSigSendType" SG_ 1054 SelDrvMdeAwd_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 1054 SelDrvMdeAwd_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 SelDrvMdeAwd_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1054 AutoHoldSwMde_B_Ind 1; +BA_ "ContentDependant" SG_ 1054 AutoHoldSwMde_B_Ind 1; +BA_ "GenSigSendType" SG_ 1054 AutoHoldSwMde_B_Ind 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 AutoHoldSwMde_B_Ind 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 AutoHoldSwMde_B_Ind 1; +BA_ "GenSigSendType" SG_ 1054 AutoHoldMde_D_Ind 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 AutoHoldMde_D_Ind 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 AutoHoldMde_D_Ind 1; +BA_ "GenSigSendType" SG_ 1054 SelDrvMdeChassis_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 SelDrvMdeChassis_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 SelDrvMdeChassis_D_Rq 1; +BA_ "GenSigSendType" SG_ 1054 ApaBrk_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1054 ApaBrk_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1054 ApaBrk_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1054 ApaBrk_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1054 ApaBrk_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 HsaMde_D_Mem 1; +BA_ "UsedOnPgmDBC" SG_ 1046 HsaMde_D_Mem 1; +BA_ "GenSigStartValueInteger" SG_ 1046 HsaMde_D_Mem 1; +BA_ "GenSigStartValue" SG_ 1046 HsaMde_D_Mem 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 HsaMde_D_Mem 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 HsaMde_D_Mem 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 BrkBstrVac_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 HdcMde_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1046 HdcMde_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 HdcMde_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 HdcMde_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1046 RearDiffLck_Tq2_RqMx 4094; +BA_ "GenSigStartValue" SG_ 1046 RearDiffLck_Tq2_RqMx 4094; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 RearDiffLck_Tq2_RqMx 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 RearDiffLck_Tq2_RqMx 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 TRLR_SWAY_EVNT_IN_PROG 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 TRLR_SWAY_EVNT_IN_PROG 1; +BA_ "ECGUsedRxSignal" SG_ 1046 TRLR_SWAY_EVNT_IN_PROG 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 TRLR_SWAY_CONFIG_STAT 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 TRLR_SWAY_CONFIG_STAT 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 TCMode 1; +BA_ "UsedOnPgmDBC" SG_ 1046 TCMode 1; +BA_ "ContentDependant" SG_ 1046 TCMode 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 TCMode 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 TCMode 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 TCMode 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 TCMode 1; +BA_ "ECGUsedRxSignal" SG_ 1046 TCMode 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvSlipCtlLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 Abs_B_Falt 1; +BA_ "UsedOnPgmDBC" SG_ 1046 Abs_B_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 Abs_B_Falt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 Abs_B_Falt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 Abs_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 Abs_B_Falt 1; +BA_ "ECGUsedRxSignal" SG_ 1046 Abs_B_Falt 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "ECGUsedRxSignal" SG_ 1046 DrvSlipCtlMde_D_Ind 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvAntiLckLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "MetaData" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 BpedMove_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "UsedOnPgmDBC" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "GenSigStartValueInteger" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "GenSigStartValue" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 StabCtlBrk_B_Avail 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvHdcWarnInfo_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvHdcWarnInfo_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvHdcWarnInfo_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvHdcWarnInfo_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvHdcMsg_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvHdcMsg_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvHdcMsg_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvHdcMsg_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 DrvHdcLampInfo_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 DrvHdcLampInfo_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 DrvHdcLampInfo_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 DrvHdcLampInfo_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 BpedMove_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1046 BpedMove_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1046 BpedMove_D_Actl 3; +BA_ "GenSigStartValue" SG_ 1046 BpedMove_D_Actl 3; +BA_ "U_P702_MY2021_Rx" SG_ 1046 BpedMove_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 BpedMove_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 BpedMove_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 ChimeBrk_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 ChimeBrk_B_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 ChimeBrk_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 ChimeBrk_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 BrkLamp_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1046 BrkLamp_B_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 BrkLamp_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 BrkLamp_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1046 HILL_DESC_MC 1; +BA_ "UsedOnPgmDBC" SG_ 1046 HILL_DESC_MC 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1046 HILL_DESC_MC 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 HILL_DESC_MC 1; +BA_ "U_P702_MY2021_Tx" SG_ 1046 RearDiffElckrOpen_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1045 VehStab_D_Stat 14; +BA_ "GenSigStartValue" SG_ 1045 VehStab_D_Stat 14; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehStab_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehStab_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehStab_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehStab_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 BrkFluidLvl_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 BrkFluidLvl_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1045 LsmcBrkDecel_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 LsmcBrkDecel_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1045 VehYawNonLin_W_Rq 4094; +BA_ "GenSigStartValue" SG_ 1045 VehYawNonLin_W_Rq 4094; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehYawNonLin_W_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1045 VehYawLin_W_Rq 4094; +BA_ "GenSigStartValue" SG_ 1045 VehYawLin_W_Rq 4094; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehYawLin_W_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "MetaData" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehVActlBrk_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "UsedOnPgmDBC" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "U_P702_MY2021_Rx" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 Veh_V_ActlBrk 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "MetaData" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehVActlBrk_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "MetaData" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 1045 VehVActlBrk_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 1044 StePinOffst_An_Est 1; +BA_ "GenSigStartValueInteger" SG_ 1044 StePinOffst_An_Est 65534; +BA_ "ContentDependant" SG_ 1044 StePinOffst_An_Est 1; +BA_ "GenSigStartValue" SG_ 1044 StePinOffst_An_Est 65533; +BA_ "U_CX727_MY2021_Rx" SG_ 1044 StePinOffst_An_Est 1; +BA_ "U_P702_MY2021_Rx" SG_ 1044 StePinOffst_An_Est 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1044 StePinOffst_An_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1044 StePinOffst_An_Est 1; +BA_ "UsedOnPgmDBC" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "ContentDependant" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "MetaData" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 1044 StePinOffst_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "MetaData" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1044 StePinOffst_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1044 StePinOffst_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1044 StePinOffst_D_Stat 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1044 StePinOffst_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1044 StePinOffst_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1042 VehRol_An_Dsply 64; +BA_ "GenSigStartValue" SG_ 1042 VehRol_An_Dsply 0; +BA_ "U_P702_MY2021_Tx" SG_ 1042 VehRol_An_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1042 VehPtch_An_Dsply 64; +BA_ "GenSigStartValue" SG_ 1042 VehPtch_An_Dsply 0; +BA_ "U_P702_MY2021_Rx" SG_ 1042 VehPtch_An_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1042 VehPtch_An_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1042 TrlrBrk_Pc_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 535 WhlRr_W_Meas 1; +BA_ "U_P702_MY2021_Rx" SG_ 535 WhlRr_W_Meas 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 535 WhlRr_W_Meas 1; +BA_ "U_CX727_MY2021_Rx" SG_ 535 WhlRr_W_Meas 1; +BA_ "U_CX727_MY2021_Tx" SG_ 535 WhlRr_W_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 535 WhlRr_W_Meas 1; +BA_ "UsedOnPgmDBC" SG_ 535 WhlRl_W_Meas 1; +BA_ "U_P702_MY2021_Rx" SG_ 535 WhlRl_W_Meas 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 535 WhlRl_W_Meas 1; +BA_ "U_CX727_MY2021_Rx" SG_ 535 WhlRl_W_Meas 1; +BA_ "U_CX727_MY2021_Tx" SG_ 535 WhlRl_W_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 535 WhlRl_W_Meas 1; +BA_ "UsedOnPgmDBC" SG_ 535 WhlFr_W_Meas 1; +BA_ "U_P702_MY2021_Rx" SG_ 535 WhlFr_W_Meas 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 535 WhlFr_W_Meas 1; +BA_ "U_CX727_MY2021_Rx" SG_ 535 WhlFr_W_Meas 1; +BA_ "U_CX727_MY2021_Tx" SG_ 535 WhlFr_W_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 535 WhlFr_W_Meas 1; +BA_ "UsedOnPgmDBC" SG_ 535 WhlFl_W_Meas 1; +BA_ "U_P702_MY2021_Rx" SG_ 535 WhlFl_W_Meas 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 535 WhlFl_W_Meas 1; +BA_ "U_CX727_MY2021_Rx" SG_ 535 WhlFl_W_Meas 1; +BA_ "U_CX727_MY2021_Tx" SG_ 535 WhlFl_W_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 535 WhlFl_W_Meas 1; +BA_ "ContentDependant" SG_ 534 BrkObdData_No_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 BrkObdData_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 BrkObdData_No_Actl 1; +BA_ "ContentDependant" SG_ 534 BrkObdIndex_No_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 BrkObdIndex_No_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 BrkObdIndex_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlRotatRr_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlRotatRr_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlRotatRr_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlRotatRr_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlRotatRr_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlDirRr_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlDirRl_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlDirFr_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlDirFl_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlRotatRl_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlRotatRl_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlRotatRl_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlRotatRl_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlRotatRl_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlRotatFr_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlRotatFr_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlRotatFr_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlRotatFr_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlRotatFr_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 534 WhlRotatFl_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 534 WhlRotatFl_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 534 WhlRotatFl_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 534 WhlRotatFl_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 534 WhlRotatFl_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 532 RgenTqFalt_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 532 RgenTqFalt_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 532 RgenTqFalt_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 532 RgenTqFalt_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 532 RgenBrkDynoMde_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 532 RgenBrkDynoMde_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 532 RgenBrkDynoMde_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 532 RgenBrkDynoMde_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "MetaData" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 532 PrplWhlTqRqMn_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 532 PrplWhlTot_Tq_RqMn 1; +BA_ "U_P702_MY2021_Rx" SG_ 532 PrplWhlTot_Tq_RqMn 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 532 PrplWhlTot_Tq_RqMn 1; +BA_ "U_CX727_MY2021_Tx" SG_ 532 PrplWhlTot_Tq_RqMn 1; +BA_ "U_P702_MY2021_Tx" SG_ 532 PrplWhlTot_Tq_RqMn 1; +BA_ "UsedOnPgmDBC" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "MetaData" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 532 PrplWhlTqRqMn_No_Cnt 1; +BA_ "GenSigStartValueInteger" SG_ 531 VehStop_D_Stat 2; +BA_ "GenSigStartValue" SG_ 531 VehStop_D_Stat 2; +BA_ "U_CX727_MY2021_Tx" SG_ 531 VehStop_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 VehStop_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 TracCtlPtActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbbMntr_B_Err 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbbMntr_B_Err 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbbMntr_B_Err 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbbBrkDis_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbbBrkDis_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbbBrkDis_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbbDeny_B_ActlBrk 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbbDeny_B_ActlBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbbDeny_B_ActlBrk 1; +BA_ "WakeupSignal" SG_ 531 PrkBrkYwLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrkBrkYwLamp_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrkBrkYwLamp_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrkBrkYwLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrkBrkYwLamp_D_Rq 1; +BA_ "WakeupSignal" SG_ 531 PrkBrkRedLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrkBrkRedLamp_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrkBrkRedLamp_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrkBrkRedLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrkBrkRedLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbbBrkDecel_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbbBrkDecel_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbbBrkDecel_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AbsActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AbsActv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 531 AbsActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 AbsActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 AbsActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AbsActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AbsActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 531 StabCtlBrkActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CmbbBrkPrchg_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 CmbbBrkPrchg_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CmbbBrkPrchg_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CmbbBrkPrchg_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CmbbBrkDecel_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 CmbbBrkDecel_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CmbbBrkDecel_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CmbbBrkDecel_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CmbbBaSensInc_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 CmbbBaSensInc_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CmbbBaSensInc_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CmbbBaSensInc_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkWarm_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkWarm_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkWarm_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkWarm_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkTotTqMn_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkTotTqMn_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkTotTqMn_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkTotTqMn_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkPrchgActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkPrchgActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkPrchgActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkPrchgActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkDis_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkDis_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkDis_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkDis_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkDeny_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccBrkActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrplDrgCtlActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrplWhlTot_Tq_RqMx 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbbBaSensInc_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbbBaSensInc_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbbBaSensInc_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CmbbBrkDis_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "UsedOnPgmDBC" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "U_CX727_MY2021_Rx" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CmbbDeny_B_ActlBrk 1; +BA_ "CrossOver_InfoCAN" SG_ 531 CcDis_B_Cmd 1; +BA_ "UsedOnPgmDBC" SG_ 531 CcDis_B_Cmd 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 CcDis_B_Cmd 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 CcDis_B_Cmd 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 CcDis_B_Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 CcDis_B_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 531 VehLongOvrGnd_A_Est 1; +BA_ "UsedOnPgmDBC" SG_ 531 VehLongOvrGnd_A_Est 1; +BA_ "GenSigStartValueInteger" SG_ 531 VehLongOvrGnd_A_Est 511; +BA_ "U_P702_MY2021_Rx" SG_ 531 VehLongOvrGnd_A_Est 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 VehLongOvrGnd_A_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 VehLongOvrGnd_A_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 531 LscmbBrkPrchg_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 531 LscmbBrkPrchg_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 LscmbBrkPrchg_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "U_P702_MY2021_Rx" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccStopActv_B_ActlBrk 1; +BA_ "CrossOver_InfoCAN" SG_ 531 AccDis_B_ActlEpb 1; +BA_ "UsedOnPgmDBC" SG_ 531 AccDis_B_ActlEpb 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 AccDis_B_ActlEpb 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 AccDis_B_ActlEpb 1; +BA_ "WakeupSignal" SG_ 531 PrkBrkMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrkBrkMsgTxt_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrkBrkMsgTxt_D_Rq 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrkBrkMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrkBrkMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 531 PrkBrkStatus 1; +BA_ "UsedOnPgmDBC" SG_ 531 PrkBrkStatus 1; +BA_ "GenSigStartValueInteger" SG_ 531 PrkBrkStatus 7; +BA_ "GenSigStartValue" SG_ 531 PrkBrkStatus 7; +BA_ "U_P702_MY2021_Rx" SG_ 531 PrkBrkStatus 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 531 PrkBrkStatus 1; +BA_ "U_CX727_MY2021_Tx" SG_ 531 PrkBrkStatus 1; +BA_ "U_P702_MY2021_Tx" SG_ 531 PrkBrkStatus 1; +BA_ "ECGUsedRxSignal" SG_ 531 PrkBrkStatus 1; +BA_ "GenSigStartValueInteger" SG_ 136 SteWhlBrkOffst_An_Rq 32766; +BA_ "GenSigStartValue" SG_ 136 SteWhlBrkOffst_An_Rq 32765; +BA_ "U_P702_MY2021_Tx" SG_ 136 SteWhlBrkOffst_An_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 136 SteWhlBrkAnRq_No_Cs 1; +BA_ "MetaData" SG_ 136 SteWhlBrkAnRq_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 136 SteWhlBrkAnRq_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 136 SteWhlBrkAnRq_No_Cnt 1; +BA_ "MetaData" SG_ 136 SteWhlBrkAnRq_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 136 SteWhlBrkAnRq_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 125 VehRolComp_W_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 125 VehRolComp_W_Actl 4094; +BA_ "GenSigStartValue" SG_ 125 VehRolComp_W_Actl 4094; +BA_ "U_CX727_MY2021_Tx" SG_ 125 VehRolComp_W_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 VehRolComp_W_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 125 VehVertComp_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 125 VehVertComp_A_Actl 1022; +BA_ "GenSigStartValue" SG_ 125 VehVertComp_A_Actl 1022; +BA_ "U_P702_MY2021_Rx" SG_ 125 VehVertComp_A_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 VehVertComp_A_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 VehVertComp_A_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "MetaData" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 BrkTotTqRqArb_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "MetaData" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 BrkTotTqRqArb_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "U_P702_MY2021_Rx" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "ECGUsedRxSignal" SG_ 125 BrkTot_Tq_RqArb 1; +BA_ "UsedOnPgmDBC" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 BrkTot_Tq_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 125 HsaStat_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 125 HsaStat_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 125 HsaStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 125 HsaStat_D_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 125 HsaStat_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 125 HsaStat_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 119 VehTrvlDir_D_Stat 6; +BA_ "GenSigStartValue" SG_ 119 VehTrvlDir_D_Stat 6; +BA_ "U_P702_MY2021_Tx" SG_ 119 VehTrvlDir_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 119 VehOverGnd_V_Est 1; +BA_ "U_CX727_MY2021_Rx" SG_ 119 VehOverGnd_V_Est 1; +BA_ "U_P702_MY2021_Rx" SG_ 119 VehOverGnd_V_Est 1; +BA_ "U_CX727_MY2021_Tx" SG_ 119 VehOverGnd_V_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 119 VehOverGnd_V_Est 1; +BA_ "UsedOnPgmDBC" SG_ 119 VehLongComp_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 119 VehLongComp_A_Actl 1022; +BA_ "GenSigStartValue" SG_ 119 VehLongComp_A_Actl 1022; +BA_ "U_P702_MY2021_Rx" SG_ 119 VehLongComp_A_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 119 VehLongComp_A_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 119 VehLongComp_A_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 119 VehLongComp_A_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 119 VehLongComp_A_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 119 VehLatComp_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 119 VehLatComp_A_Actl 1022; +BA_ "GenSigStartValue" SG_ 119 VehLatComp_A_Actl 1022; +BA_ "U_P702_MY2021_Rx" SG_ 119 VehLatComp_A_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 119 VehLatComp_A_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 119 VehLatComp_A_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 119 VehLatComp_A_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 119 VehLatComp_A_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 119 VehLatComp_A_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 119 VehYawComp_W_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 119 VehYawComp_W_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 119 VehYawComp_W_Actl 4094; +BA_ "GenSigStartValue" SG_ 119 VehYawComp_W_Actl 4094; +BA_ "U_CX727_MY2021_Rx" SG_ 119 VehYawComp_W_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 119 VehYawComp_W_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 119 VehYawComp_W_Actl 1; +BA_ "U_CX727_MY2021_Tx" SG_ 119 VehYawComp_W_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 119 VehYawComp_W_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 119 VehYawComp_W_Actl 1; +BA_ "GenSigSendType" SG_ 118 BrkCtrFnd_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 118 BrkCtrFnd_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 118 AwdLck_Tq_RqMx 1; +BA_ "U_P702_MY2021_Rx" SG_ 118 AwdLck_Tq_RqMx 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 AwdLck_Tq_RqMx 1; +BA_ "UsedOnPgmDBC" SG_ 118 AwdLck_Tq_RqMn 1; +BA_ "U_P702_MY2021_Rx" SG_ 118 AwdLck_Tq_RqMn 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 AwdLck_Tq_RqMn 1; +BA_ "UsedOnPgmDBC" SG_ 118 DrvSte_D_Stat 1; +BA_ "GenSigSendType" SG_ 118 DrvSte_D_Stat 3; +BA_ "U_CX727_MY2021_Rx" SG_ 118 DrvSte_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 118 DrvSte_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 DrvSte_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 118 DrvSte_Tq_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 118 DrvSte_Tq_Rq 128; +BA_ "U_CX727_MY2021_Rx" SG_ 118 DrvSte_Tq_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 118 DrvSte_Tq_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 DrvSte_Tq_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 118 EmgcyBrkLamp_D_Rq 1; +BA_ "GenSigSendType" SG_ 118 EmgcyBrkLamp_D_Rq 3; +BA_ "U_CX727_MY2021_Tx" SG_ 118 EmgcyBrkLamp_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 EmgcyBrkLamp_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 118 StopLamp_B_RqBrk 1; +BA_ "GenSigSendType" SG_ 118 StopLamp_B_RqBrk 3; +BA_ "U_CX727_MY2021_Tx" SG_ 118 StopLamp_B_RqBrk 1; +BA_ "U_P702_MY2021_Tx" SG_ 118 StopLamp_B_RqBrk 1; +BA_ "UsedOnPgmDBC" SG_ 73 immoSubTarget1Data_T1 1; +BA_ "U_P702_MY2021_Rx" SG_ 73 immoSubTarget1Data_T1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 73 immoSubTarget1Data_T1 1; +BA_ "U_CX727_MY2021_Tx" SG_ 73 immoSubTarget1Data_T1 1; +BA_ "U_P702_MY2021_Tx" SG_ 73 immoSubTarget1Data_T1 1; +BA_ "UsedOnPgmDBC" SG_ 73 immoSubTarget1Cmd_T1 1; +BA_ "U_P702_MY2021_Rx" SG_ 73 immoSubTarget1Cmd_T1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 73 immoSubTarget1Cmd_T1 1; +BA_ "U_CX727_MY2021_Tx" SG_ 73 immoSubTarget1Cmd_T1 1; +BA_ "U_P702_MY2021_Tx" SG_ 73 immoSubTarget1Cmd_T1 1; +BA_ "CrossOver_InfoCAN" SG_ 1034 VehicleGGCCData 1; +BA_ "UsedOnPgmDBC" SG_ 1034 VehicleGGCCData 1; +BA_ "U_P702_MY2021_Rx" SG_ 1034 VehicleGGCCData 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1034 VehicleGGCCData 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1034 VehicleGGCCData 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1440 TCM_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_GWOnBoardTester 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_GWOnBoardTester 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1440 TCM_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_GWNMProxy 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_GWNMProxy 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_AutoSarNMReserved4 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMReserved4 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_AutoSarNMReserved3 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMReserved3 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_AutoSarNMReserved2 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMReserved2 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_AutoSarNMReserved1 255; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMReserved1 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1440 TCM_AutoSarNMNodeId 160; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1440 TCM_AutoSarNMNodeId 160; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMNodeId 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1440 TCM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1440 TCM_AutoSarNMControl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1440 TCM_AutoSarNMControl 1; +BA_ "CrossOver_InfoCAN" SG_ 561 TrnMsgTxt2_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 561 TrnMsgTxt2_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 561 TrnMsgTxt2_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 561 TrnMsgTxt_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 561 TrnMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 561 TrnMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 561 TrnMsgTxt_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 330 TrnAout_W_ActlUnfilt 1; +BA_ "U_P702_MY2021_Rx" SG_ 330 TrnAout_W_ActlUnfilt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 330 TrnAout_W_ActlUnfilt 1; +BA_ "U_P702_MY2021_Tx" SG_ 330 TrnAout_W_ActlUnfilt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 330 TrnAout_W_ActlUnfilt 1; +BA_ "ECGUsedRxSignal" SG_ 1090 Mtr2State_D_ActlMntr 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1090 Mtr2State_D_ActlMntr 1; +BA_ "GenSigStartValueInteger" SG_ 1090 Inv1Ain_I_ActlMntr 32766; +BA_ "GenSigStartValue" SG_ 1090 Inv1Ain_I_ActlMntr 32765; +BA_ "ECGUsedRxSignal" SG_ 1090 Inv1Ain_I_ActlMntr 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1090 Inv1Ain_I_ActlMntr 1; +BA_ "ECGUsedRxSignal" SG_ 1090 HybVehMde_D_ActlMntr 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1090 HybVehMde_D_ActlMntr 1; +BA_ "ECGUsedRxSignal" SG_ 1090 ChrgStat_D_ActlMntr 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1090 ChrgStat_D_ActlMntr 1; +BA_ "CrossOver_InfoCAN" SG_ 1090 VehElRnge_L_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1090 VehElRnge_L_Dsply 4095; +BA_ "GenSigStartValue" SG_ 1090 VehElRnge_L_Dsply 4093; +BA_ "U_P702_MY2021_Tx" SG_ 1090 VehElRnge_L_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1090 VehElRnge_L_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 870 EngMdeMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 870 EffRgenThres_Pc_Dsply 1; +BA_ "GenSigStartValue" SG_ 870 EffRgenThres_Pc_Dsply 1023; +BA_ "CrossOver_InfoCAN" SG_ 870 EffRgenThres_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 870 RngPerChrgInst_L_Dsply 4094; +BA_ "GenSigStartValue" SG_ 870 RngPerChrgInst_L_Dsply 4093; +BA_ "U_P702_MY2021_Tx" SG_ 870 RngPerChrgInst_L_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 PwrFlowTxt_D_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EngOnMsg2_D_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EngOnMsg1_D_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 FuelMaintMde_D_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 869 EffWhlLvl2_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 869 EffWhlLvl2_Pc_Dsply 511; +BA_ "U_P702_MY2021_Tx" SG_ 869 EffWhlLvl2_Pc_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 869 EffWhlThres_Pc_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EffWhlThres_Pc_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 869 EngPwLvl_Pc_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EngPwLvl_Pc_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 869 EngActv_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EngActv_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 869 EffWhlThresOn_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 869 EffWhlThresOn_B_Dsply 1; +BA_ "GenSigSendType" SG_ 606 ElVehLaterMde_D_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 606 ElVehLaterMde_D_Stat 1; +BA_ "GenSigSendType" SG_ 606 ElVehNowMde_D_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 606 ElVehNowMde_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 374 GearEngag_D_Actl 1; +BA_ "GenSigSendType" SG_ 374 GearEngag_D_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearEngag_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 374 TrnRng_D_Rq 14; +BA_ "ContentDependant" SG_ 374 TrnRng_D_Rq 1; +BA_ "GenSigStartValue" SG_ 374 TrnRng_D_Rq 14; +BA_ "GenSigSendType" SG_ 374 TrnRng_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 374 TrnRng_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 TrnRng_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 TrnRng_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 TrnRng_D_Rq 1; +BA_ "ContentDependant" SG_ 374 TrnPrkSys_D_Actl 1; +BA_ "GenSigSendType" SG_ 374 TrnPrkSys_D_Actl 3; +BA_ "U_P702_MY2021_Rx" SG_ 374 TrnPrkSys_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 TrnPrkSys_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 TrnPrkSys_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 TrnPrkSys_D_Actl 1; +BA_ "ContentDependant" SG_ 374 GearLvr_D_ActlDrv 1; +BA_ "GenSigSendType" SG_ 374 GearLvr_D_ActlDrv 3; +BA_ "U_P702_MY2021_Rx" SG_ 374 GearLvr_D_ActlDrv 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 GearLvr_D_ActlDrv 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearLvr_D_ActlDrv 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 GearLvr_D_ActlDrv 1; +BA_ "ContentDependant" SG_ 374 GearPos_No_Cs 1; +BA_ "MetaData" SG_ 374 GearPos_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 374 GearPos_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 GearPos_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 374 GearPos_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearPos_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 GearPos_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 374 GearPos_D_Trg 1; +BA_ "UsedOnPgmDBC" SG_ 374 GearPos_D_Trg 1; +BA_ "GenSigStartValueInteger" SG_ 374 GearPos_D_Trg 15; +BA_ "ContentDependant" SG_ 374 GearPos_D_Trg 1; +BA_ "GenSigStartValue" SG_ 374 GearPos_D_Trg 15; +BA_ "GenSigSendType" SG_ 374 GearPos_D_Trg 3; +BA_ "U_P702_MY2021_Rx" SG_ 374 GearPos_D_Trg 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 GearPos_D_Trg 1; +BA_ "U_CX727_MY2021_Rx" SG_ 374 GearPos_D_Trg 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearPos_D_Trg 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 GearPos_D_Trg 1; +BA_ "ContentDependant" SG_ 374 GearPos_No_Cnt 1; +BA_ "MetaData" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 GearPos_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 TrnIgnOffDly_T_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 TrnIgnOffDly_T_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 374 GearPos_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 374 GearPos_D_Actl 15; +BA_ "ContentDependant" SG_ 374 GearPos_D_Actl 1; +BA_ "GenSigStartValue" SG_ 374 GearPos_D_Actl 15; +BA_ "GenSigSendType" SG_ 374 GearPos_D_Actl 3; +BA_ "U_P702_MY2021_Rx" SG_ 374 GearPos_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 374 GearPos_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 374 GearPos_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 374 GearPos_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 374 GearPos_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 603 WhlDirAvgDrv_D_Actl 1; +BA_ "ContentDependant" SG_ 603 WhlDirAvgDrv_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 603 WhlDirAvgDrv_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 603 PrplTqMnRgen_B_Actl 1; +BA_ "ContentDependant" SG_ 603 PrplTqMnRgen_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 603 PrplTqMnRgen_B_Actl 1; +BA_ "ContentDependant" SG_ 603 BattTracCnnct_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 603 BattTracCnnct_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 602 HtrnWarnLamp_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 602 HtrnWarnLamp_B_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 602 HtrnWarnLamp_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 602 HybPwLimOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 602 PwPckTqRdy_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 602 PwPckTqRdy_B_Dsply 1; +BA_ "GenSigSendType" SG_ 1152 BattTracDiagClr_B_Stat 3; +BA_ "GenSigSendType" SG_ 1152 EngTeHi_B_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 1152 EngTeHi_B_Actl 1; +BA_ "GenSigSendType" SG_ 1152 DcdcOn_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1152 DcdcOn_B_Rq 1; +BA_ "GenSigSendType" SG_ 1152 ULoBattSpprtSustn_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1152 ULoBattSpprtSustn_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1152 VehElEff_No_Avg 126; +BA_ "GenSigStartValue" SG_ 1152 VehElEff_No_Avg 126; +BA_ "U_P702_MY2021_Tx" SG_ 1152 VehElEff_No_Avg 1; +BA_ "CrossOver_InfoCAN" SG_ 872 PlgActvArb_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 872 PlgActvArb_B_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 872 PlgActvArb_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 872 HybMdeStat_D_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 872 HybMdeStat_D_Dsply 1; +BA_ "ContentDependant" SG_ 560 SelDrvMdeSwtch_D_Stat3 1; +BA_ "U_P702_MY2021_Rx" SG_ 560 SelDrvMdeSwtch_D_Stat3 1; +BA_ "U_P702_MY2021_Tx" SG_ 560 SelDrvMdeSwtch_D_Stat3 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 560 SelDrvMdeSwtch_D_Stat3 1; +BA_ "CrossOver_InfoCAN" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "ContentDependant" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 560 TrnSrvcRqd_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "ContentDependant" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 560 TrnShifActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 560 GearLvrPos_D_Actl 14; +BA_ "GenSigStartValue" SG_ 560 GearLvrPos_D_Actl 14; +BA_ "U_P702_MY2021_Rx" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 560 GearLvrPos_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 560 GboxOil_Te_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 560 GboxOil_Te_Actl 254; +BA_ "ContentDependant" SG_ 560 GboxOil_Te_Actl 1; +BA_ "GenSigStartValue" SG_ 560 GboxOil_Te_Actl 254; +BA_ "U_P702_MY2021_Rx" SG_ 560 GboxOil_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 560 GboxOil_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 560 GboxOil_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 560 GboxOil_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 369 TrnIpcDsplyRng2_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 369 TrnIpcDsplyRng2_D_Actl 15; +BA_ "GenSigStartValue" SG_ 369 TrnIpcDsplyRng2_D_Actl 15; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyRng2_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyRng2_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyRng_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyRng_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 369 TrnIpcDsplyGear_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 369 TrnIpcDsplyGear_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 369 TrnIpcDsplyGear_D_Actl 15; +BA_ "GenSigStartValue" SG_ 369 TrnIpcDsplyGear_D_Actl 15; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyGear_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyGear_D_Actl 1; +BA_ "WakeupSignal" SG_ 369 TrnIpcDsplyMde_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 369 TrnIpcDsplyMde_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 369 TrnIpcDsplyMde_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyMde_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyMde_D_Stat 1; +BA_ "WakeupSignal" SG_ 369 TrnIpcDsplyMde_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 369 TrnIpcDsplyMde_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 369 TrnIpcDsplyMde_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyMde_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 369 TrnIpcDsplyGear_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 369 TrnIpcDsplyGear_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 369 TrnIpcDsplyGear_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 369 TrnIpcDsplyGear_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 92 TrnLvrV_D_Rq 1; +BA_ "GenSigStartValue" SG_ 92 TrnLvrV_D_Rq 1; +BA_ "GenSigSendType" SG_ 92 TrnLvrV_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnLvrV_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnLvrV_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "ContentDependant" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "GenSigStartValue" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "GenSigSendType" SG_ 92 TrnSbwSysHlth_D_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnSbwSysHlth_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 92 TrnGearNtmAllow_B_Stat 1; +BA_ "ContentDependant" SG_ 92 TrnGearNtmAllow_B_Stat 1; +BA_ "GenSigSendType" SG_ 92 TrnGearNtmAllow_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGearNtmAllow_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGearNtmAllow_B_Stat 1; +BA_ "WakeupSignal" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "ContentDependant" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "GenSigStartValue" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "GenSigSendType" SG_ 92 TrnDtpCmd_D_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnDtpCmd_D_Actl 1; +BA_ "GenSigSendType" SG_ 92 GearSelLck_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 GearSelLck_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 GearSelLck_D_Rq 1; +BA_ "ContentDependant" SG_ 92 TrnGearCmd_No_Cs 1; +BA_ "MetaData" SG_ 92 TrnGearCmd_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGearCmd_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGearCmd_No_Cs 1; +BA_ "ContentDependant" SG_ 92 TrnValidGear_D_Cnfm 1; +BA_ "GenSigSendType" SG_ 92 TrnValidGear_D_Cnfm 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnValidGear_D_Cnfm 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnValidGear_D_Cnfm 1; +BA_ "ContentDependant" SG_ 92 TrnNtrlTowCmd_D_Actl 1; +BA_ "GenSigSendType" SG_ 92 TrnNtrlTowCmd_D_Actl 3; +BA_ "U_CX727_MY2021_Rx" SG_ 92 TrnNtrlTowCmd_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 92 TrnNtrlTowCmd_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnNtrlTowCmd_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnNtrlTowCmd_D_Actl 1; +BA_ "ContentDependant" SG_ 92 TrnGearCmd_Pc_ActlPt 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGearCmd_Pc_ActlPt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGearCmd_Pc_ActlPt 1; +BA_ "ContentDependant" SG_ 92 TrnGear_D_RqPt 1; +BA_ "GenSigSendType" SG_ 92 TrnGear_D_RqPt 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGear_D_RqPt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGear_D_RqPt 1; +BA_ "ContentDependant" SG_ 92 TrnCmdState_B_Actl 1; +BA_ "GenSigSendType" SG_ 92 TrnCmdState_B_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnCmdState_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnCmdState_B_Actl 1; +BA_ "ContentDependant" SG_ 92 TrnCmdCnt_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnCmdCnt_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnCmdCnt_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "GenSigStartValueInteger" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "ContentDependant" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "GenSigStartValue" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "GenSigSendType" SG_ 92 PrkBrkActv_D_RqTrnGear 3; +BA_ "U_CX727_MY2021_Rx" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "U_P702_MY2021_Rx" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 PrkBrkActv_D_RqTrnGear 1; +BA_ "CrossOver_InfoCAN" SG_ 92 TrnGearMsgTxt_D_Rq 1; +BA_ "ContentDependant" SG_ 92 TrnGearMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 92 TrnGearMsgTxt_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGearMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGearMsgTxt_D_Rq 1; +BA_ "ContentDependant" SG_ 92 TrnGearCmd_No_Cnt 1; +BA_ "MetaData" SG_ 92 TrnGearCmd_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 92 TrnGearCmd_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 92 TrnGearCmd_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 2030 TesterPhysicalResSOBDMC 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2030 TesterPhysicalResSOBDMC 1; +BA_ "U_P702_MY2021_Tx" SG_ 1087 BattRgenLoChrg_D_RqEng 1; +BA_ "GenSigSendType" SG_ 1087 BattRgenLoChrg_D_RqEng 3; +BA_ "GenSigSendType" SG_ 1087 AdasLcObtclAbrt_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 BattRgenLoDChrg_D_RqEng 1; +BA_ "GenSigSendType" SG_ 1087 BattRgenLoDChrg_D_RqEng 3; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 AirDamPos_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1087 AirDamPos_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1087 AirDamPos_D_Stat 1; +BA_ "GenSigSendType" SG_ 1087 FapLcInhbt_B_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcInhbt_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcInhbt_B_Rq 1; +BA_ "GenSigSendType" SG_ 1087 FapLcStopHold_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1087 FapLcStopHold_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1087 FapLcStopHold_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcStopHold_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcStopHold_B_Rq 1; +BA_ "GenSigSendType" SG_ 1087 FapLcPrchgBrk_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1087 FapLcPrchgBrk_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1087 FapLcPrchgBrk_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcPrchgBrk_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcPrchgBrk_B_Rq 1; +BA_ "GenSigSendType" SG_ 1087 FapLcObstcl_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcObstcl_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcObstcl_B_Stat 1; +BA_ "GenSigSendType" SG_ 1087 FapLcMaxGrdInhbt_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcMaxGrdInhbt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcMaxGrdInhbt_B_Stat 1; +BA_ "GenSigSendType" SG_ 1087 FapLcMaxGrdAbrt_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcMaxGrdAbrt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcMaxGrdAbrt_B_Stat 1; +BA_ "GenSigSendType" SG_ 1087 FapLcActv_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1087 FapLcActv_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1087 FapLcActv_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 332 UreaLvlQlty_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaLvlQlty_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaLvlQlty_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 332 UreaLvlTxtWarn_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaLvlTxtWarn_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaLvlTxtWarn_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 332 UreaQltySysWarn_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaQltySysWarn_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaQltySysWarn_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 DieslPrtcWarn_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 DieslPrtcWarn_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaQltyFlg_B_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaQltyFlg_B_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 332 UreaQltyFlg_B_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaLvl_Pc_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaLvl_Pc_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 332 UreaLvl_Pc_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 VehUreaRnge2_L_DsplyMx 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 VehUreaRnge2_L_DsplyMx 1; +BA_ "ECGUsedRxSignal" SG_ 332 VehUreaRnge2_L_DsplyMx 1; +BA_ "CrossOver_InfoCAN" SG_ 332 UreaQltySys_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaQltySys_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaQltySys_D_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 332 UreaQltySys_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 332 UreaLvlTxt_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 UreaLvlTxt_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 UreaLvlTxt_D_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 332 UreaLvlTxt_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 332 VehUreaWarn_V_DsplyMx 1; +BA_ "U_P702_MY2021_Tx" SG_ 332 VehUreaWarn_V_DsplyMx 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 332 VehUreaWarn_V_DsplyMx 1; +BA_ "ECGUsedRxSignal" SG_ 332 VehUreaWarn_V_DsplyMx 1; +BA_ "UsedOnPgmDBC" SG_ 1896 TesterPhysicalResABS 1; +BA_ "GenSigSendType" SG_ 1896 TesterPhysicalResABS 3; +BA_ "U_CX727_MY2021_Tx" SG_ 1896 TesterPhysicalResABS 1; +BA_ "U_P702_MY2021_Tx" SG_ 1896 TesterPhysicalResABS 1; +BA_ "GenSigSendType" SG_ 1889 TesterPhysicalReqTCCM 3; +BA_ "U_P702_MY2021_Rx" SG_ 1889 TesterPhysicalReqTCCM 1; +BA_ "UsedOnPgmDBC" SG_ 1888 TesterPhysicalReqABS 1; +BA_ "GenSigSendType" SG_ 1888 TesterPhysicalReqABS 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1888 TesterPhysicalReqABS 1; +BA_ "U_P702_MY2021_Rx" SG_ 1888 TesterPhysicalReqABS 1; +BA_ "UsedOnPgmDBC" SG_ 1848 TesterPhysicalResPSCM 1; +BA_ "U_CX727_MY2021_Tx" SG_ 1848 TesterPhysicalResPSCM 1; +BA_ "U_P702_MY2021_Tx" SG_ 1848 TesterPhysicalResPSCM 1; +BA_ "UsedOnPgmDBC" SG_ 1840 TesterPhysicalReqPSCM 1; +BA_ "GenSigSendType" SG_ 1840 TesterPhysicalReqPSCM 3; +BA_ "U_CX727_MY2021_Rx" SG_ 1840 TesterPhysicalReqPSCM 1; +BA_ "U_P702_MY2021_Rx" SG_ 1840 TesterPhysicalReqPSCM 1; +BA_ "UsedOnPgmDBC" SG_ 1713 UUDTABSResponse2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1713 UUDTABSResponse2 1; +BA_ "UsedOnPgmDBC" SG_ 1712 UUDTABSResponse1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1712 UUDTABSResponse1 1; +BA_ "UsedOnPgmDBC" SG_ 2025 TesterPhysicalResTCM 1; +BA_ "U_P702_MY2021_Tx" SG_ 2025 TesterPhysicalResTCM 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2025 TesterPhysicalResTCM 1; +BA_ "UsedOnPgmDBC" SG_ 2024 TesterPhysicalResPCM 1; +BA_ "U_P702_MY2021_Tx" SG_ 2024 TesterPhysicalResPCM 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 2024 TesterPhysicalResPCM 1; +BA_ "UsedOnPgmDBC" SG_ 2017 TesterPhysicalReqTCM 1; +BA_ "GenSigSendType" SG_ 2017 TesterPhysicalReqTCM 3; +BA_ "U_P702_MY2021_Rx" SG_ 2017 TesterPhysicalReqTCM 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2017 TesterPhysicalReqTCM 1; +BA_ "UsedOnPgmDBC" SG_ 2016 TesterPhysicalReqPCM 1; +BA_ "GenSigSendType" SG_ 2016 TesterPhysicalReqPCM 3; +BA_ "U_P702_MY2021_Rx" SG_ 2016 TesterPhysicalReqPCM 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2016 TesterPhysicalReqPCM 1; +BA_ "CrossOver_InfoCAN" SG_ 2015 TesterFunctionalReq 1; +BA_ "UsedOnPgmDBC" SG_ 2015 TesterFunctionalReq 1; +BA_ "GenSigSendType" SG_ 2015 TesterFunctionalReq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 2015 TesterFunctionalReq 1; +BA_ "U_P702_MY2021_Rx" SG_ 2015 TesterFunctionalReq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 2015 TesterFunctionalReq 1; +BA_ "ECGUsedRxSignal" SG_ 2015 TesterFunctionalReq 1; +BA_ "GenSigSendType" SG_ 1897 TesterPhysicalResTCCM 3; +BA_ "U_P702_MY2021_Tx" SG_ 1897 TesterPhysicalResTCCM 1; +BA_ "GenSigSendType" SG_ 1814 TesterPhysicalReqGWM_F1 3; +BA_ "ECGUsedRxSignal" SG_ 1814 TesterPhysicalReqGWM_F1 1; +BA_ "UsedOnPgmDBC" SG_ 1701 UUDTTCMResponse2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1701 UUDTTCMResponse2 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1701 UUDTTCMResponse2 1; +BA_ "UsedOnPgmDBC" SG_ 1700 UUDTTCMResponse1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1700 UUDTTCMResponse1 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1700 UUDTTCMResponse1 1; +BA_ "UsedOnPgmDBC" SG_ 1697 UUDTPCMResponse2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1697 UUDTPCMResponse2 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1697 UUDTPCMResponse2 1; +BA_ "UsedOnPgmDBC" SG_ 1696 UUDTPCMResponse1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1696 UUDTPCMResponse1 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1696 UUDTPCMResponse1 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1429 PCM_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_GWOnBoardTester 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_GWOnBoardTester 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_GWOnBoardTester 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_GWOnBoardTester 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1429 PCM_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_GWNMProxy 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_GWNMProxy 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_GWNMProxy 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_GWNMProxy 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_AutoSarNMReserved4 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMReserved4 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMReserved4 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMReserved4 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_AutoSarNMReserved3 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMReserved3 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMReserved3 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMReserved3 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_AutoSarNMReserved2 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMReserved2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMReserved2 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMReserved2 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_AutoSarNMReserved1 255; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMReserved1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMReserved1 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMReserved1 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1429 PCM_AutoSarNMNodeId 149; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1429 PCM_AutoSarNMNodeId 149; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMNodeId 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMNodeId 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMNodeId 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1429 PCM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1429 PCM_AutoSarNMControl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1429 PCM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1429 PCM_AutoSarNMControl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1429 PCM_AutoSarNMControl 1; +BA_ "GenSigStartValueInteger" SG_ 1100 EngExhMdeQuiet_D2_Stat 0; +BA_ "GenSigSendType" SG_ 1100 EngExhMdeQuiet_D2_Stat 3; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 HvacCmprLim_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1100 HvacCmprLim_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1100 WakeAlarm1_T_Rq 32767; +BA_ "GenSigStartValue" SG_ 1100 WakeAlarm1_T_Rq 32767; +BA_ "U_P702_MY2021_Tx" SG_ 1100 WakeAlarm1_T_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 WakeAlarm1_T_Rq 1; +BA_ "WakeupSignal" SG_ 1100 WakeAlarm1_B_Typ 1; +BA_ "GenSigSendType" SG_ 1100 WakeAlarm1_B_Typ 3; +BA_ "U_P702_MY2021_Tx" SG_ 1100 WakeAlarm1_B_Typ 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 WakeAlarm1_B_Typ 1; +BA_ "GenSigSendType" SG_ 1100 Veh_V_DsplyTrailCtlSet 3; +BA_ "U_P702_MY2021_Tx" SG_ 1100 Veh_V_DsplyTrailCtlSet 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 Veh_V_DsplyTrailCtlSet 1; +BA_ "GenSigSendType" SG_ 1100 TrailCtlPt_B_Falt 3; +BA_ "U_P702_MY2021_Rx" SG_ 1100 TrailCtlPt_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1100 TrailCtlPt_B_Falt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 TrailCtlPt_B_Falt 1; +BA_ "GenSigSendType" SG_ 1100 AutoTowAllw_D_StatMnu 3; +BA_ "U_P702_MY2021_Tx" SG_ 1100 AutoTowAllw_D_StatMnu 1; +BA_ "GenSigSendType" SG_ 1100 AutoTowActv_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1100 AutoTowActv_B_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1100 GrossTrainWeight_M_Est 254; +BA_ "GenSigStartValue" SG_ 1100 GrossTrainWeight_M_Est 254; +BA_ "U_P702_MY2021_Rx" SG_ 1100 GrossTrainWeight_M_Est 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1100 GrossTrainWeight_M_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1100 GrossTrainWeight_M_Est 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1100 GrossTrainWeight_M_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmVeh_V_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmVeh_V_Dsply 1; +BA_ "GenSigSendType" SG_ 1098 EdmSailMdeOn_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmSailMdeOn_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmSailMdeOn_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmPrev_Fe_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmPrev_Fe_Dsply 1; +BA_ "GenSigSendType" SG_ 1098 EdmMsgTxt_D_Rq 3; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 1098 EdmLamp_D_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmLamp_D_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmLamp_D_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmCurrent_Fe_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmCurrent_Fe_Dsply 1; +BA_ "GenSigSendType" SG_ 1098 EdmCmplnc_B_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmCmplnc_B_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmCmplnc_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1098 EdmCmplnc_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1098 EdmCmplnc_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1086 EngMnfld_P_Actl 2068; +BA_ "U_P702_MY2021_Tx" SG_ 1086 EngMnfld_P_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1086 EngMnfld_P_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1086 FuelPumpPwr_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1086 FuelPumpPwr_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1086 BattULoChrg_U_Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 1086 BattULoChrg_U_Cmd 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1086 BattULoChrg_U_Cmd 1; +BA_ "UsedOnPgmDBC" SG_ 1086 ElLoadCtl_D_Rq 1; +BA_ "ContentDependant" SG_ 1086 ElLoadCtl_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1086 ElLoadCtl_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1086 ElLoadCtl_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1071 EngAout_N_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1071 EngAout_N_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 1071 CluPdl_PcRate_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1071 CluPdl_PcRate_Actl 1; +BA_ "ContentDependant" SG_ 1071 CluPdl_PcRate_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1071 CluPdl_PcRate_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1071 CluPdl_PcRate_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "ContentDependant" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "MetaData" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "GenSigStartValue" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1071 CluPdlPosPcMeas_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "UsedOnPgmDBC" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "ContentDependant" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "U_P702_MY2021_Rx" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "U_P702_MY2021_Tx" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1071 CluPdlPos_Pc_Meas 1; +BA_ "CrossOver_InfoCAN" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "UsedOnPgmDBC" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "ContentDependant" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1071 EngAoutIdl_N_Ntrl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 SlMde_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 SlMde_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 SlMde_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 SlMde_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 IsaOffst_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 IsaOffst_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 GrllShtrPos_D_Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 GrllShtrPos_D_Cmd 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 GrllShtrPos_D_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 GrllShtrPos_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 GrllShtrPos_B_Falt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 GrllShtrPos_B_Falt 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 ObdWarmUp_B_Complt 1; +BA_ "ContentDependant" SG_ 1069 ObdWarmUp_B_Complt 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 ObdWarmUp_B_Complt 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 EngMsgTxt_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1069 EngMsgTxt_D_Rq 1; +BA_ "ContentDependant" SG_ 1069 EngMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 EngMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 EngMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "ContentDependant" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "U_P702_MY2021_Rx" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 EngClnt_Te_ActlDiag 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "ContentDependant" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "U_P702_MY2021_Rx" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 EngLoad_Pc_CalcDiag 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 EngAirIn_Te_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "ContentDependant" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "U_P702_MY2021_Rx" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "U_P702_MY2021_Tx" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1069 ApedPos_Pc_ActlDiag 1; +BA_ "U_P702_MY2021_Tx" SG_ 1060 RearDiffOilTeWarn_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 RearDiffOilTeWarn_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1060 RearDiffOil_Te_Actl 77; +BA_ "GenSigStartValue" SG_ 1060 RearDiffOil_Te_Actl 77; +BA_ "U_P702_MY2021_Tx" SG_ 1060 RearDiffOil_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 RearDiffOil_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1060 BpedDrvMsgTxt_B_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 BpedDrvMsgTxt_B_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1060 FuelLvl_Pc_DsplyEng 48; +BA_ "GenSigStartValue" SG_ 1060 FuelLvl_Pc_DsplyEng 0; +BA_ "U_P702_MY2021_Tx" SG_ 1060 FuelLvl_Pc_DsplyEng 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 FuelLvl_Pc_DsplyEng 1; +BA_ "U_P702_MY2021_Tx" SG_ 1060 FuelLvlWarn_D_ActlEng 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 FuelLvlWarn_D_ActlEng 1; +BA_ "U_P702_MY2021_Tx" SG_ 1060 FuelRange_L_DsplyEng 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 FuelRange_L_DsplyEng 1; +BA_ "U_P702_MY2021_Rx" SG_ 1060 SelDrvMdePt_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1060 SelDrvMdePt_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1060 SelDrvMdePt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 FohEng_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1057 FohEng_D_Rq 2; +BA_ "ContentDependant" SG_ 1057 FohEng_D_Rq 1; +BA_ "GenSigStartValue" SG_ 1057 FohEng_D_Rq 2; +BA_ "U_P702_MY2021_Tx" SG_ 1057 FohEng_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 FohEng_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 EngIdlShutDwnTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 EngIdlShutDwnTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "ContentDependant" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 1057 EngIdlShutDown_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 FUEL_ALCOHOL_PERCNT 1; +BA_ "GenSigStartValueInteger" SG_ 1057 FUEL_ALCOHOL_PERCNT 255; +BA_ "ContentDependant" SG_ 1057 FUEL_ALCOHOL_PERCNT 1; +BA_ "GenSigStartValue" SG_ 1057 FUEL_ALCOHOL_PERCNT 255; +BA_ "U_P702_MY2021_Tx" SG_ 1057 FUEL_ALCOHOL_PERCNT 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 FUEL_ALCOHOL_PERCNT 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 TrnTotTq_Rt_Est 1; +BA_ "UsedOnPgmDBC" SG_ 1057 TrnTotTq_Rt_Est 1; +BA_ "ContentDependant" SG_ 1057 TrnTotTq_Rt_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 TrnTotTq_Rt_Est 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 TrnTotTq_Rt_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 TrnTotLss_Tq_Est 1; +BA_ "UsedOnPgmDBC" SG_ 1057 TrnTotLss_Tq_Est 1; +BA_ "ContentDependant" SG_ 1057 TrnTotLss_Tq_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 TrnTotLss_Tq_Est 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 TrnTotLss_Tq_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 ECMMILRequest 1; +BA_ "UsedOnPgmDBC" SG_ 1057 ECMMILRequest 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 ECMMILRequest 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 ECMMILRequest 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 AirCondFluidHi_P_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1057 AirCondFluidHi_P_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 AirCondFluidHi_P_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 AirCondFluidHi_P_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 OilPressureWarning 1; +BA_ "UsedOnPgmDBC" SG_ 1057 OilPressureWarning 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 OilPressureWarning 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 OilPressureWarning 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "ContentDependant" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 VehVLimStat_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "ContentDependant" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 VehVLimActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1057 CoolantFanStepAct 1; +BA_ "UsedOnPgmDBC" SG_ 1057 CoolantFanStepAct 1; +BA_ "U_P702_MY2021_Tx" SG_ 1057 CoolantFanStepAct 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1057 CoolantFanStepAct 1; +BA_ "CrossOver_InfoCAN" SG_ 1055 EcoCochInstNeg_B_Dsply 1; +BA_ "UsedOnPgmDBC" SG_ 1055 EcoCochInstNeg_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochInstNeg_B_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochInstNeg_B_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochInstNeg_B_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochShif_Pc_Dsply 255; +BA_ "GenSigStartValue" SG_ 1055 EcoCochShif_Pc_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochShif_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochShif_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochShif_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochInst_Pc_Dsply 1000; +BA_ "GenSigStartValue" SG_ 1055 EcoCochInst_Pc_Dsply 100; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochInst_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochInst_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochInst_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochIdlFuel_Pc_Dsply 255; +BA_ "GenSigStartValue" SG_ 1055 EcoCochIdlFuel_Pc_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochIdlFuel_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochIdlFuel_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochIdlFuel_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochDecel_Pc_Dsply 255; +BA_ "GenSigStartValue" SG_ 1055 EcoCochDecel_Pc_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochDecel_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochDecel_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochDecel_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochCrus_Pc_Dsply 255; +BA_ "GenSigStartValue" SG_ 1055 EcoCochCrus_Pc_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochCrus_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochCrus_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochCrus_Pc_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1055 EcoCochA_Pc_Dsply 255; +BA_ "GenSigStartValue" SG_ 1055 EcoCochA_Pc_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 1055 EcoCochA_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 1055 EcoCochA_Pc_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 1055 EcoCochA_Pc_Dsply 1; +BA_ "ContentDependant" SG_ 562 GearNtrl_No_Cs 1; +BA_ "MetaData" SG_ 562 GearNtrl_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 562 GearNtrl_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 562 GearNtrl_No_Cs 1; +BA_ "ContentDependant" SG_ 562 GearNtrl_No_Cnt 1; +BA_ "MetaData" SG_ 562 GearNtrl_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 562 GearNtrl_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 562 GearNtrl_No_Cnt 1; +BA_ "GenSigStartValueInteger" SG_ 562 GearNtrl_D_Stat 2; +BA_ "GenSigStartValue" SG_ 562 GearNtrl_D_Stat 2; +BA_ "GenSigSendType" SG_ 562 GearNtrl_D_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 562 GearNtrl_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 562 GearNtrl_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 523 EngAirFiltMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 523 EngAirFiltMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 523 WaterInFuel_B_Falt 1; +BA_ "UsedOnPgmDBC" SG_ 523 WaterInFuel_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 523 WaterInFuel_B_Falt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 523 WaterInFuel_B_Falt 1; +BA_ "U_P702_MY2021_Tx" SG_ 523 UreaMnAdd_L2_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 523 UreaMnAdd_L2_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 523 VehUreaRnge3_L_DsplyMx 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 523 VehUreaRnge3_L_DsplyMx 1; +BA_ "ECGUsedRxSignal" SG_ 523 VehUreaRnge3_L_DsplyMx 1; +BA_ "GenSigStartValueInteger" SG_ 523 UreaMxAdd_L2_Actl 510; +BA_ "GenSigStartValue" SG_ 523 UreaMxAdd_L2_Actl 510; +BA_ "U_P702_MY2021_Tx" SG_ 523 UreaMxAdd_L2_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 523 UreaMxAdd_L2_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 517 FapLc_B_Err 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 517 FapLc_B_Err 1; +BA_ "U_CX727_MY2021_Rx" SG_ 517 BrkTot_Tq_RqFapLc 1; +BA_ "U_P702_MY2021_Rx" SG_ 517 BrkTot_Tq_RqFapLc 1; +BA_ "U_P702_MY2021_Tx" SG_ 517 BrkTot_Tq_RqFapLc 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 517 BrkTot_Tq_RqFapLc 1; +BA_ "U_P702_MY2021_Tx" SG_ 517 TrnAin_Pc_RqDrv 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 517 TrnAin_Pc_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "UsedOnPgmDBC" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "GenSigStartValueInteger" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "MetaData" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "GenSigStartValue" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "U_P702_MY2021_Rx" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 EngAoutNActl_D_QF 1; +BA_ "CrossOver_InfoCAN" SG_ 516 EngAout3_N_Actl 1; +BA_ "ContentDependant" SG_ 516 EngAout3_N_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 EngAout3_N_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "UsedOnPgmDBC" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "U_P702_MY2021_Rx" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 ApedPos_PcRate_ActlArb 1; +BA_ "CrossOver_InfoCAN" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "UsedOnPgmDBC" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "U_P702_MY2021_Rx" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "U_CX727_MY2021_Rx" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "ECGUsedRxSignal" SG_ 516 ApedPos_Pc_ActlArb 1; +BA_ "CrossOver_InfoCAN" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "MetaData" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 ApedPosPcActl_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 516 EngAout_N_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 516 EngAout_N_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 516 EngAout_N_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 516 EngAout_N_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 516 EngAout_N_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 EngAout_N_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 EngAout_N_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 516 EngAout_N_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "ContentDependant" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "MetaData" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 ApedPosPcActl_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "ContentDependant" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "MetaData" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 516 ApedPosPcActl_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 StrtrMtrDlyStrt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 StrtrMtrDlyStrt_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 VehVTrlrAid_B_Avail 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 VehVTrlrAid_B_Avail 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 VehVTrlrAid_B_Avail 1; +BA_ "CrossOver_InfoCAN" SG_ 514 StrtrMtrCtlMsgTxt_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 514 StrtrMtrCtlMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 StrtrMtrCtlMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 StrtrMtrCtlMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "MetaData" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 VehVActlEng_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "MetaData" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 VehVActlEng_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 514 Veh_V_RqCcSet 1; +BA_ "UsedOnPgmDBC" SG_ 514 Veh_V_RqCcSet 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 Veh_V_RqCcSet 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 514 Veh_V_RqCcSet 1; +BA_ "U_CX727_MY2021_Rx" SG_ 514 Veh_V_RqCcSet 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 Veh_V_RqCcSet 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 Veh_V_RqCcSet 1; +BA_ "CrossOver_InfoCAN" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "MetaData" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 VehVActlEng_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 514 Veh_V_ActlEng 1; +BA_ "UsedOnPgmDBC" SG_ 514 Veh_V_ActlEng 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 Veh_V_ActlEng 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 514 Veh_V_ActlEng 1; +BA_ "U_CX727_MY2021_Rx" SG_ 514 Veh_V_ActlEng 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 Veh_V_ActlEng 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 Veh_V_ActlEng 1; +BA_ "ECGUsedRxSignal" SG_ 514 Veh_V_ActlEng 1; +BA_ "CrossOver_InfoCAN" SG_ 514 GearRvrse_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 514 GearRvrse_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 514 GearRvrse_D_Actl 7; +BA_ "GenSigStartValue" SG_ 514 GearRvrse_D_Actl 7; +BA_ "U_CX727_MY2021_Rx" SG_ 514 GearRvrse_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 514 GearRvrse_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 GearRvrse_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 GearRvrse_D_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 514 GearRvrse_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 514 StrtrMtrCtlMsgTxt_D2_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 514 StrtrMtrCtlMsgTxt_D2_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 512 PrplWhlTotTqRq_No_Cs 1; +BA_ "ContentDependant" SG_ 512 PrplWhlTotTqRq_No_Cs 1; +BA_ "MetaData" SG_ 512 PrplWhlTotTqRq_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 512 PrplWhlTotTqRq_No_Cs 1; +BA_ "U_P702_MY2021_Tx" SG_ 512 PrplWhlTotTqRq_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 512 PrplWhlTotTqRq_No_Cnt 1; +BA_ "ContentDependant" SG_ 512 PrplWhlTotTqRq_No_Cnt 1; +BA_ "MetaData" SG_ 512 PrplWhlTotTqRq_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 512 PrplWhlTotTqRq_No_Cnt 1; +BA_ "U_P702_MY2021_Tx" SG_ 512 PrplWhlTotTqRq_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 512 PrplWhlTot_Tq_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 512 PrplWhlTot_Tq_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 512 PrplWhlTot_Tq_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 512 PrplWhlTot_Tq_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 512 PrplWhlTot_Tq_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 512 PrplWhlTot_Tq_LimMn 1; +BA_ "U_CX727_MY2021_Rx" SG_ 512 PrplWhlTot_Tq_LimMn 1; +BA_ "U_P702_MY2021_Rx" SG_ 512 PrplWhlTot_Tq_LimMn 1; +BA_ "U_P702_MY2021_Tx" SG_ 512 PrplWhlTot_Tq_LimMn 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 512 PrplWhlTot_Tq_LimMn 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 512 PtDrvMde_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 512 PtDrvMde_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 EngOilLife_T_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 EngOilLife_T_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 EngOilSrvcMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 EngOilSrvcMsgTxt_D_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 381 EngOilSrvcMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 DistToNextOilChange 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 DistToNextOilChange 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 RunDryPrevent_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 RunDryPrevent_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 381 WaterInFuel 1; +BA_ "UsedOnPgmDBC" SG_ 381 WaterInFuel 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 WaterInFuel 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 WaterInFuel 1; +BA_ "ECGUsedRxSignal" SG_ 381 WaterInFuel 1; +BA_ "CrossOver_InfoCAN" SG_ 381 GlowIndication 1; +BA_ "UsedOnPgmDBC" SG_ 381 GlowIndication 1; +BA_ "U_P702_MY2021_Tx" SG_ 381 GlowIndication 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 381 GlowIndication 1; +BA_ "WakeupSignal" SG_ 380 EngOilLvlWarn_D_Rq1 1; +BA_ "CrossOver_InfoCAN" SG_ 380 EngOilLvlWarn_D_Rq1 1; +BA_ "U_P702_MY2021_Tx" SG_ 380 EngOilLvlWarn_D_Rq1 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 380 EngOilLvlWarn_D_Rq1 1; +BA_ "CrossOver_InfoCAN" SG_ 380 EngExhBrkOnLamp_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 380 EngExhBrkOnLamp_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 380 EngExhBrkOnLamp_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 380 EngExhBrkAutoLamp_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 380 EngExhBrkAutoLamp_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 380 EngExhBrkAutoLamp_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 380 EngAout_N_MxAllw 1; +BA_ "UsedOnPgmDBC" SG_ 380 EngAout_N_MxAllw 1; +BA_ "U_P702_MY2021_Tx" SG_ 380 EngAout_N_MxAllw 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 380 EngAout_N_MxAllw 1; +BA_ "CrossOver_InfoCAN" SG_ 380 EngExhBrkMde_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 380 EngExhBrkMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 380 EngExhBrkMde_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 380 EngExhBrkMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 380 EngExhBrkMde_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 377 HvacAirFullOut_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 HvacAirFullOut_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "UsedOnPgmDBC" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "ContentDependant" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 377 FuelFlw_Vl_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 377 FuelFillInlet_B_Dsply 1; +BA_ "UsedOnPgmDBC" SG_ 377 FuelFillInlet_B_Dsply 1; +BA_ "ContentDependant" SG_ 377 FuelFillInlet_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 FuelFillInlet_B_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 FuelFillInlet_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 377 EngSrvcRqd_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 377 EngSrvcRqd_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 EngSrvcRqd_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 EngSrvcRqd_B_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 377 EngSrvcRqd_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 377 OdoCount 1; +BA_ "UsedOnPgmDBC" SG_ 377 OdoCount 1; +BA_ "ContentDependant" SG_ 377 OdoCount 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 OdoCount 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 OdoCount 1; +BA_ "CrossOver_InfoCAN" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "ContentDependant" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 377 EngOilLife_Pc_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 377 FuelFilterLamp_B_Dsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 FuelFilterLamp_B_Dsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 FuelFilterLamp_B_Dsply 1; +BA_ "ECGUsedRxSignal" SG_ 377 FuelFilterLamp_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 377 AirCondRec_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 377 AirCondRec_B_Rq 1; +BA_ "ContentDependant" SG_ 377 AirCondRec_B_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 AirCondRec_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 AirCondRec_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 377 AirCondClutch_B_Stats 1; +BA_ "UsedOnPgmDBC" SG_ 377 AirCondClutch_B_Stats 1; +BA_ "ContentDependant" SG_ 377 AirCondClutch_B_Stats 1; +BA_ "U_P702_MY2021_Tx" SG_ 377 AirCondClutch_B_Stats 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 377 AirCondClutch_B_Stats 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 GasPrtc_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 GasPrtc_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 376 EngAout_Aa_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 376 EngAout_Aa_Actl 1; +BA_ "ContentDependant" SG_ 376 EngAout_Aa_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 376 EngAout_Aa_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 376 EngAout_Aa_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 EngAout_Aa_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 EngAout_Aa_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 376 DynoMde_B_Cmd 1; +BA_ "U_P702_MY2021_Rx" SG_ 376 DynoMde_B_Cmd 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 376 DynoMde_B_Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 DynoMde_B_Cmd 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 DynoMde_B_Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 AslIconDsply_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AslIconDsply_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 AslChime_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AslChime_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 376 HvacHtrCore2_Te_Actl 200; +BA_ "U_P702_MY2021_Tx" SG_ 376 HvacHtrCore2_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 EcssLamp_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 EcssLamp_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "MetaData" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "GenSigStartValue" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AirAmbTe_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 376 AirAmb_Te_ActlFilt 1; +BA_ "UsedOnPgmDBC" SG_ 376 AirAmb_Te_ActlFilt 1; +BA_ "GenSigStartValueInteger" SG_ 376 AirAmb_Te_ActlFilt 512; +BA_ "U_P702_MY2021_Tx" SG_ 376 AirAmb_Te_ActlFilt 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AirAmb_Te_ActlFilt 1; +BA_ "ECGUsedRxSignal" SG_ 376 AirAmb_Te_ActlFilt 1; +BA_ "CrossOver_InfoCAN" SG_ 376 AirAmb_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 376 AirAmb_Te_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 376 AirAmb_Te_Actl 512; +BA_ "U_P702_MY2021_Rx" SG_ 376 AirAmb_Te_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 376 AirAmb_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 AirAmb_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AirAmb_Te_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 376 AirAmb_P_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 376 AirAmb_P_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 376 AirAmb_P_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 376 AirAmb_P_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 376 AirAmb_P_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 373 DieslPrtc2_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 373 DieslPrtc2_D_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 373 DieslPrtc2_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 373 DieslPrtcRgen_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 373 EngTeColdPrtct_D_Stats 1; +BA_ "UsedOnPgmDBC" SG_ 373 EngTeColdPrtct_D_Stats 1; +BA_ "U_P702_MY2021_Tx" SG_ 373 EngTeColdPrtct_D_Stats 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 373 EngTeColdPrtct_D_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 373 EngExhOvrTe_B_RqDsply 1; +BA_ "UsedOnPgmDBC" SG_ 373 EngExhOvrTe_B_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 373 EngExhOvrTe_B_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 373 EngExhOvrTe_B_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 373 EngExhOvrTe_B_RqDsply 1; +BA_ "GenSigStartValueInteger" SG_ 359 PrplWhlRgenMn_Tq_Actl 4095; +BA_ "U_CX727_MY2021_Rx" SG_ 359 PrplWhlRgenMn_Tq_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 PrplWhlRgenMn_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 PrplWhlRgenMn_Tq_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 359 ElPw_D_StatStrtStop 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 ElPw_D_StatStrtStop 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 ElPw_D_StatStrtStop 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 ElPw_D_StatStrtStop 1; +BA_ "CrossOver_InfoCAN" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "ContentDependant" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 TrnAin_Tq_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 359 PrplWhlTot2_Tq_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 359 PwPckTq_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 359 PwPckTq_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 PwPckTq_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 359 PwPckTq_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 PwPckTq_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 PwPckTq_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 PwPckTq_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 359 PwPckTq_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 359 Eng_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 359 Eng_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 Eng_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 Eng_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 Eng_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 Eng_D_Stat 1; +BA_ "ECGUsedRxSignal" SG_ 359 Eng_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 359 PlgActvArb_B_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 359 PlgActvArb_B_Actl 1; +BA_ "ContentDependant" SG_ 359 PlgActvArb_B_Actl 1; +BA_ "GenSigStartValue" SG_ 359 PlgActvArb_B_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 359 PlgActvArb_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 359 ElPw_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 359 ElPw_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 ElPw_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 359 ElPw_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 ElPw_D_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 ElPw_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 ElPw_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "ContentDependant" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "MetaData" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 359 TrnAinTq_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 358 StopStrtStdby_D_Indic 1; +BA_ "GenSigStartValueInteger" SG_ 358 StopStrtStdby_D_Indic 0; +BA_ "U_P702_MY2021_Tx" SG_ 358 StopStrtStdby_D_Indic 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 StopStrtStdby_D_Indic 1; +BA_ "CrossOver_InfoCAN" SG_ 358 StopStrtIODTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 StopStrtIODTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 StopStrtIODTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 358 StopStrtDrvMde_D_Indic 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 StopStrtDrvMde_D_Indic 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 StopStrtDrvMde_D_Indic 1; +BA_ "CrossOver_InfoCAN" SG_ 358 StopStrtMsgTxt_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 StopStrtMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 StopStrtMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 358 OdoTripVerify_L_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 OdoTripVerify_L_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 OdoTripVerify_L_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 358 HiElPwInhbt_B_Stat 1; +BA_ "ContentDependant" SG_ 358 HiElPwInhbt_B_Stat 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 HiElPwInhbt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 HiElPwInhbt_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 358 AutoStopPtDelta_I_Est 1; +BA_ "GenSigStartValueInteger" SG_ 358 AutoStopPtDelta_I_Est 127; +BA_ "ContentDependant" SG_ 358 AutoStopPtDelta_I_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 358 AutoStopPtDelta_I_Est 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 358 AutoStopPtDelta_I_Est 1; +BA_ "UsedOnPgmDBC" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "GenSigStartValueInteger" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "MetaData" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "GenSigStartValue" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 BPedDrvAppl_D_QF 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 CmbbDeny_B_ActlPrpl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 CmbbDeny_B_ActlPrpl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 PrplTqMnSat_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 PrplTqMnSat_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "GenSigStartValue" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 357 BpedDrvAppl_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 CmbbEngTqMn_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 CmbbEngTqMn_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 357 Veh_V_DsplyCcSet 1; +BA_ "UsedOnPgmDBC" SG_ 357 Veh_V_DsplyCcSet 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 Veh_V_DsplyCcSet 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 Veh_V_DsplyCcSet 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 AccEngStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 AccEngStat_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 357 CcMde_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 CcMde_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 CcMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 357 CcMde_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 CcMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 CcMde_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 357 CcStat_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 357 CcStat_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 CcStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 357 CcStat_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 CcStat_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 CcStat_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 CcStat_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 EngAout_N_MnAllw 1; +BA_ "CrossOver_InfoCAN" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 CcOvrrdActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 357 AccStopMde_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 357 AccStopMde_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 357 AccStopMde_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 357 AccStopMde_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 357 AccStopMde_D_Rq 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 AutoRgenTxt_B_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 AutoRgenTxt_B_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 355 AutoRgenTxt_B_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 355 AccFllwMdeActv_B_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 AccFllwMdeActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 AccFllwMdeActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 355 EngPtoMde_D_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 EngPtoMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 EngPtoMde_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 355 ManRgenTxt_D_RqDsply 1; +BA_ "UsedOnPgmDBC" SG_ 355 ManRgenTxt_D_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 ManRgenTxt_D_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 ManRgenTxt_D_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 355 ManRgenTxt_D_RqDsply 1; +BA_ "CrossOver_InfoCAN" SG_ 355 ManRgenSoot_Pc_RqDsply 1; +BA_ "UsedOnPgmDBC" SG_ 355 ManRgenSoot_Pc_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 ManRgenSoot_Pc_RqDsply 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 ManRgenSoot_Pc_RqDsply 1; +BA_ "ECGUsedRxSignal" SG_ 355 ManRgenSoot_Pc_RqDsply 1; +BA_ "U_P702_MY2021_Tx" SG_ 355 DieslMsgTxt_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 355 DieslMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 342 EngOvrhtMitgActv_D_Ind 1; +BA_ "UsedOnPgmDBC" SG_ 342 EngOvrhtMitgActv_D_Ind 1; +BA_ "ContentDependant" SG_ 342 EngOvrhtMitgActv_D_Ind 1; +BA_ "U_P702_MY2021_Tx" SG_ 342 EngOvrhtMitgActv_D_Ind 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 342 EngOvrhtMitgActv_D_Ind 1; +BA_ "CrossOver_InfoCAN" SG_ 342 EngClntTe_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 342 EngClntTe_D_Qf 1; +BA_ "MetaData" SG_ 342 EngClntTe_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 342 EngClntTe_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 342 EngClntTe_D_Qf 1; +BA_ "U_P702_MY2021_Tx" SG_ 342 EngClntTe_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 342 EngClntTe_D_Qf 1; +BA_ "CrossOver_InfoCAN" SG_ 342 EngGoutLss_Tq_Est 1; +BA_ "ContentDependant" SG_ 342 EngGoutLss_Tq_Est 1; +BA_ "U_P702_MY2021_Tx" SG_ 342 EngGoutLss_Tq_Est 1; +BA_ "CrossOver_InfoCAN" SG_ 342 EngOil_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 342 EngOil_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 342 EngOil_Te_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 342 EngClnt_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 342 EngClnt_Te_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 342 EngClnt_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 342 EngClnt_Te_Actl 1; +BA_ "U_P702_MY2021_Tx" SG_ 342 EngClnt_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 342 EngClnt_Te_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 342 EngClnt_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 71 immoTarget1Status 1; +BA_ "U_P702_MY2021_Rx" SG_ 71 immoTarget1Status 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 71 immoTarget1Status 1; +BA_ "U_CX727_MY2021_Rx" SG_ 71 immoTarget1Status 1; +BA_ "U_P702_MY2021_Tx" SG_ 71 immoTarget1Status 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 71 immoTarget1Status 1; +BA_ "UsedOnPgmDBC" SG_ 71 immoTarget1Data 1; +BA_ "U_CX727_MY2021_Rx" SG_ 71 immoTarget1Data 1; +BA_ "U_P702_MY2021_Rx" SG_ 71 immoTarget1Data 1; +BA_ "U_P702_MY2021_Tx" SG_ 71 immoTarget1Data 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 71 immoTarget1Data 1; +BA_ "UsedOnPgmDBC" SG_ 71 immoTarget1Cmd 1; +BA_ "U_CX727_MY2021_Rx" SG_ 71 immoTarget1Cmd 1; +BA_ "U_P702_MY2021_Rx" SG_ 71 immoTarget1Cmd 1; +BA_ "U_P702_MY2021_Tx" SG_ 71 immoTarget1Cmd 1; +BA_ "U_T6_MCA_MY2020_Tx" SG_ 71 immoTarget1Cmd 1; +BA_ "GenSigSendType" SG_ 1822 TesterPhysicalResGWM_F1 3; +BA_ "ECGUsedTxSignal" SG_ 1822 TesterPhysicalResGWM_F1 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1438 GWM_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_GWOnBoardTester 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1438 GWM_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_GWNMProxy 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_AutoSarNMReserved4 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_AutoSarNMReserved3 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_AutoSarNMReserved2 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_AutoSarNMReserved1 255; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1438 GWM_AutoSarNMNodeId 158; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1438 GWM_AutoSarNMNodeId 158; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1438 GWM_AutoSarNMControl 1; +BA_ "ECGUsedTxSignal" SG_ 1438 GWM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Rx" SG_ 954 GenericSwtch3_No_Actl 1; +BA_ "ContentDependant" SG_ 954 GenericSwtch2_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 954 GenericSwtch2_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 954 GenericSwtch1_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1006 PersIndexIpmb_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1006 PersIndexIpmb_D_Actl 4; +BA_ "GenSigStartValue" SG_ 1006 PersIndexIpmb_D_Actl 4; +BA_ "GenSigSendType" SG_ 1006 PersIndexIpmb_D_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 1006 FeatNoIpmbActl 1; +BA_ "GenSigSendType" SG_ 1006 FeatNoIpmbActl 3; +BA_ "CrossOver_InfoCAN" SG_ 1006 FeatConfigIpmbActl 1; +BA_ "GenSigSendType" SG_ 1006 FeatConfigIpmbActl 3; +BA_ "GenSigSendType" SG_ 820 AhbStatGfhbFdbk_D_Actl 3; +BA_ "U_P702_MY2021_Tx" SG_ 820 AhbStatGfhbFdbk_D_Actl 1; +BA_ "GenSigSendType" SG_ 820 HeadLghtDrvSide_B_Stat 3; +BA_ "U_P702_MY2021_Tx" SG_ 820 HeadLghtDrvSide_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 820 HeadLghtHiOn_B_StatHcm 1; +BA_ "GenSigSendType" SG_ 820 HeadLghtHiOn_B_StatHcm 3; +BA_ "U_P702_MY2021_Tx" SG_ 820 HeadLghtHiOn_B_StatHcm 1; +BA_ "CrossOver_InfoCAN" SG_ 820 Adaptive_Hdlmp_Fault 1; +BA_ "GenSigSendType" SG_ 820 Adaptive_Hdlmp_Fault 3; +BA_ "U_P702_MY2021_Tx" SG_ 820 Adaptive_Hdlmp_Fault 1; +BA_ "GenSigStartValueInteger" SG_ 137 SteWhlOffstRq_D_Stat 2; +BA_ "GenSigStartValue" SG_ 137 SteWhlOffstRq_D_Stat 2; +BA_ "U_P702_MY2021_Rx" SG_ 137 SteWhlOffstRq_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 137 SteWhlOffst_An_TotActl 32766; +BA_ "GenSigStartValue" SG_ 137 SteWhlOffst_An_TotActl 32765; +BA_ "U_P702_MY2021_Rx" SG_ 137 SteWhlOffst_An_TotActl 1; +BA_ "GenSigStartValueInteger" SG_ 137 SteWhlBrkOffst_An_Actl 32766; +BA_ "GenSigStartValue" SG_ 137 SteWhlBrkOffst_An_Actl 32765; +BA_ "U_P702_MY2021_Rx" SG_ 137 SteWhlBrkOffst_An_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 137 SteWhlBrkAnActl_No_Cs 1; +BA_ "MetaData" SG_ 137 SteWhlBrkAnActl_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 137 SteWhlBrkAnActl_No_Cs 1; +BA_ "CrossOver_InfoCAN" SG_ 137 SteWhlBrkAnActl_No_Cnt 1; +BA_ "MetaData" SG_ 137 SteWhlBrkAnActl_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 137 SteWhlBrkAnActl_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 129 SelDrvMdeSwtch_D_Stat4 1; +BA_ "U_P702_MY2021_Rx" SG_ 129 SelDrvMdeSwtch_D_Stat4 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchView_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchSet_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchPhon_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchNav_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchMed_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchIod_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchHud_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchBack_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchMenu_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchUp_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchRght_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchOk_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchLeft_B_Stat 1; +BA_ "WakeupSignal" SG_ 129 SteWhlSwtchDown_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 935 SodRight_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 935 SodRight_D_Stat 2; +BA_ "GenSigStartValue" SG_ 935 SodRight_D_Stat 2; +BA_ "GenSigSendType" SG_ 935 SodRight_D_Stat 3; +BA_ "GenSigSendType" SG_ 935 CtaAlrtRight2_D_Stat 3; +BA_ "GenSigSendType" SG_ 935 BttRight_D_Stat 3; +BA_ "GenSigSendType" SG_ 935 BttRight_D_RqDrv 3; +BA_ "GenSigSendType" SG_ 935 CtaBrkRightMsgTxt_B_Rq 3; +BA_ "GenSigSendType" SG_ 935 CtaRightBrkEnbl_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 935 CtaRightBrkEnbl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 935 CtaRightBrkEnbl_B_Rq 1; +BA_ "GenSigSendType" SG_ 935 CtaRightBrkDecel_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 935 CtaRightBrkDecel_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 935 CtaRightBrkDecel_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 935 Side_Detect_R_Illum 1; +BA_ "GenSigStartValueInteger" SG_ 935 Side_Detect_R_Illum 100; +BA_ "GenSigStartValue" SG_ 935 Side_Detect_R_Illum 100; +BA_ "CrossOver_InfoCAN" SG_ 935 CtaSnsRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 CtaSnsRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 CtaAlrtRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 CtaAlrtRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 CtaRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 CtaRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 SodSnsRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 SodSnsRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 SodAlrtRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 SodAlrtRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 SodDetctRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 935 SodDetctRight_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 935 SodWarnRight_Prd_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 935 SodWarnRight_Prd_Rq 14; +BA_ "GenSigStartValue" SG_ 935 SodWarnRight_Prd_Rq 14; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte8 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte8 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte8 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte7 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte7 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte7 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte6 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte6 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte6 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte5 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte5 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte5 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte4 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte4 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte4 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte3 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte3 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte3 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte2 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte2 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte2 1; +BA_ "UsedOnPgmDBC" SG_ 1108 RCMSerialNoByte1 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1108 RCMSerialNoByte1 1; +BA_ "U_P702_MY2021_Rx" SG_ 1108 RCMSerialNoByte1 1; +BA_ "GenSigStartValueInteger" SG_ 261 ChrgStatDsply_D_Rq 1; +BA_ "GenSigStartValue" SG_ 261 ChrgStatDsply_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1146 TrlrAidSwtch_D_RqDrv 1; +BA_ "GenSigStartValueInteger" SG_ 1146 TrlrAidCtl_U_RqDrv 4094; +BA_ "GenSigStartValue" SG_ 1146 TrlrAidCtl_U_RqDrv 4093; +BA_ "U_P702_MY2021_Rx" SG_ 1146 TrlrAidCtl_U_RqDrv 1; +BA_ "U_P702_MY2021_Rx" SG_ 533 TrlrAidMde_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgGoTOn_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 533 OnbChrgGoTOn_D_Rq 2; +BA_ "GenSigStartValue" SG_ 533 OnbChrgGoTOn_D_Rq 2; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgGoTMnte_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 533 OnbChrgGoTMnte_D_Rq 1; +BA_ "MetaData" SG_ 533 OnbChrgGoTMnte_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 533 OnbChrgGoTHr_T_Rq 30; +BA_ "GenSigStartValue" SG_ 533 OnbChrgGoTHr_T_Rq 30; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgGoTElement_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 533 OnbChrgGoTElement_D_Rq 1; +BA_ "MetaData" SG_ 533 OnbChrgGoTElement_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgGoTDelete_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgClearAll_B_Rq 1; +BA_ "ECGUsedTxSignal" SG_ 533 OnbChrgClearAll_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 533 OnbChrgGoTUpdate_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1041 ElCmpr_Pw_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAuxIsol_D_Rq 1; +BA_ "GenSigStartValue" SG_ 1067 BattULoAuxIsol_D_Rq 2; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAux_U_Rq 1; +BA_ "GenSigStartValue" SG_ 1067 BattULoAux_U_Rq 3296; +BA_ "GenSigStartValueInteger" SG_ 1067 BattULoAuxSoc_Pc_Actl 95; +BA_ "GenSigStartValue" SG_ 1067 BattULoAuxSoc_Pc_Actl 95; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAuxSoc_Pc_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1067 BattULoAux_I_Actl 2048; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAux_I_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAux_D_Qlty 1; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoCrnkStrt_U_Pred 1; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoCrnkBelt_U_Pred 1; +BA_ "GenSigStartValueInteger" SG_ 1067 BattULoAux_U_Actl 203; +BA_ "GenSigStartValue" SG_ 1067 BattULoAux_U_Actl 203; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAux_U_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1067 BattULoAux_B_Falt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1112 BattTracChrgSustn_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1112 BattTracCnnct_D_Cmd 1; +BA_ "U_P702_MY2021_Rx" SG_ 1112 BattTracHvilOpen_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1112 BattTracDcdcDis_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1112 BattTracDelta_Te_Actl 164; +BA_ "GenSigStartValue" SG_ 1112 BattTracDelta_Te_Actl 120; +BA_ "ContentDependant" SG_ 1112 BattTracClntPmp_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 139 AfsPw_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 139 AfsPw_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 139 ActvFrontSteLck_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 139 ActvFrontSteLck_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 139 SelDrvMdeAdptSte_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1121 SelDrvMdeSwtch_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1121 SelDrvMdeSwtch_No_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1121 SelDrvMdeSwtch_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1121 SelDrvMdeSwtch_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1121 SelDrvMdeCnt_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1121 SelDrvMdeCnt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1120 DrvSlipCtlMde_B_Rq3 1; +BA_ "UsedOnPgmDBC" SG_ 1120 DrvSlipCtlMde_B_Rq3 1; +BA_ "U_P702_MY2021_Rx" SG_ 1120 DrvSlipCtlMde_B_Rq3 1; +BA_ "U_P702_MY2021_Rx" SG_ 1120 HybMdeSwtch_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1120 RearDiffLck_D_RqDrv 2; +BA_ "GenSigStartValue" SG_ 1120 RearDiffLck_D_RqDrv 2; +BA_ "U_P702_MY2021_Rx" SG_ 1120 RearDiffLck_D_RqDrv 1; +BA_ "GenSigStartValueInteger" SG_ 1120 AwdMde_D_RqDrv 5; +BA_ "GenSigStartValue" SG_ 1120 AwdMde_D_RqDrv 5; +BA_ "U_P702_MY2021_Rx" SG_ 1120 AwdMde_D_RqDrv 1; +BA_ "UsedOnPgmDBC" SG_ 1120 HdcSwtchPos_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1120 HdcSwtchPos_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1050 Outside_Air_Temp_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1050 Outside_Air_Temp_Stat 254; +BA_ "GenSigStartValue" SG_ 1050 Outside_Air_Temp_Stat 254; +BA_ "U_P702_MY2021_Rx" SG_ 1050 Outside_Air_Temp_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1050 Outside_Air_Temp_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 1137 RngPerChrgAvg_L_Dsply 4094; +BA_ "GenSigStartValue" SG_ 1137 RngPerChrgAvg_L_Dsply 4093; +BA_ "U_P702_MY2021_Tx" SG_ 1137 RngPerChrgAvg_L_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4Prev1X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1255 BalrRight4CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1255 BalrRight4CurntX_L_Actl 0; +BA_ "GenSigSendType" SG_ 1254 BalrRight3Threat_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3Prev1X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1254 BalrRight3Fast_B_Stat 3; +BA_ "GenSigSendType" SG_ 1254 BalrRight3Dsply_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1254 BalrRight3CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1254 BalrRight3CurntX_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev3X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1253 BalrRight2Threat_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2Prev1X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1253 BalrRight2Fast_B_Stat 3; +BA_ "GenSigSendType" SG_ 1253 BalrRight2Dsply_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1253 BalrRight2CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1253 BalrRight2CurntX_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev3X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1252 BalrRight1Threat_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1Prev1X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1252 BalrRight1Fast_B_Stat 3; +BA_ "GenSigSendType" SG_ 1252 BalrRight1Dsply_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1252 BalrRight1CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1252 BalrRight1CurntX_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4Prev1X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1251 BalrLeft4CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1251 BalrLeft4CurntX_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3Prev1X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1250 BalrLeft3CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1250 BalrLeft3CurntX_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2Prev1X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1249 BalrLeft2CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1249 BalrLeft2CurntX_L_Actl 0; +BA_ "GenSigSendType" SG_ 1248 BalrLeft1Threat_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev3Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev3Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev3X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev3X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev2Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev2Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev2X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev2X_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev1Y_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev1Y_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1Prev1X_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1Prev1X_L_Actl 0; +BA_ "GenSigSendType" SG_ 1248 BalrLeft1Fast_B_Stat 3; +BA_ "GenSigSendType" SG_ 1248 BalrLeft1Dsply_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1CurntY_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1CurntY_L_Actl 0; +BA_ "GenSigStartValueInteger" SG_ 1248 BalrLeft1CurntX_L_Actl 64; +BA_ "GenSigStartValue" SG_ 1248 BalrLeft1CurntX_L_Actl 0; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrTrgtAcquire_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrRvrse_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrAid_D2_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrAidTrgtId_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1113 TrlrAid_An3_Actl 720; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrAid_An3_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1113 TrlrAid_AnRate2_Actl 400; +BA_ "U_P702_MY2021_Rx" SG_ 1113 TrlrAid_AnRate2_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1113 HitchToVehAxle_L_Calc 255; +BA_ "GenSigStartValue" SG_ 1113 HitchToVehAxle_L_Calc 255; +BA_ "U_P702_MY2021_Rx" SG_ 1113 HitchToVehAxle_L_Calc 1; +BA_ "GenSigSendType" SG_ 1105 TrlrAidSwtchLamp_B_Rq 3; +BA_ "GenSigSendType" SG_ 1105 TrlrHitchMsgTxt_D_Rq 3; +BA_ "GenSigSendType" SG_ 1105 TrlrHitchIcon_D_Rq 3; +BA_ "GenSigSendType" SG_ 1105 TrlrHitchChime_D_Rq 3; +BA_ "GenSigSendType" SG_ 1105 TrlrAidEnbl_D_RqAdas 3; +BA_ "U_P702_MY2021_Rx" SG_ 1105 TrlrAidEnbl_D_RqAdas 1; +BA_ "GenSigSendType" SG_ 1105 TrlrRvrseMsgTxt_D2_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 1105 TrlrRvrseMsgTxt_D2_Rq 1; +BA_ "GenSigSendType" SG_ 1105 TrlrRvrseEnbl_D2_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1105 TrlrRvrseEnbl_D2_Stat 1; +BA_ "GenSigSendType" SG_ 1105 RbaMsg_D_Rq 3; +BA_ "WakeupSignal" SG_ 1105 BrkDecel_B_RqRba 1; +BA_ "CrossOver_InfoCAN" SG_ 1105 BrkDecel_B_RqRba 1; +BA_ "UsedOnPgmDBC" SG_ 1105 BrkDecel_B_RqRba 1; +BA_ "GenSigSendType" SG_ 1105 BrkDecel_B_RqRba 3; +BA_ "U_P702_MY2021_Rx" SG_ 1105 BrkDecel_B_RqRba 1; +BA_ "WakeupSignal" SG_ 1105 BrkEnbl_B_RqRba 1; +BA_ "CrossOver_InfoCAN" SG_ 1105 BrkEnbl_B_RqRba 1; +BA_ "UsedOnPgmDBC" SG_ 1105 BrkEnbl_B_RqRba 1; +BA_ "GenSigSendType" SG_ 1105 BrkEnbl_B_RqRba 3; +BA_ "U_P702_MY2021_Rx" SG_ 1105 BrkEnbl_B_RqRba 1; +BA_ "GenSigStartValueInteger" SG_ 1105 Rba_D_Stat 1; +BA_ "GenSigStartValue" SG_ 1105 Rba_D_Stat 1; +BA_ "GenSigSendType" SG_ 1105 Rba_D_Stat 3; +BA_ "GenSigSendType" SG_ 1105 RbaAlrt_D_Dsply 3; +BA_ "GenSigSendType" SG_ 1105 RbaMnu_D_Rq 3; +BA_ "GenSigSendType" SG_ 1105 CamraFrntStat_D_Stat 3; +BA_ "GenSigSendType" SG_ 1105 TrlrHitchLamp_D_Rq2 3; +BA_ "GenSigSendType" SG_ 938 SidePrkSnsR2_D_Stat 3; +BA_ "GenSigSendType" SG_ 938 SidePrkSnsR1_D_Stat 3; +BA_ "GenSigSendType" SG_ 938 SidePrkSnsL2_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 ApaMde_D_Stat 1; +BA_ "GenSigSendType" SG_ 938 ApaMde_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 ApaActvSd_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 938 ApaActvSd_D_Actl 1; +BA_ "GenSigStartValue" SG_ 938 ApaActvSd_D_Actl 1; +BA_ "GenSigSendType" SG_ 938 ApaActvSd_D_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidSwtch_B_Stat 1; +BA_ "GenSigSendType" SG_ 938 PrkAidSwtch_B_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 ApaMde_D_Avail 1; +BA_ "GenSigSendType" SG_ 938 ApaMde_D_Avail 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidSnsFrCrnr_D_Stat 1; +BA_ "GenSigSendType" SG_ 938 PrkAidSnsFrCrnr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidSnsFrCntr_D_Stat 1; +BA_ "GenSigSendType" SG_ 938 PrkAidSnsFrCntr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidSnsFlCrnr_D_Stat 1; +BA_ "GenSigSendType" SG_ 938 PrkAidSnsFlCrnr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidSnsFlCntr_D_Stat 1; +BA_ "GenSigSendType" SG_ 938 PrkAidSnsFlCntr_D_Stat 3; +BA_ "GenSigSendType" SG_ 938 PrkBrkEl_B_RqFap 3; +BA_ "U_CX727_MY2021_Rx" SG_ 938 PrkBrkEl_B_RqFap 1; +BA_ "U_P702_MY2021_Rx" SG_ 938 PrkBrkEl_B_RqFap 1; +BA_ "CrossOver_InfoCAN" SG_ 938 RpaChime_D_Rq 1; +BA_ "GenSigSendType" SG_ 938 RpaChime_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 938 FpaChime_D_Rq 1; +BA_ "GenSigSendType" SG_ 938 FpaChime_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 938 PrkAidMsgTxt_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 938 PrkAidMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 938 SidePrkSnsL1_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 938 PrkAidAudioMute_B_Rq 1; +BA_ "GenSigSendType" SG_ 938 PrkAidAudioMute_B_Rq 3; +BA_ "GenSigSendType" SG_ 939 ApaBrk_D_Rq 3; +BA_ "GenSigSendType" SG_ 939 SidePrkSnsR4_D_Stat 3; +BA_ "GenSigSendType" SG_ 939 SidePrkSnsR3_D_Stat 3; +BA_ "GenSigSendType" SG_ 939 SidePrkSnsL4_D_Stat 3; +BA_ "GenSigSendType" SG_ 939 SidePrkSnsL3_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidChime_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidChime_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidSnsRlCntr_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidSnsRlCntr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidSnsRrCrnr_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidSnsRrCrnr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidSnsRrCntr_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidSnsRrCntr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidSnsRlCrnr_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidSnsRlCrnr_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidRear_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidRear_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAidFront_D_Stat 1; +BA_ "GenSigSendType" SG_ 939 PrkAidFront_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 939 PrkAid_D_Falt 1; +BA_ "GenSigSendType" SG_ 939 PrkAid_D_Falt 3; +BA_ "GenSigSendType" SG_ 939 ApaLongCtrlEnbl_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 939 ApaLongCtrlEnbl_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 939 ApaLongCtrlEnbl_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 939 ApaLongCtrlEnbl_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 939 ApaBrk_A_Rq 255; +BA_ "U_P702_MY2021_Rx" SG_ 939 ApaBrk_A_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 939 ApaBrk_A_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 939 ApaBrk_A_Rq 1; +BA_ "GenSigSendType" SG_ 939 PrkAidLamp_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 937 Veh_V_RqFap 0; +BA_ "U_P702_MY2021_Rx" SG_ 937 Veh_V_RqFap 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 937 Veh_V_RqFap 1; +BA_ "MetaData" SG_ 937 TrnRngDRqFap_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 937 TrnRngDRqFap_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 937 TrnRngDRqFap_No_Cs 1; +BA_ "MetaData" SG_ 937 TrnRngDRqFap_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 937 TrnRngDRqFap_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 937 TrnRngDRqFap_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 937 TrnRng_D_RqFap 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 937 TrnRng_D_RqFap 1; +BA_ "GenSigStartValueInteger" SG_ 937 FapLcDistToObj_L_Actl 254; +BA_ "GenSigStartValue" SG_ 937 FapLcDistToObj_L_Actl 254; +BA_ "U_P702_MY2021_Rx" SG_ 937 FapLcDistToObj_L_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 937 FapLcDistToObj_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 936 ApaSys_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 936 ApaSys_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 936 EPASExtAngleStatReq 1; +BA_ "U_P702_MY2021_Rx" SG_ 936 EPASExtAngleStatReq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 936 ExtSteeringAngleReq2 1; +BA_ "U_P702_MY2021_Rx" SG_ 936 ExtSteeringAngleReq2 1; +BA_ "GenSigStartValueInteger" SG_ 877 RngImpctDrv_L_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 877 RngImpctDrv_L_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 877 RngImpctClim_L_Dsply 255; +BA_ "U_P702_MY2021_Tx" SG_ 877 RngImpctClim_L_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 877 VehElEffAvg_No_Dsply 126; +BA_ "GenSigStartValue" SG_ 877 VehElEffAvg_No_Dsply 126; +BA_ "U_P702_MY2021_Tx" SG_ 877 VehElEffAvg_No_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 877 PwFlwFuelDrv_D_Dsply 1; +BA_ "GenSigSendType" SG_ 877 PwFlwFuelDrv_D_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 877 PwFlwFuelDrv_D_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 877 PwFlwFuelClimt_B_Dsply 1; +BA_ "GenSigSendType" SG_ 877 PwFlwFuelClimt_B_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 877 PwFlwFuelClimt_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 877 PwFlwFuelBatt_B_Dsply 1; +BA_ "GenSigSendType" SG_ 877 PwFlwFuelBatt_B_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 877 PwFlwFuelBatt_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 877 PwFlwBattClimt_B_Dsply 1; +BA_ "GenSigSendType" SG_ 877 PwFlwBattClimt_B_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 877 PwFlwBattClimt_B_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 877 PwFlwBatt_D_Dsply 1; +BA_ "GenSigSendType" SG_ 877 PwFlwBatt_D_Dsply 3; +BA_ "U_P702_MY2021_Tx" SG_ 877 PwFlwBatt_D_Dsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 589 BattTrac2_Pw_LimChrg 1; +BA_ "U_P702_MY2021_Rx" SG_ 589 BattTrac2_Pw_LimDchrg 1; +BA_ "U_P702_MY2021_Rx" SG_ 589 BattTrac2_Pw_DchrgInst 1; +BA_ "U_P702_MY2021_Rx" SG_ 589 BattTrac2_Pw_ChrgInst 1; +BA_ "GenSigStartValueInteger" SG_ 588 BattTracSoc2_Pc_Actl 16382; +BA_ "GenSigStartValue" SG_ 588 BattTracSoc2_Pc_Actl 16382; +BA_ "U_P702_MY2021_Rx" SG_ 588 BattTracSoc2_Pc_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 588 BattTrac_Te_Actl 150; +BA_ "GenSigStartValue" SG_ 588 BattTrac_Te_Actl 150; +BA_ "U_P702_MY2021_Rx" SG_ 588 BattTrac_Te_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 588 BattTracDiagClr_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 588 BattTracDiagClr_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 587 BattTracClnt_Te_Actl 164; +BA_ "GenSigStartValue" SG_ 587 BattTracClnt_Te_Actl 164; +BA_ "CrossOver_InfoCAN" SG_ 587 BattTracWarnLamp_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 587 BattTracSrvcRqd_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 587 BattTracSoc_Pc_MxPrtct 700; +BA_ "GenSigStartValue" SG_ 587 BattTracSoc_Pc_MxPrtct 700; +BA_ "U_P702_MY2021_Rx" SG_ 587 BattTracSoc_Pc_MxPrtct 1; +BA_ "GenSigStartValueInteger" SG_ 587 BattTracSoc_Pc_MnPrtct 300; +BA_ "GenSigStartValue" SG_ 587 BattTracSoc_Pc_MnPrtct 30; +BA_ "U_P702_MY2021_Rx" SG_ 587 BattTracSoc_Pc_MnPrtct 1; +BA_ "GenSigStartValueInteger" SG_ 587 BattTracSoc_Pc_LimLo 400; +BA_ "GenSigStartValue" SG_ 587 BattTracSoc_Pc_LimLo 400; +BA_ "U_P702_MY2021_Rx" SG_ 587 BattTracSoc_Pc_LimLo 1; +BA_ "GenSigStartValueInteger" SG_ 587 BattTracSoc_Pc_LimHi 600; +BA_ "GenSigStartValue" SG_ 587 BattTracSoc_Pc_LimHi 600; +BA_ "U_P702_MY2021_Rx" SG_ 587 BattTracSoc_Pc_LimHi 1; +BA_ "CrossOver_InfoCAN" SG_ 389 HtrnOvrTeLamp_B_Dsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 389 HtrnAin_UHi_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 389 HtrnAin_UHi_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 389 HtrnSrvcRqd_B_Dsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 389 HtrnHvilOpen_B_Actl 1; +BA_ "ECGUsedRxSignal" SG_ 389 HtrnHvilOpen_B_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 389 BattTrac_I_EstVsc 15000; +BA_ "U_P702_MY2021_Rx" SG_ 1009 TrlrAidCancl_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1009 CenterStackRing_D_Actl 2; +BA_ "GenSigStartValue" SG_ 1009 CenterStackRing_D_Actl 2; +BA_ "CrossOver_InfoCAN" SG_ 1009 ValetMode_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 360 GsmSrvcRqd_B_Rq 1; +BA_ "ContentDependant" SG_ 360 GsmSrvcRqd_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 360 TrnGearPwmFalt_B_Actl 1; +BA_ "ContentDependant" SG_ 360 TrnGearPwmFalt_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 360 TrnGearPwmFalt_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 360 TrnGearPwmFalt_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 360 GearButtnStuck_B_Actl 1; +BA_ "ContentDependant" SG_ 360 GearButtnStuck_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 360 GearButtnStuck_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 360 GearButtnStuck_B_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 122 BattTrac_U_LimLo 88; +BA_ "GenSigStartValue" SG_ 122 BattTrac_U_LimLo 88; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTrac_U_LimLo 1; +BA_ "GenSigStartValueInteger" SG_ 122 BattTrac_U_LimHi 163; +BA_ "GenSigStartValue" SG_ 122 BattTrac_U_LimHi 163; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTrac_U_LimHi 1; +BA_ "CrossOver_InfoCAN" SG_ 122 VehStrtInhbt_B_RqBatt 1; +BA_ "U_P702_MY2021_Rx" SG_ 122 VehStrtInhbt_B_RqBatt 1; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTracOffFst_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 122 BattTracOff_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTracOff_B_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 122 BattTrac_U_Actl 1022; +BA_ "GenSigStartValue" SG_ 122 BattTrac_U_Actl 1022; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTrac_U_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 122 BattTrac_I_Actl 15000; +BA_ "U_P702_MY2021_Rx" SG_ 122 BattTrac_I_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 90 TrnGsmNtmState_D_Actl 1; +BA_ "ContentDependant" SG_ 90 TrnGsmNtmState_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGsmNtmState_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGsmNtmState_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 90 TrnGsmNtmState_D_Actl 1; +BA_ "ContentDependant" SG_ 90 DrQltyDrv_D_StatGsm 1; +BA_ "GenSigStartValue" SG_ 90 DrQltyDrv_D_StatGsm 6; +BA_ "U_P702_MY2021_Rx" SG_ 90 DrQltyDrv_D_StatGsm 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 DrQltyDrv_D_StatGsm 1; +BA_ "U_CX727_MY2021_Rx" SG_ 90 DrQltyDrv_D_StatGsm 1; +BA_ "ContentDependant" SG_ 90 TrnBtsiOvrrd_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnBtsiOvrrd_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnBtsiOvrrd_B_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 90 TrnRng_D_RqGsm 14; +BA_ "GenSigStartValue" SG_ 90 TrnRng_D_RqGsm 14; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnRng_D_RqGsm 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnRng_D_RqGsm 1; +BA_ "U_CX727_MY2021_Rx" SG_ 90 PrkBrkActv_D_RqGsmGear 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 PrkBrkActv_D_RqGsmGear 1; +BA_ "ContentDependant" SG_ 90 TrnValidGearRq_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnValidGearRq_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnValidGearRq_D_Stat 1; +BA_ "ContentDependant" SG_ 90 TrnGearRqCnt_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearRqCnt_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearRqCnt_B_Actl 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_U_Actl 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_U_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_U_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_U_Actl 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlR2 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlR2 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlR2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlR2 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlR1 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlR1 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlR1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlR1 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlR0 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlR0 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlR0 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlR0 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlP2 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlP2 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlP2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlP2 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlP1 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlP1 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlP1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlP1 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlP0 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlP0 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlP0 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlP0 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlN2 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlN2 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlN2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlN2 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlN1 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlN1 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlN1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlN1 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlN0 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlN0 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlN0 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlN0 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlM2 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlM2 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlM2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlM2 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlM1 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlM1 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlM1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlM1 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlM0 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlM0 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlM0 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlM0 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlD2 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlD2 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlD2 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlD2 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlD1 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlD1 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlD1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlD1 1; +BA_ "WakeupSignal" SG_ 90 TrnGearButtn_B_ActlD0 1; +BA_ "ContentDependant" SG_ 90 TrnGearButtn_B_ActlD0 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGearButtn_B_ActlD0 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGearButtn_B_ActlD0 1; +BA_ "ContentDependant" SG_ 90 TrnGear_No_Cs 1; +BA_ "MetaData" SG_ 90 TrnGear_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGear_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGear_No_Cs 1; +BA_ "ContentDependant" SG_ 90 TrnGear_No_Cnt 1; +BA_ "MetaData" SG_ 90 TrnGear_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGear_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGear_No_Cnt 1; +BA_ "WakeupSignal" SG_ 90 TrnGear_D_RqDrv 1; +BA_ "ContentDependant" SG_ 90 TrnGear_D_RqDrv 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 TrnGear_D_RqDrv 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 TrnGear_D_RqDrv 1; +BA_ "ContentDependant" SG_ 90 BrkSwtchPos_B_ActlGsm 1; +BA_ "U_P702_MY2021_Rx" SG_ 90 BrkSwtchPos_B_ActlGsm 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 90 BrkSwtchPos_B_ActlGsm 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 ParkLampTrlrOut_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 TrlrLampCtl_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 TrlrBattChrg_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 StopLampTrlrOut_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 TurnLampTrlrRr_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 TurnLampTrlrRl_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1091 TrlrLampCnnct_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1091 TrlrLampCnnct_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1091 TrlrLampCnnct_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1091 TrlrLampCnnct_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1091 TrlrLampCnnct_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 138 SteWhlRelCalib_T_Actl 1; +BA_ "ContentDependant" SG_ 138 SteWhlRelCalib_An_Sns 1; +BA_ "U_P702_MY2021_Rx" SG_ 138 SteWhlRelCalib_An_Sns 1; +BA_ "U_CX727_MY2021_Rx" SG_ 138 SteWhlRelCalib_An_Sns 1; +BA_ "WakeupSignal" SG_ 131 HeadLghtHiCtrl_D_RqAhb 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 HeadLghtHiCtrl_D_RqAhb 1; +BA_ "GenSigStartValueInteger" SG_ 131 WiprFrontSwtch_D_Stat 9; +BA_ "GenSigStartValue" SG_ 131 WiprFrontSwtch_D_Stat 9; +BA_ "WakeupSignal" SG_ 131 HeadLghtHiOn_B_StatAhb 1; +BA_ "CrossOver_InfoCAN" SG_ 131 HeadLghtHiOn_B_StatAhb 1; +BA_ "WakeupSignal" SG_ 131 HeadLghtHiFlash_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 131 WiprFront_D_Stat 15; +BA_ "GenSigStartValue" SG_ 131 WiprFront_D_Stat 15; +BA_ "U_P702_MY2021_Rx" SG_ 131 WiprFront_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 WiprFront_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 131 WiprFront_D_Stat 1; +BA_ "WakeupSignal" SG_ 131 TurnLghtSwtch_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 131 TurnLghtSwtch_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 131 TurnLghtSwtch_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 TurnLghtSwtch_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 131 LghtAmb_D_Sns 7; +BA_ "GenSigStartValue" SG_ 131 LghtAmb_D_Sns 7; +BA_ "U_P702_MY2021_Rx" SG_ 131 LghtAmb_D_Sns 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 AslButtnOnOffPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 AslButtnOnOffPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 AslButtnOnOffCnclPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 AslButtnOnOffCnclPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcButtnOnPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcButtnOnPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcButtnOnOffPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcButtnOnOffPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcButtnOnOffCnclPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcButtnOnOffCnclPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcButtnOffPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcButtnOffPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAsllButtnResPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAsllButtnResPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnSetIncPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnSetIncPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnSetDecPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnSetDecPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnResIncPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnResIncPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnOnPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnOnPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnIndxIncPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnIndxIncPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnIndxDecPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnIndxDecPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnDeny_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnDeny_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnCnclResPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnCnclResPress 1; +BA_ "U_P702_MY2021_Rx" SG_ 131 CcAslButtnCnclPress 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 131 CcAslButtnCnclPress 1; +BA_ "WakeupSignal" SG_ 787 DrLckCnt_No_ActlTgate 1; +BA_ "WakeupSignal" SG_ 787 DrTgateChime2_D_Rq 1; +BA_ "WakeupSignal" SG_ 787 DrTGate_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 787 DrTGate_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 787 DrTGate_D_Rq 1; +BA_ "WakeupSignal" SG_ 787 PwLftgtIntSw_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 787 Power_Liftgate_Mode_Stt 1; +BA_ "U_P702_MY2021_Rx" SG_ 953 BattRgenLoDChrg_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 953 BattRgenLoChrg_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 953 WakeAlarm3_D_Stat 3; +BA_ "GenSigStartValue" SG_ 953 WakeAlarm3_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 953 WakeAlarm2_D_Stat 3; +BA_ "GenSigStartValue" SG_ 953 WakeAlarm2_D_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 953 WakeAlarm1_D_Stat 3; +BA_ "GenSigStartValue" SG_ 953 WakeAlarm1_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 953 WakeAlarm1_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 953 WakeAlarm1_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 953 WakeAlarm0_D_Stat 3; +BA_ "GenSigStartValue" SG_ 953 WakeAlarm0_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 1093 TrlrBrkActCnnct_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1093 TrlrBrkActCnnct_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1093 TrlrBrkActCnnct_B_Actl 1; +BA_ "ContentDependant" SG_ 1093 StopLamp_B_RqTrlrBrk 1; +BA_ "U_P702_MY2021_Rx" SG_ 792 FuelRange_L_Dsply 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 792 FuelRange_L_Dsply 1; +BA_ "ContentDependant" SG_ 792 ElTrip_L_Dsply 1; +BA_ "ContentDependant" SG_ 792 ElLongTerm_L_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 968 SlMde_D_Rq 2; +BA_ "GenSigStartValue" SG_ 968 SlMde_D_Rq 2; +BA_ "U_P702_MY2021_Rx" SG_ 968 SlMde_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 968 SlMde_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 968 IsaOffst_D_Rq 14; +BA_ "GenSigStartValue" SG_ 968 IsaOffst_D_Rq 14; +BA_ "U_P702_MY2021_Rx" SG_ 968 IsaOffst_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 968 IsaOffst_D_Rq 1; +BA_ "WakeupSignal" SG_ 819 Memory_3_SwPsngr_Stat 1; +BA_ "WakeupSignal" SG_ 819 Memory_2_SwPsngr_Stat 1; +BA_ "WakeupSignal" SG_ 819 Memory_1_SwPsngr_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 819 WndwPsngrSide_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 819 WndwPsngrSide_D_Stat 1; +BA_ "WakeupSignal" SG_ 819 Pasngr_Lock_Sw_Stat 1; +BA_ "WakeupSignal" SG_ 819 Pasngr_Lock_Sw_Cnt 1; +BA_ "MetaData" SG_ 819 Pasngr_Lock_Sw_Cnt 1; +BA_ "WakeupSignal" SG_ 819 ChildLckFdbckRp_B_Stat 1; +BA_ "WakeupSignal" SG_ 818 ChildLckPw_N_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 818 WndwDrvSide_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 818 WndwDrvSide_D_Stat 1; +BA_ "WakeupSignal" SG_ 818 KeyCylSwDrvDr_D_Stat 1; +BA_ "GenSigInactiveValue" SG_ 818 Driver_Lock_Sw_Stat 0; +BA_ "WakeupSignal" SG_ 818 Driver_Lock_Sw_Stat 1; +BA_ "WakeupSignal" SG_ 818 Driver_Lock_Sw_Cnt 1; +BA_ "MetaData" SG_ 818 Driver_Lock_Sw_Cnt 1; +BA_ "WakeupSignal" SG_ 818 ChildLckPw_D_Rq 1; +BA_ "WakeupSignal" SG_ 818 ChildLckFdbckRd_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 818 RvrseMirrorChime_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 806 StopStrtDrvMde_B_RqBtn 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 StopStrtDrvMde_B_RqBtn 1; +BA_ "GenSigStartValueInteger" SG_ 806 HvacHtrCore_Te_Rq 0; +BA_ "U_P702_MY2021_Rx" SG_ 806 HvacHtrCore_Te_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 HvacHtrCore_Te_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 806 ClimtHeat_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 ClimtHeat_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 806 ClimtCool_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 ClimtCool_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 806 HvacEvap_Te_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 806 HvacEvap_Te_Rq 400; +BA_ "U_P702_MY2021_Rx" SG_ 806 HvacEvap_Te_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 HvacEvap_Te_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 806 HvacEvap_Te_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 806 HvacEvap_Te_Actl 400; +BA_ "U_P702_MY2021_Rx" SG_ 806 HvacEvap_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 HvacEvap_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 806 HvacAirCond_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 806 HvacAirCond_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 HvacAirCond_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 806 HvacEvap_Te_Offst 1; +BA_ "GenSigStartValueInteger" SG_ 806 HvacEvap_Te_Offst 400; +BA_ "U_P702_MY2021_Rx" SG_ 806 HvacEvap_Te_Offst 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 HvacEvap_Te_Offst 1; +BA_ "U_P702_MY2021_Rx" SG_ 806 ClimtPw_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 806 ClimtPw_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 765 EngExhMdeQuiet_D2_Rq 0; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 765 EdmSailMde_B_RqDrv 1; +BA_ "WakeupSignal" SG_ 765 DrvInputRequired_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 765 AwdRnge_D_ActlIpc 1; +BA_ "UsedOnPgmDBC" SG_ 765 AwdRnge_D_ActlIpc 1; +BA_ "GenSigStartValueInteger" SG_ 765 AwdRnge_D_ActlIpc 7; +BA_ "GenSigStartValue" SG_ 765 AwdRnge_D_ActlIpc 7; +BA_ "U_P702_MY2021_Rx" SG_ 765 AwdRnge_D_ActlIpc 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 765 AwdRnge_D_ActlIpc 1; +BA_ "GenSigStartValueInteger" SG_ 765 BalrSwtch_D_Stat 1; +BA_ "GenSigStartValue" SG_ 765 BalrSwtch_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 765 BalrMde_D_Rq 0; +BA_ "GenSigStartValueInteger" SG_ 765 WaitToStartLamp_D_Falt 1; +BA_ "GenSigStartValue" SG_ 765 WaitToStartLamp_D_Falt 1; +BA_ "U_P702_MY2021_Rx" SG_ 765 WaitToStartLamp_D_Falt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 765 WaitToStartLamp_D_Falt 1; +BA_ "GenSigStartValueInteger" SG_ 765 EsaOn_B_Rq 1; +BA_ "GenSigStartValue" SG_ 765 EsaOn_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 765 EsaOn_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 765 Btt_L_Actl 126; +BA_ "GenSigStartValue" SG_ 765 Btt_L_Actl 126; +BA_ "U_P702_MY2021_Rx" SG_ 765 SelDrvMdeTxtReset_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 765 SelDrvMdeDsply_B_Avail 1; +BA_ "CrossOver_InfoCAN" SG_ 765 Mc_VehUnitTempUsrSel_St 1; +BA_ "CrossOver_InfoCAN" SG_ 559 EhData2_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 559 EhData2_No_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 559 EhData2_No_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 558 EhData1_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 558 EhData1_No_Actl 0; +BA_ "U_P702_MY2021_Rx" SG_ 558 EhData1_No_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 558 EhData1_No_Actl 1; +BA_ "GenSigSendType" SG_ 934 CtaAlrtLeft2_D_Stat 3; +BA_ "GenSigSendType" SG_ 934 CtaBrkLeftMsgTxt_B_Rq 3; +BA_ "GenSigSendType" SG_ 934 CtaLeftBrkDecel_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 934 CtaLeftBrkDecel_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 934 CtaLeftBrkDecel_B_Rq 1; +BA_ "GenSigSendType" SG_ 934 CtaLeftBrkEnbl_B_Rq 3; +BA_ "U_CX727_MY2021_Rx" SG_ 934 CtaLeftBrkEnbl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 934 CtaLeftBrkEnbl_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 934 Side_Detect_L_Illum 1; +BA_ "GenSigStartValueInteger" SG_ 934 Side_Detect_L_Illum 100; +BA_ "GenSigStartValue" SG_ 934 Side_Detect_L_Illum 100; +BA_ "GenSigSendType" SG_ 934 BttLeft_D_Stat 3; +BA_ "GenSigSendType" SG_ 934 BttLeft_D_RqDrv 3; +BA_ "CrossOver_InfoCAN" SG_ 934 CtaSnsLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 CtaSnsLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 SodDetctLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 SodDetctLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 CtaLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 CtaLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 CtaAlrtLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 CtaAlrtLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 SodLeft_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 934 SodLeft_D_Stat 2; +BA_ "GenSigStartValue" SG_ 934 SodLeft_D_Stat 2; +BA_ "GenSigSendType" SG_ 934 SodLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 SodSnsLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 SodSnsLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 SodAlrtLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 934 SodAlrtLeft_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 934 SodWarnLeft_Prd_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 934 SodWarnLeft_Prd_Rq 14; +BA_ "GenSigStartValue" SG_ 934 SodWarnLeft_Prd_Rq 14; +BA_ "CrossOver_InfoCAN" SG_ 1072 DrvSlipCtlMde_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1072 DrvSlipCtlMde_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 DrvSlipCtlMde_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 EngIdlShutDown_B_RqDrv 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 EngIdlShutDown_B_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 HsaMde_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1072 HsaMde_D_Rq 1; +BA_ "GenSigStartValue" SG_ 1072 HsaMde_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 NtrlTowMdeEnbl_B_RqDrv 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 NtrlTowMdeEnbl_B_RqDrv 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 NtrlTowMdeEnbl_B_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 BulbChkActv_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 ParkDetect_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1072 ParkDetect_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 ReducedGuard_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 TRLR_SWAY_CONFIG_CMD 1; +BA_ "WakeupSignal" SG_ 1072 Power_Liftgate_Mode_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 Power_Liftgate_Mode_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 AccEnbl_B_RqDrv 1; +BA_ "GenSigStartValueInteger" SG_ 1072 AccEnbl_B_RqDrv 1; +BA_ "GenSigStartValue" SG_ 1072 AccEnbl_B_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 OdometerMasterValue 1; +BA_ "UsedOnPgmDBC" SG_ 1072 OdometerMasterValue 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 OdometerMasterValue 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 OdometerMasterValue 1; +BA_ "U_CX727_MY2021_Rx" SG_ 1072 OdometerMasterValue 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 EngOilLife_B_RqReset 1; +BA_ "UsedOnPgmDBC" SG_ 1072 EngOilLife_B_RqReset 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 EngOilLife_B_RqReset 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 EngOilLife_B_RqReset 1; +BA_ "WakeupSignal" SG_ 1072 ePRNDL_MODE 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 ePRNDL_MODE 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 ePRNDL_MODE 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 ePRNDL_MODE 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 DrvSlipCtlMde_B_Rq2 1; +BA_ "UsedOnPgmDBC" SG_ 1072 DrvSlipCtlMde_B_Rq2 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 DrvSlipCtlMde_B_Rq2 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 MetricActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1072 MetricActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 MetricActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 MetricActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 KeyTypeChngMykey_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 1072 ManRgen_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1072 ManRgen_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1072 ManRgen_D_Rq 1; +BA_ "WakeupSignal" SG_ 909 IgnPsswrdDsply_B_Rq 1; +BA_ "WakeupSignal" SG_ 909 ElPwPoint_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 909 SecurityMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 909 HeadLghtHiPrmsn_D_Stat 3; +BA_ "GenSigStartValue" SG_ 909 HeadLghtHiPrmsn_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 909 HeadLghtHiPrmsn_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 909 SteWhlLckMsgTxt_D_Rq 1; +BA_ "WakeupSignal" SG_ 909 immoMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 909 immoMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 909 PEBackupSlot_Stats 1; +BA_ "CrossOver_InfoCAN" SG_ 909 KeyMykeyTot_No_Cnt 1; +BA_ "MetaData" SG_ 909 KeyMykeyTot_No_Cnt 1; +BA_ "CrossOver_InfoCAN" SG_ 909 Keycode_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 909 KeyAdmnTot_No_Cnt 1; +BA_ "MetaData" SG_ 909 KeyAdmnTot_No_Cnt 1; +BA_ "WakeupSignal" SG_ 963 ImpactEvntFdbck_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 ImpactEvntFdbck_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 ImpactEvntFdbck_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLampLoOut_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 HeadLampLoOut_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 CrnrLghtRight_Pc_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 CrnrLghtRight_Pc_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 CrnrLghtLeft_Pc_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 CrnrLghtLeft_Pc_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLghtHiFdbck_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 TrnNotInPrkChime_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 963 TrnNotInPrkChime_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 PrkLightChime_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 963 PrkLightChime_B_Rq 1; +BA_ "WakeupSignal" SG_ 963 KeyInIgnWarn_B_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 963 KeyInIgnWarn_B_Cmd 1; +BA_ "UsedOnPgmDBC" SG_ 963 KeyInIgnWarn_B_Cmd 1; +BA_ "WakeupSignal" SG_ 963 HomeSafeLtChime_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HomeSafeLtChime_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 963 HomeSafeLtChime_B_Rq 1; +BA_ "WakeupSignal" SG_ 963 StopLghtOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 StopLghtOn_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 StopLghtOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 StopLghtOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 RvrseLghtOn_B_Stat 1; +BA_ "WakeupSignal" SG_ 963 PrkLght_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 PrkLght_D_Stat 1; +BA_ "WakeupSignal" SG_ 963 HeadLghtSwtch_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLghtSwtch_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 963 HeadLghtSwtch_D_Stat 2; +BA_ "GenSigStartValue" SG_ 963 HeadLghtSwtch_D_Stat 2; +BA_ "U_P702_MY2021_Rx" SG_ 963 HeadLghtSwtch_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLampLoFrOn_B_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 963 HeadLampLoFrOn_B_Stat 1; +BA_ "GenSigStartValue" SG_ 963 HeadLampLoFrOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 HeadLampLoFrOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLampLoFlOn_B_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 963 HeadLampLoFlOn_B_Stat 1; +BA_ "GenSigStartValue" SG_ 963 HeadLampLoFlOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 HeadLampLoFlOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLampLoActv_B_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 963 HeadLampLoActv_B_Stat 1; +BA_ "GenSigStartValue" SG_ 963 HeadLampLoActv_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 HeadLampLoActv_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 963 HeadLampLoActv_B_Stat 1; +BA_ "WakeupSignal" SG_ 963 Headlamp_On_Wrning_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 963 Headlamp_On_Wrning_Cmd 1; +BA_ "UsedOnPgmDBC" SG_ 963 Headlamp_On_Wrning_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 963 Park_Brake_Chime_Rqst 1; +BA_ "UsedOnPgmDBC" SG_ 963 Park_Brake_Chime_Rqst 1; +BA_ "WakeupSignal" SG_ 963 HeadLghtHiOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 HeadLghtHiOn_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 HeadLghtHiOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 HeadLghtHiOn_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 963 HeadLghtHiOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 BrkWarnInd_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 963 BrkWarnInd_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 Brk_Fluid_Lvl_Low 1; +BA_ "UsedOnPgmDBC" SG_ 963 Brk_Fluid_Lvl_Low 1; +BA_ "CrossOver_InfoCAN" SG_ 963 ReducedGuard_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 ReducedGuard_D_Stat 1; +BA_ "WakeupSignal" SG_ 963 Perimeter_Alarm_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 963 Perimeter_Alarm_Status 1; +BA_ "WakeupSignal" SG_ 963 Courtesy_BSave_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 963 Courtesy_BSave_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 963 Courtesy_BSave_Stat 1; +BA_ "GenSigStartValue" SG_ 963 Courtesy_BSave_Stat 1; +BA_ "WakeupSignal" SG_ 963 WndwGlbl_D_Cmd 1; +BA_ "CrossOver_InfoCAN" SG_ 963 WndwGlbl_D_Cmd 1; +BA_ "WakeupSignal" SG_ 963 PudLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 PudLamp_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 DayRnngLampOn_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 963 DayRnngLampOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 963 DayRnngLampOn_B_Stat 1; +BA_ "WakeupSignal" SG_ 963 PerimeterAlarmChimeRq 1; +BA_ "CrossOver_InfoCAN" SG_ 963 PerimeterAlarmChimeRq 1; +BA_ "UsedOnPgmDBC" SG_ 963 PerimeterAlarmChimeRq 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "MetaData" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehYawWActl_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "MetaData" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehRolWActl_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehRollYawW_No_Cs 1; +BA_ "MetaData" SG_ 145 VehRollYawW_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehRollYawW_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehRollYawW_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehRollYaw_No_Cnt 1; +BA_ "MetaData" SG_ 145 VehRollYaw_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehRollYaw_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehRollYaw_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehYaw_W_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 145 VehYaw_W_Actl 65534; +BA_ "GenSigStartValue" SG_ 145 VehYaw_W_Actl 65534; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehYaw_W_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehYaw_W_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 145 VehRol_W_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 145 VehRol_W_Actl 65534; +BA_ "GenSigStartValue" SG_ 145 VehRol_W_Actl 65534; +BA_ "U_CX727_MY2021_Rx" SG_ 145 VehRol_W_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 145 VehRol_W_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 76 FirstRowBuckleMid 1; +BA_ "UsedOnPgmDBC" SG_ 76 FirstRowBuckleMid 1; +BA_ "GenSigStartValueInteger" SG_ 76 FirstRowBuckleMid 3; +BA_ "GenSigStartValue" SG_ 76 FirstRowBuckleMid 3; +BA_ "CrossOver_InfoCAN" SG_ 76 SecondRowBucklePsngr 1; +BA_ "GenSigStartValueInteger" SG_ 76 SecondRowBucklePsngr 3; +BA_ "GenSigStartValue" SG_ 76 SecondRowBucklePsngr 3; +BA_ "CrossOver_InfoCAN" SG_ 76 SecondRowBuckleMid 1; +BA_ "GenSigStartValueInteger" SG_ 76 SecondRowBuckleMid 3; +BA_ "GenSigStartValue" SG_ 76 SecondRowBuckleMid 3; +BA_ "CrossOver_InfoCAN" SG_ 76 SecondRowBuckleDriver 1; +BA_ "GenSigStartValueInteger" SG_ 76 SecondRowBuckleDriver 3; +BA_ "GenSigStartValue" SG_ 76 SecondRowBuckleDriver 3; +BA_ "CrossOver_InfoCAN" SG_ 76 FirstRowBuckleDriver 1; +BA_ "UsedOnPgmDBC" SG_ 76 FirstRowBuckleDriver 1; +BA_ "GenSigStartValueInteger" SG_ 76 FirstRowBuckleDriver 3; +BA_ "GenSigStartValue" SG_ 76 FirstRowBuckleDriver 3; +BA_ "U_P702_MY2021_Rx" SG_ 76 FirstRowBuckleDriver 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 76 FirstRowBuckleDriver 1; +BA_ "U_CX727_MY2021_Rx" SG_ 76 FirstRowBuckleDriver 1; +BA_ "CrossOver_InfoCAN" SG_ 76 RILReq 1; +BA_ "UsedOnPgmDBC" SG_ 76 RILReq 1; +BA_ "CrossOver_InfoCAN" SG_ 76 FirstRowBucklePsngr 1; +BA_ "UsedOnPgmDBC" SG_ 76 FirstRowBucklePsngr 1; +BA_ "GenSigStartValueInteger" SG_ 76 FirstRowBucklePsngr 3; +BA_ "GenSigStartValue" SG_ 76 FirstRowBucklePsngr 3; +BA_ "WakeupSignal" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "CrossOver_InfoCAN" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "UsedOnPgmDBC" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "U_P702_MY2021_Rx" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "U_CX727_MY2021_Rx" SG_ 76 RstrnImpactEvntStatus 1; +BA_ "CrossOver_InfoCAN" SG_ 76 PsngrFrntDetct_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 76 PsngrFrntDetct_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 76 PsngrFrntDetct_D_Actl 3; +BA_ "GenSigStartValue" SG_ 76 PsngrFrntDetct_D_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 76 EDRTriggerEvntSync 1; +BA_ "CrossOver_InfoCAN" SG_ 76 PassRstrnInd_Req 1; +BA_ "GenSigStartValueInteger" SG_ 76 PassRstrnInd_Req 3; +BA_ "GenSigStartValue" SG_ 76 PassRstrnInd_Req 3; +BA_ "UsedOnPgmDBC" SG_ 65 immoControlData_T1 1; +BA_ "U_P702_MY2021_Rx" SG_ 65 immoControlData_T1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 65 immoControlData_T1 1; +BA_ "UsedOnPgmDBC" SG_ 65 immoControlCmd_T1 1; +BA_ "U_P702_MY2021_Rx" SG_ 65 immoControlCmd_T1 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 65 immoControlCmd_T1 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 HILL_DESC_SW 1; +BA_ "UsedOnPgmDBC" SG_ 1076 HILL_DESC_SW 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 HILL_DESC_SW 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 HILL_DESC_SW 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 AutoRgen_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 AutoRgen_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1076 W2S_LAMP_OK 1; +BA_ "GenSigStartValue" SG_ 1076 W2S_LAMP_OK 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 OdoTripRx_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 OdoTripRx_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 OdoTripRx_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 Veh_V_CompLimMx 1; +BA_ "GenSigStartValueInteger" SG_ 1076 Veh_V_CompLimMx 4095; +BA_ "GenSigStartValue" SG_ 1076 Veh_V_CompLimMx 4093; +BA_ "U_P702_MY2021_Rx" SG_ 1076 Veh_V_CompLimMx 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 Veh_V_CompLimMx 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 DrvSlipCtlMde_B_RqMyKey 1; +BA_ "UsedOnPgmDBC" SG_ 1076 DrvSlipCtlMde_B_RqMyKey 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FuelLvlWarn_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FuelSecndActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FuelLvlPssvSide_No_Raw 1; +BA_ "UsedOnPgmDBC" SG_ 1076 FuelLvlPssvSide_No_Raw 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 FuelLvlPssvSide_No_Raw 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 FuelLvlPssvSide_No_Raw 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FUEL_SENSOR_NUM 1; +BA_ "UsedOnPgmDBC" SG_ 1076 FUEL_SENSOR_NUM 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 FUEL_SENSOR_NUM 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 FUEL_SENSOR_NUM 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FuelLvlActvSide_No_Raw 1; +BA_ "UsedOnPgmDBC" SG_ 1076 FuelLvlActvSide_No_Raw 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 FuelLvlActvSide_No_Raw 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 FuelLvlActvSide_No_Raw 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 FuelLvl_Pc_Dsply 1; +BA_ "UsedOnPgmDBC" SG_ 1076 FuelLvl_Pc_Dsply 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 FuelLvl_Pc_Dsply 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 FuelLvl_Pc_Dsply 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 DISPLAY_SPEED_SCALING 1; +BA_ "UsedOnPgmDBC" SG_ 1076 DISPLAY_SPEED_SCALING 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 DISPLAY_SPEED_SCALING 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 DISPLAY_SPEED_SCALING 1; +BA_ "CrossOver_InfoCAN" SG_ 1076 DISPLAY_SPEED_OFFSET 1; +BA_ "UsedOnPgmDBC" SG_ 1076 DISPLAY_SPEED_OFFSET 1; +BA_ "U_P702_MY2021_Rx" SG_ 1076 DISPLAY_SPEED_OFFSET 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1076 DISPLAY_SPEED_OFFSET 1; +BA_ "GenSigStartValueInteger" SG_ 862 AutoStpHvacDelta_I_Est 192; +BA_ "U_P702_MY2021_Rx" SG_ 862 HvacBlwrFront_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 862 HvacBlwrFront_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 862 CabnAmb_Te_Actl 114; +BA_ "GenSigStartValue" SG_ 862 CabnAmb_Te_Actl 0; +BA_ "U_P702_MY2021_Rx" SG_ 862 CabnAmb_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 862 HvacRemoteStrt_N_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 862 HvacRemoteStrt_N_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 862 HvacRemoteStrt_N_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 862 ClimtThrmlLoad_No_Actl 255; +BA_ "GenSigStartValue" SG_ 862 ClimtThrmlLoad_No_Actl 255; +BA_ "U_P702_MY2021_Rx" SG_ 862 ClimtThrmlLoad_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 PtWakeReas_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 VehOnSrc_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 VehOnSrc_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 StrtrMtrCtlDStat_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 StrtrMtrCtlDStat_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 EngStrtActv_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 EngStrtActv_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 EngStrt_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 EngStrt_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 DrvInCtl_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 DrvInCtl_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 AdvStrt_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 AdvStrt_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 931 CrnkInhbt_No_Cs 1; +BA_ "ContentDependant" SG_ 931 CrnkInhbt_No_Cs 1; +BA_ "MetaData" SG_ 931 CrnkInhbt_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 CrnkInhbt_No_Cs 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 CrnkInhbt_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 931 CrnkInhbt_No_Cnt 1; +BA_ "ContentDependant" SG_ 931 CrnkInhbt_No_Cnt 1; +BA_ "MetaData" SG_ 931 CrnkInhbt_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 CrnkInhbt_No_Cnt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 CrnkInhbt_No_Cnt 1; +BA_ "GenSigStartValueInteger" SG_ 931 CrnkInhbt_B_Stat 1; +BA_ "GenSigStartValue" SG_ 931 CrnkInhbt_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 CrnkInhbt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 CrnkInhbt_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 931 IgnPreOffActv_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 931 IgnPreOffActv_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 PtLatchActv_B_RqBcm 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 PtLatchActv_B_RqBcm 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 immoSecureIdleMode 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 immoSecureIdleMode 1; +BA_ "WakeupSignal" SG_ 578 ReFuelSwtchStat_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 FuelPumpPwr_D_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 FuelPumpPwr_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 578 BattULo_U_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 578 BattULo_U_Actl 255; +BA_ "GenSigStartValue" SG_ 578 BattULo_U_Actl 255; +BA_ "U_P702_MY2021_Rx" SG_ 578 BattULo_U_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 BattULo_U_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 578 BattULo_U_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 578 PrkLckCtl_B_Enbl 1; +BA_ "WakeupSignal" SG_ 578 PrkLckCtlMsgTxt_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 578 PrkLckCtlMsgTxt_D_Rq 1; +BA_ "WakeupSignal" SG_ 578 PrkLckCtlAvail_T_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 578 PrkLckCtlAvail_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 BrkTrnShifLck_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 BrkTrnShifLck_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 578 DriverCrankingReq 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 DriverCrankingReq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 DriverCrankingReq 1; +BA_ "UsedOnPgmDBC" SG_ 578 EngOff_T_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 EngOff_T_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 EngOff_T_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 578 EngOff_T_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 578 DcacElPw_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 578 DcacElPw_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 DcacElPw_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 578 BattULo_I_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 578 BattULo_I_Actl 16383; +BA_ "GenSigStartValue" SG_ 578 BattULo_I_Actl 16383; +BA_ "U_P702_MY2021_Rx" SG_ 578 BattULo_I_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 578 BattULo_I_Actl 1; +BA_ "WakeupSignal" SG_ 947 DimmingLvlEvnt_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 DrStatDrvErrCnt_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 DrStatDrvErrCnt_B_Stat 1; +BA_ "WakeupSignal" SG_ 947 TurnLghtRight_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 947 TurnLghtRight_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 TurnLghtRight_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 947 TurnLghtRightOn_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 947 TurnLghtRightOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 TurnLghtLeftOn_B_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 947 TurnLghtLeftOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 FogLghtRearOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 FogLghtRearOn_B_Stat 1; +BA_ "WakeupSignal" SG_ 947 Backlit_LED_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Backlit_LED_Status 1; +BA_ "WakeupSignal" SG_ 947 TurnLghtLeft_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 947 TurnLghtLeft_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 TurnLghtLeft_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 947 FogLghtFrontOn_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 FogLghtFrontOn_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 IgnKeyType_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 947 IgnKeyType_D_Actl 14; +BA_ "GenSigStartValue" SG_ 947 IgnKeyType_D_Actl 14; +BA_ "U_P702_MY2021_Rx" SG_ 947 IgnKeyType_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 IgnKeyType_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 IgnKeyType_D_Actl 1; +BA_ "WakeupSignal" SG_ 947 Parklamp_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Parklamp_Status 1; +BA_ "UsedOnPgmDBC" SG_ 947 Parklamp_Status 1; +BA_ "GenSigStartValueInteger" SG_ 947 Parklamp_Status 1; +BA_ "GenSigStartValue" SG_ 947 Parklamp_Status 1; +BA_ "WakeupSignal" SG_ 947 Litval 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Litval 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 Litval 1; +BA_ "WakeupSignal" SG_ 947 Key_In_Ignition_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Key_In_Ignition_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 947 Key_In_Ignition_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 Key_In_Ignition_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 Key_In_Ignition_Stat 1; +BA_ "WakeupSignal" SG_ 947 Ignition_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Ignition_Status 1; +BA_ "UsedOnPgmDBC" SG_ 947 Ignition_Status 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 Ignition_Status 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 Ignition_Status 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 Ignition_Status 1; +BA_ "WakeupSignal" SG_ 947 Dimming_Lvl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Dimming_Lvl 1; +BA_ "GenSigStartValueInteger" SG_ 947 Dimming_Lvl 12; +BA_ "GenSigStartValue" SG_ 947 Dimming_Lvl 12; +BA_ "WakeupSignal" SG_ 947 Day_Night_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Day_Night_Status 1; +BA_ "UsedOnPgmDBC" SG_ 947 Day_Night_Status 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 Day_Night_Status 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 Day_Night_Status 1; +BA_ "WakeupSignal" SG_ 947 Remote_Start_Status 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Remote_Start_Status 1; +BA_ "WakeupSignal" SG_ 947 DrStatTgate_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatTgate_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatRr_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatRr_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 DrStatRr_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatRl_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatRl_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 DrStatRl_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatPsngr_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatPsngr_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 DrStatPsngr_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatInnrTgate_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatInnrTgate_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatHood_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatHood_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 DrStatDrv_B_Actl 1; +BA_ "WakeupSignal" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "ContentDependant" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 PrkBrkActv_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 947 LifeCycMde_D_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 947 LifeCycMde_D_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 947 LifeCycMde_D_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 947 LifeCycMde_D_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 947 LifeCycMde_D_Actl 1; +BA_ "WakeupSignal" SG_ 947 Delay_Accy 1; +BA_ "CrossOver_InfoCAN" SG_ 947 Delay_Accy 1; +BA_ "WakeupSignal" SG_ 947 CrashEvnt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 CrashEvnt_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 947 CrashEvnt_D_Stat 3; +BA_ "GenSigStartValue" SG_ 947 CrashEvnt_D_Stat 3; +BA_ "CrossOver_InfoCAN" SG_ 947 FuelPmpInhbt_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 947 BodySrvcRqd_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BattULoChrg_URate_RqMx 1; +BA_ "GenSigStartValueInteger" SG_ 1084 BattULoChrg_URate_RqMx 5; +BA_ "GenSigStartValue" SG_ 1084 BattULoChrg_URate_RqMx 5; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BattULoChrg_URate_RqMx 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BattULoChrg_URate_RqMx 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BattULoChrg_U_RqMx 1; +BA_ "GenSigStartValueInteger" SG_ 1084 BattULoChrg_U_RqMx 34; +BA_ "GenSigStartValue" SG_ 1084 BattULoChrg_U_RqMx 34; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BattULoChrg_U_RqMx 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BattULoChrg_U_RqMx 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BattULoChrg_U_RqMn 1; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BattULoChrg_U_RqMn 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BattULoChrg_U_RqMn 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BattULoState_D_Qlty 1; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BattULoState_D_Qlty 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BattULoState_D_Qlty 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BSFault 1; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BSFault 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BSFault 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BattULo2_Te_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 1084 BattULo2_Te_Actl 127; +BA_ "GenSigStartValue" SG_ 1084 BattULo2_Te_Actl 127; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BattULo2_Te_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BattULo2_Te_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BSBattSOC 1; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BSBattSOC 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BSBattSOC 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BSBattQDeltaRideAh 1; +BA_ "GenSigStartValueInteger" SG_ 1084 BSBattQDeltaRideAh 12800; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BSBattQDeltaRideAh 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BSBattQDeltaRideAh 1; +BA_ "UsedOnPgmDBC" SG_ 1084 BSBattQCapAh 1; +BA_ "U_P702_MY2021_Rx" SG_ 1084 BSBattQCapAh 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1084 BSBattQCapAh 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 EngStrtInhbt_B_RqBatt 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 EngStrtInhbt_B_RqBatt 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 BattULoChrg_D_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 BattULoChrg_D_Rq 1; +BA_ "WakeupSignal" SG_ 1068 PwSysULoFalt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 PwSysULoFalt_D_Stat 1; +BA_ "UsedOnPgmDBC" SG_ 1068 PwSysULoFalt_D_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 Shed_T_Eng_Off_B 1; +BA_ "WakeupSignal" SG_ 1068 Shed_Feature_Group_ID 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 Shed_Feature_Group_ID 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 Shed_Feature_Group_ID 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 Shed_Drain_Eng_Off_B 1; +BA_ "WakeupSignal" SG_ 1068 Shed_Level_Req 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 Shed_Level_Req 1; +BA_ "UsedOnPgmDBC" SG_ 1068 Shed_Level_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 Shed_Level_Req 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 Shed_Level_Req 1; +BA_ "UsedOnPgmDBC" SG_ 1068 ULoRgenTestMde_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 ULoRgenTestMde_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 ULoRgenTestMde_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 ChargeMode 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 ChargeMode 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 Batt_Lo_SoC_B 1; +BA_ "UsedOnPgmDBC" SG_ 1068 PeriodicElLoad_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 1068 PeriodicElLoad_B_Stat 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 1068 PeriodicElLoad_B_Stat 1; +BA_ "CrossOver_InfoCAN" SG_ 1068 Batt_Crit_SoC_B 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehVert2_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehVert2_A_Actl 8190; +BA_ "GenSigStartValue" SG_ 146 VehVert2_A_Actl 8190; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehVert2_A_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 146 VehVert2_A_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehVert2_A_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLatLongVertA_No_Cs 1; +BA_ "MetaData" SG_ 146 VehLatLongVertA_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLatLongVertA_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLatLongVertA_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLatLongVert_No_Cnt 1; +BA_ "MetaData" SG_ 146 VehLatLongVert_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLatLongVert_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLatLongVert_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLong2_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehLong2_A_Actl 8190; +BA_ "GenSigStartValue" SG_ 146 VehLong2_A_Actl 8190; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLong2_A_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 146 VehLong2_A_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLong2_A_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLat2_A_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehLat2_A_Actl 8190; +BA_ "GenSigStartValue" SG_ 146 VehLat2_A_Actl 8190; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLat2_A_Actl 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 146 VehLat2_A_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLat2_A_Actl 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "MetaData" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehVertAActl_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "MetaData" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLongAActl_D_Qf 1; +BA_ "UsedOnPgmDBC" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "GenSigStartValueInteger" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "MetaData" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "GenSigStartValue" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "U_CX727_MY2021_Rx" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "U_P702_MY2021_Rx" SG_ 146 VehLatAActl_D_Qf 1; +BA_ "GenSigSendType" SG_ 1900 TesterPhysicalResCCM 3; +BA_ "GenSigSendType" SG_ 1806 TesterPhysicalResIPMA 3; +BA_ "CrossOver_InfoCAN" SG_ 997 PersIndexCcm_D_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 997 PersIndexCcm_D_Actl 4; +BA_ "GenSigStartValue" SG_ 997 PersIndexCcm_D_Actl 4; +BA_ "GenSigSendType" SG_ 997 PersIndexCcm_D_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 997 FeatNoCcmActl 1; +BA_ "GenSigSendType" SG_ 997 FeatNoCcmActl 3; +BA_ "CrossOver_InfoCAN" SG_ 997 FeatConfigCcmActl 1; +BA_ "GenSigSendType" SG_ 997 FeatConfigCcmActl 3; +BA_ "GenSigStartValueInteger" SG_ 983 CmbbObjRelLong_V_Actl 1022; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjRelLong_V_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjRelLong_V_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 983 CmbbObjRelLat_V_Actl 510; +BA_ "GenSigStartValue" SG_ 983 CmbbObjRelLat_V_Actl 510; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjRelLat_V_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjRelLat_V_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 983 CmbbObjDistLong_L_Actl 1022; +BA_ "GenSigStartValue" SG_ 983 CmbbObjDistLong_L_Actl 1022; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjDistLong_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjDistLong_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 983 CmbbObjDistLat_L_Actl 510; +BA_ "GenSigStartValue" SG_ 983 CmbbObjDistLat_L_Actl 510; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjDistLat_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjDistLat_L_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjConfdnc_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjConfdnc_D_Stat 1; +BA_ "GenSigStartValueInteger" SG_ 983 CmbbObjColl_T_Actl 126; +BA_ "GenSigStartValue" SG_ 983 CmbbObjColl_T_Actl 125; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjColl_T_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjColl_T_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 983 CmbbObjClass_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 CmbbObjClass_D_Stat 1; +BA_ "U_CX727_MY2021_Rx" SG_ 983 EsaEnbl_D2_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 983 EsaEnbl_D2_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1DistRigh_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1DistLeft_D_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbMde1_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbIntns1_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 980 AdbBrdr1Up_An_Rq 510; +BA_ "GenSigStartValue" SG_ 980 AdbBrdr1Up_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1Up_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 980 AdbBrdr1Right_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 980 AdbBrdr1Right_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1Right_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 980 AdbBrdr1Low_An_Rq 510; +BA_ "GenSigStartValue" SG_ 980 AdbBrdr1Low_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1Low_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 980 AdbBrdr1Left_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 980 AdbBrdr1Left_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1Left_An_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1CritRigh_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 980 AdbBrdr1CritLeft_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlRng_L_Max 1; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlRng_L_Max 1; +BA_ "U_CX727_MY2021_Rx" SG_ 979 HandsOffCnfm_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 HandsOffCnfm_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtl_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtl_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlRampType_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlRampType_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlPrecision_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlPrecision_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 979 LatCtlPathOffst_L_Actl 512; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlPathOffst_L_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlPathOffst_L_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 979 LatCtlPath_An_Actl 1000; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlPath_An_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlPath_An_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 979 LatCtlCurv_NoRate_Actl 4096; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlCurv_NoRate_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlCurv_NoRate_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 979 LatCtlCurv_No_Actl 1000; +BA_ "U_CX727_MY2021_Rx" SG_ 979 LatCtlCurv_No_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 979 LatCtlCurv_No_Actl 1; +BA_ "GenSigStartValueInteger" SG_ 976 SrpHghtRight_L_Actl 256; +BA_ "GenSigStartValueInteger" SG_ 976 SrpHghtLeft_L_Actl 256; +BA_ "GenSigSendType" SG_ 973 TsrVl2PrmntMsgTxt_D_Rq 3; +BA_ "GenSigSendType" SG_ 973 TsrVl1PrmntMsgTxt_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 973 TsrVl2RstrcMsgTxt2_D_Rq 1; +BA_ "GenSigStartValue" SG_ 973 TsrVl2RstrcMsgTxt2_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl2RstrcMsgTxt2_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 973 TsrVl1RstrcMsgTxt2_D_Rq 1; +BA_ "GenSigStartValue" SG_ 973 TsrVl1RstrcMsgTxt2_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl1RstrcMsgTxt2_D_Rq 3; +BA_ "GenSigSendType" SG_ 973 TsrOvtkMsgTxt2_D_Rq 3; +BA_ "GenSigSendType" SG_ 973 WwaWarn_B_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVlUnitMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrVlUnitMsgTxt_D_Rq 2; +BA_ "GenSigStartValue" SG_ 973 TsrVlUnitMsgTxt_D_Rq 2; +BA_ "GenSigSendType" SG_ 973 TsrVlUnitMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVLim2MsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrVLim2MsgTxt_D_Rq 255; +BA_ "GenSigStartValue" SG_ 973 TsrVLim2MsgTxt_D_Rq 255; +BA_ "GenSigSendType" SG_ 973 TsrVLim2MsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVLim1MsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrVLim1MsgTxt_D_Rq 255; +BA_ "GenSigStartValue" SG_ 973 TsrVLim1MsgTxt_D_Rq 255; +BA_ "GenSigSendType" SG_ 973 TsrVLim1MsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVl2StatMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl2StatMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVl2RstrcMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl2RstrcMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVl1StatMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl1StatMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrVl1RstrcMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrVl1RstrcMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrStatMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrStatMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrOvtkStatMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrOvtkStatMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrOvtkMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrOvtkMsgTxt_D_Rq 1; +BA_ "GenSigStartValue" SG_ 973 TsrOvtkMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrOvtkMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrOswWarnMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrOswWarnMsgTxt_D_Rq 1; +BA_ "GenSigStartValue" SG_ 973 TsrOswWarnMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrOswWarnMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 973 TsrMsgTxt_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 973 TsrMsgTxt_D_Rq 1; +BA_ "GenSigStartValue" SG_ 973 TsrMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 973 TsrMsgTxt_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 970 LkaDrvOvrrd_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LkaActvStats_D2_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LkaActvStats_D2_Req 1; +BA_ "GenSigStartValueInteger" SG_ 970 LaRefAng_No_Req 2048; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LaRefAng_No_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LaRefAng_No_Req 1; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LaRampType_B_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LaRampType_B_Req 1; +BA_ "GenSigStartValueInteger" SG_ 970 LaCurvature_No_Calc 2048; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LaCurvature_No_Calc 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LaCurvature_No_Calc 1; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LdwActvStats_D_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LdwActvStats_D_Req 1; +BA_ "CrossOver_InfoCAN" SG_ 970 LdwActvIntns_D_Req 1; +BA_ "U_CX727_MY2021_Rx" SG_ 970 LdwActvIntns_D_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 970 LdwActvIntns_D_Req 1; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3DistRigh_D_Stat 1; +BA_ "GenSigSendType" SG_ 962 AdbBrdr3DistRigh_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3DistLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 962 AdbBrdr3DistLeft_D_Stat 3; +BA_ "GenSigSendType" SG_ 962 AdbMde3_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbMde3_D_Rq 1; +BA_ "GenSigSendType" SG_ 962 AdbIntns3_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbIntns3_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 962 AdbBrdr3Up_An_Rq 510; +BA_ "GenSigStartValue" SG_ 962 AdbBrdr3Up_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3Up_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 962 AdbBrdr3Right_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 962 AdbBrdr3Right_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3Right_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 962 AdbBrdr3Low_An_Rq 510; +BA_ "GenSigStartValue" SG_ 962 AdbBrdr3Low_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3Low_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 962 AdbBrdr3Left_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 962 AdbBrdr3Left_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3Left_An_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3CritRigh_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 962 AdbBrdr3CritLeft_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2DistRigh_D_Stat 1; +BA_ "GenSigSendType" SG_ 961 AdbBrdr2DistRigh_D_Stat 3; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2DistLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 961 AdbBrdr2DistLeft_D_Stat 3; +BA_ "GenSigSendType" SG_ 961 AdbMde2_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbMde2_D_Rq 1; +BA_ "GenSigSendType" SG_ 961 AdbIntns2_D_Rq 3; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbIntns2_D_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 961 AdbBrdr2Up_An_Rq 510; +BA_ "GenSigStartValue" SG_ 961 AdbBrdr2Up_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2Up_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 961 AdbBrdr2Right_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 961 AdbBrdr2Right_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2Right_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 961 AdbBrdr2Low_An_Rq 510; +BA_ "GenSigStartValue" SG_ 961 AdbBrdr2Low_An_Rq 509; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2Low_An_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 961 AdbBrdr2Left_An_Rq 2046; +BA_ "GenSigStartValue" SG_ 961 AdbBrdr2Left_An_Rq 2046; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2Left_An_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2CritRigh_T_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 961 AdbBrdr2CritLeft_T_Stat 1; +BA_ "MetaData" SG_ 394 HaDsply_No_Cs 1; +BA_ "ContentDependant" SG_ 394 HaDsply_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 394 HaDsply_No_Cs 1; +BA_ "GenSigSendType" SG_ 394 HaDsply_No_Cs 3; +BA_ "MetaData" SG_ 394 HaDsply_No_Cnt 1; +BA_ "ContentDependant" SG_ 394 HaDsply_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 394 HaDsply_No_Cnt 1; +BA_ "GenSigSendType" SG_ 394 HaDsply_No_Cnt 3; +BA_ "GenSigSendType" SG_ 394 AccStopStat_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccTrgDist2_D_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccTrgDist2_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccStopRes_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccStopRes_B_Dsply 3; +BA_ "GenSigSendType" SG_ 394 TjaWarn_D_Rq 3; +BA_ "GenSigSendType" SG_ 394 Tja_D_Stat 3; +BA_ "GenSigSendType" SG_ 394 TjaMsgTxt_D_Dsply 3; +BA_ "GenSigSendType" SG_ 394 IaccLamp_D_Rq 3; +BA_ "GenSigSendType" SG_ 394 AccMsgTxt_D2_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwDeny_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 FcwDeny_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwMemStat_B_Actl 1; +BA_ "GenSigSendType" SG_ 394 FcwMemStat_B_Actl 3; +BA_ "ECGUsedRxSignal" SG_ 394 FcwMemStat_B_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 394 AccTGap_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccTGap_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 CadsAlignIncplt_B_Actl 1; +BA_ "GenSigSendType" SG_ 394 CadsAlignIncplt_B_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccFllwMde_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccFllwMde_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 CadsRadrBlck_B_Actl 1; +BA_ "GenSigSendType" SG_ 394 CadsRadrBlck_B_Actl 3; +BA_ "CrossOver_InfoCAN" SG_ 394 CmbbPostEvnt_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 CmbbPostEvnt_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccStopMde_B_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccStopMde_B_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwMemSens_D_Actl 1; +BA_ "GenSigSendType" SG_ 394 FcwMemSens_D_Actl 3; +BA_ "ECGUsedRxSignal" SG_ 394 FcwMemSens_D_Actl 1; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwMsgTxt_D_Rq 1; +BA_ "GenSigSendType" SG_ 394 FcwMsgTxt_D_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccWarn_D_Dsply 1; +BA_ "GenSigSendType" SG_ 394 AccWarn_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwVisblWarn_B_Rq 1; +BA_ "GenSigSendType" SG_ 394 FcwVisblWarn_B_Rq 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FcwAudioWarn_B_Rq 1; +BA_ "GenSigSendType" SG_ 394 FcwAudioWarn_B_Rq 3; +BA_ "ECGUsedRxSignal" SG_ 394 FcwAudioWarn_B_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 394 AccTGap_D_Dsply 1; +BA_ "GenSigStartValueInteger" SG_ 394 AccTGap_D_Dsply 3; +BA_ "GenSigStartValue" SG_ 394 AccTGap_D_Dsply 3; +BA_ "GenSigSendType" SG_ 394 AccTGap_D_Dsply 3; +BA_ "CrossOver_InfoCAN" SG_ 394 AccMemEnbl_B_RqDrv 1; +BA_ "GenSigStartValueInteger" SG_ 394 AccMemEnbl_B_RqDrv 1; +BA_ "GenSigStartValue" SG_ 394 AccMemEnbl_B_RqDrv 1; +BA_ "GenSigSendType" SG_ 394 AccMemEnbl_B_RqDrv 3; +BA_ "CrossOver_InfoCAN" SG_ 394 FdaMem_B_Stat 1; +BA_ "GenSigSendType" SG_ 394 FdaMem_B_Stat 3; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBrkDecel_No_Cnt 1; +BA_ "MetaData" SG_ 391 CmbbBrkDecel_No_Cnt 1; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBrkDecel_No_Cnt 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBrkDecel_No_Cnt 1; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBrkDecel_No_Cs 1; +BA_ "MetaData" SG_ 391 CmbbBrkDecel_No_Cs 1; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBrkDecel_No_Cs 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBrkDecel_No_Cs 1; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBrkDecel_A_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 391 CmbbBrkDecel_A_Rq 5129; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBrkDecel_A_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBrkDecel_A_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBrkPrchg_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBrkPrchg_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBrkPrchg_D_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 391 CmbbBrkPrchg_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBrkDecel_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBrkDecel_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBrkDecel_B_Rq 1; +BA_ "ECGUsedRxSignal" SG_ 391 CmbbBrkDecel_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 391 CmbbBaSens_D_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 391 CmbbBaSens_D_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 391 CmbbBaSens_D_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccBrkTot_A_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 390 AccBrkTot_A_Rq 5129; +BA_ "U_CX727_MY2021_Rx" SG_ 390 AccBrkTot_A_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccBrkTot_A_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccPrpl_A_Pred 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccPrpl_A_Pred 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccVeh_V_Trg 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccVeh_V_Trg 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccBrkPrkEl_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 390 AccBrkPrkEl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccBrkPrkEl_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 CmbbDeny_B_Actl 1; +BA_ "U_CX727_MY2021_Rx" SG_ 390 CmbbDeny_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 CmbbDeny_B_Actl 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 CmbbEngTqMn_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 CmbbEngTqMn_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccPrpl_A_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccPrpl_A_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccDeny_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccDeny_B_Rq 1; +BA_ "WakeupSignal" SG_ 390 AccResumEnbl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccResumEnbl_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccResumEnbl_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccCancl_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccCancl_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccCancl_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccBrkPrchg_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 390 AccBrkPrchg_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccBrkPrchg_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccBrkDecel_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 390 AccBrkDecel_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccBrkDecel_B_Rq 1; +BA_ "UsedOnPgmDBC" SG_ 390 AccStopStat_B_Rq 1; +BA_ "U_CX727_MY2021_Rx" SG_ 390 AccStopStat_B_Rq 1; +BA_ "U_P702_MY2021_Rx" SG_ 390 AccStopStat_B_Rq 1; +BA_ "U_T6_MCA_MY2020_Rx" SG_ 390 AccStopStat_B_Rq 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_GWOnBoardTester 255; +BA_ "ContentDependant" SG_ 1441 TCCM_GWOnBoardTester 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_GWOnBoardTester 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_GWOnBoardTester 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_GWNMProxy 255; +BA_ "ContentDependant" SG_ 1441 TCCM_GWNMProxy 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_GWNMProxy 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_GWNMProxy 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_AutoSarNMReserved4 255; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_AutoSarNMReserved4 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMReserved4 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_AutoSarNMReserved3 255; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_AutoSarNMReserved3 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMReserved3 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_AutoSarNMReserved2 255; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_AutoSarNMReserved2 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMReserved2 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_AutoSarNMReserved1 255; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_AutoSarNMReserved1 255; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMReserved1 1; +BA_ "GenSigStartValueInteger" SG_ 1441 TCCM_AutoSarNMNodeId 161; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMNodeId 1; +BA_ "GenSigStartValue" SG_ 1441 TCCM_AutoSarNMNodeId 161; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMNodeId 1; +BA_ "ContentDependant" SG_ 1441 TCCM_AutoSarNMControl 1; +BA_ "U_P702_MY2021_Tx" SG_ 1441 TCCM_AutoSarNMControl 1; +BA_ "GenSigSendType" SG_ 1787 TesterPhysicalResSODCMD 3; +BA_ "GenSigSendType" SG_ 1779 TesterPhysicalReqSODCMD 3; +BA_ "GenSigSendType" SG_ 1786 TesterPhysicalResSODCMC 3; +BA_ "GenSigSendType" SG_ 1778 TesterPhysicalReqSODCMC 3; +BA_ "CrossOver_InfoCAN" SG_ 1153 TerrMde_D_RqDrv 1; +BA_ "UsedOnPgmDBC" SG_ 1153 TerrMde_D_RqDrv 1; +BA_ "GenSigSendType" SG_ 942 PrkAidRdiusRight_L_Dsply 3; +BA_ "GenSigSendType" SG_ 942 PrkAidRdiusLeft_L_Dsply 3; +BA_ "GenSigSendType" SG_ 942 PrkAidDrvDir_D_Stat 3; +BA_ "GenSigSendType" SG_ 942 PrkAidAcsyRear_D_Stat 3; +BA_ "GenSigSendType" SG_ 942 PrkAidAcsyFront_D_Stat 3; +BA_ "GenSigSendType" SG_ 930 BalrWndwRight_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 930 BalrSnsRight_D_Falt 0; +BA_ "GenSigSendType" SG_ 930 BalrSnsRight_D_Falt 3; +BA_ "GenSigStartValueInteger" SG_ 930 WndwPsngrRear_D_RqBalrr 0; +BA_ "GenSigSendType" SG_ 930 WndwPsngrRear_D_RqBalrr 3; +BA_ "GenSigStartValueInteger" SG_ 930 WndwPsngr_D_RqBalrr 0; +BA_ "GenSigSendType" SG_ 930 WndwPsngr_D_RqBalrr 3; +BA_ "GenSigStartValueInteger" SG_ 930 WndwDrvRear_D_RqBalrr 0; +BA_ "GenSigSendType" SG_ 930 WndwDrvRear_D_RqBalrr 3; +BA_ "GenSigStartValueInteger" SG_ 930 WndwDrv_D_RqBalrr 0; +BA_ "GenSigSendType" SG_ 930 WndwDrv_D_RqBalrr 3; +BA_ "GenSigStartValueInteger" SG_ 930 BalrRight_D_Stat 2; +BA_ "GenSigStartValue" SG_ 930 BalrRight_D_Stat 2; +BA_ "GenSigSendType" SG_ 930 BalrRight_D_Stat 3; +BA_ "GenSigSendType" SG_ 930 BalrMdeSelRight_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 930 BalrMdeRight_D_Stat 1; +BA_ "GenSigStartValue" SG_ 930 BalrMdeRight_D_Stat 1; +BA_ "GenSigSendType" SG_ 930 BalrMdeRight_D_Stat 3; +BA_ "GenSigSendType" SG_ 930 BalrLckRight_B_Stat 3; +BA_ "GenSigSendType" SG_ 930 BalrChimeRight_D_Rq 3; +BA_ "GenSigSendType" SG_ 930 CamraRearOn_B_RqBalrr 3; +BA_ "GenSigSendType" SG_ 930 DrLckCnt_No_ActlBalrr 3; +BA_ "GenSigSendType" SG_ 930 DrLckActv_B_RqBalrr 3; +BA_ "GenSigSendType" SG_ 929 BalrChimeLeft_D_Rq 3; +BA_ "GenSigStartValueInteger" SG_ 929 BalrLeft_D_Stat 2; +BA_ "GenSigStartValue" SG_ 929 BalrLeft_D_Stat 2; +BA_ "GenSigSendType" SG_ 929 BalrLeft_D_Stat 3; +BA_ "GenSigSendType" SG_ 929 BalrWndwLeft_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 929 WndwPsngrRear_D_RqBalrl 0; +BA_ "GenSigSendType" SG_ 929 WndwPsngrRear_D_RqBalrl 3; +BA_ "GenSigStartValueInteger" SG_ 929 WndwPsngr_D_RqBalrl 0; +BA_ "GenSigSendType" SG_ 929 WndwPsngr_D_RqBalrl 3; +BA_ "GenSigStartValueInteger" SG_ 929 WndwDrvRear_D_RqBalrl 0; +BA_ "GenSigSendType" SG_ 929 WndwDrvRear_D_RqBalrl 3; +BA_ "GenSigStartValueInteger" SG_ 929 WndwDrv_D_RqBalrl 0; +BA_ "GenSigSendType" SG_ 929 WndwDrv_D_RqBalrl 3; +BA_ "GenSigStartValueInteger" SG_ 929 BalrSnsLeft_D_Falt 0; +BA_ "GenSigSendType" SG_ 929 BalrSnsLeft_D_Falt 3; +BA_ "GenSigSendType" SG_ 929 BalrMdeSelLeft_B_Stat 3; +BA_ "GenSigStartValueInteger" SG_ 929 BalrMdeLeft_D_Stat 1; +BA_ "GenSigStartValue" SG_ 929 BalrMdeLeft_D_Stat 1; +BA_ "GenSigSendType" SG_ 929 BalrMdeLeft_D_Stat 3; +BA_ "GenSigSendType" SG_ 929 BalrLckLeft_B_Stat 3; +BA_ "GenSigSendType" SG_ 929 CamraRearOn_B_RqBalrl 3; +BA_ "GenSigSendType" SG_ 929 DrLckCnt_No_ActlBalrl 3; +BA_ "GenSigSendType" SG_ 929 DrLckActv_B_RqBalrl 3; +BA_ "CrossOver_InfoCAN" SG_ 402 ApaMdeStat_D_RqDrv 1; +BA_ "CrossOver_InfoCAN" SG_ 402 CamraZoomMan_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 402 CamraOvrlStat_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 402 CamraOvrlDyn_D_Rq 1; +BA_ "CrossOver_InfoCAN" SG_ 402 CamAutoTowbarZoom 1; +BA_ "CrossOver_InfoCAN" SG_ 402 DistanceBarSetting 1; +BA_ "GenSigStartValue" SG_ 924 DcacOut_Pw_Mx 2046; +BA_ "U_P702_MY2021_Rx" SG_ 924 DcacOut_Pw_Mx 1; +BA_ "GenSigStartValue" SG_ 924 DcacOut2_Pw_Actl 8190; +BA_ "U_P702_MY2021_Rx" SG_ 924 DcacOut2_Pw_Actl 1; +BA_ "GenSigStartValue" SG_ 924 DcacOut1_Pw_Actl 8190; +BA_ "U_P702_MY2021_Rx" SG_ 924 DcacOut1_Pw_Actl 1; +BA_ "GenSigStartValue" SG_ 924 DcacIn_Pw_Mx 2046; +BA_ "U_P702_MY2021_Rx" SG_ 924 DcacIn_Pw_Mx 1; +BA_ "GenSigStartValue" SG_ 923 DcacIn_U2_Actl 4094; +BA_ "GenSigStartValue" SG_ 923 DcacIn_U_Actl 4094; +BA_ "U_P702_MY2021_Rx" SG_ 923 DcacIn_U_Actl 1; +BA_ "GenSigStartValue" SG_ 923 DcacIn_I_Actl 2046; +BA_ "U_P702_MY2021_Rx" SG_ 923 DcacIn_I_Actl 1; +BA_ "GenSigStartValue" SG_ 923 Dcac_Te_Actl 254; +BA_ "U_P702_MY2021_Rx" SG_ 923 Dcac_Te_Actl 1; +BA_ "GenSigSendType" SG_ 1998 TesterPhysicalResSODR 3; +BA_ "GenSigSendType" SG_ 1996 TesterPhysicalResSODL 3; +BA_ "GenSigSendType" SG_ 1988 TesterPhysicalReqSODL 3; +BA_ "U_P702_MY2021_Rx" SG_ 922 DcacRdy_D_Stat 1; +BA_ "GenSigStartValue" SG_ 922 DcacPlugPrsnt_B_Stat 1; +BA_ "U_P702_MY2021_Rx" SG_ 922 DcacPlugPrsnt_B_Stat 1; +VAL_ 823 DteAcceptNew_B_Rq 1 "Yes" 0 "No"; +VAL_ 824 DteCldTrlrOn_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldTrlrOff_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldTraffic_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldTerrain_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldRoute_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldPayload_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldExtTe_B_Stat 1 "Yes" 0 "No"; +VAL_ 824 DteCldDcac_B_Stat 1 "Yes" 0 "No"; +VAL_ 949 Tire_Press_RR_ORR_Data 65535 "Not_Supported" 65534 "Invalid" 65533 "Unknown"; +VAL_ 949 Tire_Press_LR_OLR_Data 65535 "Not_Supported" 65534 "Invalid" 65533 "Unknown"; +VAL_ 949 Tire_Press_LF_Data 65535 "Not_Supported" 65534 "Invalid" 65533 "Unknown"; +VAL_ 949 Tire_Press_RF_Data 65535 "Not_Supported" 65534 "Invalid" 65533 "Unknown"; +VAL_ 740 BattAuxCnnct_B_Cmd 1 "Close" 0 "Open"; +VAL_ 1160 DgtlCommPncReset_B_Req 1 "Yes" 0 "No"; +VAL_ 1160 DataMntrSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 1160 PwSustnRdata_B_RqTelem 1 "Active" 0 "Inactive"; +VAL_ 776 ScChrgrPwMax_Pw_RqCld 4095 "Faulty"; +VAL_ 776 PrcondEdit_D_RqCld 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "High" 3 "Medium" 2 "Low" 1 "Off" 0 "Null"; +VAL_ 776 GoTEditMnte_T_RqCld 15 "Faulty" 14 "NoDataExists" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_ 776 GoTEditHr_T_RqCld 31 "Faulty" 30 "NoDataExists"; +VAL_ 776 ChrgToPcEdit_Pc_RqCld 127 "Faulty" 126 "NoDataExists"; +VAL_ 776 ScFreshDataEnbl_B_Rq 1 "Yes" 0 "No"; +VAL_ 776 ScEnbl_D_RqCld 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 775 ScDayOfWeekId_D_RqCld 7 "Sunday" 6 "Saturday" 5 "Friday" 4 "Thursday" 3 "Wednesday" 2 "Tuesday" 1 "Monday" 0 "NotUsed"; +VAL_ 775 ScChrgDurSet_D_RqCld 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 775 ScChrgDur_T_RqCld 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 774 ScLocLongPostv_B_RqCld 1 "Yes" 0 "No"; +VAL_ 774 ScLocLattPostv_B_RqCld 1 "Yes" 0 "No"; +VAL_ 774 ScLocDelete_B_RqCld 1 "Request" 0 "NoRequest"; +VAL_ 811 DistToStopover_L_Actl 65535 "Faulty"; +VAL_ 811 ExtLghtDsply_D_Stat 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 811 ExtLghtRight_D_RqMnu 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 811 AutoLghtOvrrd_B_RqDrv 1 "Allowed" 0 "NotAllowed"; +VAL_ 811 ExtLghtRear_D_RqMnu 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 811 ExtLghtLeft_D_RqMnu 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 811 ExtLghtFront_D_RqMnu 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 811 GoTEditMnte_T_RqMnu 15 "Faulty" 14 "NoDataExists" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_ 811 GoTEditHr_T_RqMnu 31 "Faulty" 30 "NoDataExists"; +VAL_ 850 VehElRngeNut_L_Dsply 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 850 NxtUsgSocEst_Pc_Dsply 255 "Faulty" 254 "NoDataExists"; +VAL_ 850 EstmChrgTimeLP_St 255 "Invalid"; +VAL_ 850 EstmChrgTimeHP_St 255 "Invalid"; +VAL_ 850 ChargeNowDuration_St 255 "Invalid"; +VAL_ 563 DrvBhavWarn_B_Rq 1 "On" 0 "Off"; +VAL_ 563 OfbChrgSetSync_D_Rq 3 "Fail" 2 "Success" 1 "InProgress" 0 "NoSyncInProgress"; +VAL_ 563 KeyOffPwMde_D_Stat 7 "NotUsed_6" 6 "NotUsed_5" 5 "NotUsed_4" 4 "NotUsed_3" 0 "Inactive" 1 "On" 2 "NotUsed_1" 3 "NotUsed_2"; +VAL_ 563 ModemReset_D_Stat 15 "NotUsed_10" 14 "NotUsed_9" 13 "NotUsed_8" 12 "NotUsed_7" 11 "NotUsed_6" 10 "NotUsed_5" 9 "NotUsed_4" 8 "NotUsed_3" 7 "NotUsed_2" 6 "NotUsed_1" 5 "WifiHotSpotResetComplete" 4 "CcsResetComplete" 3 "OnlineTrafficResetComplete" 2 "PaakResetComplete" 1 "ResetNotComplete" 0 "Null"; +VAL_ 563 FactoryReset_St 3 "NotUsed_2" 2 "NotUsed_1" 1 "FactoryDefaultsRestored" 0 "Null"; +VAL_ 570 SuspClkSync_No_Rq 255 "Faulty" 254 "NoDataExists"; +VAL_ 570 SuspRearRight_L_Actl 511 "Faulty"; +VAL_ 570 SuspFrntRight_L_Actl 511 "Faulty"; +VAL_ 570 SuspRear_L_Prev 511 "Fault"; +VAL_ 570 SuspRear_L_Actl 511 "Fault"; +VAL_ 570 SuspFrnt_L_Prev 511 "Fault"; +VAL_ 570 SuspFrnt_L_Actl 511 "Fault"; +VAL_ 837 Ccd_B_Falt 1 "Yes" 0 "No"; +VAL_ 837 SelDrvMdeSusp_D_Stat 3 "Faulty" 2 "TemporarilyNotAvailable" 1 "Available" 0 "NotAvailable"; +VAL_ 837 AdptDrvMdePt_D_Rq 7 "Faulty" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "Powertrain2Sport" 2 "Powertrain2Normal" 1 "Powertrain2Comfort" 0 "AdaptiveNotActive"; +VAL_ 837 AdptDrvMdeChassis_D_Rq 7 "Faulty" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "Chassis2Sport" 2 "Chassis2Normal" 1 "Chassis2Comfort" 0 "AdaptiveNotActive"; +VAL_ 837 CcdMsgTxt_D_RqDsply 15 "Unused8" 14 "Unused7" 13 "Unused6" 12 "Unused5" 11 "Unused4" 10 "Unused3" 9 "Unused2" 8 "StationaryMode" 7 "Mode_Change_Unavailable" 6 "CCD_Temporarily_Off" 5 "CCD_Service_Required" 4 "Faulty" 3 "Sport" 2 "Normal" 1 "Comfort" 0 "No_Mode_Selected"; +VAL_ 885 BattULoChrg_D_RqOta 1 "Yes" 0 "No"; +VAL_ 885 VehStrtInhbt_T_Dsply 15 "NotUsed_12" 14 "NotUsed_11" 13 "NotUsed_10" 12 "NotUsed_9" 11 "NotUsed_8" 10 "NotUsed_7" 9 "NotUsed_6" 8 "NotUsed_5" 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "PostOtaActivatePermFail" 2 "PostOtaActivateWarning" 1 "DuringOtaActivate" 0 "NoMessage"; +VAL_ 885 VehStrtInhbt_D_Dsply 15 "NotUsed_12" 14 "NotUsed_11" 13 "NotUsed_10" 12 "NotUsed_9" 11 "NotUsed_8" 10 "NotUsed_7" 9 "NotUsed_6" 8 "NotUsed_5" 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "PostOtaActivatePermFail" 2 "PostOtaActivateWarning" 1 "DuringOtaActivate" 0 "NoMessage"; +VAL_ 885 VehOnRqstr_D_Stat 11 "NotUsed_8" 10 "NotUsed_7" 9 "NotUsed_6" 8 "NotUsed_5" 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "FleetVehInhbt" 2 "StolenVehInhbt" 1 "OverTheAir" 0 "NoRequestor" 15 "NotUsed_12" 14 "NotUsed_11" 13 "NotUsed_10" 12 "NotUsed_9"; +VAL_ 885 VehStrtInhbt_D_RqCld 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 885 VehOn_D_RqCld 3 "NoControl" 2 "On" 1 "Off" 0 "Null"; +VAL_ 885 OtaActv_D_Stat 15 "NotUsed_10" 14 "NotUsed_9" 13 "NotUsed_8" 12 "NotUsed_7" 11 "NotUsed_6" 10 "NotUsed_5" 9 "NotUsed_4" 8 "NotUsed_3" 7 "NotUsed_2" 6 "NotUsed_1" 5 "NonInterruptible_Pending" 4 "NonInterruptible_Config" 3 "NonInterruptible_ER" 2 "NonInterruptible_AB" 1 "Interruptible_AB" 0 "NoInVehicleOta"; +VAL_ 810 OBCCSerial_D_Rq 3 "PresentAndProvisioned" 2 "PresentAndProvAlertAck" 1 "PresentAndUnprovisioned" 0 "NotPresent"; +VAL_ 810 TlghtTest_D_RqArb 3 "TestEndAcknowledge" 2 "StartTest" 1 "StopTest" 0 "Null"; +VAL_ 810 ChrgrPncSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 810 NtfyDrvTrgtDist_L_Rq 4095 "Trip_dist_alert_disabled" 0 "Inactive"; +VAL_ 810 NtfyDrvSocLvl1_Pc_Rq 127 "TargetSOCNotificationAlert" 0 "Inactive"; +VAL_ 810 PtRmtRprt_D_Stat 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "SettingUpdated" 10 "FastChargeComplete" 9 "ChargeNotOccurring" 8 "OneTimeSocReached" 7 "BatteryTemperatureRemind" 6 "ReducedPerformance" 5 "LimitedPerformance" 4 "ChargeFault" 3 "ChargeComplete" 2 "VehiclePreconditioned" 1 "TripDistanceAchieved" 0 "NoReportRequest"; +VAL_ 810 ChrgrPncEnbl_D_Rq 3 "NotUsed" 2 "Enable" 1 "Disable" 0 "Null"; +VAL_ 810 ExtLghtDsply_B_StatArb 1 "On" 0 "Off"; +VAL_ 810 ExtLghtRight_D_RqOta 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 810 ExtLghtRear_D_RqOta 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 810 ExtLghtLeft_D_RqOta 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 810 ExtLghtFront_D_RqOta 7 "NotUsed" 6 "PressToOn3" 5 "PressToOff3" 4 "PressToOn2" 3 "PressToOff2" 2 "PressToOn1" 1 "PressToOff1" 0 "Reset"; +VAL_ 550 PtWakeupActv1_B_Rq 1 "Wake_up_Powertrain_via_HW" 0 "Don_t_Wake_Up_Powertrain"; +VAL_ 639 OfbChrgPrflUpdate_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 639 OfbChrgClearAll_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 639 OfbChrgGoTTouch_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 639 OfbChrgGoTPrcond_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 639 OfbChrgGoTOn_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 639 OfbChrgGoTMnte_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_ 639 OfbChrgGoTHr_T_Rq 31 "Faulty" 30 "NoDataExists"; +VAL_ 639 OfbChrgGoTExtHtr_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 639 OfbChrgGoTDelete_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 639 OfbChrgGoTUpdate_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 530 OfbChrgToPcWknd_D_Actl 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 530 OfbChrgToPcWkdy_D_Actl 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 530 OfbChrgSetNow_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 530 OfbChrgSetDelete_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 530 OfbChrgLocIdUns_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1142 ConsTipV_No_Dsply 1023 "Faulty" 1022 "NoDataExists"; +VAL_ 817 ChildLckMde_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 817 VehLckInd_D_Rq 3 "NotUsed" 2 "On_Day" 1 "On_Night" 0 "Off"; +VAL_ 817 DrTgateOpen_B_Rq 1 "Open" 0 "Null"; +VAL_ 817 DrTgateExtSwMde_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 817 Remote_Device_Feedback 7 "Unused3" 6 "Unused2" 5 "Unused1" 4 "Shutdown" 3 "Running" 2 "Starting" 1 "Acknowledge" 0 "Null"; +VAL_ 817 Veh_Lock_Requestor 31 "Unused8" 30 "Unused7" 29 "Unused6" 28 "Rgtm_Shutlock_Switch" 27 "Boundary_Alert" 26 "Transit_Vehicle_Relock" 25 "Transit_Cargo_Relock" 24 "Transit_Ajar_Lock" 23 "Diagnostics" 22 "Console_Lock" 21 "Child_Lock" 20 "Double_Lock" 19 "Passive_Pasenger" 18 "Passive_Driver" 17 "Slam_Lock_Protect" 16 "SYNC" 15 "Passport" 14 "Passive_Smart_Unlock" 13 "Autorelock" 12 "RemoteStart" 0 "Null" 1 "Autolock" 11 "Smart_Unlock" 10 "Sliding_Door" 9 "Passive" 8 "Remote" 7 "Programming" 6 "Powerslide" 5 "Keypad" 4 "Key_Cylinder" 3 "Interior" 2 "Auto_Unlock"; +VAL_ 817 R_Pwr_Sliding_Dr_Rqst 1 "Active" 0 "Null"; +VAL_ 817 Power_Liftgate_Rqst 1 "Active" 0 "Null"; +VAL_ 817 Power_Decklid_Rqst 1 "Active" 0 "Null"; +VAL_ 817 L_Pwr_Sliding_Dr_Rqst 1 "Active" 0 "Null"; +VAL_ 817 Veh_Lock_Sub_Id 15 "Unused7" 14 "Unused6" 13 "Unused5" 12 "Unused4" 11 "Unused3" 10 "Unused2" 9 "Unused1" 8 "Customer_8" 7 "Customer_7" 6 "Customer_6" 5 "Customer_5" 4 "Customer_4" 3 "Customer_3" 2 "Customer_2" 1 "Customer_1" 0 "Null"; +VAL_ 817 Veh_Lock_Status 3 "UNLOCK_DRV" 2 "UNLOCK_ALL" 1 "LOCK_ALL" 0 "LOCK_DBL"; +VAL_ 817 ChildLck_D_Dsply 3 "NOT_SUPPORTED" 2 "ERROR" 1 "CHILD_UNLOCK" 0 "CHILD_LOCK"; +VAL_ 817 WindowLockout_B_Stat 1 "Locked" 0 "Unlock"; +VAL_ 817 Lockmsgtxt_D_Rq 7 "MSG7" 6 "MSG6" 5 "MSG5" 4 "MSG4" 3 "MSG3" 2 "MSG2" 1 "MSG1" 0 "NO_WARNING"; +VAL_ 817 FobComm_D_Stat 3 "NotUsed" 2 "RemEngStartOK" 1 "RemEngStartFail" 0 "Null"; +VAL_ 817 LockInhibit 1 "Inhibit" 0 "No_Inhibit"; +VAL_ 879 WndwRearHeat_I_Actl 2047 "Faulty"; +VAL_ 879 WndwRearHeat_D_Stat 7 "NotUsed" 6 "FetLiftLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_ 878 DcacGfciTest_B_Rq 1 "Pressed" 0 "Not_Pressed"; +VAL_ 878 DcacOut_Pw_DsplyMx 1023 "Faulty"; +VAL_ 878 DcacOut1_Pw_Dsply 63 "Faulty"; +VAL_ 878 DcacOut2_Pw_Dsply 63 "Faulty"; +VAL_ 878 DcacHw_D_Confg 15 "NotUsed_11" 14 "NotUsed_10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "NotUsed_4" 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Power_2300W" 3 "Power_7200W" 2 "Power_2400W" 1 "Power_2000W" 0 "NoDcacHardware"; +VAL_ 878 DcacFaltMsgTxt_D_Rq 15 "NotUsed" 14 "OvercurrentLP" 13 "EngineRun" 12 "Service" 11 "NotAvailable" 10 "PlugWarn" 9 "PlugWarnDrive" 8 "BreakerC" 7 "BreakerB" 6 "BreakerA" 5 "FuelLow" 4 "AcOnOutput" 3 "Temperature" 2 "Gfci" 1 "Overcurrent" 0 "Ok"; +VAL_ 878 DcacLoFuelMsgTxt_D_Rq 31 "Minute_31" 30 "Minute_30" 29 "Minute_29" 28 "Minute_28" 27 "Minute_27" 26 "Minute_26" 25 "Minute_25" 24 "Minute_24" 23 "Minute_23" 22 "Minute_22" 21 "Minute_21" 20 "Minute_20" 19 "Minute_19" 18 "Minute_18" 17 "Minute_17" 16 "Minute_16" 15 "Minute_15" 14 "Minute_14" 13 "Minute_13" 12 "Minute_12" 11 "Minute_11" 10 "Minute_10" 9 "Minute_9" 8 "Minute_8" 7 "Minute_7" 6 "Minute_6" 5 "Minute_5" 4 "Minute_4" 3 "Minute_3" 2 "Minute_2" 1 "Minute_1" 0 "Ok"; +VAL_ 878 DcacEngOnMsgTxt_D_Rq 3 "NotUsed" 2 "DisplayQuestion" 1 "DisplayWarning" 0 "Ok"; +VAL_ 878 DcacElPw_D_Stat 3 "NotUsed" 2 "High" 1 "Low" 0 "Off"; +VAL_ 878 PwBedPnlEnbl_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 878 DcacOn_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 878 DcacSys_B_Falt 1 "Yes" 0 "No"; +VAL_ 878 DcacLedCtl_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 395 SelDrvMdeCnfm_D_Stat 3 "NotUsed" 2 "Accepted" 1 "NotAccepted" 0 "Null"; +VAL_ 984 PersIndexIpma_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 984 AhbcRampingV_D_Rq 3 "Slow" 2 "Medium" 1 "Fast" 0 "Immediately"; +VAL_ 984 LaActvStats_D_Dsply 31 "Unused7" 30 "LA_Off" 29 "Unused5" 28 "Unused4" 27 "Unused3" 26 "Unused2" 25 "Unused1" 24 "InerveneLeft_InterveneRght" 23 "WarnLeft_InterveneRight" 22 "SuppressLeft_InterveneRght" 21 "AvailLeft_InterveneRhtt" 20 "NoLeft_InterveneRight" 19 "InterveneLeft_WarnRight" 18 "WarnLeft_WarnRight" 17 "SuppressLeft_WarnRight" 16 "AvailableLeft_WarnRight" 15 "NoLeft_WarnRight" 14 "InterveneLeft_SuppressRght" 13 "WarnLeft_SuppressRight" 12 "SuppressLeft_SuppressRight" 11 "AvailLeft_SuppressRight" 10 "NoLeft_SuppressRight" 9 "InterveneLeft_AvailRight" 8 "WarnLeft_AvailRight" 7 "SuppressLeft_AvailRight" 6 "AvailableLeft_AvailRight" 5 "NoLeft_AvailableRight" 4 "InterveneLeft_NoRight" 3 "WarnLeft_NoRight" 2 "SuppressLeft_NoRight" 1 "AvailableLeft_NoRight" 0 "NoLeft_NoRight"; +VAL_ 984 LaDenyStats_B_Dsply 1 "Unavailable" 0 "Available"; +VAL_ 984 LaHandsOff_D_Dsply 3 "Suppressed" 2 "Level2" 1 "Level1" 0 "HandsOn"; +VAL_ 984 CamraDefog_B_Req 1 "On" 0 "Off"; +VAL_ 984 CamraStats_D_Dsply 3 "FrtCam_TempUnavailOther" 2 "FrtCam_TempUnavailVisibile" 1 "Front_Camera_Service_Reqd" 0 "Front_Camera_OK"; +VAL_ 984 DasAlrtLvl_D_Dsply 5 "Alertness_Level_5" 4 "Alertness_Level_4" 3 "Alertness_Level_3" 2 "Alertness_Level_2" 1 "Alertness_Level_1" 0 "Undefined"; +VAL_ 984 DasStats_D_Dsply 3 "Available" 2 "Unavailable_Other" 1 "Feedback_due_to_Speed" 0 "Off"; +VAL_ 984 DasWarn_D_Dsply 3 "Undefined" 2 "Warning_Level_2" 1 "Warning_Level_1" 0 "No_Warning"; +VAL_ 984 AhbHiBeam_D_Rq 3 "NotUsed" 2 "HighBeamRecommended" 1 "LowBeamRecommended" 0 "DeactivatedUnavailable"; +VAL_ 985 LdwChime_B_Rq 1 "On" 0 "Off"; +VAL_ 985 TsrRegionTxt_D_Stat 31 "Faulty" 30 "NotUsed_8" 29 "NotUsed_7" 28 "NotUsed_6" 27 "NotUsed_5" 26 "NotUsed_4" 25 "NotUsed_3" 24 "NotUsed_2" 23 "NotUsed_1" 22 "Region_22" 21 "Region_21" 20 "Region_20" 19 "Region_19" 18 "Region_18" 17 "Region_17" 16 "Region_16" 15 "Region_15" 14 "Region_14" 13 "Region_13" 12 "Region_12" 11 "Region_11" 10 "Region_10" 9 "Region_09" 8 "Region_08" 7 "Region_07" 6 "Region_06" 5 "Region_05" 4 "Region_04" 3 "Region_03" 2 "Region_02" 1 "Region_01" 0 "NotDetermined"; +VAL_ 985 SblmPedCrossScnr_B_Stat 1 "Yes" 0 "No"; +VAL_ 985 LongCtrlEnbl_D_Rq 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "RemoteParking" 2 "Autohitch" 1 "AutomaticParking" 0 "None"; +VAL_ 985 SblmRndAbtScnr_B_Stat 1 "Yes" 0 "No"; +VAL_ 985 DasAlrtInfo_D_Dsply 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 985 IaccVLim_D_Rq 252 "NotUsed_2" 250 "LimitSpeed_250" 240 "LimitSpeed_240" 230 "LimitSpeed_230" 220 "LimitSpeed_220" 210 "LimitSpeed_210" 200 "LimitSpeed_200" 190 "LimitSpeed_190" 150 "LimitSpeed_150" 140 "LimitSpeed_140" 130 "LimitSpeed_130" 120 "LimitSpeed_120" 110 "LimitSpeed_110" 100 "LimitSpeed_100" 90 "LimitSpeed_90" 80 "LimitSpeed_80" 70 "LimitSpeed_70" 60 "LimitSpeed_60" 50 "LimitSpeed_50" 40 "LimitSpeed_40" 30 "LimitSpeed_30" 20 "LimtSpeed_20" 251 "NotUsed_1" 255 "Faulty" 254 "NoDataExists" 253 "NotUsed_3" 180 "LimitSpeed_180" 179 "LimitSpeed_179" 178 "LimitSpeed_178" 177 "LimitSpeed_177" 176 "LimitSpeed_176" 175 "LimitSpeed_175" 174 "LimitSpeed_174" 173 "LimitSpeed_173" 172 "LimitSpeed_172" 171 "LimitSpeed_171" 170 "LimitSpeed_170" 169 "LimitSpeed_169" 168 "LimitSpeed_168" 167 "LimitSpeed_167" 166 "LimitSpeed_166" 165 "LimitSpeed_165" 164 "LimitSpeed_164" 163 "LimitSpeed_163" 162 "LimitSpeed_162" 161 "LimitSpeed_161" 160 "LimitSpeed_160" 15 "LimitSpeed_15" 14 "LimitSpeed_14" 13 "LimitSpeed_13" 12 "LimitSpeed_12" 11 "LimitSpeed_11" 10 "LimitSpeed_10" 9 "LimitSpeed_9" 8 "LimitSpeed_8" 7 "LimitSpeed_7" 6 "LimitSpeed_6" 5 "LimitSpeed_5" 4 "LimitSpeed_4" 3 "LimitSpeed_3" 2 "LimitSpeed_2" 1 "LimitSpeed_1" 0 "LimitSpeed_0"; +VAL_ 985 IaccVLimUnit_D_Rq 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_ 985 IsaVLim_D_Rq 252 "NotUsed_2" 250 "LimitSpeed_250" 240 "LimitSpeed_240" 230 "LimitSpeed_230" 220 "LimitSpeed_220" 210 "LimitSpeed_210" 200 "LimitSpeed_200" 190 "LimitSpeed_190" 150 "LimitSpeed_150" 140 "LimitSpeed_140" 130 "LimitSpeed_130" 120 "LimitSpeed_120" 110 "LimitSpeed_110" 100 "LimitSpeed_100" 90 "LimitSpeed_90" 80 "LimitSpeed_80" 70 "LimitSpeed_70" 60 "LimitSpeed_60" 50 "LimitSpeed_50" 40 "LimitSpeed_40" 30 "LimitSpeed_30" 20 "LimtSpeed_20" 251 "NotUsed_1" 255 "Faulty" 254 "NoDataExists" 253 "NotUsed_3" 180 "LimitSpeed_180" 179 "LimitSpeed_179" 178 "LimitSpeed_178" 177 "LimitSpeed_177" 176 "LimitSpeed_176" 175 "LimitSpeed_175" 174 "LimitSpeed_174" 173 "LimitSpeed_173" 172 "LimitSpeed_172" 171 "LimitSpeed_171" 170 "LimitSpeed_170" 169 "LimitSpeed_169" 168 "LimitSpeed_168" 167 "LimitSpeed_167" 166 "LimitSpeed_166" 165 "LimitSpeed_165" 164 "LimitSpeed_164" 163 "LimitSpeed_163" 162 "LimitSpeed_162" 161 "LimitSpeed_161" 160 "LimitSpeed_160" 15 "LimitSpeed_15" 14 "LimitSpeed_14" 13 "LimitSpeed_13" 12 "LimitSpeed_12" 11 "LimitSpeed_11" 10 "LimitSpeed_10" 9 "LimitSpeed_9" 8 "LimitSpeed_8" 7 "LimitSpeed_7" 6 "LimitSpeed_6" 5 "LimitSpeed_5" 4 "LimitSpeed_4" 3 "LimitSpeed_3" 2 "LimitSpeed_2" 1 "LimitSpeed_1" 0 "LimitSpeed_0"; +VAL_ 985 SblmStopScnr_B_Stat 1 "Yes" 0 "No"; +VAL_ 985 SblmYieldScnr_B_Stat 1 "Yes" 0 "No"; +VAL_ 985 IsaVLimUnit_D_Rq 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_ 985 AdbDividedRoad_B_Stat 1 "Yes" 0 "No"; +VAL_ 985 LcwaMsgTxt_D_Stat 3 "SodXFaulty" 2 "SodXBlocked" 1 "TrailerConnected" 0 "NoMessage"; +VAL_ 985 AdbDrvSide_B_Stat 1 "Left_Hand_Traffic" 0 "Right_Hand_Traffic"; +VAL_ 992 MsgCntrDsplyOp_D_Rq 7 "Unused_2" 6 "Unused_1" 5 "Copy" 4 "Restore" 3 "Upload" 2 "Set" 1 "Query" 0 "Null"; +VAL_ 992 MsgCntrPersIndex_D_Rq 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 943 VehVActlAdas_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 943 AdasLcDistToObj_L_Actl 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 515 PtIgnSwtch_D_Stat 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_ 1111 TrlrYawWActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 1111 TrlrYaw_W_Actl 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 1111 TrlrHitYaw_AnRate_Actl 4095 "Fault" 4094 "NoDataExists"; +VAL_ 1111 TrlrHitchYaw_D_Stat 15 "Faulty" 14 "NotUsed_4" 13 "NotUsed_3" 12 "NotUsed_2" 11 "NotUsed_1" 10 "FaultyYrsuConnection" 9 "FaultyYrsu" 8 "HiConfdLrndAngle" 7 "LowConfdLrndAngle" 6 "HiConfdAngleMem" 5 "LowConfdAngleMem" 4 "InitNoTadAngle" 3 "InitInputs" 2 "TadTrlrDataOutOfRange" 1 "TadNotWithinSpecification" 0 "NoConnectionWithYrsu"; +VAL_ 1111 TrlrHitchYaw_An_Actl 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 1106 TrlrSnsId_No_Actl -1 "Faulty_FFFFFFFFFFFF" -2 "NoDataExists_FFFFFFFFFFFE"; +VAL_ 982 LatCtl_D2_Rq 7 "NotUsed_5" 6 "NotUsed_4" 5 "NotUsed_3" 4 "NotUsed_2" 3 "SafeRampOut" 2 "PathFollowingExtendedMode" 1 "PathFollowingLimitedMode" 0 "NoLateralControl"; +VAL_ 982 HandsOffCnfm_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 982 LatCtlRampType_D_Rq 3 "Immediately" 2 "Fast" 1 "Medium" 0 "Slow"; +VAL_ 982 LatCtlPrecision_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "Precise" 0 "Comfortable"; +VAL_ 1104 DrvEngageLevel_D_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Disengaged" 3 "Distracted" 2 "Attentive" 1 "Invalid" 0 "NotDetermined"; +VAL_ 1104 DrvImpLvlConfid_D_Stat 7 "Faulty" 6 "NotUsed" 5 "High" 4 "MediumHigh" 3 "Medium" 2 "LowMedium" 1 "Low" 0 "NotDetermined"; +VAL_ 1104 DrvImpairLvl_D_Stat 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "Incapacitated" 8 "Asleep" 7 "Microsleep" 6 "MostDrowsy" 5 "Drowsy_4" 4 "Drowsy_3" 3 "Drowsy_2" 2 "LeastDrowsy" 1 "Alert" 0 "NotDetermined"; +VAL_ 1104 DrvEngLvlConfid_D_Stat 7 "Faulty" 6 "NotUsed" 5 "High" 4 "MediumHigh" 3 "Medium" 2 "LowMedium" 1 "Low" 0 "NotDetermined"; +VAL_ 1104 DrvCamPassIR_D_Stat 3 "Faulty" 2 "Blocked" 1 "Ok" 0 "TemporaryUnavailable"; +VAL_ 1104 DrvCamera_D_Stat 3 "Faulty" 2 "Blocked" 1 "Ok" 0 "TemporaryUnavailable"; +VAL_ 1104 DrvCamDrvIR_D_Stat 3 "Faulty" 2 "Blocked" 1 "Ok" 0 "TemporaryUnavailable"; +VAL_ 1104 DrvAttentZone_D_Stat 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "PassengerSideWindow" 8 "DriverSideWindow" 7 "DriverSideMirror" 6 "RearviewMirror" 5 "PassengerSideMirror" 4 "Infotainment" 3 "Cluster" 2 "FrontWindshield" 1 "Other" 0 "NotDetermined"; +VAL_ 1104 DrvAlertSt_D_Stat 3 "Faulty" 2 "EyesOffRoad" 1 "EyesOnRoad" 0 "NotDetermined"; +VAL_ 1114 TrailCtlSwtch_B_Stat2 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1114 TrlBrkInitOut_D_Rq 3 "Heavy" 2 "Medium" 1 "Light" 0 "Null"; +VAL_ 1116 TrlrAidSetup_D2_Rq 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "NotUsed_2" 7 "NotUsed_1" 6 "CompleteSetup" 5 "ReturnToSetup" 4 "StickerNotCircled" 3 "ConfirmSetup" 2 "EndSetup" 1 "BeginSetup" 0 "Inactive"; +VAL_ 1116 TrlrAidEnbl_D2_Rq 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Deactivate" 2 "ActivateTrg" 1 "ActivateTba" 0 "Inactive"; +VAL_ 1116 TrlrRvrseCancl_B_Rq 1 "Cancel" 0 "Null"; +VAL_ 1116 TrlrIdType_D_Stat 3 "Gooseneck" 2 "FifthWheel" 1 "Conventional" 0 "Null"; +VAL_ 1116 TrlrAnOffstDir_D_Mem 3 "NotUSed" 2 "Right" 1 "Left_or_Center" 0 "Null"; +VAL_ 1085 ULoRgenTestMde_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1085 PwSrcULoOvrTe_B_Actl 1 "Yes" 0 "No"; +VAL_ 1085 PwSrcULoFalt_D_Stat 3 "Fault_No_Output" 2 "Fault_Reduced_Output" 1 "Fault_NonSpecific" 0 "No_Fault"; +VAL_ 1085 PwSrcULoDcnnt_B_Stat 1 "Loose_or_Disconnected" 0 "Connected"; +VAL_ 1085 PwSrcULo_Pc_Mx 255 "Fault"; +VAL_ 1085 PwSrcULoComm_B_Falt 1 "Fault" 0 "No_Fault"; +VAL_ 1085 PwSrcULo_I_Mx 255 "Fault"; +VAL_ 1085 PwSrcULo_I_Actl 255 "Fault"; +VAL_ 981 AdbBrdrTop_An_Rq 255 "Faulty" 254 "NoDataExists"; +VAL_ 981 AdbBrdrRight_L_Stat 511 "Faulty" 510 "NoDataExists"; +VAL_ 981 AdbBrdrRight_An_Rq 1023 "Faulty" 1022 "NoDataExists"; +VAL_ 981 AdbBrdrLeft_L_Stat 511 "Faulty" 510 "NoDataExists"; +VAL_ 981 AdbBrdrLeft_An_Rq 1023 "Faulty" 1022 "NoDataExists"; +VAL_ 981 AdbBrdrBottom_An_Rq 63 "Faulty" 62 "NoDataExists"; +VAL_ 981 AdbBeam_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "FullHighBeam" 3 "Spot_BothSide" 2 "Spot_OnlyRightSide" 1 "Spot_OnlyLeftSide" 0 "NoHighBeam"; +VAL_ 791 EngAirFilt_B_RqReset 1 "Yes" 0 "No"; +VAL_ 791 GpsElMdeSel_B_Rq 1 "On" 0 "Off"; +VAL_ 791 LongTermReset_B_Rq 1 "On" 0 "Off"; +VAL_ 791 DrvEffLvl_No_Stat 63 "Fault" 62 "NoDataExists"; +VAL_ 868 BattRgenLoStat_D_Qlty 3 "OK" 2 "Not_Within_Spec" 1 "Eval_In_Progress" 0 "Faulty"; +VAL_ 868 BattRgenLoPrtct_B_Stat 1 "Yes" 0 "No"; +VAL_ 868 BattRgenLoDChrg_D_Stat 3 "StuckClosed" 2 "StuckOpen" 1 "Closed" 0 "Open"; +VAL_ 868 BattRgenLoDchrg_B_Rq 1 "Yes" 0 "No"; +VAL_ 868 BattRgenLoChrg_D_Stat 3 "StuckClosed" 2 "StuckOpen" 1 "Closed" 0 "Open"; +VAL_ 868 BattRgenLoChrg_B_Rq 1 "Yes" 0 "No"; +VAL_ 868 BattRgenLo_B_Falt 1 "Yes" 0 "No"; +VAL_ 867 BattRgenLoBalnc_B_Rq 1 "Yes" 0 "No"; +VAL_ 867 BattRgenLo_Te_Actl 255 "Fault"; +VAL_ 865 BattRgenLo_U_Actl 2047 "Faulty"; +VAL_ 865 BattRgenLo_I_Actl 65535 "Faulty"; +VAL_ 1144 WakeAlarm0_B_Typ 1 "CanAndEcuDriveCircuit" 0 "CanOnly"; +VAL_ 1144 PreCondBatt_B_Actl 1 "On" 0 "Off"; +VAL_ 1144 HtrnDcdcDis_B_Rq 1 "Yes" 0 "No"; +VAL_ 1144 ChrgNowEvnt_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1144 CabinDrvSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 1144 BattChrgTrgtSoC_D_Rq 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 1144 CabnEvapSovFront_B_Rq 1 "On" 0 "Off"; +VAL_ 1144 HeatCoreSovRear_B_Rq 1 "On" 0 "Off"; +VAL_ 1144 BattChlrSov_B_Rq 1 "On" 0 "Off"; +VAL_ 1144 CabnEvapSovRear_B_Rq 1 "On" 0 "Off"; +VAL_ 1144 BrkAppl_D_RqPt 3 "BrakesSlowRelease" 2 "BrakesFastRelease" 1 "BrakesEngage" 0 "NotActive"; +VAL_ 1144 HtrnCnnctPwr_B_Stat 1 "Asserted" 0 "NotAsserted"; +VAL_ 1144 PtcHtr_D_Stat 3 "Faulty" 2 "NotUsed" 1 "On" 0 "Off"; +VAL_ 1144 HtrnClntFlw_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 1144 BattTracDrvSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 1144 BattTracClntVlv_B_Rq 1 "On" 0 "Off"; +VAL_ 1141 OfbChrgSetSync_D_Stat 3 "Fail" 2 "Success" 1 "InProgress" 0 "NoSyncInProgress"; +VAL_ 1141 PtRmtRprt_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "PlugInToMaintain12vBattery" 11 "SettingUpdated" 10 "FastChargeComplete" 9 "ChargeNotOccurring" 8 "OneTimeSocReached" 7 "BatteryTemperatureReminder" 6 "ReducedPerformance" 5 "LimitedPerformance" 4 "ChargeFault" 3 "ChargeComplete" 2 "VehiclePreconditioned" 1 "TripDistanceAchieved" 0 "NoReportRequest"; +VAL_ 1141 NtfctnConflict1_D_Rq 7 "NotUsed5" 6 "NotUsed4" 5 "NotUsed3" 4 "NotUsed2" 3 "NotUsed1" 2 "Clonflict_Exists" 1 "No_Conflict" 0 "Invalid"; +VAL_ 1140 RgenEvntLvl_Pc_Dsply 1023 "Fault" 1022 "NoDataExists"; +VAL_ 1140 BrkEvntComplt_B_Dsply 1 "On" 0 "Off"; +VAL_ 1140 PreCondStat_D_Dsply 7 "Reserved3" 6 "Reserved2" 5 "Reserved1" 4 "Faulted" 3 "Complete" 2 "In_Progress" 1 "Scheduled" 0 "Not_Scheduled"; +VAL_ 1139 BattChrgTrgtLMax_T_Est 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 1139 ActChrgStrtYr_No_Actl 31 "Invalid"; +VAL_ 1139 ActChrgStrtMin_No_Actl 63 "Invalid" 62 "Unknown"; +VAL_ 1139 ActChrgStrtHr_No_Actl 31 "Invalid" 30 "Unknown"; +VAL_ 1139 ActChrgStrtDay_No_Actl 31 "Invalid"; +VAL_ 1139 ActChrgStrMnth_No_Actl 15 "Invalid"; +VAL_ 1138 BattChrgTrgtLMin_T_Est 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 1138 ActChrgEndYr_No_Actl 31 "Invalid"; +VAL_ 1138 ActChrgEndMnth_No_Actl 15 "Invalid"; +VAL_ 1138 ActChrgEndMin_No_Actl 63 "Invalid" 62 "Unknown"; +VAL_ 1138 ActChrgEndHr_No_Actl 31 "Invalid" 30 "Unknown"; +VAL_ 1138 ActChrgEndDay_No_Actl 31 "Invalid"; +VAL_ 1089 Mtr2Aout_W_ActlMntr 1023 "Faulty"; +VAL_ 1089 Inv1_Te_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 1089 MtrTrac2Coil_Te_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 1089 MtrTrac2Falt_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1089 MtrTrac2TeAlrm_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1089 Mtr2CntlTeAlrm_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1089 MtrTrac2Inv_Te_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 1089 MtrTrac2_I_Actl 65535 "Faulty"; +VAL_ 1088 ChrgTMatch_B_Stat 1 "True" 0 "False"; +VAL_ 1088 ChrgStat_D2_Dsply 15 "NotUsed_2" 14 "NotUsed_1" 13 "ChargeTargetReached" 12 "DriveConditioning" 11 "CabinPreconditioning" 10 "ChargingSystemMaintain" 9 "ChargingInductive" 8 "ChargingDCFastChange" 7 "ChargingAC" 6 "ChargeScheduled" 5 "EvsePaused" 4 "EvseNotDetected" 3 "EvseNotCompatible" 2 "FaultOutsideCar" 1 "FaultInsideCar" 0 "NotReady"; +VAL_ 1088 HvacPrecondRecirc_D_Rq 3 "Last_User_Setting" 2 "Auto" 1 "Recirc" 0 "Outside"; +VAL_ 1088 HvacPrecondMode2_D_Rq 15 "NotUsed4" 14 "NotUsed3" 13 "NotUsed2" 12 "NotUsed1" 11 "Last_User_Settings" 10 "Auto" 9 "Max_Defrost" 8 "Windshield_Panel_Floor" 7 "Windshield_Panel" 6 "Windshield" 5 "Windshield_Floor" 4 "Floor" 3 "Panel_Floor" 2 "Panel" 1 "MAX_AC" 0 "Off"; +VAL_ 1088 HvacPrecondBlwr2_D_Rq 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Last_User_Setting" 8 "Auto" 7 "Speed7" 6 "Speed6" 5 "Speed5" 4 "Speed4" 3 "Speed3" 2 "Speed2" 1 "Speed1" 0 "Off"; +VAL_ 1088 HvacPrecondAC_D_Rq 3 "Last_User_Setting" 2 "Auto" 1 "On" 0 "Off"; +VAL_ 1088 BattChrgInhbt_D_Rq 3 "MaintainTargetSoc" 2 "NotUsed" 1 "InhibitChargingThermal" 0 "Enable_Charging"; +VAL_ 1040 ElCmprEnbl_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 1016 ChrgGoTElement_B_Dsply 1 "Yes" 0 "No"; +VAL_ 1016 ChrgGoTTouchEnbl_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1016 ChrgGoTTouch_B_Stat 1 "On" 0 "Off"; +VAL_ 1016 ChrgGoTPrcond_D_Stat 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 1016 ChrgGoTMnte_D_Stat 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_ 1016 ChrgGoTHr_T_Stat 31 "Faulty" 30 "NoDataExists"; +VAL_ 1016 ChrgGoTExtHtrEnbl_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1016 ChrgGoTExtHtr_B_Stat 1 "On" 0 "Off"; +VAL_ 1016 ChrgGoTAllOn_B_Stat 1 "On" 0 "Off"; +VAL_ 1013 ChrgToPcWkndSav_D_Stat 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 1013 ChrgToPcWkdySav_D_Stat 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 1013 ChrgNowEnbl_B_Saved 1 "On" 0 "Off"; +VAL_ 1013 ChrgLocIdUnsAck_B_Stat 1 "Yes" 0 "No"; +VAL_ 1012 ChrgNowCurnt_B_Dsply 1 "On" 0 "Off"; +VAL_ 1012 ChrgLocSaved_B_Dsply 1 "Yes" 0 "No"; +VAL_ 1012 ChrgLocLongPostv_B_Sav 1 "Yes" 0 "No"; +VAL_ 1012 ChrgLocLattPostv_B_Sav 1 "Yes" 0 "No"; +VAL_ 1011 ChrgLocLongPostv_B_Uns 1 "Yes" 0 "No"; +VAL_ 1011 ChrgLocLattPostv_B_Uns 1 "Yes" 0 "No"; +VAL_ 871 BattElecPerf_D_Actl 7 "NotUsed" 6 "Hot_Batt_Severe_Lim_Perf" 5 "Hot_Batt_Reduced_Perf" 4 "Hot_Batt_Close_to_lim_Per" 3 "Cold_Batt_Severe_Lim_Perf" 2 "Cold_Batt_Reduced_Perf" 1 "Cold_Batt_Close_to_lim_Pe" 0 "Ok_no_message_displayed"; +VAL_ 871 BattChrgTrgtLPt_T_Est 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 871 BattChrgTrgSocPt_T_Est 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 871 BattChrgCmpltPt_T_Est 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 786 RgenTrip_L_Dsply 65535 "Fault" 65534 "NoDataExists"; +VAL_ 786 ChrgStat_D_Dsply 7 "NotUsed" 6 "Complete" 5 "Scheduled" 4 "In_Progress" 3 "Fault_Outside_Car" 2 "Fault_Inside_Car" 1 "Fault_Unknown_Location" 0 "Not_Ready"; +VAL_ 72 immoTarget2Status 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "DISABLED_RESET " 2 "ENABLED_NONMOTIVE_START" 1 "ENABLED_MOTIVE_START" 0 "DISABLED"; +VAL_ 72 immoTarget2Cmd 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "TARGET1_IDBLOCK2" 2 "TARGET1_IDBLOCK1" 1 "CHALLENGE" 0 "IDLE"; +VAL_ 912 CabnEvapSovFront_D_Stat 7 "NotUsed_1" 6 "FetLifeLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_ 912 BattChlrSov_D_Stat 7 "NotUsed_1" 6 "FetLifeLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_ 912 BattTracClntVlv_D_Stat 7 "NotUsed" 6 "FetLifeLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_ 874 AirCondCluOpen_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 AirCondCluLife_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 AirCondCluGnd_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 AirCondClu_D_Stat 7 "NotUsed" 6 "FetLifeLimitReached" 5 "FetOpenCircuit" 4 "FetOutputShortToPower" 3 "FetOutputShortToGround" 2 "FetNotControlled" 1 "OnPowerToLoad" 0 "OffNoPowerToLoad"; +VAL_ 874 AirCondCluBatt_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattTracShrtGrnd_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattTracShrtBatt_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattTracOpnCirct_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattTracLifeLim_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattChlrShrtGrnd_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattChlrShrtBatt_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattChlrOpnCirct_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattChlrLifeLim_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 874 BattTracLow_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 651 TelematicsSrvc_D_St 7 "NotUsed" 6 "NotifyNotActivatedYet" 5 "NotActivatedYet" 4 "NotifyExpired" 3 "Expired" 2 "ExpiringSoon" 1 "Active" 0 "Null"; +VAL_ 651 EmgcyCallMute_D_Stat 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "ManualEmergencyCallMute" 2 "AutomaticEmergencyCallMute" 1 "EmergencyCallUnmute" 0 "Null"; +VAL_ 651 OfbChrgSetSync_D_Rq 3 "Fail" 2 "Success" 1 "InProgress" 0 "NoSyncInProgress"; +VAL_ 529 OnbChrgToPcWknd_D_Actl 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 529 OnbChrgToPcWkdy_D_Actl 7 "Percent_50" 6 "Percent_60" 5 "Percent_70" 4 "Percent_80" 3 "Percent_85" 2 "Percent_90" 1 "Percent_95" 0 "Percent_100"; +VAL_ 529 OnbChrgSetNow_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 529 OnbChrgSetDelete_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 529 OnbChrgPrflUpdate_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 529 OnbChrgLocIdUns_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 66 immoControlCmd_T2 0 "IDLE" 1 "MOTIVE_START_RQST" 2 "NONMOTIVE_START_RQST" 3 "RQST_TARGET2_IDBLOCK1" 4 "RQST_TARGET2_IDBLOCK2" 5 "Unused" 6 "ECHO_TARGET2_IDBLOCK2" 7 "SHUTDOWN"; +VAL_ 1124 GPS_Vdop 31 "Invalid" 30 "Unknown"; +VAL_ 1124 GPS_Speed 255 "Invalid" 254 "Unknown"; +VAL_ 1124 GPS_Sat_num_in_view 31 "Invalid" 30 "Unknown"; +VAL_ 1124 GPS_MSL_altitude 4095 "Fault" 4094 "Unknown"; +VAL_ 1124 GPS_Heading 65535 "Fault" 65534 "Unknown"; +VAL_ 1124 GPS_Hdop 31 "Invalid" 30 "Unknown"; +VAL_ 1124 GPS_dimension 2 "_3D" 1 "_2D" 0 "No_Fix"; +VAL_ 1119 CoolFanDcdc_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 1119 DcdcClntFlw_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 1123 GpsUtcYr_No_Actl 31 "Fault"; +VAL_ 1123 GpsUtcMnth_No_Actl 15 "Fault"; +VAL_ 1123 GPS_UTC_seconds 63 "Fault" 62 "Unknown"; +VAL_ 1123 GPS_UTC_minutes 63 "Fault" 62 "Unknown"; +VAL_ 1123 GPS_UTC_hours 31 "Invalid" 30 "Unknown"; +VAL_ 1123 GPS_Pdop 31 "Invalid" 30 "Unknown"; +VAL_ 1123 GPS_Compass_direction 7 "NorthWest" 6 "West" 5 "SouthWest" 4 "South" 3 "SouthEast" 2 "East" 1 "NorthEast" 0 "North"; +VAL_ 1123 GPS_Actual_vs_Infer_pos 1 "Inferred_Position" 0 "Actual_Postition"; +VAL_ 1123 Gps_B_Falt 1 "Yes" 0 "No"; +VAL_ 1122 GpsHsphLongEast_D_Actl 0 "Invalid" 1 "Eastern" 2 "Western" 3 "Fault"; +VAL_ 1122 GpsHsphLattSth_D_Actl 3 "Fault" 2 "Northern" 1 "Southern" 0 "Invalid"; +VAL_ 1122 GPS_Longitude_Minutes 63 "Fault" 62 "Unknown"; +VAL_ 1122 GPS_Longitude_Min_dec 16383 "Invalid" 16382 "Unknown"; +VAL_ 1122 GPS_Longitude_Degrees 511 "Fault" 510 "Unknown"; +VAL_ 1122 GPS_Latitude_Minutes 63 "Fault" 62 "Unknown"; +VAL_ 1122 GPS_Latitude_Min_dec 16383 "Invalid" 16382 "Unknown"; +VAL_ 1122 GPS_Latitude_Degrees 255 "Invalid" 254 "Unknown"; +VAL_ 1003 PersRecallSrc_D_Actl 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "MemorySwitch" 3 "RemoteStart" 2 "KeyFob" 1 "CenterStack" 0 "Null"; +VAL_ 1003 Pers4Key_D_Stat 3 "NotUsed_1" 2 "KeyUnAssociated" 1 "KeyAssociated" 0 "Null"; +VAL_ 1003 Pers3Key_D_Stat 3 "NotUsed_1" 2 "KeyUnAssociated" 1 "KeyAssociated" 0 "Null"; +VAL_ 1003 Pers2Key_D_Stat 3 "NotUsed_1" 2 "KeyUnAssociated" 1 "KeyAssociated" 0 "Null"; +VAL_ 1003 Pers1Key_D_Stat 3 "NotUsed_1" 2 "KeyUnAssociated" 1 "KeyAssociated" 0 "Null"; +VAL_ 1003 EmPrflNo_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Pers4" 3 "Pers3" 2 "Pers2" 1 "Pers1" 0 "Null"; +VAL_ 1003 EmPrflKeyAssoc_D_Stat 7 "WrongDevice" 6 "KeyAssociateFailed" 5 "KeyAssociateSuccess" 4 "KeyAlreadyInUse" 3 "KeyDisassociated" 2 "KeyAssociationExited" 1 "KeyAssociationEntered" 0 "Null"; +VAL_ 1003 VehKeyActv_D_Stat 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "Key8Active" 7 "Key7Active" 6 "Key6Active" 5 "Key5Active" 4 "Key4Active" 3 "Key3Active" 2 "Key2Active" 1 "Key1Active" 0 "NoKeyActive"; +VAL_ 1003 PersNoPos_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 1003 PersSetupRestr_D_Actl 3 "Non_Moveable_Person" 2 "Moveable_Person" 1 "Vehicle" 0 "Factory"; +VAL_ 1003 PersSetupAccessCtrl 1 "Limited" 0 "Full"; +VAL_ 1003 PersConflict_D_Actl 1 "Conflict" 0 "No_Conflict"; +VAL_ 1003 AssocConfirm_D_Actl 0 "None" 7 "Associate" 6 "Keycode_Rejected" 5 "Keycode_Accepted" 4 "In_Progress" 3 "Erase" 2 "Duplicate" 1 "Disassociate"; +VAL_ 1003 PersNo_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "NotDetermined" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 994 PersStore_D_Rq 7 "Unused_2" 6 "Unused_1" 5 "Vehicle" 4 "PERS_4" 3 "PERS_3" 2 "PERS_2" 1 "PERS_1" 0 "Null"; +VAL_ 994 Pers4OptIn_B_Stats 1 "OPTED_IN" 0 "NOT_OPTED_IN"; +VAL_ 994 Pers3OptIn_B_Stats 1 "OPTED_IN" 0 "NOT_OPTED_IN"; +VAL_ 994 Pers2OptIn_B_Stats 1 "OPTED_IN" 0 "NOT_OPTED_IN"; +VAL_ 994 Pers1OptIn_B_Stats 1 "OPTED_IN" 0 "NOT_OPTED_IN"; +VAL_ 994 CtrStkPersIndex_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 994 CtrStkDsplyOp_D_Rq 7 "Unused_2" 6 "Unused_1" 5 "Copy" 4 "Restore" 3 "Upload" 2 "Set" 1 "Query" 0 "Null"; +VAL_ 778 PrkAidFront_D_RqDrv 2 "Status" 3 "NotUsed" 1 "Enabled" 0 "Disabled"; +VAL_ 778 PrkAidAcsyRear_D_RqDrv 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 778 PrkAidAcsyFront_D_RqDrv 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 778 Cta_D_Rq 3 "Unused" 2 "NoDataExists" 1 "On" 0 "Off"; +VAL_ 778 PrkAidRear_D_RqDrv 2 "Status" 3 "NotUsed" 1 "Enabled" 0 "Disabled"; +VAL_ 778 SteEffort_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "SpecialMode_2" 3 "SpecialMode_1" 2 "Comfort" 1 "Sport" 0 "Normal"; +VAL_ 778 Sod_D_Rq 2 "BLIS_On_Second_Warning_ON" 1 "BLIS_On_Second_Warning_OFF" 0 "Off"; +VAL_ 549 IPC_MyKeyVolLimit_St 0 "Invalid" 1 "Off" 2 "On"; +VAL_ 549 HdcOn_B_Rq 1 "On" 0 "Off"; +VAL_ 549 IPC_Attn_Info_Audio 7 "Unknown" 6 "Attenuation_6" 5 "Attenuation_5" 4 "Attenuation_4" 3 "Attenuation_3" 2 "Attenuation_2" 1 "Attenuation_1" 0 "No_Attenuation_of_Audio"; +VAL_ 549 BeltminderAudioMute 2 "On" 1 "Off" 0 "Invalid"; +VAL_ 549 Power_Up_Chime_Modules 1 "Active" 0 "Inactive"; +VAL_ 549 Chime_Source 2 "Cluster" 1 "Infotainment_Sys" 0 "Invalid"; +VAL_ 549 IPC_New_Attn_Event 1 "Active" 0 "Inactive"; +VAL_ 551 PmCabnLvl_D_Stat 7 "NotUsed_1" 6 "Level_6_Worst" 5 "Level_5" 4 "Level_4" 3 "Level_3" 2 "Level_2" 1 "Level_1_Best" 0 "NotKnown"; +VAL_ 551 PmCabn_D_Stat 3 "FilteringComplete" 2 "FilteringOn" 1 "FilteringOff" 0 "NotKnown"; +VAL_ 551 Cntr_Plg_Mode_Cmd 1 "Enable" 0 "Disable"; +VAL_ 551 ChrgCrdLckEnbl_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 551 PwRnngBoardT_D_Rq 3 "NotUsed" 2 "Timer2" 1 "Timer1" 0 "Inactive"; +VAL_ 551 PwRnngBoardSwtch_D_Rq 3 "NotUsed" 2 "DeployUnlocked" 1 "AlwaysActive" 0 "Inactive"; +VAL_ 551 PwRnngBoardMde_D_Rq 0 "Inactive" 1 "Off" 2 "Out" 3 "Auto"; +VAL_ 551 Btt_L_Actl2 127 "Faulty" 126 "NoDataExists"; +VAL_ 551 Rba_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 551 EmPrflNo_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Pers4" 3 "Pers3" 2 "Pers2" 1 "Pers1" 0 "Null"; +VAL_ 551 EmPrflButtnAssoc_D_Rq 3 "NotUsed" 2 "ExitButtonAssociation" 1 "EnterButtonAssociation" 0 "Null"; +VAL_ 551 EmPrflKeyAssoc_D_Rq 7 "NotUsed_3" 6 "DisassociatePhone" 5 "EnterPhoneAssociation" 4 "OverwriteKey" 3 "DisassociateKey" 2 "ExitKeyAssociation" 1 "EnterKeyAssociation" 0 "Null"; +VAL_ 551 Em_D_Stat 3 "NotSupported" 2 "ProfilesOff" 1 "ProfilesOn" 0 "Null"; +VAL_ 551 ChrgOvrdExitScrn_D_Rq 3 "NotUsed_1" 2 "Request_override" 1 "Do_not_request_override" 0 "Inactive"; +VAL_ 1010 MbdblActv_B_RqAdas 1 "Yes" 0 "No"; +VAL_ 1010 CbdblActv_B_RqAdas 1 "Yes" 0 "No"; +VAL_ 1010 AdbUrbanArea_B_Stat 1 "Yes" 0 "No"; +VAL_ 1070 BattULo24_D_Falt 3 "NotUsed" 2 "TemporaryFault" 1 "Fault" 0 "NoFault"; +VAL_ 1070 BattULo24_Te_Actl 127 "Fault"; +VAL_ 1070 BattULo24State_D_Qlty 3 "OK" 2 "Not_Within_Spec" 1 "Eval_In_Progress" 0 "Faulty"; +VAL_ 1070 BattULo24_I_Actl 16383 "Faulty"; +VAL_ 1070 BattULo24_B_Falt 1 "Yes" 0 "No"; +VAL_ 1186 SelDrvMdeAwd2_D_Stat 31 "Faulty" 30 "NotUsed_17" 29 "NotUsed_16" 28 "NotUsed_15" 27 "NotUsed_14" 26 "NotUsed_13" 25 "NotUsed_12" 24 "NotUsed_11" 23 "NotUsed_10" 22 "NotUsed_9" 21 "NotUsed_8" 20 "NotUsed_7" 19 "NotUsed_6" 18 "NotUsed_5" 17 "EvLaterChargeMode" 16 "EvNowMode" 15 "TrackMode" 14 "RoughRoadMode" 13 "NotAvailable" 12 "HighSpeedDesertMode_Baja" 11 "SportAdaptiveMode" 10 "RockCrawlMode" 9 "MudRutsMode" 8 "SandMode" 7 "EconomyMode" 6 "GrassGravelSnow" 5 "TowHaulMode" 4 "SportMode" 3 "Normal_4L" 2 "Normal_4A" 1 "Normal_2H" 0 "NormalMode"; +VAL_ 1186 RearDiffLckMsg_D_Rq 7 "Locker_Disabled" 6 "Locker_Enabled" 5 "Locker_Accel_Pedal" 4 "Speed4" 3 "Speed3" 2 "Spee2" 1 "Speed1" 0 "Normal__No_Message "; +VAL_ 1186 RearDiffLckLamp_D_Rq 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 1186 RearDiffLck_Tq_Actl 4095 "Fault" 4094 "Unknown"; +VAL_ 1186 RearDiffFalt_D_Stat 3 "Diff_Failed_Closed" 2 "Diff_Failed_Open" 1 "Fault_Non_Specific" 0 "No_Fault"; +VAL_ 1186 LsdSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_ 611 AwdSys_D_Stat 3 "Faulty" 2 "NotUsed" 1 "_4x4_L_H_Active" 0 "_4x4_L_H_Inactive"; +VAL_ 611 AwdStat_D_RqDsply 31 "NotUsed9" 30 "NotUsed8" 29 "NotUsed7" 28 "To_Engage_4x4_Release_Aped" 27 "To_Engage_4x4_Slow_To_3MPH" 26 "Shift_To_Neutral" 25 "Lkr_Mode_Unavail_TMS" 24 " _4x4_Mode_Unavail_TMS" 23 "Out_of_4Low_Crawl" 22 "AWD_PTU_Oil_Changed" 21 "Change_AWD_PTU_Oil" 20 "Neutral_Tow_Disabled" 19 "Neutral_Tow_Enabled" 18 "AWD_OFF" 17 "_4x4_Off_Road_Speed" 16 "_4x4_Extreme_Off_Road_Mode" 15 "_4x4_Exiting_Off_Road" 14 "_4x4_Off_Road_Mode" 10 "_4x4_Locked_Temporarily" 9 "Shift_In_Progress" 13 "Blocked_Shift_Assist" 12 "_4x4_Auto_Restored" 11 "_4x4_Disabled_Temporarily" 7 "Out_of_4Low__Neutral" 6 "Out_of_4Low__Brake" 5 "Out_of_4Low__Speed" 4 "Into_4Low__Clutch" 3 "Into_4Low__Neutral" 2 "Into_4Low__Brake" 1 "Into_4Low__Speed" 0 "Normal__No_Message" 8 "Out_of_4Low__Clutch"; +VAL_ 611 AwdLck_D_Stat 9 "Undefined" 8 "Under_External_Torque_Ctrl" 7 "Torque_Limited_by_Cmd" 6 "Fully_Locked_by_Cmd" 5 "Disabled" 4 "Warning" 3 "Fault" 2 "Inactive" 1 "Completely_Opened_by_Cmd" 0 "OK"; +VAL_ 611 AwdSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_ 611 NtrlTowAvail_B_Stat 1 "Available" 0 "NotAvailable"; +VAL_ 611 AwdLck_Tq_Rq 4095 "Fault" 4094 "Unknown"; +VAL_ 611 AwdOffRoadMode_D_Stats 3 "Invalid" 2 "Extreme_Off_Road" 1 "Off_Road" 0 "Normal_Mode"; +VAL_ 611 AwdLoLamp_D_RqDsply 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 611 AwdHiLamp_D_RqDsply 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 611 AwdAutoLamp_D_RqDsply 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 611 Awd2wdLamp_D_RqDsply 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 611 AwdRnge_D_Actl 7 "Unknown" 6 "High_Range_2wd" 5 "High_Range_Auto" 4 "High_Range_Locked" 3 "Neutral" 2 "Low_Range_2wd" 1 "Low_Range_Auto" 0 "Low_Range_Locked"; +VAL_ 1047 TrlrAidSetup_D2_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "SetupAcquisitionSuccess" 4 "TbaTadMonitor" 3 "SetupStartAcquisition" 2 "SetupPrepForAcquisition" 1 "TbaActive" 0 "Null"; +VAL_ 1047 TrlrAidEnbl_D2_Stat 7 "NotUsed_1" 6 "TbaActiveExpertActive" 5 "TbaActiveExpertAvail" 4 "TbaOffTrgActive" 3 "TbaOffTrgSetup" 2 "TbaSetup" 1 "TbaActive" 0 "Inactive"; +VAL_ 1047 TrlrAidMsgTxt_D2_Rq 63 "Message63" 62 "Message62" 61 "Message61" 60 "Message60" 55 "Message55" 50 "Message50" 45 "Message45" 40 "Message40" 35 "Message35" 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1047 EsaOn_B_Stat 1 "On" 0 "Off"; +VAL_ 1047 SelDrvMdeSte_D_Stat 0 "NotAvailable" 1 "Available" 2 "TemporarilyNotAvailable" 3 "Faulty"; +VAL_ 972 LatCtlSte_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Denied" 3 "RampOut" 2 "ContLatControlInProgress" 1 "Available" 0 "Unavailable"; +VAL_ 972 LatCtlLim_D_Stat 3 "LimitWithDriverActive" 2 "LimitReached" 1 "LimitClose" 0 "LimitNotReached"; +VAL_ 972 LatCtlCpblty_D_Stat 3 "Faulty" 2 "ExtendedModeAvailable" 1 "LimitedModeAvailable" 0 "NoModeAvailable"; +VAL_ 972 LsmcBrkDecelEnbl_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "On" 0 "Off"; +VAL_ 972 TjaHandsOnCnfdnc_B_Est 1 "High_Confidence" 0 "Low_Confidence"; +VAL_ 972 LaHandsOff_B_Actl 1 "Hands_Off" 0 "Hands_On"; +VAL_ 972 LaActDeny_B_Actl 1 "LA_Denied" 0 "LA_Not_Denied"; +VAL_ 972 LaActAvail_D_Actl 3 "LKA_LCA_LDW_Avail" 2 "LCA_LKA_Avail_LDW_Suppress" 1 "LCA_LKA_Suppress_LDW_Avail" 0 "LCA_LKA_LDW_Suppress"; +VAL_ 130 TrlrHitchLamp_D_Rqst 1 "On" 0 "Off"; +VAL_ 130 VehVTrlrAid_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 130 DrvSteActv_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 130 DrvSte_Tq_Actl 255 "Invalid" 254 "Unknown"; +VAL_ 130 SteMdule_D_Stat 7 "NotUsed" 6 "EPAS_Failure3" 5 "EPAS_Failure2" 4 "System_Failure" 3 "EPAS_Shutdown" 2 "Normal_Op_Full_Assist" 1 "Normal_Op_Limited_Assist" 0 "EPAS_Initialization"; +VAL_ 130 SteMdule_U_Meas 255 "Invalid"; +VAL_ 130 SteMdule_I_Est 4095 "Invalid"; +VAL_ 130 EPAS_Failure 3 "SERVICE_POWER_STEERING_NOW" 2 "SERVICE_POWER_STEERING" 1 "POWER_STRG_ASSIST_FAULT" 0 "EPAS_OK_NO_MESSAGE"; +VAL_ 130 SteeringColumnTorque 255 "Invalid" 254 "Unknown"; +VAL_ 130 SAPPAngleControlStat6 1 "RequestedAngleNotReached" 0 "RequestedAngleCanBeReached"; +VAL_ 130 SAPPAngleControlStat5 1 "StrgColTorqueExceed_EAROn" 0 "ExternalSigContentOKforEAC"; +VAL_ 130 SAPPAngleControlStat4 1 "SpeedLimitExceededEAROn" 0 "ExternalSigContentOKforEAC"; +VAL_ 130 SAPPAngleControlStat3 1 "EARactiveNoReverseEngage" 0 "ExternalSigContentOKforEAC"; +VAL_ 130 SAPPAngleControlStat2 1 "Rel_ExtSteeringAngleReqx" 0 "NoRel_ExtSteeringAngleReqx"; +VAL_ 130 SAPPAngleControlStat1 3 "Fault" 2 "Active" 1 "Open" 0 "Closed"; +VAL_ 126 StePw_B_Rq 1 "Yes" 0 "No"; +VAL_ 126 StePinRelInit_An_Sns 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 126 StePinCompAnEst_D_Qf 3 "OK" 2 "Degraded" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 1200 BrkHold_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "HeldSecondary" 3 "HeldSecure" 2 "Held" 1 "Inactive" 0 "Off"; +VAL_ 1200 HsaTrnAout_Tq_Rq 65535 "Fault" 65534 "Unknown"; +VAL_ 1200 BrkBstrVac_P_Actl 127 "Invalid"; +VAL_ 1200 YawStabilityIndex 511 "Fault" 510 "NoDataExists"; +VAL_ 1200 BrkTot_Tq_RqDrv 8191 "Fault"; +VAL_ 1200 HsaStat_D_Dsply 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "NotAvailable" 3 "SlowReleaseWithChime" 2 "SlowReleaseWithoutChime" 1 "Active" 0 "Inactive"; +VAL_ 1102 SelDrvMdePos12_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos11_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos10_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos09_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos08_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos07_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos06_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos05_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos04_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos03_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos02_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1102 SelDrvMdePos01_D_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1056 AutoEpbMsgTxt_D_Rq 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1056 AutoEpbDsply_D_Stat 1 "Available" 0 "NotAvailable"; +VAL_ 1056 AutoEpbButtnOn_B_Stat 1 "On" 0 "Off"; +VAL_ 1056 SelDrvMdePos12_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos11_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos10_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos09_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos08_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos07_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos06_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos05_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos04_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos03_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos02_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 SelDrvMdePos01_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 1056 ActvDrvMde_D2_Stat 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1056 SelDrvMde_D2_Rq 31 "Faulty" 30 "SelDrvMde31" 29 "SelDrvMde30" 28 "SelDrvMde29" 27 "SelDrvMde28" 26 "SelDrvMde27" 25 "SelDrvMde26" 24 "SelDrvMde25" 23 "SelDrvMde24" 22 "SelDrvMde23" 21 "SelDrvMde22" 20 "SelDrvMde21" 19 "SelDrvMde20" 18 "SelDrvMde19" 17 "SelDrvMde18" 16 "SelDrvMde17" 15 "SelDrvMde16" 14 "SelDrvMde15" 13 "SelDrvMde14" 12 "SelDrvMde13" 11 "SelDrvMde12" 10 "SelDrvMde11" 9 "SelDrvMde10" 8 "SelDrvMde09" 7 "SelDrvMde08" 6 "SelDrvMde07" 5 "SelDrvMde06" 4 "SelDrvMde05" 3 "SelDrvMde04" 2 "SelDrvMde03" 1 "SelDrvMde02" 0 "SelDrvMde01"; +VAL_ 1056 SelDrvMdePt_D_Rq 31 "Faulty" 30 "NotUsed15" 29 "NotUsed14" 28 "NotUsed13" 27 "NotUsed12" 26 "NotUsed11" 25 "NotUsed10" 24 "NotUsed9" 23 "NotUsed8" 22 "NotUsed7" 21 "NotUsed6" 20 "NotUsed5" 19 "NotUsed4" 18 "EvLaterChargerMode" 17 "EvNowMode" 16 "DragMode" 15 "HighSpeedDesertMode_Baja" 14 "SportAdaptiveMode" 13 "NotAvailable_13" 12 "NotAvailable_12" 11 "NotAvailable_11" 10 "NotAvailable_10" 9 "RockCrawlMode" 8 "MudRutsMode" 7 "SandMode" 6 "EconomyMode" 5 "GrassGravelSnow" 4 "NotAvailable_04" 3 "TowHaulMode" 2 "NotAvailable_02" 1 "SportMode" 0 "NormalMode"; +VAL_ 1056 SelDrvMdeMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1056 SelDrvMde_D_Stat 3 "NotUsed" 2 "DriveModeChangeRequest" 1 "DriveModeChangeSelection" 0 "NoDriveModeChangeRequest"; +VAL_ 1056 AwdMde_D_RqBrk 7 "Faulty" 6 "NotUsed2" 5 "NoRequest" 4 "Neutral" 3 "FourByFourLow" 2 "FourByFourHigh" 1 "FourByFourAuto" 0 "FourByTwo"; +VAL_ 1054 AirDamUp_B_RqBrk 1 "Up" 0 "NoRequest"; +VAL_ 1054 RbaBrk_D_Stat 3 "Denied" 2 "Active" 1 "Open" 0 "Closed"; +VAL_ 1054 SelDrvMdeChassis2_D_Rq 31 "Faulty" 30 "NotUsed17" 29 "NotUsed16" 28 "NotUsed15" 27 "NotUsed14" 26 "NotUsed13" 25 "NotUsed12" 24 "NotUsed11" 23 "NotUsed10" 22 "NotUsed9" 21 "NotUsed8" 20 "NotUsed7" 19 "NotUsed6" 18 "NotUsed5" 17 "NotUsed4" 16 "NotUsed3" 15 "NotUsed2" 14 "RoughRoadMode" 13 "TrackMode" 12 "HighSpeedDesertMode" 11 "TowHaulMode" 10 "RockCrawlMode" 9 "SandMode" 8 "MudAndRutsMode" 7 "LowMuMode" 6 "ComfortAdaptiveMode" 5 "ComfortMode" 4 "SportAdaptiveMode" 3 "SportMode" 2 "EconomyMode" 1 "NormalAdaptiveMode" 0 "NormalMode"; +VAL_ 1054 TrailCtl_D_Stat 7 "Faulty" 6 "DescentOnly" 5 "EnabledDeny" 4 "StandbyOverThreshold" 3 "StandbyOverride" 2 "Active" 1 "EnabledDescent" 0 "Off"; +VAL_ 1054 TrailCtlMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1054 BrkBstrVac_D_Stat 3 "NotUsed" 2 "BoosterVacEstimator" 1 "BoosterVacSensor" 0 "NoBoosterVacuumMonitor"; +VAL_ 1054 DrvSlipCtlOffLamp_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 1054 DrvSlipCtlMdeMsg_D_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1054 AutoHoldMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1054 CtaBrk_D_Stat 3 "Denied" 2 "Active" 1 "Open" 0 "Closed"; +VAL_ 1054 SelDrvMdeAwd_D_Rq 31 "Faulty" 30 "NotUsed_17" 29 "NotUsed_16" 28 "NotUsed_15" 27 "NotUsed_14" 26 "NotUsed_13" 25 "NotUsed_12" 24 "NotUsed_11" 23 "NotUsed_10" 22 "NotUsed_9" 21 "NotUsed_8" 20 "NotUsed_7" 19 "NotUsed_6" 18 "NotUsed_5" 17 "EvLaterChargeMode" 16 "EvNowMode" 15 "TrackMode" 14 "RoughRoadMode" 13 "NotAvailable" 12 "HighSpeedDesertMode_Baja" 11 "SportAdaptiveMode" 10 "RockCrawlMode" 9 "MudRutsMode" 8 "SandMode" 7 "EconomyMode" 6 "GrassGravelSnow" 5 "TowHaulMode" 4 "SportMode" 3 "Normal_4L" 2 "Normal_4A" 1 "Normal_2H" 0 "NormalMode"; +VAL_ 1054 AutoHoldSwMde_B_Ind 1 "On" 0 "Off"; +VAL_ 1054 AutoHoldMde_D_Ind 3 "Indication_3" 2 "Indication_2" 1 "Indication_1" 0 "Off"; +VAL_ 1054 SelDrvMdeChassis_D_Rq 31 "Faulty" 30 "NotUsed17" 29 "NotUsed16" 28 "NotUsed15" 27 "NotUsed14" 26 "NotUsed13" 25 "NotUsed12" 24 "NotUsed11" 23 "NotUsed10" 22 "NotUsed9" 21 "NotUsed8" 20 "NotUsed7" 19 "NotUsed6" 18 "NotUsed5" 17 "NotUsed4" 16 "NotUsed3" 15 "NotUsed2" 14 "NotUsed1" 13 "TrackMode" 12 "HighSpeedDesertMode" 11 "TowHaulMode" 10 "RockCrawlMode" 9 "SandMode" 8 "MudAndRutsMode" 7 "LowMuMode" 6 "ComfortAdaptiveMode" 5 "ComfortMode" 4 "SportAdaptiveMode" 3 "SportMode" 2 "EconomyMode" 1 "NormalAdaptiveMode" 0 "NormalMode"; +VAL_ 1054 ApaBrk_D_Stat 3 "Denied" 2 "Active" 1 "Open" 0 "Closed"; +VAL_ 1046 HsaMde_D_Mem 3 "Undefined" 2 "Manual" 1 "Automatic" 0 "Off"; +VAL_ 1046 BrkBstrVac_B_Rq 1 "Yes" 0 "No"; +VAL_ 1046 HdcMde_D_Actl 7 "Fault" 6 "Temporarily_Unavailable" 5 "NotEnabled_WrongGearSel" 4 "NotEnabled_SpdLimitExceed" 3 "Active_Braking" 2 "Not_Active_Braking" 1 "Off" 0 "Undefined"; +VAL_ 1046 RearDiffLck_Tq2_RqMx 4095 "Faulty"; +VAL_ 1046 TRLR_SWAY_EVNT_IN_PROG 1 "Yes" 0 "No"; +VAL_ 1046 TRLR_SWAY_CONFIG_STAT 1 "On" 0 "Off"; +VAL_ 1046 TCMode 1 "Active" 0 "Inactive"; +VAL_ 1046 DrvSlipCtlLamp_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 1046 Abs_B_Falt 1 "Yes" 0 "No"; +VAL_ 1046 DrvSlipCtlMde_D_Ind 3 "App_Specific_Off_Mode_3" 2 "App_Specific_Off_Mode_2" 1 "App_Specific_Off_Mode_1" 0 "Default_Mode"; +VAL_ 1046 DrvAntiLckLamp_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 1046 StabCtlBrk_B_Avail 1 "Yes" 0 "No"; +VAL_ 1046 DrvHdcWarnInfo_D_Rq 3 "Undefined" 2 "Lamp_On_Continuously" 1 "Lamp_Flashing" 0 "Lamp_Off_Continuously"; +VAL_ 1046 DrvHdcMsg_D_Rq 7 "Undefined" 6 "Speed_too_High" 5 "Temporarily_Unavailable" 4 "System_Fault" 3 "Select_Gear" 2 "Off" 1 "On" 0 "No_Message"; +VAL_ 1046 DrvHdcLampInfo_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 1046 BpedMove_D_Actl 3 "Unknown" 2 "DriverApplyingBrakePedal" 1 "NoAutonomousBrkPdlMovement" 0 "AutonomousBrkPedalMove"; +VAL_ 1046 ChimeBrk_B_Rq 1 "Yes" 0 "No"; +VAL_ 1046 BrkLamp_B_Rq 1 "Yes" 0 "No"; +VAL_ 1046 HILL_DESC_MC 7 "Fault_Detected" 6 "Cooling_Down" 5 "Abort_Apply_Brakes" 4 "Active" 3 "Disabled" 2 "Enabled" 1 "Off_Road" 0 "Normal"; +VAL_ 1046 RearDiffElckrOpen_B_Rq 1 "Yes" 0 "No"; +VAL_ 1045 VehStab_D_Stat 15 "Faulty" 14 "No_Data_Exists" 13 "NotUsed6" 12 "NotUsed5" 11 "NotUsed4" 10 "NotUsed3" 9 "NotUsed2" 8 "NotUsed1" 7 "High_SSRA_no_OS" 6 "Straight" 5 "Post_Oversteer" 4 "Post_Transition" 3 "Countersteer" 2 "Understeer" 1 "Oversteer" 0 "Linear"; +VAL_ 1045 BrkFluidLvl_D_Stat 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK"; +VAL_ 1045 LsmcBrkDecel_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Denied" 3 "FaultDegraded" 2 "FaultExt" 1 "On" 0 "Off"; +VAL_ 1045 VehYawNonLin_W_Rq 4095 "Fault" 4094 "Unknown"; +VAL_ 1045 VehYawLin_W_Rq 4095 "Fault" 4094 "Unknown"; +VAL_ 1045 VehVActlBrk_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 1044 StePinOffst_An_Est 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 1044 StePinOffst_D_Stat 3 "FineOffset" 2 "CoarseOffset" 1 "StoredOffset" 0 "OffsetNotCalculated"; +VAL_ 1042 VehRol_An_Dsply 127 "Faulty" 126 "NoDataExists"; +VAL_ 1042 VehPtch_An_Dsply 127 "Faulty" 126 "NoDataExists"; +VAL_ 535 WhlRr_W_Meas 32767 "Fault" 32766 "Unknown"; +VAL_ 535 WhlRl_W_Meas 32767 "Fault" 32766 "Unknown"; +VAL_ 535 WhlFr_W_Meas 32767 "Fault" 32766 "Unknown"; +VAL_ 535 WhlFl_W_Meas 32767 "Fault" 32766 "Unknown"; +VAL_ 534 WhlDirRr_D_Actl 3 "Faulty" 2 "NoDataExists" 1 "Backward" 0 "Forward"; +VAL_ 534 WhlDirRl_D_Actl 3 "Faulty" 2 "NoDataExists" 1 "Backward" 0 "Forward"; +VAL_ 534 WhlDirFr_D_Actl 3 "Faulty" 2 "NoDataExists" 1 "Backward" 0 "Forward"; +VAL_ 534 WhlDirFl_D_Actl 3 "Faulty" 2 "NoDataExists" 1 "Backward" 0 "Forward"; +VAL_ 532 RgenTqFalt_B_Actl 1 "Fault" 0 "No_Fault"; +VAL_ 532 RgenBrkDynoMde_B_Actl 1 "TwoWheelDyno" 0 "NormalOperation"; +VAL_ 531 VehStop_D_Stat 3 "Faulty" 2 "NoDataExists" 1 "Yes" 0 "No"; +VAL_ 531 TracCtlPtActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 531 LscmbbMntr_B_Err 1 "DisplayMessage" 0 "NoMessage"; +VAL_ 531 LscmbbBrkDis_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 LscmbbDeny_B_ActlBrk 1 "Yes" 0 "No"; +VAL_ 531 PrkBrkYwLamp_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 531 PrkBrkRedLamp_D_Rq 3 "Fast_Flash" 2 "Slow_Flash" 1 "On" 0 "Off"; +VAL_ 531 LscmbbBrkDecel_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AbsActv_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 StabCtlBrkActv_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 CmbbBrkPrchg_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 CmbbBrkDecel_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 CmbbBaSensInc_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkWarm_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkTotTqMn_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkPrchgActv_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkDis_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkDeny_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 AccBrkActv_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 PrplDrgCtlActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 531 LscmbbBaSensInc_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 CmbbBrkDis_B_Actl 1 "Yes" 0 "No"; +VAL_ 531 CmbbDeny_B_ActlBrk 1 "Yes" 0 "No"; +VAL_ 531 CcDis_B_Cmd 1 "Yes" 0 "No"; +VAL_ 531 VehLongOvrGnd_A_Est 1023 "Fault" 1022 "Unknown"; +VAL_ 531 LscmbBrkPrchg_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 531 AccStopActv_B_ActlBrk 1 "Yes" 0 "No"; +VAL_ 531 AccDis_B_ActlEpb 1 "Yes" 0 "No"; +VAL_ 531 PrkBrkMsgTxt_D_Rq 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "No_Message"; +VAL_ 531 PrkBrkStatus 7 "GeneralFault_MaintenceMode" 6 "ECD_by_Brake_ECU_Active" 5 "EPB_Limphome_Active" 4 "Rear_Caliper_Open" 3 "RWU_By_EPB_Active" 2 "Rear_Caliper_Transition" 1 "Rear_Caliper_Closed" 0 "Not_Supported"; +VAL_ 136 SteWhlBrkOffst_An_Rq 32767 "Faulty" 32766 "NoDataExists"; +VAL_ 125 VehRolComp_W_Actl 4094 "NoDataExists" 4095 "Fault"; +VAL_ 125 VehVertComp_A_Actl 1022 "NoDataExists" 1023 "Fault"; +VAL_ 125 BrkTot_Tq_RqArb 8191 "Fault" 8190 "Unknown"; +VAL_ 125 BrkTot_Tq_Actl 8191 "Fault" 8190 "Unknown"; +VAL_ 125 HsaStat_D_Actl 7 "Faulty" 6 "FaultyWithDriverIndication" 5 "SlowRelease" 4 "FastRelease" 3 "ActiveBrakePedalReleased" 2 "ActiveBrakePedalPressed" 1 "FindingGradient" 0 "Inactive"; +VAL_ 119 VehTrvlDir_D_Stat 7 "Faulty" 6 "NoDataExists" 5 "NotUsed2" 4 "NotUsed1" 3 "Reverse" 2 "LikelyReverse" 1 "Forward" 0 "LikelyForward"; +VAL_ 119 VehOverGnd_V_Est 65535 "Invalid" 65534 "Unknown"; +VAL_ 119 VehLongComp_A_Actl 1023 "Fault" 1022 "NoDataExists"; +VAL_ 119 VehLatComp_A_Actl 1023 "Fault" 1022 "NoDataExists"; +VAL_ 119 VehYawComp_W_Actl 4095 "Fault" 4094 "NoDataExists"; +VAL_ 118 BrkCtrFnd_B_Stat 1 "Yes" 0 "No"; +VAL_ 118 DrvSte_D_Stat 15 "NotUsed10" 14 "NotUsed9" 13 "NotUsed8" 12 "NotUsed7" 11 "NotUsed6" 10 "NotUsed5" 9 "NotUsed4" 8 "NotUsed3" 7 "NotUsed2" 6 "NotUsed1" 5 "Request_Active" 4 "Ignition_Off" 3 "DSR_in_Normal_Idle_Mode" 2 "EPAS_Comm_Disturbed" 1 "DSR_Request_Not_Applicable" 0 "DSR_Deactivated"; +VAL_ 118 DrvSte_Tq_Rq 255 "Invalid" 254 "Unknown"; +VAL_ 118 EmgcyBrkLamp_D_Rq 3 "NotUsed" 2 "Active_at_standstill" 1 "Active_at_speed" 0 "Inactive"; +VAL_ 118 StopLamp_B_RqBrk 1 "Active" 0 "Inactive"; +VAL_ 73 immoSubTarget1Cmd_T1 7 "Unused3" 6 "Unused2" 5 "ECHO_TARGET1_IDBLOCK2" 4 "Unused1" 3 "RQST_TARGET1_IDBLOCK2" 2 "RQST_TARGET1_IDBLOCK1" 1 "RESPONSE" 0 "IDLE"; +VAL_ 561 TrnMsgTxt2_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "TransTooHot_LoudChime" 3 "PressBrake_LoudChime" 2 "PressBrake_SoftChime" 1 "PressBrake_NoChime" 0 "NoText_NoChime"; +VAL_ 561 TrnMsgTxt_D_Rq 15 "Message_15" 14 "Message_14" 13 "Message_13" 12 "Message_12" 11 "Message_11" 10 "Message_10" 9 "Message_9" 8 "Message_8" 7 "Message_7" 6 "Message_6" 5 "Message_5" 4 "Message_4" 3 "Message_3" 2 "Message_2" 1 "Message_1" 0 "NoMessage"; +VAL_ 330 TrnAout_W_ActlUnfilt 32767 "Fault" 32766 "Unknown"; +VAL_ 1090 Mtr2State_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed_1" 4 "ReadinessState" 3 "DeactivationState" 2 "PowerGeneration" 1 "PowerConsumption" 0 "Null"; +VAL_ 1090 Inv1Ain_I_ActlMntr 32767 "Faulty" 32766 "NoDataExists"; +VAL_ 1090 HybVehMde_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Fuel" 2 "HybridElectric" 1 "AllElectric" 0 "Null"; +VAL_ 1090 ChrgStat_D_ActlMntr 7 "Faulty" 6 "NoDataExists" 5 "NotUsed" 4 "ChargingCompleted" 3 "NotCharging" 2 "ChargingInDrivingState" 1 "ChargingInParkingState" 0 "Null"; +VAL_ 1090 VehElRnge_L_Dsply 4094 "NoDataExists" 4095 "Fault"; +VAL_ 870 EngMdeMsgTxt_D_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Charge" 3 "GlowingCharge" 2 "Hybrid" 1 "Ev" 0 "NoMessage"; +VAL_ 870 RngPerChrgInst_L_Dsply 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 869 PwrFlowTxt_D_Dsply 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "Disply_Rgen_Chrg_Txt" 10 "Disp_Fast_Charge_Txt" 9 "Disp_Fast_Charge_Cmplt_Txt" 8 "Disp_Charge_Cmplt_Txt" 7 "Disp_Remote_Start_Txt" 6 "Disp_Eng_Drv_Txt" 5 "Disp_Elec_Drv_Txt" 4 "Disp_Idle_with_Chrg_Txt" 3 "Disp_Idle_Txt" 2 "Disp_Charg_HV_Batt_Txt" 1 "Disp_Hyb_Drive_Txt" 0 "No_Text"; +VAL_ 869 EngOnMsg2_D_Dsply 14 "_0xE_to_1F_NotUsed" 12 "Battery_Temperature" 11 "Hill_Decent_Control" 10 "Fuel_Maintenance" 9 "Oil_Maintenance" 8 "Normal_Operation" 7 "Low_Gear" 6 "Batt_Charging" 5 "Engine_Cold" 4 "Neutral_Gear" 3 "Heater_Setting" 2 "High_Speed" 1 "Acceleration" 0 "No_Display" 13 "Drive_Mode_Selection"; +VAL_ 869 EngOnMsg1_D_Dsply 14 "_0xE_to_1F_NotUsed" 12 "Battery_Temperature" 11 "Hill_Decent_Control" 10 "Fuel_Maintenance" 9 "Oil_Maintenance" 8 "Normal_Operation" 7 "Low_Gear" 6 "Batt_Charging" 5 "Engine_Cold" 4 "Neutral_Gear" 3 "Heater_Setting" 2 "High_Speed" 1 "Acceleration" 0 "No_Display" 13 "Drive_Mode_Selection"; +VAL_ 869 FuelMaintMde_D_Dsply 3 "Feature_Not_Present" 2 "In_Fuel_Maint_Mode" 1 "Close_to_Fuel_Maint" 0 "OK"; +VAL_ 869 EngActv_B_Dsply 1 "On" 0 "Off"; +VAL_ 869 EffWhlThresOn_B_Dsply 1 "On" 0 "Off"; +VAL_ 606 ElVehLaterMde_D_Stat 3 "NotUsed" 2 "Available" 1 "NotAvailable" 0 "Null"; +VAL_ 606 ElVehNowMde_D_Stat 3 "NotUsed" 2 "Available" 1 "NotAvailable" 0 "Null"; +VAL_ 374 GearEngag_D_Actl 7 "Undefined" 6 "Fwd_Clutch_Fully_Engaged" 5 "Neutral_Idle" 4 "Disengaged_to_Neutral_Idle" 3 "Disengaged_to_Neutral_Park" 2 "Engagement_in_Progress" 1 "InitializeFwdClutchEngagmt" 0 "Park_Neutral"; +VAL_ 374 TrnRng_D_Rq 15 "Fault" 14 "Unknown_Position" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Range6" 10 "Range5" 9 "Range4" 8 "Range3_M3_L3" 7 "Range2_M2_L2" 6 "Range1_M1_L1" 5 "Low" 4 "Sport_DriveSport_Mposition" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_ 374 TrnPrkSys_D_Actl 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "FrequencyError" 8 "OutOfRangeHigh" 7 "OutOfRangeLow" 6 "Override" 5 "OutOfPark" 4 "TransitionCloseToOutOfPark" 3 "AtNoSpring" 2 "TransitionCloseToPark" 1 "Park" 0 "NotKnown"; +VAL_ 374 GearLvr_D_ActlDrv 15 "Fault" 14 "Unknown_Position" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Range6" 10 "Range5" 9 "Range4" 8 "Range3_M3_L3" 7 "Range2_M2_L2" 6 "Range1_M1_L1" 5 "Low" 4 "Sport_DriveSport_Mposition" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_ 374 GearPos_D_Trg 15 "Unknown" 14 "Reverse" 13 "Undefined_5" 12 "Undefined_4" 11 "Undefined_3" 10 "Tenth" 9 "Ninth" 8 "Eighth" 7 "Seventh" 6 "Sixth" 5 "Fifth" 4 "Fourth" 3 "Third" 2 "Second" 1 "First" 0 "Neutral"; +VAL_ 374 GearPos_D_Actl 15 "Unknown" 14 "Reverse" 13 "Undefined_5" 12 "Undefined_4" 11 "Undefined_3" 10 "Tenth" 9 "Ninth" 8 "Eighth" 7 "Seventh" 6 "Sixth" 5 "Fifth" 4 "Fourth" 3 "Third" 2 "Second" 1 "First" 0 "Neutral"; +VAL_ 603 WhlDirAvgDrv_D_Actl 3 "Failed" 2 "Unknown" 1 "Backward" 0 "Forward"; +VAL_ 603 PrplTqMnRgen_B_Actl 1 "Yes" 0 "No"; +VAL_ 603 BattTracCnnct_D_Rq 3 "Undefined" 2 "Retain" 1 "Close" 0 "Open"; +VAL_ 602 HtrnWarnLamp_B_Dsply 1 "On" 0 "Off"; +VAL_ 602 HybPwLimOn_B_Stat 1 "Yes" 0 "No"; +VAL_ 602 PwPckTqRdy_B_Dsply 1 "On" 0 "Off"; +VAL_ 1152 BattTracDiagClr_B_Stat 1 "On" 0 "Off"; +VAL_ 1152 EngTeHi_B_Actl 1 "EngineTempHigh" 0 "Normal"; +VAL_ 1152 DcdcOn_B_Rq 1 "On" 0 "Off"; +VAL_ 1152 ULoBattSpprtSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 1152 VehElEff_No_Avg 127 "Faulty" 126 "NoDataExists"; +VAL_ 872 PlgActvArb_B_Dsply 1 "On" 0 "Off"; +VAL_ 872 HybMdeStat_D_Dsply 7 "NotUsed2" 6 "EV_Charge" 5 "EV_Override" 4 "Forced_EV_Mode" 3 "Forced_Charge_Sustain_Mode" 2 "Auto_Charge_Sustain_Mode" 1 "Auto_Charge_Deplete_Mode" 0 "Null_State"; +VAL_ 560 SelDrvMdeSwtch_D_Stat3 3 "Faulty" 2 "SwitchState2" 1 "SwitchState1" 0 "NotPressed"; +VAL_ 560 TrnSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_ 560 TrnShifActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 560 GearLvrPos_D_Actl 15 "Fault" 14 "Unknown_Position" 13 "Undefined_Treat_as__Fault" 12 "Undefined_Treat_as_Fault" 11 "sixth" 10 "fifth" 9 "fourth" 8 "third" 7 "second" 6 "first" 5 "Low" 4 "Sport_DriveSport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_ 560 GboxOil_Te_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 369 SeatWorkSrfc_B_Falt 1 "Active" 0 "Inactive"; +VAL_ 369 TrnIpcDsplyRng2_D_Actl 15 "No_Range_Selected" 14 "Range_14" 13 "Range_13" 12 "Range_12" 11 "Range_11" 10 "Range_10" 9 "Range_9" 8 "Range_8" 7 "Range_7" 6 "Range_6" 5 "Range_5" 4 "Range_4" 3 "Range_3" 2 "Range_2" 1 "Range_1" 0 "NotUsed"; +VAL_ 369 TrnIpcDsplyRng_D_Stat 3 "NotUsed" 2 "Flash" 1 "On" 0 "Blank_No_Display"; +VAL_ 369 TrnIpcDsplyGear_D_Actl 15 "No_Gear_Selected" 14 "_14th_Gear" 13 "_13th_Gear" 12 "_12th_Gear" 11 "_11th_Gear" 10 "_10th_Gear" 9 "_9th_Gear" 8 "_8th_Gear" 7 "_7th_Gear" 6 "_6th_Gear" 5 "_5th_Gear" 4 "_4th_Gear" 3 "_3rd_Gear" 2 "_2nd_Gear" 1 "_1st_Gear" 0 "Neutral"; +VAL_ 369 TrnIpcDsplyMde_D_Stat 3 "Reserved_Blank_No_Display" 2 "Flash" 1 "On" 0 "Blank_No_Display"; +VAL_ 369 TrnIpcDsplyMde_D_Actl 7 "Manual_3" 6 "Manual_2" 5 "Manual_1_Low" 4 "Sport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_ 369 TrnIpcDsplyGear_D_Stat 3 "Reserved_Blank_No_Display" 2 "Flash" 1 "On" 0 "Blank_No_Display"; +VAL_ 92 TrnLvrV_D_Rq 3 "Full_Speed" 2 "Aggressive" 1 "Normal" 0 "Quiet"; +VAL_ 92 TrnSbwSysHlth_D_Actl 3 "OK" 2 "Degraded" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 92 TrnGearNtmAllow_B_Stat 1 "Yes" 0 "No"; +VAL_ 92 TrnDtpCmd_D_Actl 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "Relatch" 3 "Deploy" 2 "Self_Test" 1 "No_Command" 0 "NotUsed1"; +VAL_ 92 GearSelLck_D_Rq 3 "PreventionBlocker" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_ 92 TrnValidGear_D_Cnfm 3 "Accept" 2 "Reject" 1 "Internal_Request" 0 "No_Command"; +VAL_ 92 TrnNtrlTowCmd_D_Actl 3 "NotUsed" 2 "Neutral_Tow_Entry" 1 "Car_Wash_Mode" 0 "Normal_Mode"; +VAL_ 92 TrnGearCmd_Pc_ActlPt 1023 "Fault"; +VAL_ 92 TrnGear_D_RqPt 7 "Fault" 6 "NotUsed" 5 "Manual" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" 0 "No_Gear"; +VAL_ 92 TrnCmdState_B_Actl 1 "Yes" 0 "No"; +VAL_ 92 PrkBrkActv_D_RqTrnGear 3 "NotUsed2" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "NotUsed1"; +VAL_ 92 TrnGearMsgTxt_D_Rq 15 "Message_15" 14 "Message_14" 13 "Message_13" 12 "Message_12" 11 "Message_11" 10 "Message_10" 9 "Message_9" 8 "Message_8" 7 "Message_7" 6 "Message_6" 5 "Message_5" 4 "Message_4" 3 "Message_3" 2 "Message_2" 1 "Message_1" 0 "NoMessage"; +VAL_ 1087 BattRgenLoChrg_D_RqEng 3 "Disable" 2 "Retain" 1 "Closed" 0 "Open"; +VAL_ 1087 AdasLcObtclAbrt_B_Stat 1 "Yes" 0 "No"; +VAL_ 1087 BattRgenLoDChrg_D_RqEng 3 "Disable" 2 "Retain" 1 "Closed" 0 "Open"; +VAL_ 1087 AirDamPos_D_Stat 3 "Faulty" 2 "NotUsed" 1 "Down" 0 "Up"; +VAL_ 1087 FapLcInhbt_B_Rq 1 "Yes" 0 "No"; +VAL_ 1087 FapLcStopHold_B_Rq 1 "Yes" 0 "No"; +VAL_ 1087 FapLcPrchgBrk_B_Rq 1 "Yes" 0 "No"; +VAL_ 1087 FapLcObstcl_B_Stat 1 "Yes" 0 "No"; +VAL_ 1087 FapLcMaxGrdInhbt_B_Stat 1 "Yes" 0 "No"; +VAL_ 1087 FapLcMaxGrdAbrt_B_Stat 1 "Yes" 0 "No"; +VAL_ 1087 FapLcActv_B_Stat 1 "Yes" 0 "No"; +VAL_ 332 UreaLvlQlty_D_RqDsply 7 "NotUsed_5" 6 "NotUsed_4" 5 "NotUsed_3" 4 "NotUsed_2" 3 "NotUsed_1" 2 "FlashChime" 1 "On" 0 "Off"; +VAL_ 332 UreaLvlTxtWarn_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "System_Error" 10 "Engine_Idled_See_Manual" 9 "Engine_Idled_Upon_Refuel" 8 "Speed_Limited_To_XX_mph" 7 "XXmph_Max_Upon_Restart" 6 "Speed_Limited_To_YY_mph" 5 "YYmph_Max_Upon_Restart" 4 "SpdLimtd_YYmph_In_XXmiles" 3 "ExFlRange_XXMiles_ScndWarn" 2 "Exh_Fluid_Range_XX_Miles" 1 "Exh_Fluid_Under_Half_Full" 0 "Exh_Fluid_Over_Half_Full"; +VAL_ 332 UreaQltySysWarn_D_Rq 7 "Undefined" 6 "ZZ_Overrides" 5 "EngineIdled" 4 "Engine_Idle_Upon_Refuel" 3 "SPEED_LIMITED_to_YY_mph" 2 "YY_MPH_MAX_UPON_Restart" 1 "CONTAMINATED_ExhFluid" 0 "NoQualityProblem"; +VAL_ 332 DieslPrtcWarn_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "OCR_ExhFilterClean_Stopped" 10 "OCR_ExhFilterCleaned" 9 "RgnOff_AtLimit" 8 "RgnOff_OverLoaded" 7 "RgnOff_Loaded" 6 "Exhaust_Filter_Full" 5 "DPF_OverLimit" 4 "DPF_AtLimit" 3 "ExhFilter_Drive_Completed" 2 "Cleaning_Exhaust_Filter" 1 "DPF_OverLoaded" 0 "DPF_Normal_Operation"; +VAL_ 332 UreaQltyFlg_B_RqDsply 1 "True" 0 "False"; +VAL_ 332 UreaQltySys_D_RqDsply 7 "Undefined" 6 "ZZ_Overrides" 5 "EngineIdled" 4 "Engine_Idle_Upon_Refuel" 3 "SPEED_LIMITED_to_YY_mph" 2 "YY_MPH_MAX_UPON_Restart" 1 "CONTAMINATED_ExhFluid" 0 "NoQualityProblem"; +VAL_ 332 UreaLvlTxt_D_RqDsply 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "System_Error" 10 "Engine_Idled_See_Manual" 9 "Engine_Idled_Upon_Refuel" 8 "Speed_Limited_To_XX_mph" 7 "XXmph_Max_Upon_Restart" 6 "Speed_Limited_To_YY_mph" 5 "YYmph_Max_Upon_Restart" 4 "SpdLimtd_YYmph_In_XXmiles" 3 "ExFlRange_XXMiles_ScndWarn" 2 "Exh_Fluid_Range_XX_Miles" 1 "Exh_Fluid_Under_Half_Full" 0 "Exh_Fluid_Over_Half_Full"; +VAL_ 1100 EngExhMdeQuiet_D2_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Track" 3 "Sport" 2 "Normal" 1 "Stealth" 0 "Null"; +VAL_ 1100 HvacCmprLim_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "CompressorHeadPressure" 4 "AvailableTorque" 3 "PedalPosition" 2 "RPM" 1 "ECT" 0 "NoLimit"; +VAL_ 1100 WakeAlarm1_B_Typ 1 "CanAndEcuDriveCircuit" 0 "CanOnly"; +VAL_ 1100 Veh_V_DsplyTrailCtlSet 63 "Faulty"; +VAL_ 1100 TrailCtlPt_B_Falt 1 "Fault" 0 "No_Fault"; +VAL_ 1100 AutoTowAllw_D_StatMnu 3 "TowHaulCommandedOn" 2 "AutoTowHaulEnabled" 1 "AutoTowHaulDisabled" 0 "NoSelection"; +VAL_ 1100 AutoTowActv_B_Stat 1 "Yes" 0 "No"; +VAL_ 1100 GrossTrainWeight_M_Est 255 "Faulty" 254 "NoDataExists"; +VAL_ 1098 EdmSailMdeOn_B_Stat 1 "On" 0 "Off"; +VAL_ 1098 EdmMsgTxt_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "OverallGoodScore" 10 "WorkOnCompliance" 9 "GoodCompliance" 8 "WorkOnGearShifting" 7 "GoodGearShifting" 6 "WorkOnEfficientSpeed" 5 "GoodEfficientSpeed" 4 "WorkOnDeceleration" 3 "GoodDeceleration" 2 "WorkOnAcceleration" 1 "GoodAcceleration" 0 "NoMessage"; +VAL_ 1098 EdmLamp_D_Dsply 15 "NotUsed_7" 14 "NotUsed_6" 13 "NotUsed_5" 12 "NotUsed_4" 11 "NotUsed_3" 10 "NotUsed_2" 9 "NotUsed_1" 8 "CoastingEngineBrake" 7 "CoastingShiftToNeutral" 6 "FreewayJunction" 5 "Curve2" 4 "Curve1" 3 "SpeedLimit" 2 "Crossing" 1 "FreewayExit" 0 "NoRecommendation"; +VAL_ 1098 EdmCmplnc_B_Dsply 1 "Yes" 0 "No"; +VAL_ 1086 FuelPumpPwr_B_Rq 1 "On" 0 "Off"; +VAL_ 1086 ElLoadCtl_D_Rq 7 "Unused3" 6 "Unused2" 5 "Unused1" 4 "HoldAllDrvrInvisibleLoads" 3 "StdDriverInvisibleLoadsOn" 2 "AllDriverInvisibleLoadsOn" 1 "All_Possible_Loads_Off" 0 "No_Request"; +VAL_ 1071 CluPdlPosPcMeas_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 1069 SlMde_D_Stat 3 "IsaNotConfigured" 2 "Manual_Mode" 1 "Auto_Mode" 0 "Null"; +VAL_ 1069 SlMde_D_RqDsply 3 "NotUsed" 2 "ManualSpeed_LimiterSymbol" 1 "AutoSpeed_LimiterSymbol" 0 "NoSpeed_LimiterSymbol"; +VAL_ 1069 IsaOffst_D_Stat 15 "Faulty" 14 "Null" 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero"; +VAL_ 1069 GrllShtrPos_D_Cmd 15 "Fully_Open" 14 "Position14" 13 "Position13" 12 "Position12" 11 "Position11" 10 "Position10" 9 "Position9" 8 "Position8" 7 "Position7" 6 "Position6" 5 "Position5" 4 "Position4" 3 "Position3" 2 "Position2" 1 "Position1" 0 "Fully_Closed"; +VAL_ 1069 GrllShtrPos_B_Falt 1 "Fault" 0 "No_Fault"; +VAL_ 1069 ObdWarmUp_B_Complt 1 "Yes" 0 "No"; +VAL_ 1069 EngMsgTxt_D_Rq 3 "Undefined_2" 2 "Undefined_1" 1 "Power_Reduced_to_LowerTemp" 0 "No_Message"; +VAL_ 1069 EngAirIn_Te_Actl 1023 "Fault" 1022 "Unknown"; +VAL_ 1060 RearDiffOilTeWarn_B_Rq 1 "On" 0 "Off"; +VAL_ 1060 RearDiffOil_Te_Actl 511 "Faulty"; +VAL_ 1060 BpedDrvMsgTxt_B_Dsply 1 "On" 0 "Off"; +VAL_ 1060 FuelLvlWarn_D_ActlEng 7 "DteLevel5Lowest" 6 "DteLevel4" 5 "DteLevel3" 4 "DteLevel2NonMyKey" 3 "DteLevel1MyKey" 2 "VeryLow" 1 "Low" 0 "OK"; +VAL_ 1060 SelDrvMdePt_D_Stat 0 "NotAvailable" 1 "Available" 2 "TemporarilyNotAvailable" 3 "Faulty"; +VAL_ 1057 FohEng_D_Rq 3 "AutoEnable_ParkEnable" 2 "AutoDisable_ParkEnable" 1 "AutoEnable_ParkDisable" 0 "Disable_Stop"; +VAL_ 1057 EngIdlShutDwnTxt_D_Rq 3 "NotUsed" 2 "EngineShutdownOnPrevDrive" 1 "FeatureDisabledDueToFault" 0 "NoMessage"; +VAL_ 1057 EngIdlShutDown_D_Stat 3 "Not_used" 2 "Engine_Shutdown" 1 "Initiated_Countdown" 0 "Normal_Operation"; +VAL_ 1057 FUEL_ALCOHOL_PERCNT 255 "Invalid"; +VAL_ 1057 TrnTotTq_Rt_Est 65535 "Fault" 65534 "Unknown"; +VAL_ 1057 TrnTotLss_Tq_Est 255 "Fault" 254 "Unknown"; +VAL_ 1057 ECMMILRequest 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 1057 AirCondFluidHi_P_Actl 255 "Fault" 254 "Unknown"; +VAL_ 1057 OilPressureWarning 1 "Low_Pressure_Lamp_On" 0 "Normal_Pressure_Lamp_Off"; +VAL_ 1057 VehVLimStat_D_Actl 7 "Undefined_3" 6 "Undefined_2" 5 "Undefined_1" 4 "ASL_Fault_Condition" 3 "Active_and_Limiting" 2 "Active_but_Not_Limiting" 1 "Standby" 0 "Off"; +VAL_ 1057 VehVLimActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 1057 CoolantFanStepAct 31 "Unused7" 30 "Unused6" 29 "Unused5" 28 "Unused4" 27 "Unused3" 26 "Unused2" 25 "Unused1" 23 "Step23" 22 "Step22" 21 "Step21" 20 "Step20" 19 "Step19" 18 "Step18" 17 "Step17" 16 "Step16" 15 "Step15" 14 "Step14" 13 "Step13" 12 "Step12" 11 "Step11" 10 "Step10" 9 "Step9" 8 "Step8" 7 "Step7" 6 "Step6" 5 "Step5" 4 "Step4" 3 "Step3" 2 "Step2" 1 "Step1" 24 "Max_Fan_Speed_Req" 0 "Fan_Cmd_Off"; +VAL_ 1055 EcoCochInstNeg_B_Dsply 1 "True" 0 "False"; +VAL_ 562 GearNtrl_D_Stat 3 "Faulty" 2 "NoDataExists" 1 "Yes" 0 "No"; +VAL_ 523 EngAirFiltMsgTxt_D_Rq 7 "NotUsed_2" 6 "NotUsed_1" 5 "EngineAirFilterMonitorFalt" 4 "ResetComplete" 3 "Clogged" 2 "ReplaceNow" 1 "ReplaceSoon" 0 "NoMessage"; +VAL_ 523 WaterInFuel_B_Falt 1 "Fault" 0 "No_Fault"; +VAL_ 523 UreaMnAdd_L2_Actl 255 "Faulty"; +VAL_ 523 UreaMxAdd_L2_Actl 511 "Faulty"; +VAL_ 517 FapLc_B_Err 1 "Yes" 0 "No"; +VAL_ 516 EngAoutNActl_D_QF 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 516 EngAout3_N_Actl 65535 "Invalid"; +VAL_ 516 ApedPos_PcRate_ActlArb 255 "Fault" 254 "Unknown"; +VAL_ 516 ApedPosPcActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 514 StrtrMtrDlyStrt_B_Stat 1 "Yes" 0 "No"; +VAL_ 514 VehVTrlrAid_B_Avail 1 "Yes" 0 "No"; +VAL_ 514 StrtrMtrCtlMsgTxt_D_Rq 7 "Start_In_Gear_Allowed" 6 "Pending_Start_Cancelled" 5 "Start_Pending_Please_Wait" 4 "Cranking_Limit_Exceeded" 3 "Press_Brk_and_Shift_to_P_N" 2 "Press_Clutch_and_Brake" 1 "Press_Clutch_To_Start" 0 "No_Display"; +VAL_ 514 VehVActlEng_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 514 GearRvrse_D_Actl 7 "Fault" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Active_confirmed" 2 "Active_not_confirmed" 1 "Inactive_confirmed" 0 "Inactive_not_confirmed"; +VAL_ 514 StrtrMtrCtlMsgTxt_D2_Rq 3 "NoRequestPcmStartingMsgCtl" 2 "ShiftToNeutralToStart" 1 "ShiftToParkToStart" 0 "NoRequestBcmStartingMsgCtl"; +VAL_ 512 PtDrvMde_D_Stat 15 "Faulty" 14 "NotUsed11" 13 "NotUsed10" 12 "NotUsed9" 11 "NotUsed8" 10 "NotUsed7" 9 "NotUsed6" 8 "NotUsed5" 7 "Drag" 6 "Rock" 5 "Baja" 4 "Sand" 3 "TowHaulGradeAssist" 2 "SnowWet" 1 "Sport" 0 "Normal"; +VAL_ 381 EngOilSrvcMsgTxt_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "ResetComplete" 3 "ResetInProgress" 2 "ChangeOilNow" 1 "ChangeOilSoon" 0 "NoText"; +VAL_ 381 RunDryPrevent_B_Stat 1 "True" 0 "False"; +VAL_ 381 WaterInFuel 1 "On" 0 "Off"; +VAL_ 381 GlowIndication 1 "On" 0 "Off"; +VAL_ 380 EngOilLvlWarn_D_Rq1 7 "Undefined_3" 6 "Undefined_2" 5 "Engine_Oil_Monitor_Fault" 3 "Engine_Oil_High" 2 "Engine_Oil_Critical_Low" 1 "Engine_Oil_Low" 0 "No_Message" 4 "Engine_Oil_Critical_High"; +VAL_ 380 EngExhBrkOnLamp_B_Rq 1 "On" 0 "Off"; +VAL_ 380 EngExhBrkAutoLamp_B_Rq 1 "On" 0 "Off"; +VAL_ 380 EngExhBrkMde_D_Actl 6 "ExhBrkDisable_NoError" 5 "ExhBrkActive_AUTO" 4 "ExhBrkActive_ON" 3 "ExhBrkRequest_AUTO" 2 "ExhBrkRequest_ON" 1 "ExhBrkNoRequest_OFF" 0 "ExhBrkUnavailable_Error"; +VAL_ 377 HvacAirFullOut_B_Rq 1 "Yes" 0 "No"; +VAL_ 377 FuelFillInlet_B_Dsply 1 "Yes" 0 "No"; +VAL_ 377 EngSrvcRqd_B_Rq 1 "Engine_Service_Required" 0 "No_engine_service_required"; +VAL_ 377 OdoCount 255 "Invalid"; +VAL_ 377 FuelFilterLamp_B_Dsply 1 "On" 0 "Off"; +VAL_ 377 AirCondRec_B_Rq 1 "Yes" 0 "No"; +VAL_ 377 AirCondClutch_B_Stats 1 "Yes" 0 "No"; +VAL_ 376 GasPrtc_D_RqDsply 7 "NotUsed_5" 6 "NotUsed_4" 5 "NotUsed_3" 4 "NotUsed_2" 3 "NotUsed_1" 2 "GpfOverLimit" 1 "GpfAtLimit" 0 "NormalOperation"; +VAL_ 376 DynoMde_B_Cmd 1 "Two_Wheel_Dyno" 0 "Normal_Operation"; +VAL_ 376 AslIconDsply_D_Rq 3 "On_Passive_Overridden" 2 "On_Active" 1 "On_Passive" 0 "Off"; +VAL_ 376 AslChime_B_Rq 1 "Yes" 0 "No"; +VAL_ 376 HvacHtrCore2_Te_Actl 1023 "Faulty"; +VAL_ 376 EcssLamp_D_RqDsply 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 376 AirAmbTe_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 376 AirAmb_P_Actl 63 "Fault" 62 "NoDataExists"; +VAL_ 373 DieslPrtc2_D_RqDsply 15 "NotUsed4" 14 "NotUsed3" 13 "NotUsed2" 12 "NotUsed1" 11 "OCR_ExhFilterClean_Stopped" 10 "OCR_ExhFilterCleaned" 9 "RgnOff_AtLimit" 8 "RgnOff_Overloaded" 7 "RgnOff_Loaded" 6 "Exhaust_Filter_Full" 5 "DPF_Overlimit" 4 "DPF_AtLimit" 3 "ExhFilter_Drive_Completed" 2 "Cleaning_Exhaust_Filter" 1 "DPF_Overloaded" 0 "DPF_Normal_Operation"; +VAL_ 373 DieslPrtcRgen_D_Actl 3 "Undefined" 2 "Regen_Level_2" 1 "Regen_Level_1" 0 "No_regen"; +VAL_ 373 EngTeColdPrtct_D_Stats 3 "Engine_Warm_RdcPwr" 2 "OK_to_Drive" 1 "Engine_Warm_PlsWait" 0 "Normal_Operation"; +VAL_ 373 EngExhOvrTe_B_RqDsply 1 "Active" 0 "Inactive"; +VAL_ 359 PrplWhlRgenMn_Tq_Actl 8191 "Faulty"; +VAL_ 359 ElPw_D_StatStrtStop 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Supported_Level_4" 8 "Supported_Level_3" 7 "Supported_Level_2" 6 "Supported_Level_1" 5 "Limited_Support" 4 "Fault_Limited" 3 "LV_Event_in_Progress" 2 "Not_Supported_Imminent" 1 "Supported_All" 0 "Not_Supported"; +VAL_ 359 PrplWhlTot2_Tq_Actl 65535 "Fault" 65534 "NoDataExists"; +VAL_ 359 PwPckTq_D_Stat 3 "PwPckOn_TqAvailable" 2 "StartInPrgrss_TqNotAvail" 1 "PwPckOn_TqNotAvailable" 0 "PwPckOff_TqNotAvailable"; +VAL_ 359 Eng_D_Stat 3 "NotUsed" 2 "EngAutoStopped" 1 "EngOn" 0 "EngOff"; +VAL_ 359 PlgActvArb_B_Actl 1 "On" 0 "Off"; +VAL_ 359 ElPw_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Fault_Limited" 3 "LV_Event_In_Progress" 2 "Not_Supported_Imminent" 1 "Supported" 0 "Not_Supported"; +VAL_ 359 TrnAinTq_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 358 StopStrtStdby_D_Indic 6 "NotUsed2" 5 "Telltale_Struck_Out" 4 "Telltale_Flashing_Amber" 3 "Telltale_On_Amber" 2 "Telltale_Flashing_Green" 1 "Telltale_On_Green" 0 "Telltale_Off" 7 "NotUsed3"; +VAL_ 358 StopStrtIODTxt_D_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 358 StopStrtDrvMde_D_Indic 3 "NotUsed" 2 "StartStop_IndirectDeselect" 1 "StopStart_Deselected" 0 "StopStart_Selected"; +VAL_ 358 StopStrtMsgTxt_D_Rq 15 "Message_15" 14 "Message_14" 13 "Message_13" 12 "Message_12" 11 "Message_11" 10 "Message_10" 9 "Message_9" 8 "Message_8" 7 "Message_7" 6 "Message_6" 5 "Message_5" 4 "Message_4" 3 "Message_3" 2 "Message_2" 1 "Message_1" 0 "NoMessage"; +VAL_ 358 OdoTripVerify_L_Actl 16777215 "Fault"; +VAL_ 358 HiElPwInhbt_B_Stat 1 "Inhibit" 0 "No_Inibit"; +VAL_ 358 AutoStopPtDelta_I_Est 255 "Fault"; +VAL_ 357 BPedDrvAppl_D_QF 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 357 CmbbDeny_B_ActlPrpl 1 "Yes" 0 "No"; +VAL_ 357 PrplTqMnSat_B_Actl 1 "Yes" 0 "No"; +VAL_ 357 BpedDrvAppl_D_Actl 3 "_Not_Allowed" 2 "Driver_Braking" 1 "Driver_Not_Braking" 0 "Not_Allowed"; +VAL_ 357 CmbbEngTqMn_B_Actl 1 "Yes" 0 "No"; +VAL_ 357 Veh_V_DsplyCcSet 255 "Fault" 254 "Unknown"; +VAL_ 357 AccEngStat_D_Actl 7 "Undefined_2" 6 "Undefined_1" 5 "ACCSoonCancel_due_Low_Spd" 4 "Shift_Down_Recommendation" 3 "Shift_Up_Recommendation" 2 "ACCNotAllowedToBeActivated" 1 "ACCStandby_due_Auto_Cancel" 0 "Normal_Operation"; +VAL_ 357 CcMde_D_Actl 7 "TapDownWaiting" 6 "TapUpWaiting" 5 "Resuming_Low" 4 "Resuming_High" 3 "Decelerating" 2 "Accelerating" 1 "Keeping_Speed" 0 "Not_Active"; +VAL_ 357 CcStat_D_Actl 7 "Undefined_2" 6 "Undefined_1" 5 "Active" 4 "Active_Que_Assist" 3 "Standby" 2 "Standby_Denied" 1 "Denied" 0 "Off"; +VAL_ 357 CcOvrrdActv_B_Actl 1 "Cruise_Overridden" 0 "Cruise_Req_Not_Overridden"; +VAL_ 357 AccStopMde_D_Rq 3 "Stop_Mode_Active" 2 "EPBApplyOrBrakeReleaseWarn" 1 "Limit_Rolling_Speed" 0 "Stop_Mode_Not_Active"; +VAL_ 355 AutoRgenTxt_B_RqDsply 1 "AutExhFilterCleanOFF" 0 "AutExhFilterCleanON"; +VAL_ 355 AccFllwMdeActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 355 EngPtoMde_D_Actl 7 "Undefined" 6 "Split_Shaft_Stationary" 5 "Not_Used_2" 4 "PTO_Mobile" 3 "Not_Used_1" 2 "PTO_Stationary" 1 "BCP" 0 "Off"; +VAL_ 355 ManRgenTxt_D_RqDsply 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Cleaning_Aborted_Stopped" 3 "Cleaning_Completed" 2 "Cleaning_In_Progress" 1 "Cleaning_Allowed" 0 "Cleaning_Not_Allowed"; +VAL_ 355 ManRgenSoot_Pc_RqDsply 127 "Fault"; +VAL_ 355 DieslMsgTxt_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "ReducedEnginePower" 0 "NoMessage"; +VAL_ 342 EngOvrhtMitgActv_D_Ind 3 "Undefined" 2 "Mode2" 1 "Mode1" 0 "Normal_Mode"; +VAL_ 342 EngClntTe_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 342 EngOil_Te_Actl 255 "Fault" 254 "Unknown"; +VAL_ 71 immoTarget1Status 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "DISABLED_RESET " 2 "ENABLED_NONMOTIVE_START" 1 "ENABLED_MOTIVE_START" 0 "DISABLED"; +VAL_ 71 immoTarget1Cmd 7 "Unused4" 6 "Unused3" 5 "Unused2" 4 "Unused1" 3 "TARGET1_IDBLOCK2" 2 "TARGET1_IDBLOCK1" 1 "CHALLENGE" 0 "IDLE"; +VAL_ 1006 PersIndexIpmb_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 820 AhbStatGfhbFdbk_D_Actl 3 "GfhbHighBeamFullyOn" 2 "GfhbHighBeamPartlyOn" 1 "GfhbHighBeamOff" 0 "GfhbUnavailable"; +VAL_ 820 HeadLghtDrvSide_B_Stat 1 "Left_Hand_Traffic" 0 "Right_Hand_Traffic"; +VAL_ 820 HeadLghtHiOn_B_StatHcm 1 "On" 0 "Off"; +VAL_ 820 Adaptive_Hdlmp_Fault 1 "Yes" 0 "No"; +VAL_ 137 SteWhlOffstRq_D_Stat 3 "Faulty" 2 "NoDataExists" 1 "Allow_External_Angle_Req" 0 "Deny_External_Angle_Req"; +VAL_ 137 SteWhlOffst_An_TotActl 32767 "Faulty" 32766 "NoDataExists"; +VAL_ 137 SteWhlBrkOffst_An_Actl 32767 "Faulty" 32766 "NoDataExists"; +VAL_ 129 SelDrvMdeSwtch_D_Stat4 3 "Faulty" 2 "SwitchState2" 1 "SwitchState1" 0 "NotPressed"; +VAL_ 129 SteWhlSwtchView_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchSet_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchPhon_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchNav_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchMed_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchIod_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchHud_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchBack_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchMenu_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteEffortInc_B_RqDrv 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SelDrvMdeInc_B_RqDrv 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SelDrvMdeDec_B_RqDrv 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SuspDampInc_B_RqDrv 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchUp_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchRght_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchOk_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchLeft_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchDown_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchHome_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 129 SteWhlSwtchInfo_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 935 SodRight_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_ 935 CtaAlrtRight2_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "AlertZone4" 3 "AlertZone3" 2 "AlertZone2" 1 "AlertZone1" 0 "Off"; +VAL_ 935 BttRight_D_Stat 7 "NotUsed" 6 "Disabled" 5 "Off" 4 "OffTemp" 3 "NotConnected" 2 "Pending" 1 "Connected" 0 "NotDetermined"; +VAL_ 935 BttRight_D_RqDrv 3 "NotUsed" 2 "Request" 1 "NoRequest" 0 "Null"; +VAL_ 935 CtaBrkRightMsgTxt_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 935 CtaRightBrkEnbl_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 935 CtaRightBrkDecel_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 935 CtaSnsRight_D_Stat 3 "Invalid" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_ 935 CtaAlrtRight_D_Stat 1 "On" 0 "Off"; +VAL_ 935 CtaRight_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_ 935 SodSnsRight_D_Stat 3 "Second_Warning_Audio" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_ 935 SodAlrtRight_D_Stat 3 "Bulb_Proveout" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 935 SodDetctRight_D_Stat 4 "Sensor_Blocked" 3 "Sensor_Fault" 2 "Flash_On" 1 "Alert_On" 0 "AlertOff_FlashOff_SensrClr"; +VAL_ 1108 RCMSerialNoByte8 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte7 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte6 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte5 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte4 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte3 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte2 255 "Invalid" 254 "Unknown"; +VAL_ 1108 RCMSerialNoByte1 255 "Invalid" 254 "Unknown"; +VAL_ 261 ChrgStatDsply_D_Rq 3 "NotUsed_2" 2 "NotUsed_1" 1 "On" 0 "Off"; +VAL_ 261 NextUsageTimeToggle_Rq 0 "Inactive" 2 "Disable" 1 "Enable"; +VAL_ 261 LongTermParking_Rq 0 "Inactive" 1 "On" 2 "Off" 3 "NotUsed"; +VAL_ 261 ModemReset_D_Rq 15 "NotUsed_11" 14 "NotUsed_10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "NotUsed_4" 7 "NotUsed_3" 6 "BrandConnectReset2" 5 "BrandConnectReset1" 4 "CcsReset" 3 "OnlineTrafficReset" 2 "PaakReset" 1 "WifiHotspotReset" 0 "Null"; +VAL_ 261 StopStrtDrvMde_B_RqBtn3 1 "Pressed" 0 "Not_Pressed"; +VAL_ 261 TCU_ESN_D_Rq 3 "NotUsed" 2 "TCU_ESN_Request" 1 "NoRequest" 0 "Inactive"; +VAL_ 261 FactoryReset_Rq 1 "ResetFactoryDefaults" 0 "Inactive"; +VAL_ 1146 TrlrAidSwtch_D_RqDrv 3 "Faulty" 2 "NotUsed" 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1146 TrlrAidCtl_U_RqDrv 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 533 DcacGfciTestBttn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 DcacPwResetButtn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 DcacPwOffButtn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 DcacPwLoButtn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 DcacPwHiButtn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 DcacPwButtn_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 533 TrlrHitch_D_RqMnu 15 "NotUsed_10" 14 "NotUsed_9" 13 "NotUsed_8" 12 "NotUsed_7" 11 "NotUsed_6" 10 "NotUsed_5" 9 "NotUsed_4" 8 "NotUsed_3" 7 "NotUsed_2" 6 "NotUsed_1" 5 "GoToTraileringDomain" 4 "Confirm" 3 "TurnOnTba" 2 "TurnOnAutohitch" 1 "CancelAutohitch" 0 "NoRequest"; +VAL_ 533 AutoEpbZoomView_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 533 AutoEpbButtn_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 533 TrlrAidMde_D_Rq 3 "Mode_3" 2 "Mode_2" 1 "Mode_1" 0 "NoRequest"; +VAL_ 533 TCU_Init_Actvtn_St 3 "NotUsed" 2 "InitialActivateDeny" 1 "InitialActivateAccept" 0 "Invalid"; +VAL_ 533 TCU_Final_Actvtn_St 3 "NotUsed" 2 "FinalActivateDeny" 1 "FinalActivateAccept" 0 "Invalid"; +VAL_ 533 OtaTrg_D_Stat 3 "NotUsed_1" 2 "Accepted" 1 "NotAccepted" 0 "Null"; +VAL_ 533 OnbChrgGoTTouch_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 533 OnbChrgGoTPrcond_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 533 OnbChrgGoTOn_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 533 OnbChrgGoTMnte_D_Rq 15 "NotUsed_4" 14 "NotUsed_3" 13 "NotUsed_2" 12 "NotUsed_1" 11 "Minute_55" 10 "Minute_50" 9 "Minute_45" 8 "Minute_40" 7 "Minute_35" 6 "Minute_30" 5 "Minute_25" 4 "Minute_20" 3 "Minute_15" 2 "Minute_10" 1 "Minute_5" 0 "Minute_0"; +VAL_ 533 OnbChrgGoTHr_T_Rq 31 "Faulty" 30 "NoDataExists"; +VAL_ 533 OnbChrgGoTExtHtr_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 533 OnbChrgGoTDelete_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 533 OnbChrgClearAll_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 533 PaakMyKey_D_Rq 3 "NotUsed" 2 "ConfirmNewPaakMyKey" 1 "RequestNewPaakMyKey" 0 "None"; +VAL_ 533 OnbChrgGoTUpdate_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1041 ElCmprUHi_D_Stat 3 "Overvoltage" 2 "Undervoltage" 1 "InRange" 0 "Undetermined"; +VAL_ 1041 ElCmprOverTe_D_Stat 3 "OverTempStop" 2 "OverTempWarning" 1 "Normal" 0 "Undefined"; +VAL_ 1041 ElCmpr_N_Actl 255 "Invalid"; +VAL_ 1041 ElCmpr_Pw_Actl 255 "Invalid"; +VAL_ 1041 ElCmpr_D_Stat 7 "Signal_Invalid" 6 "Comp_Off_ActlSpd_Abnormal" 5 "Comp_Off_TrgtSpd_OutRange" 4 "Comp_Shutdown" 3 "Comp_Stopped_Self_Protect" 2 "Comp_Degraded" 1 "Comp_On" 0 "Comp_Off"; +VAL_ 1041 ElCmprPerfErr_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprInnrErr_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprLostComm_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprOverLoad_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprOverTe_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprBattURng_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprBattSysU_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1041 ElCmprSysU_D_Falt 3 "NotUsed" 2 "Pass" 1 "Fail" 0 "Not_Diagnose_Yet"; +VAL_ 1067 BattULoAuxIsol_D_Rq 3 "Undefined" 2 "Retain" 1 "Close" 0 "Open"; +VAL_ 1067 BattULoAux_U_Rq 4095 "Faulty"; +VAL_ 1067 BattULoAux_I_Actl 4095 "Faulty"; +VAL_ 1067 BattULoAux_D_Qlty 3 "OK" 2 "Not_Within_Specifications" 1 "Eval_In_Progress" 0 "Faulty"; +VAL_ 1067 BattULoAux_U_Actl 255 "Faulty"; +VAL_ 1067 BattULoAux_B_Falt 1 "Fault" 0 "No_Fault"; +VAL_ 1112 BattTracChrgSustn_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 1112 BattTracCnnct_D_Cmd 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "WeldCheck" 3 "OkToDischarge" 2 "Closed" 1 "Precharge" 0 "Open"; +VAL_ 1112 BattTracHvilOpen_B_Stat 1 "Open" 0 "Closed"; +VAL_ 1112 BattTracDcdcDis_B_Rq 1 "Yes" 0 "No"; +VAL_ 1112 HtrnClntPump_D_Stat 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_ 1112 BattTracClntPmp_D_Stat 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_ 139 AfsPw_B_Rq 1 "Yes" 0 "No"; +VAL_ 139 AccButtnGpTogglePress2 1 "Pressed" 0 "Not_Pressed"; +VAL_ 139 TjaButtnOnOffPress2 1 "Pressed" 0 "Not_Pressed"; +VAL_ 139 ActvFrontSteMsgTxt_D_Rq 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 139 ActvFrontSteLck_D_Stat 3 "Test_passed" 2 "Test_failed" 1 "Test_cannot_run" 0 "Test_incomplete"; +VAL_ 139 SelDrvMdeAdptSte_D_Stat 3 "Faulty" 2 "TemporarilyNotAvailable" 1 "Available" 0 "NotAvailable"; +VAL_ 139 AslButtnOnOffPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 AslButtnOnOffCnclPres2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcButtnOnPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcButtnOnOffPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcButtnOnOffCnclPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcButtnOffPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAsllButtnResPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnSetPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnSetIncPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnSetDecPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnResIncPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnResDecPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnOnPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnOnOffCncl2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnOffCnclPres2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnIndxIncPres2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnIndxDecPres2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnDeny_B_Actl2 1 "Yes" 0 "No"; +VAL_ 139 CcAslButtnCnclResPres2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 CcAslButtnCnclPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 AccButtnGapIncPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 139 AccButtnGapDecPress2 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 1121 SelDrvMdeSwtch_D_Stat 3 "Faulty" 2 "SwitchState2" 1 "SwitchState1" 0 "NotPressed"; +VAL_ 1121 SelDrvMdeCnt_D_Stat 4 "FourCounts" 3 "ThreeCounts" 2 "TwoCounts" 1 "OneCount" 0 "ZeroCounts" 7 "SevenOrMoreCounts" 6 "SixCounts" 5 "FiveCounts"; +VAL_ 1120 DrvSlipCtlMde_B_Rq3 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1120 HybMdeSwtch_B_Rq 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1120 TrailCtlSwtch_B_Stat3 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1120 RearDiffLck_D_RqDrv 3 "Faulty" 2 "NoRequest" 1 "On" 0 "Off"; +VAL_ 1120 AwdMde_D_RqDrv 7 "Faulty" 6 "NotUsed2" 5 "NoRequest" 4 "Neutral" 3 "FourByFourLow" 2 "FourByFourHigh" 1 "FourByFourAuto" 0 "FourByTwo"; +VAL_ 1120 HdcSwtchPos_B_Actl 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1050 AutoHoldSwtch_D_Stat 3 "Faulty" 2 "NotUsed" 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1050 LpdbPtc3_B_Rq 1 "On" 0 "Off"; +VAL_ 1050 LpdbPtc2_B_Rq 1 "On" 0 "Off"; +VAL_ 1050 LpdbPtc1_B_Rq 1 "On" 0 "Off"; +VAL_ 1050 LpdbHeatWiprPrk_B_Rq 1 "On" 0 "Off"; +VAL_ 1050 LpdbDfrstRearOn_B_Rq 1 "On" 0 "Off"; +VAL_ 1050 SteWhlHeat_D_Rq 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "Reserved_3" 8 "Reserved_2" 7 "Reserved_1" 6 "Level_3_Heating" 5 "Level_3_Heating_LS" 4 "Level_2_Heating" 3 "Level_2_Heating_LS" 2 "Level_1_Heating" 1 "Level_1_Heating_LS" 0 "Off"; +VAL_ 1050 MirrorHeatOn_B_Rq 1 "True" 0 "False"; +VAL_ 1050 Remote_Start_QuietMode 1 "Quiet" 0 "Not_Quiet"; +VAL_ 1050 Outside_Air_Temp_Stat 255 "Invalid" 254 "Unknown"; +VAL_ 1137 RngPerChrgAvg_L_Dsply 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 1255 BalrRight4Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1255 BalrRight4Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1255 BalrRight4Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1254 BalrRight3Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1254 BalrRight3Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1254 BalrRight3Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1253 BalrRight2Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1253 BalrRight2Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1253 BalrRight2Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1252 BalrRight1Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1252 BalrRight1Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1252 BalrRight1Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1251 BalrLeft4Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1251 BalrLeft4Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1251 BalrLeft4Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1250 BalrLeft3Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1250 BalrLeft3Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1250 BalrLeft3Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1249 BalrLeft2Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1249 BalrLeft2Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1249 BalrLeft2Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1248 BalrLeft1Threat_D_Stat 1 "Yes" 0 "No"; +VAL_ 1248 BalrLeft1Fast_B_Stat 1 "Yes" 0 "No"; +VAL_ 1248 BalrLeft1Dsply_B_Stat 1 "Yes" 0 "No"; +VAL_ 1113 TrlrTrgtAcquire_D_Stat 7 "Faulty" 6 "NotUsed_2" 5 "NotUsed_1" 4 "RVCforTBA_Activated" 3 "Processing" 2 "TargetNotAcquired" 1 "TargetAcquired" 0 "Null"; +VAL_ 1113 TrlrAnOffstDir_D_Calc 3 "NotUSed" 2 "Right" 1 "Left_or_Center" 0 "Null"; +VAL_ 1113 TrlrAnCalib_B_Complt 1 "Yes" 0 "No"; +VAL_ 1113 TrlrRvrse_D_Stat 3 "Faulty" 2 "TrailerReverseGuidanceLite" 1 "On" 0 "Off"; +VAL_ 1113 TrlrAid_D2_Stat 15 "Faulty" 14 "NotUsed_4" 13 "NotUsed_3" 12 "NotUsed_2" 11 "NotUsed_1" 10 "DirtyCamera" 9 "IncorrectLighting" 8 "TrackingLost" 7 "TrackingUnknownConfidence" 6 "TrackingHighConfidence" 5 "TrackingMediumConfidence" 4 "TrackingLowConfidence" 3 "TurnRequested" 2 "DriveStraighRequested" 1 "Initializing" 0 "NotTracking"; +VAL_ 1113 TrlrAid_An3_Actl 2047 "Faulty"; +VAL_ 1113 TrlrAid_AnRate2_Actl 1023 "Faulty"; +VAL_ 1113 HitchToVehAxle_L_Calc 255 "Faulty"; +VAL_ 1105 TrlrAidSwtchLamp_B_Rq 1 "On" 0 "Off"; +VAL_ 1105 TrlrHitchMsgTxt_D_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage" 63 "Message63" 47 "Message47"; +VAL_ 1105 TrlrHitchIcon_D_Rq 15 "Icon15" 14 "Icon14" 13 "Icon13" 12 "Icon12" 11 "Icon11" 10 "Icon10" 9 "Icon9" 8 "Icon8" 7 "Icon7" 6 "Icon6" 5 "Icon5" 4 "Icon4" 3 "Icon3" 2 "Icon2" 1 "Icon1" 0 "NoIcon"; +VAL_ 1105 TrlrHitchChime_D_Rq 7 "NotUsed_1" 6 "NotUsed_1" 5 "WarningChime" 4 "NonCriticalAlertChime" 3 "StopNowChime" 2 "ManeuveringReadyChime" 1 "TrailerFoundChime" 0 "NoChime"; +VAL_ 1105 TrlrAidEnbl_D_RqAdas 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "Deactivate" 2 "NotAvailable" 1 "ActiveTba" 0 "Inactive"; +VAL_ 1105 TrlrRvrseMsgTxt_D2_Rq 31 "Message31" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 1105 TrlrRvrseEnbl_D2_Stat 7 "NotUsed" 6 "TbaActiveExpertActive" 5 "TbaActiveExpertAvail" 4 "TbaOffTrgActive" 3 "TbaOffTrgSetup" 2 "TbaSetup" 1 "TbaActive" 0 "Inactive"; +VAL_ 1105 RbaMsg_D_Rq 3 "Faulty" 2 "Unavailable" 1 "Off" 0 "Null"; +VAL_ 1105 BrkDecel_B_RqRba 1 "Enable" 0 "Disable"; +VAL_ 1105 BrkEnbl_B_RqRba 1 "Enable" 0 "Disable"; +VAL_ 1105 Rba_D_Stat 3 "NotUsed" 2 "Disabled" 1 "On" 0 "Off"; +VAL_ 1105 RbaAlrt_D_Dsply 3 "Both" 2 "Text" 1 "Graphic" 0 "Off"; +VAL_ 1105 RbaMnu_D_Rq 3 "NotUsed" 2 "Active" 1 "Inactive" 0 "None"; +VAL_ 1105 CamraFrntStat_D_Stat 3 "No_Data_Present" 2 "NotUsed" 1 "On" 0 "Off"; +VAL_ 1105 TrlrHitchLamp_D_Rq2 1 "On" 0 "Off"; +VAL_ 938 SidePrkSnsR2_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 938 SidePrkSnsR1_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 938 SidePrkSnsL2_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 938 ApaMde_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "POA" 3 "PPA" 2 "SAPP" 1 "Off" 0 "Null"; +VAL_ 938 ApaActvSd_D_Actl 3 "Dirver_Side" 2 "Passenger_Side" 1 "No_Side" 0 "Null"; +VAL_ 938 PrkAidSwtch_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 938 ApaMde_D_Avail 15 "NotUsed7" 14 "NotUsed6" 13 "NotUsed5" 12 "NotUsed4" 11 "NotUsed3" 10 "NotUsed2" 9 "NotUsed1" 8 "PPA_POA" 7 "SAPP_POA" 6 "POA" 5 "PPA" 4 "SAPP" 3 "SAPP_PPA_POA" 2 "SAPP_PPA" 1 "None" 0 "Null"; +VAL_ 938 PrkAidSnsFrCrnr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 938 PrkAidSnsFrCntr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 938 PrkAidSnsFlCrnr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 938 PrkAidSnsFlCntr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 938 PrkBrkEl_B_RqFap 1 "Yes" 0 "No"; +VAL_ 938 RpaChime_D_Rq 15 "Zone15_Chime" 14 "Zone14_Chime" 13 "Zone13_Chime" 12 "Zone12_Chime" 11 "Zone11_Chime" 10 "Zone10_Chime" 9 "Zone9_Chime" 8 "Zone8_Chime" 7 "Zone7_Chime" 6 "Zone6_Chime" 5 "Zone5_Chime" 4 "Zone4_Chime" 3 "Zone3_Chime" 2 "Zone2_Chime" 1 "Zone1_Chime" 0 "No_Chime"; +VAL_ 938 FpaChime_D_Rq 15 "Zone15_Chime" 14 "Zone14_Chime" 13 "Zone13_Chime" 12 "Zone12_Chime" 11 "Zone11_Chime" 10 "Zone10_Chime" 9 "Zone9_Chime" 8 "Zone8_Chime" 7 "Zone7_Chime" 6 "Zone6_Chime" 5 "Zone5_Chime" 4 "Zone4_Chime" 3 "Zone3_Chime" 2 "Zone2_Chime" 1 "Zone1_Chime" 0 "No_Chime"; +VAL_ 938 PrkAidMsgTxt_D_Rq 15 "All_Sns_Blk" 14 "R_Sns_ON_F_Sns_Blk" 13 "R_Sns_Blk_F_Sns_ON" 12 "R_Sns_Inactive_Trlr_atch" 11 "Not_Avail_Trlr_attchd" 10 "Fail_Mode_no_Chime" 9 "Fail_Mode_with_Chime" 8 "R_Sns_Trlr_F_Sns_Blk" 7 "NotUsed3" 6 "Park_Sys_Alternate_Mode" 5 "R_Snsrs_On_F_Snsrs_On" 4 "NotUsed2" 3 "Reset_Message_Warn" 2 "R_Snsrs_Off_F_Snsrs_On" 1 "R_Snsrs_On_F_Snsrs_Off" 0 "All_Park_Sensors_Off"; +VAL_ 938 SidePrkSnsL1_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 938 PrkAidAudioMute_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 939 ApaBrk_D_Rq 3 "NotUsed" 2 "LowDecel" 1 "HighDecel" 0 "NoRequest"; +VAL_ 939 SidePrkSnsR4_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 939 SidePrkSnsR3_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 939 SidePrkSnsL4_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 939 SidePrkSnsL3_D_Stat 15 "NotUsed" 14 "NotFullyScannedYet" 13 "NoObjectInSector" 12 "Zone12" 11 "Zone11" 10 "Zone10" 9 "Zone9" 8 "Zone8" 7 "Zone7" 6 "Zone6" 5 "Zone5" 4 "Zone4" 3 "Zone3" 2 "Zone2" 1 "Zone1" 0 "Off"; +VAL_ 939 PrkAidChime_D_Stat 3 "Fault" 2 "No_Data_Exists" 1 "On" 0 "Off"; +VAL_ 939 PrkAidSnsRlCntr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 939 PrkAidSnsRrCrnr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 939 PrkAidSnsRrCntr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 939 PrkAidSnsRlCrnr_D_Stat 15 "Zone_15" 14 "Zone_14" 13 "Zone_13" 12 "Zone_12" 11 "Zone_11" 10 "Zone_10" 9 "Zone_9" 8 "Zone_8" 7 "Zone_7" 6 "Zone_6" 5 "Zone_5" 4 "Zone_4" 3 "Zone_3" 2 "Zone_2" 1 "Zone_1" 0 "Off"; +VAL_ 939 PrkAidRear_D_Stat 3 "Faulted" 2 "Unused" 1 "Enabled" 0 "Disabled"; +VAL_ 939 PrkAidFront_D_Stat 3 "Faulted" 2 "Unused" 1 "Enabled" 0 "Disabled"; +VAL_ 939 PrkAid_D_Falt 7 "NotUsed2" 6 "NotUsed1" 5 "Failure_Front_PSM_Sensors" 4 "No_Data_Exists" 3 "Failure_Rear_Sensors" 2 "Speaker_Fault" 1 "ECU_Fault" 0 "No_Fault"; +VAL_ 939 ApaLongCtrlEnbl_D_Rq 1 "Enable" 0 "Disable"; +VAL_ 939 PrkAidLamp_D_Rq 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 937 TrnRng_D_RqFap 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Backwards" 3 "Forwards" 2 "NoMotion" 1 "Immobilize" 0 "NoRequest"; +VAL_ 937 FapLcDistToObj_L_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 936 ApaButtnPrssd_B_Stat 1 "Pressed" 0 "Not_Pressed"; +VAL_ 936 ApaSys_D_Stat 7 "Faulty" 6 "Finished" 5 "NotAccessible" 4 "ApaCancelled" 3 "Overspeed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 936 ApaSteWhl_D_RqDrv 3 "TakeControl" 2 "RemoveHands" 1 "NoRequest" 0 "Null"; +VAL_ 936 ApaSteScanMde_D_Stat 3 "Steering" 2 "Scanning" 1 "NotScanning" 0 "Null"; +VAL_ 936 ApaSelSapp_D_Stat 3 "NotConfigured" 2 "NotSelectable" 1 "Selectable" 0 "Null"; +VAL_ 936 ApaSelPpa_D_Stat 3 "NotConfigured" 2 "NotSelectable" 1 "Selectable" 0 "Null"; +VAL_ 936 ApaSelPoa_D_Stat 3 "NotConfigured" 2 "NotSelectable" 1 "Selectable" 0 "Null"; +VAL_ 936 ApaScan_D_Stat 3 "ParkSlotReady" 2 "ParkSlotFound" 1 "NoParkSlot" 0 "Null"; +VAL_ 936 ApaLongCtl_D_RqDrv 7 "NotUsed3" 6 "NotUsed2" 5 "ReleaseBrake" 4 "DriveBackward" 3 "DriveForward" 2 "Stop" 1 "NoRequest" 0 "Null"; +VAL_ 936 ApaGearShif_D_RqDrv 7 "NotUSed2" 6 "NotUsed1" 5 "ShiftToP" 4 "ShiftToN" 3 "ShiftToD" 2 "ShiftToR" 1 "NoRequest" 0 "Null"; +VAL_ 936 ApaActvSide2_D_Stat 3 "NoSide" 2 "Right" 1 "Left" 0 "Null"; +VAL_ 936 ApaAcsy_D_RqDrv 7 "CloseDoor" 6 "SelectSideRight" 5 "SelectSideLeft" 4 "CheckForObject" 3 "PressApaButton" 2 "SelectSide" 1 "NoRequest" 0 "Null"; +VAL_ 936 ApaTrgtDist_D_Stat 15 "Step15" 14 "Step14" 13 "Step13" 12 "Step12" 11 "Step11" 10 "Step10" 9 "Step9" 8 "Step8" 7 "Step7" 6 "Step6" 5 "Step5" 4 "Step4" 3 "Step3" 2 "Step2" 1 "Step1" 0 "Off"; +VAL_ 936 ApaChime_D_Rq 7 "NotUsed2" 6 "NotUsed1" 5 "Warning_Chime" 4 "Finish_Chime" 3 "Stop_Now_Chime" 2 "Spot_Ready_Chime" 1 "Spot_Found_Chime" 0 "No_Chime"; +VAL_ 936 EPASExtAngleStatReq 1 "Request" 0 "NoRequest"; +VAL_ 936 ExtSteeringAngleReq2 32767 "Invalid" 32766 "Unknown"; +VAL_ 877 VehElEffAvg_No_Dsply 127 "Faulty" 126 "NoDataExists"; +VAL_ 877 PwFlwFuelDrv_D_Dsply 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "FlwFromFuelToAllWhls" 2 "FlwFromFuelToFrontWhls" 1 "FlwFromFuelToRearWhls" 0 "NoFlow"; +VAL_ 877 PwFlwFuelClimt_B_Dsply 1 "On" 0 "Off"; +VAL_ 877 PwFlwFuelBatt_B_Dsply 1 "On" 0 "Off"; +VAL_ 877 PwFlwBattClimt_B_Dsply 1 "On" 0 "Off"; +VAL_ 877 PwFlwBatt_D_Dsply 15 "NotUsed_8" 14 "NotUsed_7" 13 "NotUsed_6" 12 "NotUsed_5" 11 "NotUsed_4" 10 "NotUsed_3" 9 "NotUsed_2" 8 "NotUsed_1" 7 "FlwFromWallToBatt" 6 "FlwFromAllWhlsToBatt" 5 "FlwFromBattToAllWhls" 4 "FlwFromFrontWhlsToBatt" 3 "FlwFromBattToFrontWhls" 2 "FlwFromRearWhlsToBatt" 1 "FlwFromBattToRearWhls" 0 "NoFlow"; +VAL_ 588 BattTracSoc2_Pc_Actl 16383 "Faulty" 16382 "NoDataExists"; +VAL_ 588 BattTrac_Te_Actl 1023 "Fault" 1022 "Unknown"; +VAL_ 588 BattTracDiagClr_B_Rq 1 "On" 0 "Off"; +VAL_ 587 BattTracWarnLamp_B_Rq 1 "On" 0 "Off"; +VAL_ 587 BattTracSrvcRqd_B_Rq 1 "On" 0 "Off"; +VAL_ 389 HtrnOvrTeLamp_B_Dsply 1 "On" 0 "Off"; +VAL_ 389 HtrnMil_D_Rq 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 389 HtrnAin_UHi_Actl 1023 "Fault" 1022 "Unknown"; +VAL_ 389 HtrnSrvcRqd_B_Dsply 1 "On" 0 "Off"; +VAL_ 389 HtrnHvilOpen_B_Actl 1 "HVIL_is_Open" 0 "Normal_Operation"; +VAL_ 389 PtWakeupDeltaT_T_Rq 2047 "Fault" 2046 "NoDataExists"; +VAL_ 389 PreCondActv_B_Actl 1 "On" 0 "Off"; +VAL_ 389 DrvCondTpRrDefrs_B_Rq 1 "On" 0 "Off"; +VAL_ 389 BattTrac_I_EstVsc 32767 "Fault" 32766 "NoDataExists"; +VAL_ 1009 ChrgCordUnlock_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1009 AutoHoldSwtch_D_Stat3 3 "Faulty" 2 "NotUsed" 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1009 TrlrTrgtAcquire_D_Rq 7 "NotUsed_2" 6 "NotUsed_1" 5 "ActivateRVCforTBA" 4 "CancelAcquisition" 3 "RetryAcquisition" 2 "AcquisitionSuccessful" 1 "StartAcquisition" 0 "Inactive"; +VAL_ 1009 TrlrAidCancl_B_Rq 1 "Cancel" 0 "Null"; +VAL_ 1009 CenterStackRing_D_Actl 3 "LimitedOn" 2 "On" 1 "Off" 0 "Null"; +VAL_ 1009 ValetMode_D_Stat 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 1009 TrlrAidSetup_D_Stat 7 "Faulty" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "EnterParameters" 2 "EndSetup" 1 "BeginSetup" 0 "Null"; +VAL_ 360 GsmSrvcRqd_B_Rq 1 "Yes" 0 "No"; +VAL_ 360 TrnGearPwmFalt_B_Actl 1 "Yes" 0 "No"; +VAL_ 360 GearButtnStuck_B_Actl 1 "Yes" 0 "No"; +VAL_ 122 VehStrtInhbt_B_RqBatt 1 "Yes" 0 "No"; +VAL_ 122 BattTracOffFst_D_Actl 3 "Unexpected_Contactor_Open" 2 "Restraints_Impact_Event" 1 "Interlock_Open" 0 "Normal"; +VAL_ 122 BattTracOff_B_Actl 1 "Yes" 0 "No"; +VAL_ 122 BattTracMil_D_Rq 3 "Not_Used" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 122 BattTrac_U_Actl 1023 "Fault" 1022 "Unknown"; +VAL_ 122 BattTrac_I_Actl 32767 "Fault" 32766 "Unknown"; +VAL_ 90 TrnGsmNtmState_D_Actl 3 "Faulty" 2 "Neutral_Tow_Mode" 1 "Car_Wash_Mode" 0 "None"; +VAL_ 90 DrQltyDrv_D_StatGsm 7 "Faulty" 6 "NoDataExists" 5 "NotUsed2" 4 "NotUsed1" 3 "ClosedDegraded" 2 "OpenDegraded" 1 "ClosedOkay" 0 "OpenOkay"; +VAL_ 90 TrnBtsiOvrrd_B_Stat 1 "Override" 0 "Null"; +VAL_ 90 GsmGearMsgTxt_D_Rq 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 90 TrnRng_D_RqGsm 15 "Fault" 14 "UnknownPosition" 13 "Undefined_2" 12 "Undefined_1" 11 "_6" 10 "_5" 9 "_4" 8 "_3" 7 "_2" 6 "_1" 5 "Low" 4 "Sport_DriveSport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park"; +VAL_ 90 PrkBrkActv_D_RqGsmGear 3 "NotUsed" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "Null"; +VAL_ 90 TrnValidGearRq_D_Stat 3 "Valid_Request" 2 "Valid_Degraded_Request" 1 "Invalid_Request" 0 "No_Request"; +VAL_ 90 TrnGearButtn_U_Actl 255 "Fault"; +VAL_ 90 TrnGearButtn_B_ActlR2 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlR1 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlR0 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlP2 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlP1 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlP0 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlN2 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlN1 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlN0 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlM2 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlM1 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlM0 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlD2 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlD1 1 "Yes" 0 "No"; +VAL_ 90 TrnGearButtn_B_ActlD0 1 "Yes" 0 "No"; +VAL_ 90 TrnGear_D_RqDrv 31 "Fault" 30 "NotUsed_25" 29 "NotUsed_24" 28 "NotUsed_23" 27 "NotUsed_22" 26 "Return_to_Park" 25 "NotUsed_20" 24 "NotUsed_19" 23 "NotUsed_18" 22 "NotUsed_17" 21 "Return_To_Park" 20 "NotUsed_15" 19 "NotUsed_14" 18 "NotUsed_13" 17 "NotUsed_12" 16 "Manual" 15 "Not_Used11" 14 "Not_Used10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "Drive" 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "Neutral" 3 "NotUsed_1" 2 "Reverse" 1 "Park" 0 "No_Gear"; +VAL_ 90 BrkSwtchPos_B_ActlGsm 1 "Yes" 0 "No"; +VAL_ 1091 ParkLampTrlrOut_B_Stat 1 "Out" 0 "Null"; +VAL_ 1091 TrlrLampCtl_D_Stat 3 "NotUsed" 2 "TrlrLampCnnctDrvFailure" 1 "TrlrLampNotCnnctDrvFailure" 0 "Null"; +VAL_ 1091 TrlrBattChrg_D_Stat 3 "Reverse" 2 "Normal" 1 "Low" 0 "Null"; +VAL_ 1091 StopLampTrlrOut_B_Stat 1 "Out" 0 "Null"; +VAL_ 1091 TurnLampTrlrRr_B_Stat 1 "Out" 0 "Null"; +VAL_ 1091 TurnLampTrlrRl_B_Stat 1 "Out" 0 "Null"; +VAL_ 1091 TrlrLampCnnct_B_Actl 1 "Yes" 0 "No"; +VAL_ 138 SteWhlRelCalib_An_Sns 32767 "Fault" 32766 "NoDataExists"; +VAL_ 131 AccButtnGapDecPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 HeadLghtHiCtrl_D_RqAhb 7 "NotUsed2" 6 "NotUsed1" 5 "Auto_HiBeam" 4 "Auto_LoBeam" 3 "Flash" 2 "Man_HiBeam" 1 "Man_LoBeam" 0 "Null"; +VAL_ 131 AhbStat_B_Dsply 1 "On" 0 "Off"; +VAL_ 131 WiprFrontSwtch_D_Stat 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "PositionNotDetermined" 8 "High" 7 "Low" 6 "Position6" 5 "Position5" 4 "Position4" 3 "Position3" 2 "Position2" 1 "Position1" 0 "Off"; +VAL_ 131 HeadLghtHiOn_B_StatAhb 1 "On" 0 "Off"; +VAL_ 131 HeadLghtHiFlash_D_Actl 3 "NotUsed" 2 "High" 1 "Flash_to_Pass" 0 "Null"; +VAL_ 131 TjaButtnOnOffPress 1 "Pressed" 0 "Not_Pressed"; +VAL_ 131 AccButtnGapTogglePress 1 "Pressed" 0 "Not_Pressed"; +VAL_ 131 HeadLghtHiFlash_D_Stat 3 "NotUsed" 2 "High" 1 "Flash_to_Pass" 0 "Null"; +VAL_ 131 WiprFront_D_Stat 15 "NO_DATA_EXISTS" 14 "STALLED" 13 "RESERVED" 12 "AUTO_ADJUST" 11 "COURTESYWIPE" 10 "AUTO_HIGH" 9 "AUTO_LOW" 8 "WASH" 7 "MIST_FLICK" 6 "MAN_HIGH" 5 "MAN_LOW" 4 "MAN_INT_ON" 3 "MAN_INT_OFF" 2 "OFF_MOVING" 1 "AUTO_OFF" 0 "OFF"; +VAL_ 131 TurnLghtSwtch_D_Stat 3 "Unused_Treat_As_Off" 2 "Right" 1 "Left" 0 "Off"; +VAL_ 131 LghtAmb_D_Sns 7 "No_Data_Exists" 6 "Unused2" 5 "Unused1" 4 "Tunnel_Off" 3 "Tunnel_On" 2 "Twilight" 1 "Light" 0 "Dark"; +VAL_ 131 AccButtnGapIncPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 AslButtnOnOffPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 AslButtnOnOffCnclPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcButtnOnPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcButtnOnOffPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcButtnOnOffCnclPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcButtnOffPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAsllButtnResPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnSetPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnSetIncPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnSetDecPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnResIncPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnResDecPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnOnPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnOnOffCncl 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnOffCnclPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnIndxIncPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnIndxDecPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnDeny_B_Actl 1 "Yes" 0 "No"; +VAL_ 131 CcAslButtnCnclResPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 CcAslButtnCnclPress 1 "Button_Pressed" 0 "Button_Not_Pressed"; +VAL_ 131 LaSwtchPos_D_Stat 3 "Fault" 2 "Unused" 1 "Pressed" 0 "Open"; +VAL_ 787 DrTgateChime2_D_Rq 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Long_Repeated" 3 "Fast" 2 "Short" 1 "Long" 0 "Off"; +VAL_ 787 DrTGate_D_Rq 3 "NotUsed" 2 "Closing" 1 "Opening" 0 "Not_Moving"; +VAL_ 787 PwLftgtIntSw_B_Stat 1 "Pressed" 0 "Null"; +VAL_ 787 Power_Liftgate_Mode_Stt 2 "Unused" 3 "Not_Supported" 1 "Enabled" 0 "Disabled"; +VAL_ 953 BattRgenLoDChrg_D_Rq 3 "DoNotCare" 2 "Retain" 1 "Closed" 0 "Open"; +VAL_ 953 BattRgenLoChrg_D_Rq 3 "DoNotCare" 2 "Retain" 1 "Closed" 0 "Open"; +VAL_ 953 ChrgCordLck_B_Stat 1 "Unlock" 0 "Null"; +VAL_ 953 WakeAlarm3_D_Stat 3 "PublisherReset" 2 "Wake" 1 "AlarmRunning" 0 "AlarmOff"; +VAL_ 953 WakeAlarm2_D_Stat 3 "PublisherReset" 2 "Wake" 1 "AlarmRunning" 0 "AlarmOff"; +VAL_ 953 WakeAlarm1_D_Stat 3 "PublisherReset" 2 "Wake" 1 "AlarmRunning" 0 "AlarmOff"; +VAL_ 953 WakeAlarm0_D_Stat 3 "PublisherReset" 2 "Wake" 1 "AlarmRunning" 0 "AlarmOff"; +VAL_ 1093 TrlBrkInitOut_D_Stat 3 "Heavy" 2 "Medium" 1 "Light" 0 "Null"; +VAL_ 1093 TrlrBrkMde_D_Actl 1 "Electric_Over_Hydraulic" 0 "Electric"; +VAL_ 1093 TrlrBrkDsply_B_Rq 1 "Yes" 0 "No"; +VAL_ 1093 TrlrBrkDcnnt_B_Actl 1 "Yes" 0 "No"; +VAL_ 1093 TrlrBrkActCnnct_B_Actl 1 "Yes" 0 "No"; +VAL_ 1093 StopLamp_B_RqTrlrBrk 1 "Yes" 0 "No"; +VAL_ 1093 TrlrBrkCtl_B_Falt 1 "Yes" 0 "No"; +VAL_ 1093 TrlrBrkActCirct_B_Falt 1 "Yes" 0 "No"; +VAL_ 792 ElTrip_L_Dsply 65535 "Fault" 65534 "No_Data_Exists"; +VAL_ 792 ElLongTerm_L_Dsply 16777215 "Fault" 16777214 "No_Data_Exists"; +VAL_ 968 SlMde_D_Rq 3 "IsaNotConfigured" 2 "Manual_Mode" 1 "Auto_Mode" 0 "Null"; +VAL_ 968 IsaOffst_D_Rq 15 "Faulty" 14 "Null" 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero"; +VAL_ 819 Memory_3_SwPsngr_Stat 1 "Pressed" 0 "Null"; +VAL_ 819 Memory_2_SwPsngr_Stat 1 "Pressed" 0 "Null"; +VAL_ 819 Memory_1_SwPsngr_Stat 1 "Pressed" 0 "Null"; +VAL_ 819 BLISLEDStatPassSide 3 "Fault" 2 "Unused" 1 "On" 0 "Off"; +VAL_ 819 WndwPsngrSide_D_Stat 3 "BothWindow_Operating" 2 "RearWindow_Operating" 1 "FrontWindow_Operating" 0 "NoWindows_Operating"; +VAL_ 819 Pasngr_Lock_Sw_Stat 3 "Invalid" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_ 819 ChildLckFdbckRp_B_Stat 1 "Locked" 0 "Unlock"; +VAL_ 818 BLISLEDStatDriverSide 3 "Fault" 2 "Unused" 1 "On" 0 "Off"; +VAL_ 818 WndwDrvSide_D_Stat 3 "BothWindow_Operating" 2 "RearWindow_Operating" 1 "FrontWindow_Operating" 0 "NoWindows_Operating"; +VAL_ 818 KeyCylSwDrvDr_D_Stat 3 "NotUsed" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_ 818 Driver_Lock_Sw_Stat 3 "Invalid" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_ 818 ChildLckPw_D_Rq 1 "Active" 0 "Null"; +VAL_ 818 ChildLckFdbckRd_B_Stat 1 "Locked" 0 "Unlock"; +VAL_ 818 RvrseMirrorChime_B_Rq 1 "Yes" 0 "No"; +VAL_ 806 SnowPlowMde_B_Enbl 1 "Enable" 0 "Disable"; +VAL_ 806 StopStrtDrvMde_B_RqBtn 1 "Pressed" 0 "Not_Pressed"; +VAL_ 806 ClimtHeat_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "PtcHtrTestMde" 3 "Defrost_Defog" 2 "FastTempPullDownHeatingReq" 1 "OpportunisticHeatingReq" 0 "NoHeatingRequest"; +VAL_ 806 ClimtCool_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "ElACTestMde" 3 "Defrost_Defog" 2 "FastTempPullDownCoolReq" 1 "OpportunisticCoolingReq" 0 "NoCoolingRequest"; +VAL_ 806 HvacEvap_Te_Actl 1023 "Fault"; +VAL_ 806 HvacAirCond_B_Rq 1 "Yes" 0 "No"; +VAL_ 806 ClimtPw_B_Rq 1 "Yes" 0 "No"; +VAL_ 765 Mc_VehTimeFrmtUsrSel_St 2 "24h_mode" 1 "12h_mode" 0 "Invalid"; +VAL_ 765 Running_Board_Cmd 3 "Unused" 2 "Manually_Deployed" 1 "All_Enabled" 0 "All_Disabled"; +VAL_ 765 EngExhMdeQuiet_D2_Rq 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Track" 3 "Sport" 2 "Normal" 1 "Stealth" 0 "Null"; +VAL_ 765 EdmSailMde_B_RqDrv 1 "On" 0 "Off"; +VAL_ 765 DrvInputRequired_B_Rq 1 "Yes" 0 "No"; +VAL_ 765 AwdRnge_D_ActlIpc 7 "Unknown" 6 "High_Range_2wd" 5 "High_Range_Auto" 4 "High_Range_Locked" 3 "Neutral" 2 "Low_Range_2wd" 1 "Low_Range_Auto" 0 "Low_Range_Locked"; +VAL_ 765 BalrSwtch_D_Stat 3 "NotUsed" 2 "Pressed" 1 "NotPressed" 0 "Null"; +VAL_ 765 BalrMde_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Null"; +VAL_ 765 WaitToStartLamp_D_Falt 3 "NotUsed" 2 "Wait_to_start_lamp_failed" 1 "Diagnosis_not_ready" 0 "Wait_to_start_lamp_OK"; +VAL_ 765 EsaOn_B_Rq 1 "On" 0 "Off"; +VAL_ 765 BttOn_B_Rq 1 "On" 0 "Off"; +VAL_ 765 Btt_L_Actl 127 "Faulty" 126 "NoDataExists"; +VAL_ 765 SelDrvMdeTxtReset_B_Rq 1 "Yes" 0 "No"; +VAL_ 765 SelDrvMdeDsply_B_Avail 1 "Available" 0 "NotAvailable"; +VAL_ 765 Mc_VehUntTrpCoUsrSel_St 0 "TripComputer_metric" 1 "TripComputer_imperial"; +VAL_ 765 Mc_VehUnitTempUsrSel_St 0 "Temperature_deg_c" 1 "Temperature_deg_f"; +VAL_ 765 Mc_VehLangUsrSel_St 30 "Slovak" 29 "Arabic" 28 "Cantonese" 27 "Mandarin_Chinese" 26 "Korean" 25 "Japanese_Kanji" 24 "Japanese_Katakana" 23 "Braz_Portuguese" 22 "EU_Portuguese" 21 "Finish" 20 "Norwegian" 19 "Danish" 18 "Swedish" 17 "Hungarian" 16 "Greek" 15 "Czech" 14 "Polish" 13 "Flemish" 12 "Dutch" 11 "Russian" 10 "Turkish" 9 "Mex_Spanish" 8 "EU_Spanish" 7 "Cana_French" 6 "EU_French" 5 "Italian" 4 "German" 3 "NA_English" 2 "UK_English" 1 "Unknown" 0 "Invalid"; +VAL_ 934 CtaAlrtLeft2_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "AlertZone4" 3 "AlertZone3" 2 "AlertZone2" 1 "AlertZone1" 0 "Off"; +VAL_ 934 CtaBrkLeftMsgTxt_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 934 CtaLeftBrkDecel_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 934 CtaLeftBrkEnbl_B_Rq 1 "Enable" 0 "Disable"; +VAL_ 934 BttLeft_D_Stat 7 "NotUsed" 6 "Disabled" 5 "Off" 4 "OffTemp" 3 "NotConnected" 2 "Pending" 1 "Connected" 0 "NotDetermined"; +VAL_ 934 BttLeft_D_RqDrv 3 "NotUsed" 2 "Request" 1 "NoRequest" 0 "Null"; +VAL_ 934 CtaSnsLeft_D_Stat 3 "Invalid" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_ 934 SodDetctLeft_D_Stat 4 "Sensor_Blocked" 3 "Sensor_Fault" 2 "Flash_On" 1 "Alert_On" 0 "AlertOff_FlashOff_SensrClr"; +VAL_ 934 CtaLeft_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_ 934 CtaAlrtLeft_D_Stat 1 "On" 0 "Off"; +VAL_ 934 SodLeft_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "Invalid" 3 "Disabled" 2 "On" 1 "Trailer_Tow_Off" 0 "Off"; +VAL_ 934 SodSnsLeft_D_Stat 3 "Second_Warning_Audio" 2 "System_Failure" 1 "Blocked" 0 "Clear"; +VAL_ 934 SodAlrtLeft_D_Stat 3 "Bulb_Proveout" 2 "Flash" 1 "On" 0 "Off"; +VAL_ 1072 LscmbbStat_B_Actl 1 "On" 0 "Off"; +VAL_ 1072 HaDsplyCpblty_B_Stat 1 "Available" 0 "NotAvailable"; +VAL_ 1072 AccDeny_B_RqIpc 1 "Yes" 0 "No"; +VAL_ 1072 DrvSlipCtlMde_D_Rq 3 "App_Specific_Off_Mode_3" 2 "App_Specific_Off_Mode_2" 1 "App_Specific_Off_Mode_1" 0 "Default_Mode"; +VAL_ 1072 EngIdlShutDown_B_RqDrv 1 "Inhibit" 0 "No_Inibit"; +VAL_ 1072 HsaMde_D_Rq 3 "Undefined" 2 "Manual" 1 "Automatic" 0 "Off"; +VAL_ 1072 NtrlTowMdeEnbl_B_RqDrv 1 "Yes" 0 "No"; +VAL_ 1072 BulbChkActv_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1072 ParkDetect_Stat 1 "Park" 0 "Not_Park"; +VAL_ 1072 ReducedGuard_D_Rq 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 1072 TrlrBrkMde_D_Rq 1 "ElectricOverHydraulic" 0 "Electric"; +VAL_ 1072 TRLR_SWAY_CONFIG_CMD 1 "On" 0 "Off"; +VAL_ 1072 TRAILER_BRAKE_CONFIG 1 "Yes" 0 "No"; +VAL_ 1072 Power_Liftgate_Mode_Cmd 1 "Enable" 0 "Disable"; +VAL_ 1072 AccEnbl_B_RqDrv 1 "Adaptive_Cruise" 0 "Normal_Cruise"; +VAL_ 1072 OdometerMasterValue 16777215 "Invalid"; +VAL_ 1072 EngOilLife_B_RqReset 1 "Yes" 0 "No"; +VAL_ 1072 ePRNDL_MODE 1 "On" 0 "Off"; +VAL_ 1072 DrvSlipCtlMde_B_Rq2 1 "Pressed" 0 "Not_Pressed"; +VAL_ 1072 MetricActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 1072 KeyTypeChngMykey_D_Rq 3 "Search_PE_BackupSlot" 2 "Clear_All_MyKeys" 1 "Request_New_MyKey" 0 "None"; +VAL_ 1072 ManRgen_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "CustInitManExhFilterClean" 0 "No_Customer_Request"; +VAL_ 909 IgnPsswrdDsply_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 909 ElPwPoint_D_Rq 3 "On" 2 "Off2" 1 "Off1" 0 "Null"; +VAL_ 909 PoliceIdlMde_D_Stat 15 "NotUsed_7" 14 "NotUsed_6" 13 "NotUsed_5" 12 "NotUsed_4" 11 "NotUsed_3" 10 "NotUsed_2" 9 "PepsActive" 8 "Decommissioned" 7 "ActiveFault" 6 "ArmFault" 5 "PrearmedFault" 4 "OffFault" 3 "Active" 2 "Arm" 1 "Prearmed" 0 "Off"; +VAL_ 909 DrLatchMsgTxt_D_Rq 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 909 SecurityMsgTxt_D_Rq 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage"; +VAL_ 909 PrmtrAlrmEvnt_D_Stat 15 "Diag_Tamper" 14 "Trailer" 13 "Shock_Sensor" 12 "Post_Crash" 11 "Panic" 10 "Intrusion" 9 "Inclination" 8 "Ign_Tamper" 7 "LG_Door" 6 "Decklid" 5 "Hood" 4 "PR_Door" 3 "PF_Door" 2 "DR_Door" 1 "DF_Door" 0 "Null"; +VAL_ 909 HeadLghtHiPrmsn_D_Stat 3 "CancelAndSuppress" 2 "Cancel" 1 "Hold" 0 "AllowChange"; +VAL_ 909 SteWhlLckMsgTxt_D_Rq 3 "NotUsed" 2 "Message_2" 1 "Message_1" 0 "No_Message"; +VAL_ 909 immoMsgTxt_D_Rq 15 "Immo_Msg_15" 14 "Immo_Msg_14" 13 "Immo_Msg_13" 12 "Immo_Msg_12" 11 "Immo_Msg_11" 10 "Immo_Msg_10" 9 "Immo_Msg_9" 8 "Immo_Msg_8" 7 "Immo_Msg_7" 6 "Immo_Msg_6" 5 "Immo_Msg_5" 4 "Immo_Msg_4" 3 "Immo_Msg_3" 2 "Immo_Msg_2" 1 "Immo_Msg_1" 0 "Immo_Msg_0_Null"; +VAL_ 909 PrsnlDevcChrgEnbl_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 909 TracKeyMde_D_Stat 3 "NotUsed" 2 "NotActive" 1 "Active" 0 "ModeNotDetermined"; +VAL_ 909 PEBackupSlot_Stats 3 "No_Valid_FOB_In_Slot" 2 "MyKey_FOB_In_Slot" 1 "Standard_FOB_In_Slot" 0 "Null"; +VAL_ 909 KeyMykeyTot_No_Cnt 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero" 15 "Invalid" 14 "Unlimited"; +VAL_ 909 KeyAdmnTot_No_Cnt 13 "Thirteen" 12 "Twelve" 11 "Eleven" 10 "Ten" 9 "Nine" 8 "Eight" 7 "Seven" 6 "Six" 5 "Five" 4 "Four" 3 "Three" 2 "Two" 1 "One" 0 "Zero" 15 "Invalid" 14 "Unlimited"; +VAL_ 963 Illuminated_Entry_Stat 3 "Invalid" 2 "Unknown" 1 "On" 0 "Off"; +VAL_ 963 Dr_Courtesy_Light_Stat 3 "Invalid" 2 "Unknown" 1 "On" 0 "Off"; +VAL_ 963 Courtesy_Delay_Status 3 "Invalid" 2 "Unknown" 1 "On" 0 "Off"; +VAL_ 963 ImpactEvntFdbck_D_Stat 3 "NotUsed" 2 "EventComplete" 1 "EventInProgress" 0 "Normal"; +VAL_ 963 WrlssAcsyChrgInhbt_B_Rq 1 "Yes" 0 "No"; +VAL_ 963 PudLampPsngr_D_Rq 3 "Ramp_Down" 2 "Ramp_Up" 1 "On" 0 "Off"; +VAL_ 963 HeadLampLoOut_B_Stat 1 "Out" 0 "Null"; +VAL_ 963 HeadLghtHiFdbck_D_Stat 3 "NotUsed" 2 "Cancel" 1 "Hold" 0 "Allow_Change"; +VAL_ 963 PudLampDrv_D_Rq 3 "Ramp_Down" 2 "Ramp_Up" 1 "On" 0 "Off"; +VAL_ 963 TrnNotInPrkChime_B_Rq 1 "On" 0 "Off"; +VAL_ 963 PrkLightChime_B_Rq 1 "On" 0 "Off"; +VAL_ 963 KeyInIgnWarn_B_Cmd 1 "On" 0 "Off"; +VAL_ 963 HomeSafeLtChime_B_Rq 1 "On" 0 "Off"; +VAL_ 963 StopLghtOn_B_Stat 1 "On" 0 "Off"; +VAL_ 963 RvrseLghtOn_B_Stat 1 "On" 0 "Off"; +VAL_ 963 PrkLght_D_Stat 3 "Park_Both" 2 "Park_Right" 1 "Park_Left" 0 "Off"; +VAL_ 963 HeadLghtSwtch_D_Stat 3 "Autolamp" 2 "Headlamp" 1 "Parklamp" 0 "Off"; +VAL_ 963 HeadLampLoFrOn_B_Stat 1 "Low" 0 "Not_Low"; +VAL_ 963 HeadLampLoFlOn_B_Stat 1 "Low" 0 "Not_Low"; +VAL_ 963 HeadLampLoActv_B_Stat 1 "On" 0 "Off"; +VAL_ 963 Headlamp_On_Wrning_Cmd 1 "On" 0 "Off"; +VAL_ 963 Park_Brake_Chime_Rqst 1 "On" 0 "Off"; +VAL_ 963 HeadLghtHiOn_B_Stat 1 "On" 0 "Off"; +VAL_ 963 BrkWarnInd_B_Rq 1 "On" 0 "Off"; +VAL_ 963 Brk_Fluid_Lvl_Low 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK"; +VAL_ 963 ReducedGuard_D_Stat 3 "NotUsed" 2 "Alarm_On" 1 "Alarm_Off_Previously_On" 0 "Alarm_Off"; +VAL_ 963 Perimeter_Alarm_Status 3 "Activated" 2 "Armed" 1 "Prearmed" 0 "Disarmed"; +VAL_ 963 Courtesy_BSave_Stat 3 "Invalid" 2 "Unknown" 1 "No_Effect" 0 "Off"; +VAL_ 963 DrTgateLck_D_Stat 3 "NotUsed" 2 "Unlock" 1 "Lock" 0 "Null"; +VAL_ 963 WndwGlbl_D_Cmd 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "GLEARN" 3 "GCLOSE" 2 "GOPEN" 1 "GSTOP" 0 "Null"; +VAL_ 963 PudLamp_D_Rq 3 "RAMP_DOWN" 2 "RAMP_UP" 1 "ON" 0 "OFF"; +VAL_ 963 DayRnngLampOn_B_Stat 1 "On" 0 "Off"; +VAL_ 963 PerimeterAlarmChimeRq 1 "On" 0 "Off"; +VAL_ 145 VehYawWActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 145 VehRolWActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 145 VehYaw_W_Actl 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 145 VehRol_W_Actl 65535 "Faulty" 65534 "NoDataExists"; +VAL_ 76 FirstRowBuckleMid 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 SecondRowBucklePsngr 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 SecondRowBuckleMid 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 SecondRowBuckleDriver 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 FirstRowBuckleDriver 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 RILReq 3 "Not_Used" 2 "Plant_Mode" 1 "On" 0 "Off"; +VAL_ 76 FirstRowBucklePsngr 3 "Unknown" 2 "Unbelted" 1 "Belted" 0 "Faulty"; +VAL_ 76 RstrnImpactEvntStatus 7 "Invalid" 6 "Not_Used_4" 5 "Threshold_2_Exceeded" 4 "Not_Used_3" 3 "Threshold_1_Exceeded" 2 "Not_Used_2" 1 "Not_Used_1" 0 "Normal"; +VAL_ 76 PsngrFrntDetct_D_Actl 3 "Unknown" 2 "Empty" 0 "Faulty" 1 "Occupied"; +VAL_ 76 EDRTriggerEvntSync 1 "Threshold_Exceeded" 0 "Normal"; +VAL_ 76 PassRstrnInd_Req 3 "ABOnNotIllum_OffNotIllum" 2 "AirbagOnNot_Illum_OffIllum" 1 "AirbagOn_Illum_OffNotIllum" 0 "AirbagOn_Illum_Off_Illum"; +VAL_ 65 immoControlCmd_T1 0 "IDLE" 1 "MOTIVE_START_RQST" 2 "NONMOTIVE_START_RQST" 3 "RQST_TARGET1_IDBLOCK1" 4 "RQST_TARGET1_IDBLOCK2" 5 "Unused" 6 "ECHO_TARGET1_IDBLOCK2" 7 "SHUTDOWN"; +VAL_ 1076 HILL_DESC_SW 1 "On" 0 "Off"; +VAL_ 1076 AutoRgen_D_Rq 3 "NotUsed" 2 "AutExhFilterCleanOFF" 1 "AutExhFilterCleanON" 0 "No_Mode_Selected"; +VAL_ 1076 W2S_LAMP_OK 1 "Yes" 0 "No"; +VAL_ 1076 OdoTripRx_B_Actl 1 "Yes" 0 "No"; +VAL_ 1076 DrvSlipCtlMde_B_RqMyKey 1 "On" 0 "Off"; +VAL_ 1076 FuelLvlWarn_D_Actl 3 "NotUsed" 2 "VeryLow" 1 "Low" 0 "OK"; +VAL_ 1076 FuelSecndActv_B_Actl 1 "Yes" 0 "No"; +VAL_ 1076 FUEL_SENSOR_NUM 1 "Dual_Sensors" 0 "Single_Sensor"; +VAL_ 862 AutoStpHvacDelta_I_Est 255 "Fault"; +VAL_ 862 HvacBlwrFront_D_Stat 31 "Not_Used" 20 "Full_On" 19 "95_Percent" 18 "90_Percent" 17 "85_Percent" 16 "80_Percent" 15 "75_Percent" 14 "70_Percent" 13 "65_Percent" 12 "60_Percent" 11 "55_Percent" 10 "50_Percent" 9 "45_Percent" 8 "40_Percent" 7 "35_Percent" 6 "30_Percent" 5 "25_Percent" 4 "20_Percent" 3 "15_Percent" 2 "10_Percent" 1 "5_Percent" 0 "Off"; +VAL_ 862 CabnAmb_Te_Actl 255 "Fault"; +VAL_ 862 ClimtThrmlLoad_No_Actl 255 "Fault"; +VAL_ 931 PtWakeReas_D_Stat 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "NotUsed_2" 7 "NotUsed_1" 6 "ElapsedTime" 5 "ThirdPartyWakeup" 4 "DoorAjar" 3 "EarlyWake" 2 "NonMotiveStart" 1 "MotiveStart" 0 "Null"; +VAL_ 931 VehOnSrc_D_Stat 15 "NotUsed_11" 14 "NotUsed_10" 13 "NotUsed_9" 12 "NotUsed_8" 11 "NotUsed_7" 10 "NotUsed_6" 9 "NotUsed_5" 8 "NotUsed_4" 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "OverTheAir" 3 "RemoteParkAssist" 2 "RemoteStart" 1 "Manual" 0 "Off"; +VAL_ 931 EngStrtActv_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 931 EngStrt_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 931 DrvInCtl_B_Stat 1 "Yes" 0 "No"; +VAL_ 931 AdvStrt_D_Stat 15 "NotUsed_15" 14 "NotUsed_14" 13 "NotUsed_13" 12 "NotUsed_12" 11 "NotUsed_11" 10 "NotUsed_10" 9 "NotUsed_9" 8 "NotUsed_8" 7 "NotUsed_7" 6 "NotUsed_6" 5 "NotUsed_5" 4 "NotUsed_4" 3 "NotUsed_3" 2 "NotUsed_2" 1 "NotUsed_1" 0 "NoAction"; +VAL_ 931 CrnkInhbt_B_Stat 1 "Inhibit" 0 "NoInhibit"; +VAL_ 931 IgnPreOffActv_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 578 PtLatchActv_B_RqBcm 1 "On" 0 "Off"; +VAL_ 578 immoSecureIdleMode 3 "NotUsed2" 2 "NotUsed1" 1 "Active" 0 "Inactive"; +VAL_ 578 ReFuelSwtchStat_D_Actl 3 "NotUsed2" 2 "NotUsed1" 1 "On" 0 "Off"; +VAL_ 578 FuelPumpPwr_D_Stat 7 "NotUsed3" 6 "NotUsed2" 5 "NotUsed1" 4 "Power_Off_Default" 3 "Power_Off_Command" 2 "Power_Off_Service" 1 "Power_Off_Impact" 0 "Power_On"; +VAL_ 578 BattULo_U_Actl 255 "Fault"; +VAL_ 578 PrkLckCtl_B_Enbl 1 "Enable" 0 "Disable"; +VAL_ 578 PrkLckCtlMsgTxt_D_Rq 3 "BTSI_DI_3" 2 "BTSI_DI_2" 1 "BTSI_DI_1" 0 "Null_BTSI_DI"; +VAL_ 578 BrkTrnShifLck_B_Stat 1 "Shift" 0 "NoShift"; +VAL_ 578 PrkLckCtlUnlck_D_Stat 3 "Trans_And_Steer_Unlckd" 2 "Steering_Unlckd" 1 "Transmission_Unlckd" 0 "Null"; +VAL_ 578 PrkLckCtlTow_B_Enbl 1 "Enable" 0 "Disable"; +VAL_ 578 DriverCrankingReq 1 "Crank_Request" 0 "No_Crank_Request"; +VAL_ 578 EngOff_T_Actl 65535 "Invalid"; +VAL_ 578 DcacElPw_D_Rq 3 "NotUsed" 2 "AC_HighPower_Requested" 1 "AC_LowPower_Requested" 0 "AC_Power_NotRequested"; +VAL_ 578 BattULo_I_Actl 16383 "Fault"; +VAL_ 947 ValetMode_D_Mem 1 "On" 0 "Off"; +VAL_ 947 DrStatDrvErrCnt_B_Stat 1 "Yes" 0 "No"; +VAL_ 947 TurnLghtRight_D_Rq 3 "Seq" 2 "On" 1 "Off" 0 "Null"; +VAL_ 947 TurnLghtRightOn_B_Stat 1 "On" 0 "Off"; +VAL_ 947 TurnLghtLeftOn_B_Stat 1 "On" 0 "Off"; +VAL_ 947 FogLghtRearOn_B_Stat 1 "On" 0 "Off"; +VAL_ 947 Backlit_LED_Status 15 "Unused3" 14 "Unused2" 13 "Unused1" 12 "Night_12" 11 "Night_11" 10 "Night_10" 9 "Night_9" 8 "Night_8" 7 "Night_7" 6 "Night_6" 5 "Night_5" 4 "Night_4" 3 "Night_3" 2 "Night_2" 1 "Night_1" 0 "Off"; +VAL_ 947 TurnLghtLeft_D_Rq 3 "Seq" 2 "On" 1 "Off" 0 "Null"; +VAL_ 947 FogLghtFrontOn_B_Stat 1 "On" 0 "Off"; +VAL_ 947 IgnKeyType_D_Actl 15 "Invalid" 14 "Unknown" 3 "Key_Not_Prgrm_Read_Failure" 2 "Key_In_Ign_My_Key" 1 "Key_In_Ign_Standard_Key" 0 "Key_Read_In_Progress"; +VAL_ 947 Parklamp_Status 3 "Invalid" 2 "Unknown" 1 "On" 0 "Off"; +VAL_ 947 Litval 255 "Invalid" 254 "Unknown" 5 "Day" 4 "Twilight_4" 3 "Twilight_3" 2 "Twilight_2" 1 "Twilight_1" 0 "Night"; +VAL_ 947 Key_In_Ignition_Stat 1 "In" 0 "Out"; +VAL_ 947 Ignition_Status 0 "Unknown" 1 "Off" 15 "Invalid" 8 "Start" 4 "Run" 2 "Accessory"; +VAL_ 947 Dimming_Lvl 255 "Invalid" 254 "Unknown" 18 "Day_6" 17 "Day_5" 16 "Day_4" 15 "Day_3" 14 "Day_2" 13 "Day_1" 12 "Night_12" 11 "Night_11" 10 "Night_10" 9 "Night_9" 8 "Night_8" 7 "Night_7" 6 "Night_6" 5 "Night_5" 4 "Night_4" 3 "Night_3" 2 "Night_2" 1 "Night_1" 0 "Off"; +VAL_ 947 Day_Night_Status 3 "NotUsed" 2 "Night" 1 "Day" 0 "Null"; +VAL_ 947 Remote_Start_Status 3 "Invalid" 2 "Unknown" 1 "Remote" 0 "Null"; +VAL_ 947 DrStatTgate_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatRr_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatRl_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatPsngr_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatInnrTgate_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatHood_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 DrStatDrv_B_Actl 1 "Ajar" 0 "Closed"; +VAL_ 947 PrkBrkActv_B_Actl 1 "Active" 0 "Inactive"; +VAL_ 947 LifeCycMde_D_Actl 3 "Transport" 2 "NotUsed" 1 "Factory" 0 "Normal"; +VAL_ 947 Delay_Accy 1 "On" 0 "Off"; +VAL_ 947 CrashEvnt_D_Stat 3 "Invalid" 2 "Fuel_Cutoff_Event" 1 "Deploy_Event" 0 "No_Event"; +VAL_ 947 FuelPmpInhbt_B_Stat 1 "Inhibit" 0 "No_Inibit"; +VAL_ 947 BodySrvcRqd_B_Rq 1 "Yes" 0 "No"; +VAL_ 1084 BattULoState_D_Qlty 3 "OK" 2 "Not_Within_Specifications" 1 "Eval_In_Progress" 0 "Fault"; +VAL_ 1084 BSFault 1 "Fault" 0 "No_Fault"; +VAL_ 1084 BattULo2_Te_Actl 127 "Fault"; +VAL_ 1068 EngStrtInhbt_B_RqBatt 1 "Start_Inhibit" 0 "Dont_Care"; +VAL_ 1068 BattULoChrg_D_Rq 3 "Low_Battery_Temperature" 2 "Charging_Requested" 1 "Chrg_Requested_HighCurrent" 0 "No_Request"; +VAL_ 1068 PwSysULoFalt_D_Stat 15 "Not_Used_6" 14 "LowBatterySOC" 13 "PSS_Shed2_Contin" 12 "Not_Used_4" 11 "Not_Used_3" 10 "Not_Used_2" 9 "BattMonitoringSensorFault" 8 "LowBattVoltDuringPwSrcOn" 7 "LowBatt2_PowerSaveMode" 6 "LowBatt1_Warning" 5 "Overvoltage" 4 "Fault_NoOutput" 3 "Fault_ReducedOutput" 2 "Fault_Nonspecific" 1 "Cluster_Proveout" 0 "No_Fault"; +VAL_ 1068 Shed_T_Eng_Off_B 1 "Active" 0 "Inactive"; +VAL_ 1068 Shed_Feature_Group_ID 16 "PtcHeater" 14 "HtdMirr" 13 "HvacRearBlwr_Third" 12 "HvacRearBlwr_Second" 11 "HvacRearBlwr_First" 31 "All LSHED1 Features" 10 "Htd_Windscrn" 9 "SpltHtdBcklight_HtdMirr" 8 "HtdBcklight_HtdMirr" 7 "HtdCoolSeat_FrtDriver" 6 "HtdCoolSeat_FrtPass" 5 "HtdCoolSeat_RearPass" 4 "HtdCoolSeat_RearDriver" 3 "SmartTrlrTowBattCharge" 2 "Htd_StrWhl" 1 "Htd_Washer_Fluid" 0 "No_LSHED1_Features" 15 "Engine_Coolant_Fan"; +VAL_ 1068 Shed_Drain_Eng_Off_B 1 "Active" 0 "Inactive"; +VAL_ 1068 Shed_Level_Req 7 "Unused_2" 6 "Loads_On" 5 "SHED_ENG_OFF" 4 "SOON_ENG_OFF" 3 "SHED2_CONTIN" 2 "SHED2_TRANS" 1 "SHED1" 0 "NO_SHED"; +VAL_ 1068 ULoRgenTestMde_B_Rq 1 "Request" 0 "NoRequest"; +VAL_ 1068 ChargeMode 7 "Undefined_2" 6 "Undefined_1" 5 "Battery_Identify" 4 "Battery_Refresh" 3 "SlowRegenAllowNoDischarge" 2 "Fast_Regen_Allowed" 1 "Slow_Regen_Allowed" 0 "Conventional_Charging"; +VAL_ 1068 IdleSpeedIncrease_El 1 "Yes" 0 "No"; +VAL_ 1068 Batt_Lo_SoC_B 1 "Active" 0 "Inactive"; +VAL_ 1068 PeriodicElLoad_B_Stat 1 "Active" 0 "Inactive"; +VAL_ 1068 Batt_Crit_SoC_B 1 "Active" 0 "Inactive"; +VAL_ 146 VehVert2_A_Actl 8191 "Faulty" 8190 "NoDataExists"; +VAL_ 146 VehLong2_A_Actl 8191 "Faulty" 8190 "NoDataExists"; +VAL_ 146 VehLat2_A_Actl 8191 "Faulty" 8190 "NoDataExists"; +VAL_ 146 VehVertAActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 146 VehLongAActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 146 VehLatAActl_D_Qf 3 "OK" 2 "Not_Within_Specifications" 1 "No_Data_Exists" 0 "Faulty"; +VAL_ 997 PersIndexCcm_D_Actl 7 "Unused_3" 6 "Unused_2" 5 "Unused_1" 4 "Vehicle" 3 "PERS_4" 2 "PERS_3" 1 "PERS_2" 0 "PERS_1"; +VAL_ 983 CmbbObjRelLong_V_Actl 1023 "Faulty" 1022 "NoDataExists"; +VAL_ 983 CmbbObjRelLat_V_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 983 CmbbObjDistLong_L_Actl 1023 "Faulty" 1022 "NoDataExists"; +VAL_ 983 CmbbObjDistLat_L_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 983 CmbbObjConfdnc_D_Stat 3 "High" 2 "Medium" 1 "Low" 0 "NotDetermined"; +VAL_ 983 CmbbObjColl_T_Actl 127 "Faulty" 126 "NoDataExists"; +VAL_ 983 CmbbObjClass_D_Stat 15 "NotUsed_9" 14 "NotUsed_8" 13 "NotUsed_7" 12 "NotUsed_6" 11 "NotUsed_5" 10 "NotUsed_4" 9 "NotUsed_3" 8 "NotUsed_2" 7 "NotUsed_1" 6 "Unclassified_Vehicle" 5 "Bicycle" 4 "Pedestrian" 3 "Truck" 2 "Motorcycle" 1 "Vehicle" 0 "Undetermined"; +VAL_ 983 EsaEnbl_D2_Rq 3 "NotConfigured" 2 "Enabled" 1 "Pending" 0 "Disabled"; +VAL_ 980 AdbBrdr1DistRigh_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 980 AdbBrdr1DistLeft_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 980 AdbMde1_D_Rq 3 "MarkerLightFlashing" 2 "MarkerLightConstant" 1 "Spot" 0 "None"; +VAL_ 980 AdbIntns1_D_Rq 3 "Maximum" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 980 AdbBrdr1Up_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 980 AdbBrdr1Right_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 980 AdbBrdr1Low_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 980 AdbBrdr1Left_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 979 HandsOffCnfm_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 979 LatCtl_D_Rq 7 "NotUsed4" 6 "NotUsed3" 5 "NotUsed2" 4 "NotUsed1" 3 "InterventionRight" 2 "InterventionLeft" 1 "ContinuousPathFollowing" 0 "NoLateralControl"; +VAL_ 979 LatCtlRampType_D_Rq 3 "Immediately" 2 "Fast" 1 "Medium" 0 "Slow"; +VAL_ 979 LatCtlPrecision_D_Rq 3 "NotUsed2" 2 "NotUsed1" 1 "Precise" 0 "Comfortable"; +VAL_ 976 SuspClkSync_No_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 976 SrpSigValid_B_Stat 1 "True" 0 "False"; +VAL_ 976 SrpHghtRight_L_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 976 SrpHghtLeft_L_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 976 SrpEventRight_D_Stat 3 "Faulty" 2 "Bump" 1 "Pothole" 0 "NoEvent"; +VAL_ 976 SrpEventLeft_D_Stat 3 "Faulty" 2 "Bump" 1 "Pothole" 0 "NoEvent"; +VAL_ 976 SrpDistRight_L_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 976 SrpDistLeft_L_Actl 511 "Faulty" 510 "NoDataExists"; +VAL_ 973 TsrVl2PrmntMsgTxt_D_Rq 3 "NotUsed" 2 "ShowPermanentlyWithSupp" 1 "ShowPermanentlyWithoutSupp" 0 "DoNotShowSignPermanent"; +VAL_ 973 TsrVl1PrmntMsgTxt_D_Rq 3 "NotUsed" 2 "ShowPermanentlyWithSupp" 1 "ShowPermanentlyWithoutSupp" 0 "DoNotShowSignPermanent"; +VAL_ 973 TsrVl2RstrcMsgTxt2_D_Rq 7 "NotUsed" 6 "Time" 5 "Trailer" 4 "Snow" 3 "RainWet" 2 "NoRecognizableRestrictn" 1 "NoSpeedLimitRestrictn" 0 "Null"; +VAL_ 973 TsrVl1RstrcMsgTxt2_D_Rq 7 "NotUsed" 6 "Time" 5 "Trailer" 4 "Snow" 3 "RainWet" 2 "NoRecognizableRestrictn" 1 "NoSpeedLimitRestrictn" 0 "Null"; +VAL_ 973 TsrOvtkMsgTxt2_D_Rq 15 "NotUsed5" 14 "NotUsed4" 13 "NotUsed3" 12 "NotUsed2" 11 "NotUsed1" 10 "LimForTrucksCancelled" 9 "LimForTrucksWoQlfdRstrc" 8 "LimForTrucksWithoutRstrc" 7 "LimAllCancelled" 6 "LimAllWithRstrcTime" 5 "LimAllWithRstrcTrailer" 4 "LimAllWithRstrcSnow" 3 "LimAllWithRstrcRain" 2 "LimAllWithoutQlfdRstrc" 1 "LimAllWithoutRestriction" 0 "OvertakingAllowed"; +VAL_ 973 WwaWarn_B_Rq 1 "On" 0 "Off"; +VAL_ 973 TsrVlUnitMsgTxt_D_Rq 3 "NoDataExists" 2 "Mph" 1 "Kph" 0 "Null"; +VAL_ 973 TsrVLim2MsgTxt_D_Rq 255 "NoLimit" 254 "NotUsed2" 253 "NotUsed1" 252 "NotToBeDisplayed" 251 "LimitCancelled" 31 "1F_FA_Message31_250" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "Null"; +VAL_ 973 TsrVLim1MsgTxt_D_Rq 255 "NoLimit" 254 "NotUsed2" 253 "NotUsed1" 252 "NotToBeDisplayed" 251 "LimitCancelled" 31 "1F_FA_Message31_250" 30 "Message30" 29 "Message29" 28 "Message28" 27 "Message27" 26 "Message26" 25 "Message25" 24 "Message24" 23 "Message23" 22 "Message22" 21 "Message21" 20 "Message20" 19 "Message19" 18 "Message18" 17 "Message17" 16 "Message16" 15 "Message15" 14 "Message14" 13 "Message13" 12 "Message12" 11 "Message11" 10 "Message10" 9 "Message9" 8 "Message8" 7 "Message7" 6 "Message6" 5 "Message5" 4 "Message4" 3 "Message3" 2 "Message2" 1 "Message1" 0 "Null"; +VAL_ 973 TsrVl2StatMsgTxt_D_Rq 3 "LimitOutdated" 2 "LimitReiable" 1 "LimitChanged" 0 "Null"; +VAL_ 973 TsrVl2RstrcMsgTxt_D_Rq 3 "NotUsed" 2 "NoRecognizableRestriction" 1 "NoSpeedLimitRestriction" 0 "Null"; +VAL_ 973 TsrVl1StatMsgTxt_D_Rq 3 "LimitOutdated" 2 "LimitReiable" 1 "LimitChanged" 0 "Null"; +VAL_ 973 TsrVl1RstrcMsgTxt_D_Rq 3 "NotUsed" 2 "NoRecognizableRestriction" 1 "NoSpeedLimitRestriction" 0 "Null"; +VAL_ 973 TsrStatMsgTxt_D_Rq 7 "NotUsed" 6 "NoDataExists" 5 "TSR_Error" 4 "Available_NavigationOnly" 3 "Available_CameraOnly" 2 "Available_FusionMode" 1 "TSR_Off" 0 "Null"; +VAL_ 973 TsrOvtkStatMsgTxt_D_Rq 3 "LimitOutdated" 2 "LimitReiable" 1 "LimitChanged" 0 "Null"; +VAL_ 973 TsrOvtkMsgTxt_D_Rq 7 "LimForTrucksCancelled" 6 "LimForTrucksWoQlfdRstrc" 5 "LimForTrucksWithoutRstrc" 4 "LimAllCancelled" 3 "LimAllWithoutQlfdRstrc" 2 "LimAllWithoutRestriction" 1 "OvertakingAllowed" 0 "Null"; +VAL_ 973 TsrOswWarnMsgTxt_D_Rq 3 "NotUsed" 2 "True" 1 "False" 0 "Null"; +VAL_ 973 TsrMsgTxt_D_Rq 15 "NotUsed6" 14 "NotUsed5" 13 "NotUsed4" 12 "NotUsed3" 11 "NotUsed2" 10 "NotUsed1" 9 "RecgnzdSignNotUsblForDsply" 8 "LimitedSystemPerformance" 7 "OffRoad" 6 "RegionNotSupported" 5 "CountryNotSupported" 4 "WrngNavDatIncompDatCarrier" 3 "NoNavDataAvailable" 2 "NoNavAvailableSwitchedOff" 1 "NoInformationAllOK" 0 "Null"; +VAL_ 970 LkaDrvOvrrd_D_Rq 3 "Level_3" 2 "Level_2" 1 "Level_1" 0 "Level_0"; +VAL_ 970 LkaActvStats_D2_Req 7 "NotUsed" 6 "LkaIncrIntervRight" 5 "LkaSupprRight" 4 "LkaStandIntervRight" 3 "LkaSupprLeft" 2 "LkaStandIntervLeft" 1 "LkaIncrIntervLeft" 0 "LkaNoInterv"; +VAL_ 970 LaRefAng_No_Req 4095 "Fault"; +VAL_ 970 LaRampType_B_Req 1 "Quick" 0 "Smooth"; +VAL_ 970 LaCurvature_No_Calc 4095 "Fault"; +VAL_ 970 LdwActvStats_D_Req 7 "LDW_Suppress_Right_Left" 6 "Not_Used2" 5 "LDW_Suppress_Right" 4 "LDW_Warning_Right" 3 "LDW_Suppress_Left" 2 "LDW_Warning_Left" 1 "LDW_DemoVibration" 0 "LDW_Idle"; +VAL_ 970 LdwActvIntns_D_Req 3 "High" 2 "Medium" 1 "Low" 0 "None"; +VAL_ 962 AdbBrdr3DistRigh_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 962 AdbBrdr3DistLeft_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 962 AdbMde3_D_Rq 3 "MarkerLightFlashing" 2 "MarkerLightConstant" 1 "Spot" 0 "None"; +VAL_ 962 AdbIntns3_D_Rq 3 "Maximum" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 962 AdbBrdr3Up_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 962 AdbBrdr3Right_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 962 AdbBrdr3Low_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 962 AdbBrdr3Left_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 961 AdbBrdr2DistRigh_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 961 AdbBrdr2DistLeft_D_Stat 15 "DistGreater800m" 14 "Dist700mTo800m" 13 "Dist600mTo700m" 12 "Dist500mTo600m" 11 "Dist400mTo500m" 10 "Dist300mTo400m" 9 "Dist200mTo300m" 8 "Dist175mTo200m" 7 "Dist150mTo175m" 6 "Dist125mTo150m" 5 "Dist100mTo125m" 4 "Dist75mTo100m" 3 "Dist50mTo75m" 2 "Dist25mTo50m" 1 "Dist15mTo25m" 0 "Dist0mTo15m"; +VAL_ 961 AdbMde2_D_Rq 3 "MarkerLightFlashing" 2 "MarkerLightConstant" 1 "Spot" 0 "None"; +VAL_ 961 AdbIntns2_D_Rq 3 "Maximum" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 961 AdbBrdr2Up_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 961 AdbBrdr2Right_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 961 AdbBrdr2Low_An_Rq 511 "Faulty" 510 "NoDataExists"; +VAL_ 961 AdbBrdr2Left_An_Rq 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 394 AccStopStat_D_Dsply 3 "PressResume" 2 "Stopped" 1 "ResumeReady" 0 "NoDisplay"; +VAL_ 394 AccTrgDist2_D_Dsply 15 "DIST_ACTIVE_13_Farthest" 14 "DIST_ACTIVE_12" 13 "DIST_ACTIVE_11" 12 "DIST_ACTIVE_10" 11 "DIST_ACTIVE_9" 10 "DIST_ACTIVE_8" 9 "DIST_ACTIVE_7" 8 "DIST_ACTIVE_6" 7 "DIST_ACTIVE_5" 6 "DIST_ACTIVE_4" 5 "DIST_ACTIVE_3" 4 "DIST_ACTIVE_2" 3 "DIST_ACTIVE_1_Closest" 2 "DIST_ACTIVE_No_Target" 1 "DIST_STANDBY" 0 "DIST_OFF"; +VAL_ 394 AccStopRes_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 TjaWarn_D_Rq 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "HardTakeOverLevel2" 2 "HardTakeOverLevel1" 1 "TrafficJamAssistCancel" 0 "NoWarning"; +VAL_ 394 Tja_D_Stat 7 "NotUsed_1" 6 "ActiveWarningRight" 5 "ActiveWarningLeft" 4 "ActiveInterventionRight" 3 "ActiveInterventionLeft" 2 "Active" 1 "Standby" 0 "Off"; +VAL_ 394 TjaMsgTxt_D_Dsply 7 "NotUsed_4" 6 "NotUsed_3" 5 "NotUsed_2" 4 "NotUsed_1" 3 "TurnOnAdaptCruiseControl" 2 "TrafficJamAssistSelected" 1 "TrafficJamAssistUnavailabl" 0 "NoMessage"; +VAL_ 394 IaccLamp_D_Rq 3 "NotUsed_2" 2 "NotUsed_1" 1 "DisplayIaccIcon" 0 "DoNotDisplayIaccIcon"; +VAL_ 394 AccMsgTxt_D2_Rq 15 "NotUsed_1" 14 "NCC_Enabled_Warning" 13 "IACC_TJA_Selected" 12 "ACC_TJA_Selected" 11 "IACC_Selected" 10 "Press_Brake_To_Hold" 9 "Only_Following_In_Low_Spd" 8 "TJA_Unavailable" 7 "Shift_Down" 6 "IACC_Unavailable" 5 "ACC_Selected" 4 "ACC_Overridden" 3 "Brake_Capacity_Warning" 2 "ACC_Cancelled" 1 "ACC_Unavailable" 0 "No_Text"; +VAL_ 394 FcwDeny_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 FcwMemStat_B_Actl 1 "On" 0 "Off"; +VAL_ 394 AccTGap_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 CadsAlignIncplt_B_Actl 1 "Yes" 0 "No"; +VAL_ 394 AccFllwMde_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 CadsRadrBlck_B_Actl 1 "Yes" 0 "No"; +VAL_ 394 CmbbPostEvnt_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 AccStopMde_B_Dsply 1 "Yes" 0 "No"; +VAL_ 394 FcwMemSens_D_Actl 3 "FCW_Sensitivity_3" 2 "FCW_Sensitivity_2" 1 "FCW_Sensitivity_1" 0 "Not_Used"; +VAL_ 394 FcwMsgTxt_D_Rq 7 "Undefined_3" 6 "Undefined_2" 5 "Low_Visibility" 4 "Unavailable_DueTo_LowSpeed" 3 "Available" 2 "Unavailable" 1 "Off" 0 "No_Text"; +VAL_ 394 AccWarn_D_Dsply 3 "BrakeReleaseWarn_In_StopMd" 2 "Brake_Capacity_Warning" 1 "Cancel_Warning" 0 "No_Warning"; +VAL_ 394 FcwVisblWarn_B_Rq 1 "On" 0 "Off"; +VAL_ 394 FcwAudioWarn_B_Rq 1 "On" 0 "Off"; +VAL_ 394 AccTGap_D_Dsply 7 "Undefined_2" 6 "Undefined_1" 5 "Time_Gap_5" 4 "Time_Gap_4" 3 "Time_Gap_3" 2 "Time_Gap_2" 1 "Time_Gap_1" 0 "Not_Used"; +VAL_ 394 AccMemEnbl_B_RqDrv 1 "Adaptive_Cruise" 0 "Normal_Cruise"; +VAL_ 394 FdaMem_B_Stat 1 "On" 0 "Off"; +VAL_ 391 HudBlk3_B_Rq 1 "Yes" 0 "No"; +VAL_ 391 HudBlk2_B_Rq 1 "Yes" 0 "No"; +VAL_ 391 HudBlk1_B_Rq 1 "Yes" 0 "No"; +VAL_ 391 HudFlashRate_D_Actl 3 "Unused" 2 "Flash_4Hz_50Prct_DutyCycle" 1 "On" 0 "Off"; +VAL_ 391 CmbbBrkPrchg_D_Rq 3 "Undefined" 2 "Level_2_PreCharge_Request" 1 "Level_1_PreCharge_Request" 0 "No_PreCharge_Request"; +VAL_ 391 CmbbBrkDecel_B_Rq 1 "Yes" 0 "No"; +VAL_ 391 CmbbBaSens_D_Rq 3 "Level_3" 2 "Level_2" 1 "Level_1" 0 "Normal"; +VAL_ 390 AccBrkPulse_B_Rq 1 "True" 0 "False"; +VAL_ 390 AccAutoResum_D_Rq 3 "NotUsed" 2 "Active" 1 "Pending" 0 "Off"; +VAL_ 390 AccBrkPrkEl_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 Cmbb_B_Enbl 1 "Yes" 0 "No"; +VAL_ 390 CmbbOvrrd_B_RqDrv 1 "Yes" 0 "No"; +VAL_ 390 CmbbDeny_B_Actl 1 "Yes" 0 "No"; +VAL_ 390 CmbbEngTqMn_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 AccDeny_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 AccResumEnbl_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 AccCancl_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 AccBrkPrchg_B_Rq 1 "Yes" 0 "No"; +VAL_ 390 AccBrkDecel_B_Rq 1 "Active" 0 "Inactive"; +VAL_ 390 AccStopStat_B_Rq 1 "Yes" 0 "No"; +VAL_ 1153 TerrMde_D_RqDrv 7 "Fail_Safe_Default" 6 "Dynamic_Mode" 5 "Rock_Crawl_Mode" 4 "Mud_Ruts_Mode" 3 "Sand_Mode" 2 "Undefined" 1 "Low_Mu_Mode" 0 "Special_Operating_Mode_Off"; +VAL_ 942 PrkAidDrvDir_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "BackwardNegative" 4 "ForwardNegative" 3 "BackwardPositive" 2 "ForwardPositive" 1 "NoMotion" 0 "DirectionNotKnown"; +VAL_ 942 PrkAidAcsyRear_D_Stat 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 942 PrkAidAcsyFront_D_Stat 3 "NotUsed" 2 "On" 1 "Off" 0 "Null"; +VAL_ 930 BalrWndwRight_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 930 BalrSnsRight_D_Falt 3 "Invalid" 2 "SystemFailure" 1 "Blocked" 0 "Clear"; +VAL_ 930 WndwPsngrRear_D_RqBalrr 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 930 WndwPsngr_D_RqBalrr 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 930 WndwDrvRear_D_RqBalrr 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 930 WndwDrv_D_RqBalrr 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 930 BalrRight_D_Stat 3 "Inhibited" 2 "Disabled" 1 "On" 0 "Off"; +VAL_ 930 BalrMdeSelRight_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 930 BalrMdeRight_D_Stat 3 "NotUsed" 2 "High" 1 "Medium" 0 "Low"; +VAL_ 930 BalrLckRight_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 930 BalrChimeRight_D_Rq 3 "NotUsed" 2 "Soft" 1 "Normal" 0 "Off"; +VAL_ 930 CamraRearOn_B_RqBalrr 1 "Active" 0 "Inactive"; +VAL_ 930 DrLckActv_B_RqBalrr 1 "Active" 0 "Null"; +VAL_ 929 BalrChimeLeft_D_Rq 3 "NotUsed" 2 "Soft" 1 "Normal" 0 "Off"; +VAL_ 929 BalrLeft_D_Stat 3 "Inhibited" 2 "Disabled" 1 "On" 0 "Off"; +VAL_ 929 BalrWndwLeft_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 929 WndwPsngrRear_D_RqBalrl 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 929 WndwPsngr_D_RqBalrl 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 929 WndwDrvRear_D_RqBalrl 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 929 WndwDrv_D_RqBalrl 3 "NotUsed" 2 "Stop" 1 "AutoUp" 0 "NoRequest"; +VAL_ 929 BalrSnsLeft_D_Falt 3 "Invalid" 2 "SystemFailure" 1 "Blocked" 0 "Clear"; +VAL_ 929 BalrMdeSelLeft_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 929 BalrMdeLeft_D_Stat 3 "NotUsed" 2 "High" 1 "Medium" 0 "Low"; +VAL_ 929 BalrLckLeft_B_Stat 1 "Enable" 0 "Disable"; +VAL_ 929 CamraRearOn_B_RqBalrl 1 "Active" 0 "Inactive"; +VAL_ 929 DrLckActv_B_RqBalrl 1 "Active" 0 "Null"; +VAL_ 402 PrkAidSwtch_D_RqMnu 1 "Pressed" 0 "Not_Pressed"; +VAL_ 402 ApaSwtch_D_RqMnu 3 "NotUsed2" 2 "NotUsed1" 1 "Pressed" 0 "Not_Pressed"; +VAL_ 402 ApaMdeStat_D_RqDrv 7 "Faulty" 6 "Off" 5 "NotUsed2" 4 "NotUsed1" 3 "POA" 2 "PPA" 1 "SAPP" 0 "Inactive"; +VAL_ 402 CamraViewSplit_B_Rq 1 "On" 0 "Off"; +VAL_ 402 CamraZoomMan_D_Rq 7 "Unknown" 6 "Invalid" 5 "Zoom_Level_V" 4 "Zoom_Level_IV" 3 "Zoom_Level_III" 2 "Zoom_Level_II" 1 "Zoom_Level_I" 0 "Off"; +VAL_ 402 CamraOvrlStat_D_Rq 1 "On" 0 "Off"; +VAL_ 402 CamraOvrlDyn_D_Rq 1 "On" 0 "Off"; +VAL_ 402 CamAutoTowbarZoom 1 "On" 0 "Off"; +VAL_ 402 DistanceBarSetting 1 "On" 0 "Off"; +VAL_ 924 DcacOut_Pw_Mx 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 924 DcacOut2_Pw_Actl 8191 "Faulty" 8190 "NoDataExists"; +VAL_ 924 DcacOut1_Pw_Actl 8191 "Faulty" 8190 "NoDataExists"; +VAL_ 924 DcacIn_Pw_Mx 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 923 DcacIn_U2_Actl 4095 "Faulty" 4094 "NoDataExists"; +VAL_ 923 DcacIn_U_Actl 4095 "Fault" 4094 "NoDataExists"; +VAL_ 923 DcacIn_I_Actl 2047 "Faulty" 2046 "NoDataExists"; +VAL_ 923 Dcac_Te_Actl 255 "Faulty" 254 "NoDataExists"; +VAL_ 922 DcacBp2BrkrOpn_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacBp1BrkrOpn_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacIpRcBrkrOpn_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacRdy_D2_Stat 3 "Faulted" 2 "RecoverableFault" 1 "Active" 0 "Idle"; +VAL_ 922 DcacOvrld_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacOverTe_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacGfci_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacErr_B_Stat 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacAcUDetct_B_Falt 1 "Faulted" 0 "NotFaulted"; +VAL_ 922 DcacRdy_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "Faulted" 4 "ProtectionTempearture" 3 "ProtectionOverload" 2 "ProtectionGfci" 1 "Active" 0 "Idle"; +VAL_ 922 DcacPlugPrsnt_B_Stat 1 "Yes" 0 "No"; +VAL_ 922 DcacClntFlw_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; +VAL_ 922 CoolFanDcac_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off"; + +CM_ "New CAN FD network"; +CM_ BU_ CMR_DSMC "Driver Status Monitor Camera"; +CM_ BU_ IPMA_ADAS "Assist Driving Alert System"; +CM_ BU_ PSCM "Passenger Front Climate Control Seat Module"; +CM_ BU_ ABS_ESC "Anti-lock Brake / Traction Control Module"; +CM_ BU_ TCCM "Transfer Case Control Module, 4x4 Control Module"; +CM_ BU_ TCM_DSL "Transmission Control Module"; +CM_ BU_ PCM "Powertrain Control Module"; +CM_ BU_ ECM_Diesel "Diesel"; +CM_ BU_ GWM "Gateway Module CGEA1.3(Star Architecture)"; +CM_ BU_ TSTR "Diagnostic Tester"; + +CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt "Signal not transmitted on gas variants."; +CM_ SG_ 1150 LocationServices_1 "Tx by HS3 APIM"; +CM_ SG_ 542 LocationServices_3 "Tx by HS3 APIM"; +CM_ SG_ 810 NtfyDrvTrgtDist_L_Rq "Object.SetTripRangeAlert_Rq This signal is meant to provide the customer settings for the target distance remote notification"; +CM_ SG_ 810 NtfyDrvSocLvl1_Pc_Rq "Object.SetCustomerLevelAlert_Rq This signal is meant to provide the customer settings for the SOC remote notification."; +CM_ SG_ 810 PtRmtRprt_D_Stat "Object.RemoteDataReport_St"; +CM_ SG_ 550 PtWakeupActv1_B_Rq "ECG Application signal"; +CM_ SG_ 982 LatCtlPath_No_Cnt "Signal not transmitted on gas variants."; +CM_ SG_ 982 LatCtlPath_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 1104 DrvEngageLevel_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 1104 DrvEngageLevel_No_Cnt "Signal not transmitted on gas variants."; +CM_ SG_ 1085 ULoRgenTestMde_B_Stat "Signal not transmitted on HEV variants."; +CM_ SG_ 1085 PwSrcULoComm_B_Falt "Signal not transmitted on HEV variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMReserved4 "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMReserved3 "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMReserved2 "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMReserved1 "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMNodeId "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1445 SOBDMC_AutoSarNMControl "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 1088 HvacPrecondMode2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature."; +CM_ SG_ 1088 HvacPrecondBlwr2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature."; +CM_ SG_ 786 ChrgStat_D_Dsply "Signal not transmitted by PCM_HEV"; +CM_ SG_ 66 immoControlData_T2 "Not transmitted on all vehicle variants"; +CM_ SG_ 66 immoControlCmd_T2 "Not transmitted on all vehicle variants"; +CM_ SG_ 549 BeltminderAudioMute "Object.MyKey.BeltMinderAudioMute.St"; +CM_ SG_ 549 Power_Up_Chime_Modules "Object.AlertMethod.IPC _Infotainment"; +CM_ SG_ 549 Chime_Source "Object.AlertMethod.IPC_infotainment"; +CM_ SG_ 611 AwdStat_D_RqDsply "Signal not transmitted on programs that do not have AWD."; +CM_ SG_ 611 AwdSrvcRqd_B_Rq "Signal not transmitted on programs that do not have AWD."; +CM_ SG_ 611 AwdLck_Tq_Rq "Signal not transmitted on programs that do not have AWD."; +CM_ SG_ 130 VehVTrlrAid_B_Rq "VR session start- req. limit blower speed no more than X volts. CC restriction on time msg. will be honored.Double Event msg1st event to request limit, 2nd event to release limit, No msg. CC Grammar v7.xls"; +CM_ SG_ 130 SteMdule_U_Meas "DCR 1745 to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)"; +CM_ SG_ 130 SteMdule_I_Est "DCR 1745 to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)"; +CM_ SG_ 126 StePinRelInit_An_Sns "SASM will transmit these signals on vehicles with SASM and without PSCM. SCCM will not Tx this signal when SASM is present."; +CM_ SG_ 126 StePinAn_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 1200 BrkTot_Tq_RqDrv "DCR 1836 to update Tx from GWM to EP100ms rejected due MPS6 TCM requires BrkTot_Tq_RqDrv at 20ms (bshu1)."; +CM_ SG_ 1046 TCMode "Signal data set to 0x0 for ABS only vehicle option content"; +CM_ SG_ 1046 DrvAntiLckLamp_D_Rq "update value table v8.34, not align w/GSDB, need etracker. ABS & IPC implemented as updated."; +CM_ SG_ 1046 BpedMove_D_Actl "CCMGenSigTimeoutTime=1000"; +CM_ SG_ 1044 StePinOffst_An_Est "SASM will transmit these signals on vehicles with SASM and without PSCM. SCCM will not Tx this signal when SASM is present."; +CM_ SG_ 1044 StePinOffst_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 534 BrkObdData_No_Actl "Signal not transmitted on gas, diesel and HEV. Only supported on PHEV."; +CM_ SG_ 534 BrkObdIndex_No_Actl "Signal not transmitted on gas, diesel and HEV. Only supported on PHEV."; +CM_ SG_ 534 WhlRotatRr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)"; +CM_ SG_ 534 WhlRotatRl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)"; +CM_ SG_ 534 WhlRotatFr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)"; +CM_ SG_ 534 WhlRotatFl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)"; +CM_ SG_ 531 VehLongOvrGnd_A_Est "CCMGenSigTimeoutTime=1000"; +CM_ SG_ 1034 VehicleGGCCData "RCMGenSigTimeout=6000"; +CM_ SG_ 1090 Mtr2State_D_ActlMntr "Signal Not transmitted on PCM_HEV variant"; +CM_ SG_ 1090 Inv1Ain_I_ActlMntr "Signal Not transmitted on PCM_HEV variant"; +CM_ SG_ 1090 VehElRnge_L_Dsply "Signal Not transmitted on HPCM variant"; +CM_ SG_ 374 TrnRng_D_Rq "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 TrnPrkSys_D_Actl "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 GearLvr_D_ActlDrv "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 GearPos_No_Cs "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 GearPos_D_Trg "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 GearPos_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 374 GearPos_D_Actl "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 603 WhlDirAvgDrv_D_Actl "48V mHEV: ECM_HEVDSL is Tx, MHT HEV: PCM_HEV is Tx, Powersplit HEV: SOBDMC_HPCM is Tx"; +CM_ SG_ 603 PrplTqMnRgen_B_Actl "48V mHEV: ECM_HEVDSL is Tx, MHT HEV: PCM_HEV is Tx, Powersplit HEV: SOBDMC_HPCM is Tx"; +CM_ SG_ 603 BattTracCnnct_D_Rq "48V mHEV: ECM_HEVDSL is Tx, MHT HEV: PCM_HEV is Tx, Powersplit HEV: SOBDMC_HPCM is Tx"; +CM_ SG_ 872 HybMdeStat_D_Dsply "Signal not transmitted by HPCM"; +CM_ SG_ 560 SelDrvMdeSwtch_D_Stat3 "ECM_HEV, PCM & PCM_HEV do not support or Transmit signal."; +CM_ SG_ 560 TrnSrvcRqd_B_Rq "Signal not transmitted on Diesel & HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230."; +CM_ SG_ 560 TrnShifActv_B_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230."; +CM_ SG_ 560 GboxOil_Te_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230."; +CM_ SG_ 369 SeatWorkSrfc_B_Falt "Signal Not transmitted by TCM_DSL"; +CM_ SG_ 369 TrnIpcDsplyRng2_D_Actl "Signal not transmitted on HEV variants."; +CM_ SG_ 369 TrnIpcDsplyRng_D_Stat "Signal not transmitted on HEV variants."; +CM_ SG_ 92 TrnLvrV_D_Rq "Signal not transmitted on vehicles with PCM_HEV"; +CM_ SG_ 92 TrnSbwSysHlth_D_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGearNtmAllow_B_Stat "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnDtpCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGearCmd_No_Cs "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnValidGear_D_Cnfm "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnNtrlTowCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGearCmd_Pc_ActlPt "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGear_D_RqPt "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnCmdState_B_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnCmdCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 PrkBrkActv_D_RqTrnGear "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGearMsgTxt_D_Rq "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 92 TrnGearCmd_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 1087 BattRgenLoChrg_D_RqEng "Signal not transmitted on diesel variant"; +CM_ SG_ 1087 BattRgenLoDChrg_D_RqEng "Signal not transmitted on diesel variant"; +CM_ SG_ 1087 FapLcInhbt_B_Rq "Signal not transmitted on diesel variant"; +CM_ SG_ 1100 EngExhMdeQuiet_D2_Stat "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1100 HvacCmprLim_D_Stat "Signal not transmitted on Diesel variants"; +CM_ SG_ 1100 WakeAlarm1_T_Rq "Signal not transmitted on Gas variants"; +CM_ SG_ 1100 WakeAlarm1_B_Typ "Signal not transmitted on Gas variants"; +CM_ SG_ 1100 Veh_V_DsplyTrailCtlSet "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1100 TrailCtlPt_B_Falt "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1100 AutoTowAllw_D_StatMnu "Signal not transmitted on Gas & Diesel variants"; +CM_ SG_ 1100 AutoTowActv_B_Stat "Signal not transmitted on Gas & Diesel variants"; +CM_ SG_ 1086 EngMnfld_P_Actl "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1086 ElLoadCtl_D_Rq "Signal not transmitted on HEV variants."; +CM_ SG_ 1071 CluPdl_PcRate_Actl "Signal not transmitted on HEV and Gas variants."; +CM_ SG_ 1071 CluPdlPosPcMeas_D_Qf "Signal not transmitted on HEV and Gas variants."; +CM_ SG_ 1071 CluPdlPos_Pc_Meas "Signal not transmitted on HEV and Gas variants."; +CM_ SG_ 1071 EngAoutIdl_N_Ntrl "Signal not transmitted on HEV variants and diesel."; +CM_ SG_ 1069 SlMde_D_Stat "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 1069 SlMde_D_RqDsply "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 1069 IsaOffst_D_Stat "Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 1069 ObdWarmUp_B_Complt "Signal not transmitted on diesel variants."; +CM_ SG_ 1069 EngMsgTxt_D_Rq "Signal not transmitted on diesel variants."; +CM_ SG_ 1069 EngClnt_Te_ActlDiag "Signal not transmitted on gas variants."; +CM_ SG_ 1069 EngLoad_Pc_CalcDiag "Signal not transmitted on gas variants."; +CM_ SG_ 1069 ApedPos_Pc_ActlDiag "Signal not transmitted on gas variants."; +CM_ SG_ 1060 RearDiffOilTeWarn_B_Rq "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1060 RearDiffOil_Te_Actl "Signal not transmitted on HEV & Diesel programs"; +CM_ SG_ 1057 FohEng_D_Rq "Signal not transmitted on vehicles that do not have the fuel operated heater feature. Signal not transmitted on HEV programs"; +CM_ SG_ 1057 EngIdlShutDown_D_Stat "Signal not transmitted on diesel variants."; +CM_ SG_ 1057 FUEL_ALCOHOL_PERCNT "signal not transmitted on diesel and HEV variants."; +CM_ SG_ 1057 TrnTotTq_Rt_Est "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 1057 TrnTotLss_Tq_Est "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 1057 VehVLimStat_D_Actl "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 1057 VehVLimActv_B_Actl "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 562 GearNtrl_No_Cs "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 562 GearNtrl_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx this message. For all other programs it will be Tx by PCM or TCM. "; +CM_ SG_ 516 EngAoutNActl_D_QF "Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 516 EngAout3_N_Actl "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 516 ApedPos_Pc_ActlArb "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 516 ApedPosPcActl_No_Cnt "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 516 ApedPosPcActl_No_Cs "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 514 VehVTrlrAid_B_Avail "Signal not transmitted on HEV variants."; +CM_ SG_ 514 GearRvrse_D_Actl "Do not implement GearRvrse_D_Actl until eTracker 8804151 is approved, 11/24/09"; +CM_ SG_ 512 PrplWhlTotTqRq_No_Cs "Signal not transmitted on gas & Diesel variants."; +CM_ SG_ 512 PrplWhlTotTqRq_No_Cnt "Signal not transmitted on gas & Diesel variants."; +CM_ SG_ 512 PtDrvMde_D_Stat "Signal not transmitted on Gas & HEV variants."; +CM_ SG_ 380 EngExhBrkOnLamp_B_Rq "Signal not transmitted on Gas variants"; +CM_ SG_ 380 EngExhBrkAutoLamp_B_Rq "Signal not transmitted on Gas variants"; +CM_ SG_ 380 EngAout_N_MxAllw "Signal not transmitted on Gas variants"; +CM_ SG_ 380 EngExhBrkMde_D_Actl "Signal not transmitted on Gas variants"; +CM_ SG_ 377 HvacAirFullOut_B_Rq "Signal not transmitted on diesel variant"; +CM_ SG_ 377 FuelFlw_Vl_Dsply "Signal not transmitted on diesel variants."; +CM_ SG_ 377 FuelFillInlet_B_Dsply "Signal not transmitted on diesel variants."; +CM_ SG_ 377 OdoCount "Signal not transmitted on diesel variants."; +CM_ SG_ 377 EngOilLife_Pc_Actl "Signal not transmitted on diesel variants."; +CM_ SG_ 377 FuelFilterLamp_B_Dsply "Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 377 AirCondRec_B_Rq "Signal not transmitted on diesel variants."; +CM_ SG_ 377 AirCondClutch_B_Stats "Signal not transmitted on diesel variants."; +CM_ SG_ 376 GasPrtc_D_RqDsply "Signal not transmitted on HEV & Diesel variants."; +CM_ SG_ 376 EngAout_Aa_Actl "Signal not transmitted on HEV variants."; +CM_ SG_ 376 AslIconDsply_D_Rq "Signal not transmitted on HEV variants."; +CM_ SG_ 376 AslChime_B_Rq "Signal not transmitted on HEV variants."; +CM_ SG_ 376 HvacHtrCore2_Te_Actl "Signal not transmitted on Gas & Diesel variants"; +CM_ SG_ 376 EcssLamp_D_RqDsply "Signal not transmitted on Gas & HEV variants"; +CM_ SG_ 376 AirAmb_Te_Actl "Signal not transmitted on Gas variants"; +CM_ SG_ 359 PrplWhlRgenMn_Tq_Actl "Signal not transmitted on Gas & Diesel variants"; +CM_ SG_ 359 ElPw_D_StatStrtStop "Signal not transmitted on HEV variants."; +CM_ SG_ 359 TrnAin_Tq_Actl "Signal not transmitted on HEV variances."; +CM_ SG_ 359 PlgActvArb_B_Actl "Only supported on PHEV programs. PlgActvArb_B_Actl HPCM will Tx on Powersplit PHEVs, On MHT PHEVs the PCM_HEV will Tx and HPCM will Rx."; +CM_ SG_ 359 TrnAinTq_D_Qf "Signal not transmitted on HEV variances."; +CM_ SG_ 358 StopStrtStdby_D_Indic "Signal not transmitted on HEV variants."; +CM_ SG_ 358 StopStrtIODTxt_D_Rq "Signal not transmitted on HEV variants."; +CM_ SG_ 358 StopStrtDrvMde_D_Indic "Signal not transmitted on HEV variants."; +CM_ SG_ 358 StopStrtMsgTxt_D_Rq "Signal not transmitted on HEV variants."; +CM_ SG_ 358 HiElPwInhbt_B_Stat "Signal not transmitted on HEV programs"; +CM_ SG_ 358 AutoStopPtDelta_I_Est "Signal not transmitted on HEV variants. "; +CM_ SG_ 357 BpedDrvAppl_D_Actl "CCMGenSigTimeoutTime=1000"; +CM_ SG_ 357 CcStat_D_Actl "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 357 EngAout_N_MnAllw "Signal not transmitted on Gas & Diesel variants."; +CM_ SG_ 357 AccStopMde_D_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 342 EngOvrhtMitgActv_D_Ind "Signal not transmitted on diesel."; +CM_ SG_ 342 EngGoutLss_Tq_Est "Signal not transmitted on gas and diesel variants."; +CM_ SG_ 342 EngOil_Te_Actl "Signal not transmitted on Gas & HEV variants. "; +CM_ SG_ 954 GenericSwtch2_No_Actl "U625 Police Wig Wag feature"; +CM_ SG_ 935 SodRight_D_Stat "IPCGenSigTimeoutTime=1600"; +CM_ SG_ 935 Side_Detect_R_Illum "DDMGenSigTimeoutTime=2000"; +CM_ SG_ 935 SodSnsRight_D_Stat "IPCGenSigTimeoutTime=1600"; +CM_ SG_ 935 SodAlrtRight_D_Stat "DDMGenSigTimeoutTime=2000"; +CM_ SG_ 1112 BattTracClntPmp_D_Stat "48V mHEV: ECM_HEVDSL is Tx, MHT HEV: PCM_HEV is Tx, Powersplit HEV: SOBDMC_HPCM is Tx"; +CM_ SG_ 1050 Outside_Air_Temp_Stat "Filtered value, i.e. same as disply for customer"; +CM_ SG_ 1009 CenterStackRing_D_Actl "The Center Stack sends the CPLR a signal to turn On or Off the light Ring, This is a customer selectable preference switch"; +CM_ SG_ 1009 APIM_NumberofTracks_St "Object NumberofTracks"; +CM_ SG_ 1009 APIM_ActiveTrackNum_St "Object.ActiveTrackNum"; +CM_ SG_ 360 GsmSrvcRqd_B_Rq "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 360 TrnGearPwmFalt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 360 GearButtnStuck_B_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGsmNtmState_D_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 DrQltyDrv_D_StatGsm "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnBtsiOvrrd_B_Stat "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnValidGearRq_D_Stat "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearRqCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_U_Actl "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlR2 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlR1 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlR0 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlP2 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlP1 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlP0 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlN2 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlN1 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlN0 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlM2 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlM1 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlM0 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlD2 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlD1 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGearButtn_B_ActlD0 "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGear_No_Cs "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGear_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 TrnGear_D_RqDrv "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 90 BrkSwtchPos_B_ActlGsm "Signal not transmitted on vehicles that do not have shift by wire."; +CM_ SG_ 138 SteWhlRelCalib_An_Sns "Signal is not transmitted on vehicles where PSCM is transmitting the message that contains this signal. Signal data set to 0x0 for ABS only vehicle option content"; +CM_ SG_ 1093 StopLamp_B_RqTrlrBrk "Signal not transmitted on all variants."; +CM_ SG_ 792 ElTrip_L_Dsply "Key cycle trip distance driven with the engine off (Trip EV Miles)"; +CM_ SG_ 792 ElLongTerm_L_Dsply "Long term distance distance driven with the engine off since the last long term reset (Long Term EV Miles)."; +CM_ SG_ 765 Mc_VehTimeFrmtUsrSel_St "Object.BodyInterface.Settings.VehicleTimeFormatUserSelection"; +CM_ SG_ 765 Mc_VehUntTrpCoUsrSel_St "Object.VehicleSettings.Disp_Miles_Kilometers.Rq"; +CM_ SG_ 765 Mc_VehUnitTempUsrSel_St "Object.VehicleSettings.Disp_Temperature.Rq"; +CM_ SG_ 765 Mc_VehLangUsrSel_St "Object.BodyInterface.Settings.VehicleLanguageUserSelection Object Vehicle Settings.Disp_LangSel"; +CM_ SG_ 934 Side_Detect_L_Illum "DDMGenSigTimeoutTime=2000"; +CM_ SG_ 934 SodLeft_D_Stat "IPCGenSigTimeoutTime=1600"; +CM_ SG_ 934 SodSnsLeft_D_Stat "IPCGenSigTimeoutTime=1600"; +CM_ SG_ 934 SodAlrtLeft_D_Stat "DDMGenSigTimeoutTime=2000"; +CM_ SG_ 1072 MetricActv_B_Actl "0 =Inactive(English), 1=Active(Metric)"; +CM_ SG_ 145 VehYaw_W_Actl "CCMGenSigTimeoutTime=1000"; +CM_ SG_ 931 CrnkInhbt_No_Cs "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 931 CrnkInhbt_No_Cnt "Signal not transmitted on gas and HEV variants."; +CM_ SG_ 947 Dimming_Lvl "Refer to Vehicle Interior Illum Dimming Ctrl Sys Eng Spec, Table 2"; +CM_ SG_ 947 PrkBrkActv_B_Actl "Signal not transmitted on vehicles with electric park brake. "; +CM_ SG_ 394 HaDsply_No_Cs "Signal not transmitted on gas variants."; +CM_ SG_ 394 HaDsply_No_Cnt "Signal not transmitted on gas variants."; +CM_ SG_ 391 CmbbBrkDecel_A_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 391 CmbbBrkPrchg_D_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 391 CmbbBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 391 CmbbBaSens_D_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccBrkTot_A_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccBrkPrkEl_B_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccPrpl_A_Rq "PCMGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccBrkPrchg_B_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 390 AccStopStat_B_Rq "ABSGenSigTimeoutTime=1000"; +CM_ SG_ 942 PrkAidRdiusRight_L_Dsply "MSGDCR 679, set all signals to OnChange"; +CM_ SG_ 942 PrkAidRdiusLeft_L_Dsply "MSGDCR 679, set all signals to OnChange"; +CM_ SG_ 942 PrkAidDrvDir_D_Stat "MSGDCR 679, set all signals to OnChange"; diff --git a/opendbc/generator/chrysler/.gitignore b/opendbc/generator/chrysler/.gitignore new file mode 100644 index 000000000..1b8f36efa --- /dev/null +++ b/opendbc/generator/chrysler/.gitignore @@ -0,0 +1 @@ +_stellantis_common_ram.dbc diff --git a/opendbc/generator/chrysler/_stellantis_common.dbc b/opendbc/generator/chrysler/_stellantis_common.dbc new file mode 100644 index 000000000..d4b0682e4 --- /dev/null +++ b/opendbc/generator/chrysler/_stellantis_common.dbc @@ -0,0 +1,106 @@ +BO_ 258 STEERING: 8 XXX + SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX + SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX + SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 284 ESP_8: 8 XXX + SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 320 ESP_1: 8 XXX + SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX + SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX + +BO_ 344 ESP_6: 8 XXX + SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX + SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX + +BO_ 464 ORC_1: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 500 DAS_3: 8 XXX + SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 501 DAS_4: 8 XXX + SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX + SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX + SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX + +BO_ 544 EPS_2: 8 XXX + SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX + SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX + SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX + SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 559 ECM_5: 8 XXX + SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 571 CRUISE_BUTTONS: 3 XXX + SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 678 DAS_6: 8 XXX + SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX + SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX + +BO_ 720 BSM_1: 6 XXX + SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 792 STEERING_LEVERS: 8 XXX + SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX + SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX + +BO_ 820 BCM_1: 8 XXX + SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; diff --git a/opendbc/generator/chrysler/_stellantis_common_ram.py b/opendbc/generator/chrysler/_stellantis_common_ram.py new file mode 100755 index 000000000..d38831e40 --- /dev/null +++ b/opendbc/generator/chrysler/_stellantis_common_ram.py @@ -0,0 +1,42 @@ +#!/usr/bin/env python3 +import os +from pathlib import Path + +CHRYSLER_TO_RAM_ADDR = { + 258: 35, + 284: 121, + 320: 131, + 344: 139, + 464: 464, + 500: 153, + 501: 232, + 544: 49, + 571: 177, + 559: 157, + 678: 250, + 720: 720, + 792: 792, + 820: 657, +} + +if __name__ == "__main__": + src = '_stellantis_common.dbc' + out = Path(__file__).stem + '.dbc' + chrysler_path = os.path.dirname(os.path.realpath(__file__)) + + with open(os.path.join(chrysler_path, src)) as in_f, open(os.path.join(chrysler_path, out), 'w') as out_f: + out_f.write(f'CM_ "Generated from {src}"\n\n') + + wrote_addrs = set() + for line in in_f.readlines(): + if line.startswith('BO_'): + sl = line.split(' ') + addr = int(sl[1]) + wrote_addrs.add(addr) + + sl[1] = str(CHRYSLER_TO_RAM_ADDR.get(addr, addr)) + line = ' '.join(sl) + out_f.write(line) + + missing_addrs = set(CHRYSLER_TO_RAM_ADDR.keys()) - wrote_addrs + assert len(missing_addrs) == 0, f"Missing addrs from {src}: {missing_addrs}" diff --git a/opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc b/opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc new file mode 100644 index 000000000..b3bfb5a3a --- /dev/null +++ b/opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc @@ -0,0 +1,194 @@ +CM_ "IMPORT _stellantis_common.dbc"; + +BO_ 514 SPEED_1: 8 XXX + SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX + SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX + +BO_ 653 BRAKE_MODULE: 2 XXX + SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|4] "" XXX + +BO_ 746 GEAR: 5 XXX + SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX + SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 31|4@0+ (1,0) [0|15] "" XXX + +BO_ 736 TRIP: 8 XXX + SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX + SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX + +BO_ 264 ACCEL_PEDAL_MSG: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX + +BO_ 658 LKAS_COMMAND: 6 XXX + SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + SG_ STEERING_TORQUE : 2|11@0+ (1,-1024) [0|1] "" XXX + SG_ LKAS_CONTROL_BIT : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 705 AUTO_PARK_BUTTON: 8 XXX + SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ INCREASING_UNKNOWN : 38|7@0+ (1,0) [0|15] "" XXX + +BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX + SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX + +BO_ 671 AUTO_PARK_REQUEST: 8 XXX + SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_STATUS : 7|5@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_MODE : 22|2@0+ (1,0) [0|3] "" XXX + SG_ AUTO_PARK_CMD : 2|11@0+ (1,-1024) [0|1] "NM" XXX + +BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX + SG_ INCREASING_UNKNOWN : 55|8@0+ (1,0) [0|7] "" XXX + SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX + +BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX + SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_GEAR_2 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ AUTO_PARK_GEAR_3 : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 332 STEERING_2: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX + +BO_ 331 BRAKE_3: 8 XXX + SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 608 PARKSENSE_SIGNAL: 8 XXX + SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ IN_REVERSE : 10|1@0+ (1,0) [0|255] "" XXX + SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@0+ (1,0) [0|255] "" XXX + SG_ HUMAN_HAS_CONTROL : 17|1@0+ (1,0) [0|3] "" XXX + +BO_ 729 LKAS_HEARTBIT: 5 XXX + SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX + +BO_ 288 ACCEL_RELATED_120: 7 XXX + SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ACCEL : 23|8@0+ (1,0) [0|255] "" XXX + SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX + +BO_ 257 ACCEL_RELATED_101: 5 XXX + SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 825 AUDIBLE_BEEP_339: 2 XXX + SG_ BEEP_339 : 7|16@0+ (1,0) [0|65535] "" XXX + +BO_ 168 ACCEL_RELATED_a8: 8 XXX + SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 270 ACCEL_RELATED_10e: 8 XXX + SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX + +BO_ 291 ENERGY_RELATED_123: 8 XXX + SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX + +BO_ 294 ENERGY_RELATED_126: 8 XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX + SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX + +BO_ 308 ACCEL_GAS_134: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ ACCEL_134 : 46|7@0+ (1,0) [0|127] "" XXX + +BO_ 532 ENERGY_RELATED_214: 8 XXX + SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX + SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX + +BO_ 655 CHARGING_MAYBE_28F: 8 XXX + SG_ CHARGING : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 660 BRAKE_RELATED_294: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PERHAPS_294 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 764 ACCEL_RELATED_2FC: 8 XXX + SG_ ACCEL_2FC : 13|6@0+ (1,0) [0|255] "" XXX + +BO_ 816 TRACTION_BUTTON: 8 XXX + SG_ TRACTION_OFF : 19|1@0+ (1,0) [0|3] "" XXX + SG_ TOGGLE_PARKSENSE : 52|1@0+ (1,0) [0|3] "" XXX + +BO_ 878 ACCEL_RELATED_36E: 8 XXX + SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ACCEL_OR_RPM_1 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 324 SPEED_2: 8 XXX + SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX + +BO_ 832 UNKNOWN_340: 8 XXX + SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX + +BO_ 625 ACC_1: 8 XXX + SG_ SPEED : 31|8@0+ (1,0) [0|255] "km/h" XXX + SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + +BO_ 268 ACC_10c: 8 XXX + SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148"; +CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P"; +CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake"; +CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes"; +CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right"; +CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed"; +CM_ SG_ 544 LKAS_STATE "2 when autopark has control, 8 when is actuatable by lkas, 4 when there is a fault"; +CM_ SG_ 658 LKAS_STEERING_TORQUE "Most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s"; +CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; +CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; +CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking"; +CM_ SG_ 671 AUTO_PARK_CMD "Request Appears to be in NM"; +CM_ SG_ 671 AUTO_PARK_STATUS "1 = IDLE / NO REQUEST 9 = START REQUEST 10 = REQUEST MODE 11 = REQUEST MODE"; +CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f"; +CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f"; +CM_ SG_ 826 AUTO_PARK_GEAR_3 "Reverse=0, Forward=f"; +CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more noisy."; +CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled"; +CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in."; +CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning."; +CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use"; +CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is"; +CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unsure what it is, but smoother"; +CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal"; +CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know"; +CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled"; +CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense"; +CM_ SG_ 324 SPEED_2 "signal is approx half other speeds"; +CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC"; +CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC"; +CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both."; +CM_ SG_ 625 SPEED "zero on non-acc drives"; + +VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged"; +VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left"; diff --git a/opendbc/generator/chrysler/chrysler_ram_dt.dbc b/opendbc/generator/chrysler/chrysler_ram_dt.dbc new file mode 100644 index 000000000..0eebaa76d --- /dev/null +++ b/opendbc/generator/chrysler/chrysler_ram_dt.dbc @@ -0,0 +1,65 @@ +CM_ "IMPORT _stellantis_common_ram.dbc"; + +BO_ 37 PCM_1: 8 XXX + SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|1] "" XXX + SG_ ENGINE_TRQ_REQ : 23|12@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 53 PCM_2: 8 XXX + SG_ ENG_TORQUE_REQ : 3|12@0+ (1,0) [0|7] "" XXX + SG_ ENG_TORQUE_OUT : 19|12@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + +BO_ 133 TCM_1: 8 XXX + SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX + SG_ SHIFT_PENDING : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SPEED_TURBINE : 27|12@0+ (0.04,0) [0|1] "km/h" XXX + SG_ ACTUAL_GEAR : 11|4@0+ (1,0) [0|15] "" XXX + +BO_ 135 ABS_2: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_BRAKE : 15|8@0+ (1,0) [0|1] "" XXX + +BO_ 137 ESP_4: 8 XXX + SG_ Yaw_Rate : 7|16@0+ (0.01,-327.68) [-327.68|327.66] "deg/s" XXX + SG_ Acceleration : 32|8@1+ (0.08,-10.24) [-10.24|10.08] "m/s2" XXX + +BO_ 147 Transmission_Status: 8 XXX + SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 164 EPS_3: 8 XXX + SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX + SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX + SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX + SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 166 LKAS_COMMAND: 8 XXX + SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX + SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX + SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 221 Center_Stack_1: 8 XXX + SG_ LKAS_Button : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Traction_Button : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 650 Center_Stack_2: 8 XXX + SG_ LKAS_Button : 57|1@1+ (1,0) [0|0] "" XXX + + +CM_ SG_ 133 ACTUAL_GEAR "0xd = P, 0x1-8 = D (actual gear), 0xb = R or N?? TODO find R vs N"; +CM_ SG_ 153 ACC_Engaged "SENT BY FORWARD CAMERA 1 = ACTIVE, 3 = ENGAGED, 0 = DISENGAGED/OFF"; +CM_ SG_ 166 LKAS_CONTROL_BIT "0=IDLE, 1=HAS 2=LKAS 3=ABSD, 4=TJA, 7=SNA"; +CM_ SG_ 250 Auto_High_Beam "1 = HIGH BEAMS OK 0 = HIGH BEAMS OFF "; +CM_ SG_ 250 LKAS_LANE_LINES "9 = LEFT CAUTION, 11 = VERY LEFT CAUTION 10 = RIGHT CAUTION, 14 = VERY RIGHT, 4 = NO LINES DETECTED, 3 = LINES DETECTED, SYSTEM ACTIVE"; +CM_ SG_ 464 Driver_Seatbelt_Status "1 unbuckled 0 buckled"; +CM_ SG_ 792 High_Beam_Lever_Status "1 is high beam, 0 reg"; +VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ; diff --git a/opendbc/generator/generator.py b/opendbc/generator/generator.py new file mode 100755 index 000000000..50a41609e --- /dev/null +++ b/opendbc/generator/generator.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python3 +import os +import re +import glob +import subprocess + +generator_path = os.path.dirname(os.path.realpath(__file__)) +opendbc_root = os.path.join(generator_path, '../') +include_pattern = re.compile(r'CM_ "IMPORT (.*?)";\n') +generated_suffix = '_generated.dbc' + + +def read_dbc(src_dir, filename): + with open(os.path.join(src_dir, filename)) as file_in: + return file_in.read() + + +def create_dbc(src_dir, filename, output_path): + dbc_file_in = read_dbc(src_dir, filename) + + includes = include_pattern.findall(dbc_file_in) + + output_filename = filename.replace('.dbc', generated_suffix) + output_file_location = os.path.join(output_path, output_filename) + + with open(output_file_location, 'w') as dbc_file_out: + dbc_file_out.write('CM_ "AUTOGENERATED FILE, DO NOT EDIT";\n') + + for include_filename in includes: + include_file_header = '\n\nCM_ "Imported file %s starts here";\n' % include_filename + dbc_file_out.write(include_file_header) + + include_file = read_dbc(src_dir, include_filename) + dbc_file_out.write(include_file) + + dbc_file_out.write('\nCM_ "%s starts here";\n' % filename) + + core_dbc = include_pattern.sub('', dbc_file_in) + dbc_file_out.write(core_dbc) + + +def create_all(output_path): + # clear out old DBCs + for f in glob.glob(f"{output_path}/*{generated_suffix}"): + os.remove(f) + + # run python generator scripts first + for f in glob.glob(f"{generator_path}/*/*.py"): + subprocess.check_call(f) + + for src_dir, _, filenames in os.walk(generator_path): + if src_dir == generator_path: + continue + + #print(src_dir) + for filename in filenames: + if filename.startswith('_') or not filename.endswith('.dbc'): + continue + + #print(filename) + create_dbc(src_dir, filename, output_path) + +if __name__ == "__main__": + create_all(opendbc_root) diff --git a/opendbc/generator/gm/_comma.dbc b/opendbc/generator/gm/_comma.dbc new file mode 100644 index 000000000..d8855b359 --- /dev/null +++ b/opendbc/generator/gm/_comma.dbc @@ -0,0 +1,15 @@ +BO_ 512 GAS_COMMAND: 6 NEO + SG_ GAS_COMMAND : 7|16@0+ (0.125677,-75.909) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.251976,-76.601) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (0.125677,-75.909) [0|1] "" NEO + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.251976,-76.601) [0|1] "" NEO + SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; diff --git a/opendbc/generator/gm/gm_global_a_powertrain.dbc b/opendbc/generator/gm/gm_global_a_powertrain.dbc new file mode 100644 index 000000000..33cb8b070 --- /dev/null +++ b/opendbc/generator/gm/gm_global_a_powertrain.dbc @@ -0,0 +1,298 @@ +CM_ "IMPORT _comma.dbc"; + +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB +VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ; +VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; +VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ; +VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ; +VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ; +VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; + + +BO_ 189 EBCMRegenPaddle: 7 K17_EBCM + SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] "" NEO + +BO_ 190 ECMAcceleratorPos: 6 K20_ECM + SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky" NEO + SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] "" NEO + +BO_ 201 ECMEngineStatus: 8 K20_ECM + SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO + SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO + SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO + SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO + SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO + +BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM + SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX + SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX + SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX + SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX + +BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM + SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO + +BO_ 298 BCMDoorBeltStatus: 8 K9_BCM + SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] "" NEO + SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] "" NEO + SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] "" NEO + SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] "" NEO + SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] "" NEO + SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] "" NEO + +BO_ 309 ECMPRDNL: 8 K20_ECM + SG_ PRNDL : 2|3@0+ (1,0) [0|0] "" NEO + SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 320 BCMTurnSignals: 3 K9_BCM + SG_ TurnSignals : 19|2@0+ (1,0) [0|0] "" NEO + SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX + SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 328 PSCM_148: 1 K43_PSCM + +BO_ 381 ESPStatus: 6 K20_ECM + SG_ TractionControlOn : 5|1@0+ (1,0) [0|0] "" NEO + SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] "" NEO + +BO_ 384 ASCMLKASteeringCmd: 4 NEO + SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] "" NEO + +BO_ 388 PSCMStatus: 8 K43_PSCM + SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO + SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO + SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO + SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO + SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO + SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO + +BO_ 417 AcceleratorPedal: 7 XXX + SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 451 GasAndAcc: 8 XXX + SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 452 AcceleratorPedal2: 8 XXX + SG_ CruiseState : 15|3@0+ (1,0) [0|7] "" NEO + SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] "" NEO + +BO_ 481 ASCMSteeringButton: 7 K124_ASCM + SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO + SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO + SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO + SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX + +BO_ 485 PSCMSteeringAngle: 8 K43_PSCM + SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO + SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO + +BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM + SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO + SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO + SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO + SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO + +BO_ 352 VehicleIgnition: 5 XXX + SG_ Ignition : 7|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 497 VehicleIgnitionAlt: 8 XXX + SG_ Ignition : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ParkBrake : 36|1@0+ (1,0) [0|3] "" XXX + +BO_ 501 ECMPRDNL2: 8 K20_ECM + SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO + SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO + SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO + +BO_ 560 EPBStatus: 8 EPB + SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO + +BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM + SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO + SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO + +BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM + SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO + SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO + SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] "" NEO + +BO_ 717 ASCM_2CD: 5 K124_ASCM + +BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM + SG_ RollingCounter : 33|2@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO + +BO_ 800 AEBCmd: 6 K124_ASCM + SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO + SG_ Checksum : 27|20@0+ (1,0) [0|2047] "" NEO + SG_ BrakeCmdActive : 3|1@1+ (1,0) [0|1] "" NEO + SG_ BrakingForce : 2|7@0+ (1,0) [0|7] "" NEO + +BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC + SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO + SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO + +BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM + SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + +BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM + SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + +BO_ 869 ASCM_365: 4 K124_ASCM + +BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM + SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO + SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO + SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO + SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO + SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX + +BO_ 1001 ECMVehicleSpeed: 8 K20_ECM + SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO + +BO_ 1033 ASCMKeepAlive: 7 NEO + SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO + +BO_ 1034 ASCM_40A: 7 K124_ASCM + +BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM + SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C" NEO + +BO_ 1249 VIN_Part2: 8 K20_ECM + SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1296 ASCM_510: 4 K124_ASCM + +BO_ 1300 VIN_Part1: 8 K20_ECM + SG_ VINPart1 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1912 PSCM_778: 8 K43_PSCM + +BO_ 1930 ASCM_78A: 7 K124_ASCM + +BO_TX_BU_ 384 : K124_ASCM,NEO; +BO_TX_BU_ 880 : NEO,K124_ASCM; +BO_TX_BU_ 1033 : K124_ASCM,NEO; +BO_TX_BU_ 715 : NEO,K124_ASCM; +BO_TX_BU_ 789 : NEO,K124_ASCM; +BO_TX_BU_ 800 : NEO,K124_ASCM; + + +CM_ BU_ K16_BECM "Battery Energy Control Module"; +CM_ BU_ K73_TCIC "Telematics Communication Control Module"; +CM_ BU_ K9_BCM "Body Control Module"; +CM_ BU_ K43_PSCM "Power Steering Control Module"; +CM_ BU_ K17_EBCM "Electronic Brake Control Module"; +CM_ BU_ K20_ECM "Engine Control Module"; +CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +CM_ SG_ 381 MSG17D_AccPower "Need to investigate"; +CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62"; +CM_ SG_ 352 Ignition "Non-zero when ignition is on"; +CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62"; +CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy"; +CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10"; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; +BA_ "UseGMParameterIDs" 0; +VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ; +VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ; +VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ; +VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ; +VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ; +VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ; +VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ; +VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; +VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ; +VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; +VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ; +VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ; +VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ; +VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting"; +VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged"; +VAL_ 501 ManualMode 1 "Active" 0 "Inactive" diff --git a/opendbc/generator/honda/_bosch_2018.dbc b/opendbc/generator/honda/_bosch_2018.dbc new file mode 100644 index 000000000..916be7feb --- /dev/null +++ b/opendbc/generator/honda/_bosch_2018.dbc @@ -0,0 +1,228 @@ +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; diff --git a/opendbc/generator/honda/_bosch_adas_2018.dbc b/opendbc/generator/honda/_bosch_adas_2018.dbc new file mode 100644 index 000000000..41c8d1669 --- /dev/null +++ b/opendbc/generator/honda/_bosch_adas_2018.dbc @@ -0,0 +1,54 @@ +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; diff --git a/opendbc/generator/honda/_comma.dbc b/opendbc/generator/honda/_comma.dbc new file mode 100644 index 000000000..8be69203e --- /dev/null +++ b/opendbc/generator/honda/_comma.dbc @@ -0,0 +1,15 @@ +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; diff --git a/opendbc/generator/honda/_honda_common.dbc b/opendbc/generator/honda/_honda_common.dbc new file mode 100644 index 000000000..d9feb98dc --- /dev/null +++ b/opendbc/generator/honda/_honda_common.dbc @@ -0,0 +1,163 @@ +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; diff --git a/opendbc/generator/honda/_nidec_common.dbc b/opendbc/generator/honda/_nidec_common.dbc new file mode 100644 index 000000000..433f03622 --- /dev/null +++ b/opendbc/generator/honda/_nidec_common.dbc @@ -0,0 +1,93 @@ +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; diff --git a/opendbc/generator/honda/_steering_sensors_a.dbc b/opendbc/generator/honda/_steering_sensors_a.dbc new file mode 100644 index 000000000..52805d622 --- /dev/null +++ b/opendbc/generator/honda/_steering_sensors_a.dbc @@ -0,0 +1,9 @@ +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON diff --git a/opendbc/generator/honda/_steering_sensors_b.dbc b/opendbc/generator/honda/_steering_sensors_b.dbc new file mode 100644 index 000000000..35e9b2752 --- /dev/null +++ b/opendbc/generator/honda/_steering_sensors_b.dbc @@ -0,0 +1,5 @@ +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON diff --git a/opendbc/generator/honda/acura_ilx_2016_can.dbc b/opendbc/generator/honda/acura_ilx_2016_can.dbc new file mode 100644 index 000000000..0fc474a64 --- /dev/null +++ b/opendbc/generator/honda/acura_ilx_2016_can.dbc @@ -0,0 +1,51 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ; +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ; +VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ; diff --git a/opendbc/generator/honda/acura_rdx_2018_can.dbc b/opendbc/generator/honda/acura_rdx_2018_can.dbc new file mode 100644 index 000000000..4514dea15 --- /dev/null +++ b/opendbc/generator/honda/acura_rdx_2018_can.dbc @@ -0,0 +1,47 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 392 GEARBOX: 6 XXX + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX + SG_ GEAR_SHIFTER : 27|4@0+ (1,0) [0|15] "" EON + SG_ GEAR : 36|5@0+ (1,0) [0|31] "" EON + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ PARKING_BRAKE_LIGHT : 2|1@0+ (1,0) [0|1] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break"; +VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ; +VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; diff --git a/opendbc/generator/honda/acura_rdx_2020_can.dbc b/opendbc/generator/honda/acura_rdx_2020_can.dbc new file mode 100644 index 000000000..38a312c31 --- /dev/null +++ b/opendbc/generator/honda/acura_rdx_2020_can.dbc @@ -0,0 +1,32 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _bosch_adas_2018.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 419 GEARBOX: 8 PCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/generator/honda/honda_accord_2018_can.dbc b/opendbc/generator/honda/honda_accord_2018_can.dbc new file mode 100644 index 000000000..e9f2fb41a --- /dev/null +++ b/opendbc/generator/honda/honda_accord_2018_can.dbc @@ -0,0 +1,55 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _bosch_adas_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 401 GEARBOX_15T: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 419 GEARBOX: 8 XXX + SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS + SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P"; +VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P"; +VAL_ 545 ECON_ON_2 0 "off" 3 "on"; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none"; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none"; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released"; diff --git a/opendbc/generator/honda/honda_civic_ex_2022_can.dbc b/opendbc/generator/honda/honda_civic_ex_2022_can.dbc new file mode 100644 index 000000000..b55c80305 --- /dev/null +++ b/opendbc/generator/honda/honda_civic_ex_2022_can.dbc @@ -0,0 +1,77 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 456 ACC_CONTROL: 8 XXX + SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX + SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX + SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@1+ (1,0) [0|7] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_1 : 24|1@1+ (1,0) [0|3] "" XXX + SG_ FCW_2 : 54|1@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ LANE_LINES : 36|2@0+ (1,0) [0|3] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +BO_ 882 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +BO_ 254913108 LKAS_HUD_2: 8 ADAS + SG_ COUNTER_2 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_BOH_1 : 15|6@0+ (1,0) [0|63] "" XXX + SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_BOH_2 : 30|5@0+ (1,0) [0|31] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +CM_ BO 456 "not sure which bit enables cruise"; +CM_ SG_ 456 ACCEL_COMMAND "seems to be m/s^2? need to verify"; +CM_ SG_ 456 BOH "could be cruise standstill?"; + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; diff --git a/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc b/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc new file mode 100644 index 000000000..dc14d2968 --- /dev/null +++ b/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc @@ -0,0 +1,37 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _bosch_adas_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS + SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/generator/honda/honda_civic_touring_2016_can.dbc b/opendbc/generator/honda/honda_civic_touring_2016_can.dbc new file mode 100644 index 000000000..a5a454325 --- /dev/null +++ b/opendbc/generator/honda/honda_civic_touring_2016_can.dbc @@ -0,0 +1,97 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 493 HUD_SETTING: 5 XXX + SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON + +BO_ 545 ECON_STATUS: 6 XXX + SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\""; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; diff --git a/opendbc/generator/honda/honda_clarity_hybrid_2018_can.dbc b/opendbc/generator/honda/honda_clarity_hybrid_2018_can.dbc new file mode 100644 index 000000000..9499ddca2 --- /dev/null +++ b/opendbc/generator/honda/honda_clarity_hybrid_2018_can.dbc @@ -0,0 +1,114 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 388 BRAKE_ERROR: 8 XXX + SG_ BRAKE_ERROR_1 : 32|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 34|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 545 ECON_STATUS: 6 XXX + SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 768 VEHICLE_STATE: 8 ADAS + SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX + SG_ SET_ME_X8A : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_XD0 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SALTED_WITH_IDX : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 769 VEHICLE_STATE2: 8 ADAS + SG_ SET_ME_X5D : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X02 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X5F : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +BO_ 1302 XXX_27: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 5 "tmp_fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; diff --git a/opendbc/generator/honda/honda_crv_ex_2017_body.dbc b/opendbc/generator/honda/honda_crv_ex_2017_body.dbc new file mode 100644 index 000000000..363b59581 --- /dev/null +++ b/opendbc/generator/honda/honda_crv_ex_2017_body.dbc @@ -0,0 +1,10 @@ +BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX + SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX + +BO_ 318291615 BSM_STATUS_LEFT: 8 XXX + SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX + +VAL_ 318291879 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off"; +VAL_ 318291615 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off"; diff --git a/opendbc/generator/honda/honda_crv_ex_2017_can.dbc b/opendbc/generator/honda/honda_crv_ex_2017_can.dbc new file mode 100644 index 000000000..fe2ae8f94 --- /dev/null +++ b/opendbc/generator/honda/honda_crv_ex_2017_can.dbc @@ -0,0 +1,40 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _bosch_adas_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied"; +CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas"; + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/generator/honda/honda_crv_executive_2016_can.dbc b/opendbc/generator/honda/honda_crv_executive_2016_can.dbc new file mode 100644 index 000000000..3941ac79d --- /dev/null +++ b/opendbc/generator/honda/honda_crv_executive_2016_can.dbc @@ -0,0 +1,52 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/generator/honda/honda_crv_touring_2016_can.dbc b/opendbc/generator/honda/honda_crv_touring_2016_can.dbc new file mode 100644 index 000000000..9a9d08be1 --- /dev/null +++ b/opendbc/generator/honda/honda_crv_touring_2016_can.dbc @@ -0,0 +1,50 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/generator/honda/honda_fit_ex_2018_can.dbc b/opendbc/generator/honda/honda_fit_ex_2018_can.dbc new file mode 100644 index 000000000..59c6fb74f --- /dev/null +++ b/opendbc/generator/honda/honda_fit_ex_2018_can.dbc @@ -0,0 +1,60 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc b/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc new file mode 100644 index 000000000..cdd8b52f0 --- /dev/null +++ b/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc @@ -0,0 +1,81 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 545 ECON_STATUS: 5 XXX + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/generator/honda/honda_insight_ex_2019_can.dbc b/opendbc/generator/honda/honda_insight_ex_2019_can.dbc new file mode 100644 index 000000000..79c6dc161 --- /dev/null +++ b/opendbc/generator/honda/honda_insight_ex_2019_can.dbc @@ -0,0 +1,19 @@ +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _bosch_2018.dbc"; +CM_ "IMPORT _bosch_adas_2018.dbc"; +CM_ "IMPORT _steering_sensors_a.dbc"; + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +VAL_ 419 GEAR 10 "R" 1 "D" 0 "P"; +VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P"; diff --git a/opendbc/generator/honda/honda_odyssey_exl_2018.dbc b/opendbc/generator/honda/honda_odyssey_exl_2018.dbc new file mode 100644 index 000000000..2db2f0433 --- /dev/null +++ b/opendbc/generator/honda/honda_odyssey_exl_2018.dbc @@ -0,0 +1,87 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; +CM_ "IMPORT _steering_sensors_b.dbc"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 XXX + SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc b/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc new file mode 100644 index 000000000..10377b982 --- /dev/null +++ b/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc @@ -0,0 +1,75 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _honda_common.dbc"; +CM_ "IMPORT _nidec_common.dbc"; + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 XXX + SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; +VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/generator/subaru/_subaru_global.dbc b/opendbc/generator/subaru/_subaru_global.dbc new file mode 100644 index 000000000..b8b2676d9 --- /dev/null +++ b/opendbc/generator/subaru/_subaru_global.dbc @@ -0,0 +1,258 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX + SG_ COUNTER : 25|3@1+ (1,0) [0|7] "" XXX + SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 64 Throttle: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX + SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 316 Brake_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX + SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX + SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 326 Cruise_Buttons: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX + SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX + SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX + +BO_ 315 G_Sensor: 8 XXX + SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX + SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX + +BO_ 314 Wheel_Speeds: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX + +BO_ 280 STOP_START: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ State : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 281 Steering_Torque: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX + SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X + SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX + +BO_ 312 Brake_Pressure_L_R: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 313 Brake_Pedal: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX + SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX + SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX + +BO_ 372 Engine_Stop_Start: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 290 ES_LKAS: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX + SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX + +BO_ 544 ES_Brake: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX + +BO_ 577 Cruise_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Active : 57|4@1+ (1,0) [0|15] "" XXX + +BO_ 552 BSD_RCTA: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX + +BO_ 912 Dashlights: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX + SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX + SG_ STOP_START : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 940 BodyInfo: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX + SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX + SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX + SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX + SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX + +BO_ 801 ES_DashStatus: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX + SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX + SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 802 ES_LKAS_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX + SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX + SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX + SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX + +BO_ 722 AC_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX + SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX + +BO_ 1677 Dash_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX + +CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal"; +CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on"; +CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights"; +CM_ SG_ 801 PCB_Off "Pre-Collision Braking off"; +CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on"; +CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold"; +CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+"; +CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast"; +CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope"; +CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)"; +CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual"; +CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display"; +CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off"; +CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep"; +CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active"; +CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial"; +CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF"; diff --git a/opendbc/generator/subaru/_subaru_preglobal_2015.dbc b/opendbc/generator/subaru/_subaru_preglobal_2015.dbc new file mode 100644 index 000000000..6459e9a94 --- /dev/null +++ b/opendbc/generator/subaru/_subaru_preglobal_2015.dbc @@ -0,0 +1,244 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX + SG_ COUNTER : 27|3@0+ (1,0) [0|7] "" XXX + SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 208 G_Sensor: 8 XXX + SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX + SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX + SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX + +BO_ 209 Brake_Pedal: 8 XXX + SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX + SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 210 Brake_2: 8 XXX + SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 211 Brake_Type: 8 XXX + SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 212 Wheel_Speeds: 8 XXX + SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX + +BO_ 320 Throttle: 8 XXX + SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX + SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX + SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX + +BO_ 321 Engine: 8 XXX + SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX + SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX + +BO_ 324 CruiseControl: 8 XXX + SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX + SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX + +BO_ 328 Transmission: 8 XXX + SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX + SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX + SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX + +BO_ 329 CVT_Ratio: 8 XXX + +BO_ 336 Brake_Pressure: 8 XXX + SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX + +BO_ 338 Stalk: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX + SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX + SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX + +BO_ 352 ES_Brake: 8 XXX + SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX + SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 353 ES_Distance: 8 XXX + SG_ Cruise_Throttle : 0|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX + SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX + SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX + SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 44|3@1+ (1,0) [0|7] "" XXX + SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 354 ES_RPM: 8 XXX + SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX + SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + +BO_ 356 ES_LKAS: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX + SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 359 ES_LDW: 8 XXX + SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX + +BO_ 604 BSD_RCTA: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ State : 5|1@1+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX + SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX + SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX + +BO_ 642 Dashlights: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX + +BO_ 880 Steering_Torque_2: 8 XXX + SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" XXX + +BO_ 884 BodyInfo: 8 XXX + SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX + +BO_ 864 Engine_Temp: 8 XXX + SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX + SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX + SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX + SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 866 Fuel: 8 XXX + +BO_ 977 Dash_State2: 8 XXX + SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX + +BO_ 1745 Dash_State: 8 XXX + SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX + +CM_ SG_ 320 Off_Throttle_2 "Less sensitive"; +CM_ SG_ 320 Throttle_Body "Throttle related"; +CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep"; +CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission"; +CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage"; +CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering"; +CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; +CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; +CM_ SG_ 359 Sig1All_Depart "Left and right depart"; +CM_ SG_ 359 Sig2All_Depart "Left and right depart"; +CM_ SG_ 359 All_depart_2015 "always 1 on 2017"; +CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane"; +CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane"; +CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 642 COUNTER "Affected by signals"; +CM_ SG_ 642 SEATBELT_FL "Driver seatbelt"; +CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371"; +CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial"; + +VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P"; diff --git a/opendbc/generator/subaru/subaru_forester_2017.dbc b/opendbc/generator/subaru/subaru_forester_2017.dbc new file mode 100644 index 000000000..d48ef3551 --- /dev/null +++ b/opendbc/generator/subaru/subaru_forester_2017.dbc @@ -0,0 +1,18 @@ +CM_ "IMPORT _subaru_preglobal_2015.dbc"; + +BO_ 355 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 40|3@1+ (1,0) [0|7] "" XXX + SG_ Brake : 43|1@1+ (1,0) [0|1] "" XXX + SG_ Car_Follow : 54|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 56|4@1+ (1,0) [0|1] "" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX diff --git a/opendbc/generator/subaru/subaru_global_2017.dbc b/opendbc/generator/subaru/subaru_global_2017.dbc new file mode 100644 index 000000000..4b5dc72f4 --- /dev/null +++ b/opendbc/generator/subaru/subaru_global_2017.dbc @@ -0,0 +1,59 @@ +CM_ "IMPORT _subaru_global.dbc"; + +BO_ 72 Transmission: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX + SG_ RPM : 40|16@1+ (1,0) [0|65535] "" XXX + +BO_ 73 CVT: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ CVT_Gear : 24|8@1+ (1,0) [0|255] "" XXX + +BO_ 545 ES_Distance: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX + +BO_ 546 ES_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX + SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" XXX + +BO_ 576 CruiseControl: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|28@1+ (1,0) [0|268435455] "" XXX + SG_ Cruise_On : 40|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX + +CM_ SG_ 545 Cruise_Throttle "RPM-like output signal"; +CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set"; +CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance"; +CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM"; +CM_ SG_ 546 Signal3 "0 when cruise_activated = 1"; +VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6"; diff --git a/opendbc/generator/subaru/subaru_global_2020_hybrid.dbc b/opendbc/generator/subaru/subaru_global_2020_hybrid.dbc new file mode 100644 index 000000000..a4dbe9c37 --- /dev/null +++ b/opendbc/generator/subaru/subaru_global_2020_hybrid.dbc @@ -0,0 +1,18 @@ +CM_ "IMPORT _subaru_global.dbc"; + +BO_ 39 Cruise_Status_2: 8 XXX + SG_ Cruise_Activated : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 295 Transmission: 8 XXX + SG_ Gear : 44|4@1+ (1,0) [0|15] "" XXX + +BO_ 360 Throttle_Hybrid: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 550 Brake_Hybrid: 8 XXX + SG_ Brake_Pedal : 24|8@1+ (1,0) [0|1] "" XXX + SG_ Brake : 37|1@1+ (1,0) [0|1] "" XXX + +VAL_ 295 Gear 0 "P" 1 "R" 3 "D"; diff --git a/opendbc/generator/subaru/subaru_outback_2015.dbc b/opendbc/generator/subaru/subaru_outback_2015.dbc new file mode 100644 index 000000000..81ff81c87 --- /dev/null +++ b/opendbc/generator/subaru/subaru_outback_2015.dbc @@ -0,0 +1,30 @@ +CM_ "IMPORT _subaru_preglobal_2015.dbc"; + +BO_ 358 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX + SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX + SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX + SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX + SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX + SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX + SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX + +CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; +CM_ SG_ 358 Cruise_Fault "No engagement until restart"; +CM_ SG_ 358 Car_Follow "lead car detected"; diff --git a/opendbc/generator/subaru/subaru_outback_2019.dbc b/opendbc/generator/subaru/subaru_outback_2019.dbc new file mode 100644 index 000000000..a1136ad14 --- /dev/null +++ b/opendbc/generator/subaru/subaru_outback_2019.dbc @@ -0,0 +1,30 @@ +CM_ "IMPORT _subaru_preglobal_2015.dbc"; + +BO_ 358 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX + SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX + SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX + SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX + SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX + SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX + SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX + +CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; +CM_ SG_ 358 Cruise_Fault "No engagement until restart"; +CM_ SG_ 358 Car_Follow "lead car detected"; diff --git a/opendbc/generator/test_generator.py b/opendbc/generator/test_generator.py new file mode 100755 index 000000000..dcca4d5bb --- /dev/null +++ b/opendbc/generator/test_generator.py @@ -0,0 +1,18 @@ +#!/usr/bin/env python3 +import os +import filecmp +import tempfile +from opendbc.generator.generator import create_all, opendbc_root + + +def test_generator(): + with tempfile.TemporaryDirectory() as d: + create_all(d) + + ignore = [f for f in os.listdir(opendbc_root) if not f.endswith('_generated.dbc')] + comp = filecmp.dircmp(opendbc_root, d, ignore=ignore) + assert len(comp.diff_files) == 0, f"Different files: {comp.diff_files}" + + +if __name__ == "__main__": + test_generator() diff --git a/opendbc/generator/toyota/_comma.dbc b/opendbc/generator/toyota/_comma.dbc new file mode 100644 index 000000000..b4dd0d9c9 --- /dev/null +++ b/opendbc/generator/toyota/_comma.dbc @@ -0,0 +1,38 @@ +BO_ 359 STEERING_IPAS_COMMA: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; + +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX + SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX + +CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss"; + +BO_ 767 SDSU: 8 XXX + SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX + +CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu"; +CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc new file mode 100644 index 000000000..703dcf283 --- /dev/null +++ b/opendbc/generator/toyota/_toyota_2017.dbc @@ -0,0 +1,476 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS CGW BGM + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX + SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + +BO_ 180 SPEED: 8 XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 295 GEAR_PACKET_HYBRID: 8 XXX + SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + +BO_ 353 DSU_SPEED: 7 XXX + SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX + +BO_ 452 ENGINE_RPM: 8 CGW + SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX + +BO_ 560 BRAKE_2: 7 XXX + SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL_HYBRID: 8 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX + SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 7 DSU + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX + SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX + SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 705 GAS_PEDAL: 8 XXX + SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 740 STEERING_LKA: 5 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU + SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX + SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX + SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU + SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU + SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU + SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU + SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX + SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 869 DSU_CRUISE : 7 DSU + SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX + SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX + SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX + SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX + +BO_ 956 GEAR_PACKET: 8 XXX + SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX + SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX + SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX + +BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM + SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX + +BO_ 1009 PCM_CRUISE_ALT: 8 XXX + SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + +BO_ 1020 SOLAR_SENSOR: 8 XXX + SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX + +BO_ 1041 ACC_HUD: 8 DSU + SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 DSU + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX + SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX + SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX + SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX + SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 1043 TIME : 8 CGW + SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX + SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX + SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX + SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX + SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX + SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX + SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX + SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX + SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX + +BO_ 1083 AUTOPARK_STATUS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 1161 RSA1: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1162 RSA2: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1163 RSA3: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 1408 VIN_PART_1: 8 CGW + SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1409 VIN_PART_2: 8 CGW + SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1410 VIN_PART_3: 8 CGW + SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX + SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX + SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX + SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX + SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 1553 UI_SETTING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX + +BO_ 1556 BLINKERS_STATE: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 1568 BODY_CONTROL_STATE: 8 XXX + SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 1570 LIGHT_STALK: 8 SCM + SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 1571 CERTIFICATION_ECU: 8 CGW + SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX + +BO_ 1592 DOOR_LOCKS: 8 XXX + SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX + SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; +CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; +CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; +CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; +CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1"; +CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1"; +CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"; +CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars"; +CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG."; +CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; +CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; +CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to"; +CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; +CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; +CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; +CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; +CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message"; +CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning"; +CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1"; +CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1"; +CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1"; +CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning"; +CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch"; +CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered"; +CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled"; +CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS"; +CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations"; +CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations"; +CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero"; +CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; +CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"; +CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; +CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1163 TSREQPD "always 1"; +CM_ SG_ 1163 TSRMSW "always 1"; +CM_ SG_ 1163 OTSGNNTM "always 3"; +CM_ SG_ 1163 NTLVLSPD "always 3"; +CM_ SG_ 1163 OVSPNTM "always 3"; +CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; +CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; +CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; +CM_ SG_ 1163 TSRSPU "always 1"; +CM_ SG_ 1552 UI_SPEED "Vehicle's speedometer's display speed after Toyota's offset was applied, uses vehicle's unit"; +CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting"; +CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal"; +CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking"; +CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal."; +CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch"; + +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B"; +VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off"; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; +VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 614 STATE 3 "enabled" 1 "disabled"; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; +VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking"; +VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok"; +VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok"; +VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear"; +VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press"; +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; +VAL_ 956 SPORT_ON 0 "off" 1 "on"; +VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; +VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on"; +VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6"; +VAL_ 956 ECON_ON 0 "off" 1 "on"; +VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on"; +VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on"; +VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines"; +VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled"; +VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off"; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; +VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none"; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LKAS_STATUS 1 "on" 0 "off"; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear"; +VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on"; +VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined"; +VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok"; +VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok"; +VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok"; +VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok"; +VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok"; +VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; +VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on"; +VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; +VAL_ 1553 UNITS 1 "km" 2 "miles"; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; diff --git a/opendbc/generator/toyota/toyota_new_mc_pt.dbc b/opendbc/generator/toyota/toyota_new_mc_pt.dbc new file mode 100644 index 000000000..c3a6b5f5b --- /dev/null +++ b/opendbc/generator/toyota/toyota_new_mc_pt.dbc @@ -0,0 +1,19 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _toyota_2017.dbc"; + +BO_ 548 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX + SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; + +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc/generator/toyota/toyota_nodsu_pt.dbc b/opendbc/generator/toyota/toyota_nodsu_pt.dbc new file mode 100644 index 000000000..cbfd1896d --- /dev/null +++ b/opendbc/generator/toyota/toyota_nodsu_pt.dbc @@ -0,0 +1,56 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _toyota_2017.dbc"; + +BO_ 401 STEERING_LTA: 8 XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX + SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX + SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX + SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX + SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 8 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ LTA_STATE : 15|5@0+ (1,0) [0|31] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1014 BSM: 8 XXX + SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX + SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP"; +CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1"; +CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera"; +CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out"; +CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 401 BIT "has correlation to STEER_REQUEST"; +CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; +CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility"; +CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility"; + +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; +VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc/generator/toyota/toyota_tnga_k_pt.dbc b/opendbc/generator/toyota/toyota_tnga_k_pt.dbc new file mode 100644 index 000000000..cfabf582d --- /dev/null +++ b/opendbc/generator/toyota/toyota_tnga_k_pt.dbc @@ -0,0 +1,20 @@ +CM_ "IMPORT _comma.dbc"; +CM_ "IMPORT _toyota_2017.dbc"; + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; + +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc/gm_global_a_chassis.dbc b/opendbc/gm_global_a_chassis.dbc new file mode 100644 index 000000000..e1fc1ccbf --- /dev/null +++ b/opendbc/gm_global_a_chassis.dbc @@ -0,0 +1,75 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K182_PACM K43_PSCM K17_EBCM NEO K124_ASCM + + + +BO_ 823 PACMParkAssitCmd: 7 NEO + SG_ RollingCounter : 35|2@0+ (1,0) [0|0] "" NEO + SG_ SteeringWheelChecksum : 47|16@0+ (1,0) [0|0] "" NEO + SG_ SteeringWheelCmd : 23|16@0+ (1,0) [0|0] "" NEO + +BO_ 560 EBCMRegen: 6 K17_EBCM + SG_ Regen : 1|10@0+ (1,0) [0|0] "" NEO + +BO_ 368 EBCMFrictionBrakeStatus: 8 K17_EBCM + SG_ FrictionBrakePressure : 23|16@0+ (1,0) [0|0] "" NEO + +BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM + SG_ RollingCounter : 33|2@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO + +BO_TX_BU_ 823 : K43_PSCM,NEO; +BO_TX_BU_ 789 : NEO,K17_EBCM; + + +CM_ BU_ K182_PACM "Parking Assist Control Module"; +CM_ BU_ K43_PSCM "Power Steering Control Module"; +CM_ BU_ K17_EBCM "Electronic Brake Control Module"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "UseGMParameterIDs" 0; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; + diff --git a/opendbc/gm_global_a_high_voltage_management.dbc b/opendbc/gm_global_a_high_voltage_management.dbc new file mode 100644 index 000000000..60729e569 --- /dev/null +++ b/opendbc/gm_global_a_high_voltage_management.dbc @@ -0,0 +1,196 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: +BU_: K16_BECM K114B_HPCM T18_BatteryCharger +BO_ 512 Battery_Module_1: 8 K16_BECM + SG_ Voltage_1_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_1_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Cell_Bank_Number_1 M : 55|3@0+ (1,0) [0|0] "" K16_BECM + +BO_ 514 Battery_Module_2: 8 K16_BECM + SG_ Voltage_2_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_2_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Cell_Bank_Number_2 M : 55|3@0+ (1,0) [0|0] "" K16_BECM + +BO_ 516 Battery_Module_3: 8 K16_BECM + SG_ Voltage_3_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_3_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Cell_Bank_Number_3 M : 55|3@0+ (1,0) [0|0] "" K16_BECM + +BO_ 518 Battery_Module_4: 8 K16_BECM + SG_ Voltage_4_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Voltage_4_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM + SG_ Cell_Bank_Number_4 M : 55|3@0+ (1,0) [0|0] "" K16_BECM + +BO_ 528 Pack_Stats: 8 K16_BECM + SG_ Pack_Voltage : 7|12@0+ (0.125,0) [0|0] "V" K16_BECM + SG_ Pack_Current : 23|8@0- (0.1,-0.1) [0|0] "A" K16_BECM + +BO_ 530 Charger_stats: 6 T18_BatteryCharger + SG_ Charger_HV_Current : 7|13@0+ (0.05,0) [0|0] "A" K16_BECM + SG_ HV_Voltage : 10|10@0+ (0.5,0) [0|0] "V" K16_BECM + SG_ LV_Current : 16|8@0+ (0.2,0) [0|0] "A" K16_BECM + SG_ LV_Voltage : 24|8@0+ (0.1,0) [0|0] "V" K16_BECM + +BO_ 770 Battery_temp: 8 K16_BECM + SG_ Temp_A m0 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_B m0 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_C m0 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_D m0 : 32|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_E m0 : 40|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_F m0 : 48|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_G m1 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_H m1 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Temp_I m1 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM + SG_ Switch M : 2|1@1+ (1,0) [0|0] "" K16_BECM + +BO_ 782 Charger_Command: 1 T18_BatteryCharger + SG_ Command : 0|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 772 Charger_parameters: 4 T18_BatteryCharger + SG_ Unknown : 0|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ Current : 8|8@1+ (0.05,0) [0|0] "A" Vector__XXX + SG_ Voltage : 23|16@0+ (0.5,0) [0|0] "V" Vector__XXX + +BO_ 1120 Coolant_Temp: 4 K16_BECM + SG_ Inlet_Coolant_Temp : 1|10@0+ (0.125,-40) [0|0] "" Vector__XXX + SG_ Outlet_Coolant_Temp : 17|10@0+ (0.125,-40) [0|0] "" Vector__XXX + +BO_ 778 AC_Stats: 7 T18_BatteryCharger + SG_ Mains_Voltage : 10|2@0+ (1,0) [0|0] "V" Vector__XXX + SG_ Total_Charge : 19|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 776 Charger_status: 5 T18_BatteryCharger + SG_ Status : 20|3@1+ (1,0) [0|0] "" Vector__XXX + +BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ; +BA_DEF_ BO_ "GenMsgForegroundColor" STRING ; +BA_DEF_ BO_ "isj1939dbc" INT 0 0; +BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff"; +BA_DEF_DEF_ "GenMsgForegroundColor" "#000000"; +BA_DEF_DEF_ "isj1939dbc" 0; +CM_ BU_ K16_BECM "Battery Energy Control Module"; +CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; +CM_ BU_ T18_BatteryCharger "Battery Charger"; +VAL_ 782 Command 1 "12V_Only" 2 "HV_Only" 3 "12V_and_HV"; +VAL_ 778 Mains_Voltage 0 "Unplugged" 1 "110V" 3 "220V"; +VAL_ 776 Status 0 "Off" 5 "LV_Only" 7 "HV_and_LV" 3 "HV_Only"; diff --git a/opendbc/gm_global_a_lowspeed.dbc b/opendbc/gm_global_a_lowspeed.dbc new file mode 100644 index 000000000..9ea4d1da3 --- /dev/null +++ b/opendbc/gm_global_a_lowspeed.dbc @@ -0,0 +1,110 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: GMLAN NEO +VAL_TABLE_ GearShifter 3 "Park" 0 "Drive/Low" ; +VAL_TABLE_ DriverDoorStatus 1 "Opened" 0 "Closed" ; +VAL_TABLE_ LKAGapButton 2 "???" 1 "??" 0 "None" ; +VAL_TABLE_ CruiseButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_TABLE_ CruiseControlActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ BlinkerStatus 1 "Active" 0 "Inactive" ; + + +BO_ 274923520 DriverDoorStatus: 1 GMLAN + SG_ DriverDoorOpened : 0|1@0+ (1,0) [0|0] "" NEO + +BO_ 272629760 Chime: 5 NEO + SG_ ChimeType : 7|8@0+ (1,0) [0|0] "" GMLAN + SG_ ChimeRepeat : 23|8@0+ (1,0) [0|0] "" GMLAN + SG_ ChimeDuration : 15|8@0+ (1,0) [0|0] "" GMLAN + SG_ ChimeByte5 : 39|8@0+ (1,0) [0|0] "" GMLAN + SG_ ChimeByte4 : 31|8@0+ (1,0) [0|0] "" GMLAN + +BO_ 270581760 BlinkerStatus: 5 GMLAN + SG_ RightBlinker : 6|1@0+ (1,0) [0|0] "" NEO + SG_ LeftBlinker : 7|1@0+ (1,0) [0|0] "" NEO + SG_ BlinkerLight : 25|1@0+ (1,0) [0|0] "" NEO + +BO_ 270794752 SteeringWheelAngle: 8 GMLAN + SG_ SteeringWheelAngle : 39|16@0- (0.0625,0) [-540|540] "deg" NEO + +BO_ 271368192 GearShifter: 8 GMLAN + SG_ GearShifter : 17|2@0+ (1,0) [0|3] "" NEO + +BO_ 271360000 GasPedalRegenCruise: 8 GMLAN + SG_ CruiseControlActive : 56|1@0+ (1,0) [0|0] "" GMLAN + SG_ MaxRegen : 12|1@0+ (1,0) [0|1] "" GMLAN,NEO + SG_ GasPedal : 47|8@0+ (1,0) [0|254] "" GMLAN,NEO + SG_ GearShifter2NotUsed : 55|8@0+ (1,0) [0|255] "" GMLAN,NEO + +BO_ 270860288 BrakePedal: 2 GMLAN + SG_ BrakeLevel : 2|2@0+ (1,0) [0|3] "" NEO + SG_ BrakeSensor : 15|8@0+ (1,0) [0|255] "" NEO + +BO_ 275480576 WheelSpeed: 8 GMLAN + SG_ WheelSpeedFL : 7|16@0+ (0.01,0) [0|70] "yd/s" NEO + SG_ WheelSpeedFR : 39|16@0+ (0.01,0) [0|70] "yd/s" NEO + SG_ WheelSpeedRL : 23|16@0+ (0.01,0) [0|70] "yd/s" NEO + SG_ WheelSpeedRR : 55|16@0+ (0.01,0) [0|70] "yd/s" NEO + +BO_ 270598144 VehicleSpeed: 8 GMLAN + SG_ VehicleSpeed1 : 7|16@0+ (0.01,0) [0|100] "mph" NEO + SG_ VehicleSpeed2 : 39|16@0+ (0.01,0) [0|100] "mph" NEO + +BO_ 276135936 CruiseButtons: 3 GMLAN + SG_ CruiseButtons : 3|3@0+ (1,0) [0|12] "" NEO + +BO_ 276127744 CruiseButtons2: 1 GMLAN + SG_ LKAGapButton : 1|2@0+ (1,0) [0|2] "" NEO + + + +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; +VAL_ 274923520 DriverDoorOpened 1 "Opened" 0 "Closed" ; +VAL_ 270581760 RightBlinker 1 "Active" 0 "Inactive" ; +VAL_ 270581760 LeftBlinker 1 "Active" 0 "Inactive" ; +VAL_ 270581760 BlinkerLight 1 "Active" 0 "Inactive" ; +VAL_ 271368192 GearShifter 3 "Park" 0 "Drive/Low" ; +VAL_ 271360000 CruiseControlActive 1 "Active" 0 "Inactive" ; +VAL_ 276135936 CruiseButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_ 276127744 LKAGapButton 2 "???" 1 "??" 0 "None" ; + diff --git a/opendbc/gm_global_a_lowspeed_1818125.dbc b/opendbc/gm_global_a_lowspeed_1818125.dbc new file mode 100644 index 000000000..3f5b15e6f --- /dev/null +++ b/opendbc/gm_global_a_lowspeed_1818125.dbc @@ -0,0 +1,3993 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 2152177664 OTA_Electric_Pwr_Readiness_LS: 1 XXX + SG_ RmtRflshElecPwrRdness : 7|8@0+ (0.025,0) [0|6.375] "AmpHour" XXX + +BO_ 2152013824 Smart_High_Beam_Cust_LS: 1 XXX + SG_ SmrtHgBmAstCstSetAvail : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SmrtHgBmAstCstCurrSetVal : 7|3@0+ (1,0) [0|7] "" XXX + +BO_ 2159255552 ODI_CenterStack_2_BCM_LS: 8 XXX + SG_ ODI_CntrStck2BCM : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159247360 ODI_BCM_2_CenterStack_LS: 8 XXX + SG_ ODI_BCM2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2152046592 Remote_Climate_Control_Req_LS: 5 XXX + SG_ RmClmCtrlHMIActIndReq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RmClmCtrlRcrcSetReq : 3|3@0+ (1,0) [0|7] "" XXX + SG_ RmClmCtrlACSetReq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ RmClmCtrlFrntFanStReq : 15|5@0+ (1,0) [0|31] "" XXX + SG_ RmClmCtrlFLAirDtStReq : 19|4@0+ (1,0) [0|15] "" XXX + SG_ RmClmCtrlClmModSetReq : 23|4@0+ (1,0) [0|15] "" XXX + SG_ RmClmCtrlLtSTempStReq : 29|6@0+ (1,0) [0|63] "" XXX + SG_ RmClmCtrlRrDfgSetReq : 31|2@0+ (1,0) [0|3] "" XXX + SG_ RmClmCtrlRtSTempStReq : 37|6@0+ (1,0) [0|63] "" XXX + SG_ RmClmCtrlSyncSetReq : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152030208 Tuner_Frequency_Request_LS: 8 XXX + SG_ TnrFrqBndReq : 3|4@0+ (1,0) [0|15] "" XXX + SG_ TnrFrqChnlReq : 15|56@0+ (1,0) [0|1] "" XXX + +BO_ 2150531072 Regen_Power_Ind_LS: 4 XXX + SG_ RegPwrLmtdDspPrcnt : 0|9@0- (0.392157,0) [-100.392192|100.000035] "%" XXX + SG_ RegPwrLmtdDspPrcntVs : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RegPwrLmtdIO : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151833600 Heated_Wndshild_CstmrIhbt_Req_LS: 1 XXX + SG_ HtdFrntWSCustRqIhbt : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HtdFrntWSDispReq : 7|2@0+ (1,0) [0|3] "" XXX + +BO_ 2151817216 Heated_Wndshild_Cstmr_Req_LS: 1 XXX + SG_ HtdFrntWSCustRq : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151849984 Seat_Level_Setting_Request_LS: 2 XXX + SG_ AutoThrmlStPasLvlStRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ AutoThrmlStDrvLvStRq : 5|3@0+ (1,0) [0|7] "" XXX + SG_ AutoThrmlStPassMdStRq : 7|2@0+ (1,0) [0|3] "" XXX + SG_ AutoThrmlStDrvMdStRq : 15|2@0+ (1,0) [0|3] "" XXX + +BO_ 2153897984 ARB_OpMode_Customization_LS: 1 XXX + SG_ RunBrdExtdFtrAvail : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RunBrdOpMdCstCurrStVal : 6|3@0+ (1,0) [0|7] "" XXX + SG_ RunBrdOpMdCstStAvail : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151702528 Lane_Keeping_Assist_LS: 2 XXX + SG_ LnKpngAstRecfblIndRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ LnMrkngIndLft : 4|2@0+ (1,0) [0|3] "" XXX + SG_ LnKepAsstStIndLft : 7|3@0+ (1,0) [0|7] "" XXX + SG_ LnMrkngIndRgt : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LnKepAsstStIndRgt : 15|3@0+ (1,0) [0|7] "" XXX + +BO_ 2156986368 PassPhrase_3_AMM_LS: 8 XXX + SG_ WiFiPssPhrsDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156978176 PassPhrase_2_AMM_LS: 8 XXX + SG_ WiFiPssPhrsDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156969984 PassPhrase_1_AMM_LS: 8 XXX + SG_ WiFiPssPhrsDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2150236160 Unlock_Key_Store_Crypt_2_LS: 8 XXX + SG_ UlckKyStrCrptoDt2Group : 4|61@0+ (1,0) [0|0] "" XXX + SG_ UlckKyStrCrptoDt2 : 3|60@0+ (1,0) [0|1.15292150460685E+018] "" XXX + SG_ UlckKyStrCrptoDt2M : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150170624 Unlock_Key_Store_Crypt_1_LS: 8 XXX + SG_ UlckKyStrCrptoDt1Group : 4|61@0+ (1,0) [0|0] "" XXX + SG_ UlckKyStrCrptoDt1 : 3|60@0+ (1,0) [0|1.15292150460685E+018] "" XXX + SG_ UlckKyStrCrptoDt1M : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155126784 Drvr_Seat_Rearward_Movmnt_LS: 1 XXX + SG_ DrvrSetRrwrdMvmnt : 7|3@0+ (1,0) [0|7] "" XXX + +BO_ 2154725376 Auxiliary_Heater_LS: 1 XXX + SG_ AuxHtrAtv378 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AuxHtrRq : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2157051904 WiFi_Station_AMM_LS: 5 XXX + SG_ WiFiStatnMpReq : 1|34@0+ (1,0) [0|0] "" XXX + SG_ WSMR_WiFiAssnReq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ WSMR_WiFiStnMpMACAddr : 15|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2156994560 WiFi_AP_Data_AMM_LS: 2 XXX + SG_ WiFiAccsPntData_Mp : 0|9@0+ (1,0) [0|0] "" XXX + SG_ WAPDM_WiFiEnStat : 0|1@0+ (1,0) [0|1] "" XXX + SG_ WAPDM_EncrptnType : 11|4@0+ (1,0) [0|15] "" XXX + SG_ WAPDM_SecurityType : 15|4@0+ (1,0) [0|15] "" XXX + +BO_ 2158133248 Hill_Top_Customization_LS: 6 XXX + SG_ HTRCsStAvail : 0|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCsAvail : 7|7@0+ (1,0) [0|0] "" XXX + SG_ HTRCA_Res3Avail : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_Res2Avail : 2|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_Res1Avail : 3|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_OnAwAvail : 4|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_OnHmAvail : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_OnAvail : 6|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCA_OffAvail : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HTRCsCrStVal : 10|3@0+ (1,0) [0|7] "" XXX + SG_ HVDpltnMdMxCnfdcRgExt : 21|14@0+ (0.1,0) [0|1638.3] "km" XXX + SG_ HVDpltnMdMiCnfdcRgExt : 37|14@0+ (0.1,0) [0|1638.3] "km" XXX + +BO_ 2154651648 Telematics_Audio_Control_LS: 1 XXX + SG_ TeleAudCtl : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TAC_AudConctOutcm : 3|4@0+ (1,0) [0|15] "" XXX + SG_ TAC_AudChConctStat : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 2154635264 Telematics_Audio_Request_LS: 1 XXX + SG_ TeleAudReq : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TAR_AudSrcStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ TAR_AudConctReq : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 2152529920 LVM_Audio_Video_Command_LS: 2 XXX + SG_ LowVolModAudVidCmd : 5|14@0+ (1,0) [0|0] "" XXX + SG_ LVMAVC_StreoAudRsp : 0|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVC_PrmtAudRsp : 2|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVC_RemtEnbl : 5|3@0+ (1,0) [0|7] "" XXX + SG_ LVMAVC_SpchRcgnAval : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVC_RemSpchRcgnActn : 11|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVC_RemSpchRcgnID : 14|3@0+ (1,0) [0|7] "" XXX + +BO_ 2152513536 LVM_Audio_Video_Req_LS: 2 XXX + SG_ LowVolModAudVidReq : 0|9@0+ (1,0) [0|0] "" XXX + SG_ LVMAVR_DispReq : 0|3@0+ (1,0) [0|7] "" XXX + SG_ LVMAVR_SpchRcgnAct : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVR_PrmtAudReq : 11|2@0+ (1,0) [0|3] "" XXX + SG_ LVMAVR_StreoAudReq : 13|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154889216 Cluster_HMI_Animation_Req_LS: 1 XXX + SG_ ClstrHMIAnmReq : 7|3@0+ (1,0) [0|7] "" XXX + +BO_ 2154872832 Infotainment_Activation_Req_LS: 1 XXX + SG_ RmRflshUpdtAvail : 6|1@0+ (1,0) [0|1] "" XXX + SG_ InfoActvnReq : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2156961792 SSID_AMM_3_LS: 8 XXX + SG_ WiFiSSIDDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2154569728 Infotainment_System_State_LS: 1 XXX + SG_ InfotnmntSysSt : 7|5@0+ (1,0) [0|31] "" XXX + +BO_ 2151931904 Custom_Launch_Ctrl_LS: 8 XXX + SG_ LnchCtrlMdStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ LnchCtrlWhlSlpStat : 7|5@0+ (1,0) [0|31] "" XXX + SG_ PTExPrtclFltWrng3IO : 8|1@0+ (1,0) [0|1] "" XXX + SG_ AWDRecmndIO : 9|1@0+ (1,0) [0|1] "" XXX + SG_ LnchCtrlEngRPMStat : 15|6@0+ (1,0) [0|63] "" XXX + SG_ ACCSysSltdMd : 17|2@0+ (1,0) [0|3] "" XXX + SG_ VehSpdCntlSystmType : 20|3@0+ (1,0) [0|7] "" XXX + SG_ PTExPartFltManRegStat : 23|3@0+ (1,0) [0|7] "" XXX + SG_ TCSTempDsblReqIO : 24|1@0+ (1,0) [0|1] "" XXX + SG_ VehStbCmptvMdCstAvl : 25|1@0+ (1,0) [0|1] "" XXX + SG_ VehStbEnmntCstAvl : 26|1@0+ (1,0) [0|1] "" XXX + SG_ TCSysCstAvl : 27|1@0+ (1,0) [0|1] "" XXX + SG_ VehStbCmptvMdCurSt : 28|1@0+ (1,0) [0|1] "" XXX + SG_ ElctShfPriLtdPerfMdIO : 29|1@0+ (1,0) [0|1] "" XXX + SG_ RegVltCtlEngyRcvryAct : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSysSltdMdDispIO : 31|1@0+ (1,0) [0|1] "" XXX + SG_ LnchCtrlTmrVal : 35|4@0+ (1,0) [0|15] "" XXX + SG_ VehStbEnhmntCurSt : 36|1@0+ (1,0) [0|1] "" XXX + SG_ TCSysCurSt : 37|1@0+ (1,0) [0|1] "" XXX + SG_ TracAndStbScrnCnfg : 39|2@0+ (1,0) [0|3] "" XXX + SG_ BiFuelRflGaslinIndReq : 42|3@0+ (1,0) [0|7] "" XXX + SG_ AutoShtdwnIO : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LnchCtrlBrkPresVal : 47|4@0+ (10,0) [0|150] "%" XXX + SG_ AutoShtdwnTmr : 55|8@0+ (1,0) [0|255] "min" XXX + SG_ FuelMdTrnstnIndReq : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2150244352 HMI_EngyConsmpHistGrph_1_LS: 8 XXX + SG_ EngyCnsHsGrphDspDtVal : 7|55@0+ (1,0) [0|0] "" XXX + SG_ ECHGDDV_Col1 : 2|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_EngyConsAvg : 7|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col3 : 8|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col2 : 13|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col4 : 19|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col6 : 25|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col5 : 30|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col7 : 36|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col9 : 42|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col8 : 47|5@0+ (1,0) [0|31] "" XXX + SG_ ECHGDDV_Col10 : 53|5@0+ (1,0) [0|31] "" XXX + +BO_ 2156953600 SSID_AMM_2_LS: 8 XXX + SG_ WiFiSSIDDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2151686144 SD_Card_LS: 2 XXX + SG_ SDCrdFullIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SDCrdErrIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NoSDCrdPrIO : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155028480 Lane_Change_Threat_LS: 2 XXX + SG_ RgtLnChgThrt : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RtLnChngThrtAprchSpd : 15|8@0- (1,0) [-128|127] "km/h" XXX + +BO_ 2151915520 HMI_Display_LS: 8 XXX + SG_ AHDisbldDrOpnIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ AHDisbldStbltIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ AHAppBrkPedlIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AHServcIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ShfToPrkBfExtngIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ AHEnbld : 5|1@0+ (1,0) [0|1] "" XXX + SG_ AHAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ESPDrvrIlkShfAtdIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ESPTransMalfIO : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ESPRngInvldReqIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ESPPrkInvldReqIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ESPHldShfLvrToEngRgIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ESPDrvrPrkIlkSftAtdIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ EngIntkArBstPrExtRngGroup : 14|15@0+ (1,0) [0|0] "" XXX + SG_ EngIntkArBstPrExtRng : 8|9@0+ (1,-110) [-110|401] "kPa" XXX + SG_ EngIntkArBstPrExtRngV : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ElcTransRngSlctVDA : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ElecShfRngDispRCExtd : 27|4@0+ (1,0) [0|15] "" XXX + SG_ ElecShfRngDisp : 31|4@0+ (1,0) [0|15] "" XXX + SG_ DrvEffInd : 39|8@0- (0.78125,0) [-100|99.21875] "%" XXX + SG_ ESPShfToDrvTryAgnIO : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ESPTrnVehOffFrPrkIO : 44|1@0+ (1,0) [0|1] "" XXX + SG_ ESPTrnsCtlrMalfIO : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ElcShfPriTwoGrsSlInRq : 47|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152153088 Right_Rear_Seat_Display_Stats_LS: 6 XXX + SG_ RRStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX + SG_ RRSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX + SG_ RRSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX + SG_ RRSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_HdrstFdRrUDn : 22|3@0+ (1,0) [0|7] "" XXX + SG_ RRSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX + SG_ RRSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX + SG_ RRSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX + SG_ RRSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX + SG_ RRSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX + SG_ RRSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152136704 Right_Rear_Seat_Massage_LS: 8 XXX + SG_ RRStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ RRSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ RRSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX + SG_ RRSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX + SG_ RRSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2152120320 Right_Rear_Seat_Actuator_LS: 8 XXX + SG_ RRStActPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ RRSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX + SG_ RRSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2152103936 Left_Rear_Seat_Display_Status_LS: 6 XXX + SG_ LRStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX + SG_ LRSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX + SG_ LRSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX + SG_ LRSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_HdrstFdRrUDn : 22|3@0+ (1,0) [0|7] "" XXX + SG_ LRSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX + SG_ LRSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX + SG_ LRSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX + SG_ LRSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LRSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX + SG_ LRSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152087552 Left_Rear_Seat_Massage_LS: 8 XXX + SG_ LRStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ LRSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ LRSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX + SG_ LRSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX + SG_ LRSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2152071168 Left_Rear_Seat_Actuator_LS: 8 XXX + SG_ LRStActPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ LRSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX + SG_ LRSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2153947136 Remote_Reflash_Stat_LS: 1 XXX + SG_ RmtRflshMdAct : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2152628224 OnBoard_Tester_Response_LS: 2 XXX + SG_ OBTCResp : 2|11@0+ (1,0) [0|0] "" XXX + SG_ OBTCR_Stat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ OBTCR_ReqstrID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ OBTCMstrStat : 5|3@0+ (1,0) [0|7] "" XXX + +BO_ 2152112128 Performanc_Mode_Vis_Scrn_Stat_LS: 5 XXX + SG_ PerfMdVislztnScrnStat : 0|33@0+ (1,0) [0|0] "" XXX + SG_ PMVSS_Snd : 0|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Trans : 10|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Eng : 13|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Drvln : 17|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Susp : 20|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Strng : 23|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_PsngrSeat : 24|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_DrvrSeat : 27|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_AdptCrsCnt : 30|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Disps : 34|3@0+ (1,0) [0|7] "" XXX + SG_ PMVSS_Exhst : 37|3@0+ (1,0) [0|7] "" XXX + SG_ PerfMdMainMenuType : 3|3@0+ (1,0) [0|7] "" XXX + +BO_ 2152775680 Front_360_Camera_On_LS: 3 XXX + SG_ DispFrt360CamOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrPedDetCstStAvl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RrPedDetCstStVal : 4|3@0+ (1,0) [0|7] "" XXX + SG_ RrPdDetHptcStVbRqSeqN : 6|2@0+ (1,0) [0|3] "" XXX + SG_ TrgdVidRecFetrPrsnt : 7|1@0+ (1,0) [0|1] "" XXX + SG_ RrPdDetHptcStVbRq : 13|6@0+ (1,0) [0|63] "Pulse" XXX + SG_ DispTrgdVidOn : 14|1@0+ (1,0) [0|1] "" XXX + SG_ a_360DegVidFetrPrsnt : 15|1@0+ (1,0) [0|1] "" XXX + SG_ DispSmrtTwVidOn : 16|1@0+ (1,0) [0|1] "" XXX + SG_ RrPedDetCstAvail : 23|7@0+ (1,0) [0|0] "" XXX + SG_ RPDCA_Resrv3Avail : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_Resrv2Avail : 18|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_Resrv1Avail : 19|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_AlrtBrkAvail : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_AlrtAvail : 21|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_OnAvail : 22|1@0+ (1,0) [0|1] "" XXX + SG_ RPDCA_OfAvail : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 2153857024 Teen_Driver_Event_Report_2_LS: 8 XXX + SG_ TnDrvRptCrdAvlDspDat : 6|13@0+ (1,0) [0|0] "" XXX + SG_ TDRCADD_FCHdwyAlrt : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_ABSAtvEvt : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_StCtrlEvnts : 2|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_TrCtrlEvnts : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_OvSpdEvnt : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_DistDrvn : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_MaxSpd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_LDWEvnts : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_WOTEvnts : 11|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_DrwDrvAlrt : 12|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_FCMBrEvts : 13|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_RCMBrEvts : 14|1@0+ (1,0) [0|1] "" XXX + SG_ TDRCADD_FCImntAlrts : 15|1@0+ (1,0) [0|1] "" XXX + SG_ TeenDrvWOTEvntsRpt : 9|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TnDrvABSAtvEvntsRpt : 31|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TnDrvStblCtrlEvntsRpt : 37|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TnDrvDrowDrvAlrtsRpt : 43|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TnDrvTrCtrlEvntsRpt : 49|10@0+ (1,0) [0|1023] "counts" XXX + +BO_ 2153865216 Teen_Driver_Customization_Req_LS: 4 XXX + SG_ TeenDrvReq : 3|4@0+ (1,0) [0|15] "" XXX + SG_ TDOvSpdWrnCstStReq : 12|5@0+ (1,0) [0|0] "" XXX + SG_ TDOWCSR_DecSwAct : 8|1@0+ (1,0) [0|1] "" XXX + SG_ TDOWCSR_IncSwAct : 9|1@0+ (1,0) [0|1] "" XXX + SG_ TDOWCSR_StatReq : 12|3@0+ (1,0) [0|7] "" XXX + SG_ TnDrvSpdLmtCstStReq : 15|3@0+ (1,0) [0|7] "" XXX + SG_ TeenDrvPinCd : 23|16@0+ (1,0) [0|39321] "" XXX + +BO_ 2153840640 Teen_Driver_Event_Report_1_LS: 8 XXX + SG_ TDFwdClnHdwyAlrtsRpt : 5|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TnDrvDRLOffUnbIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvALCOffUnbIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ TDFwdClnImntAlrtsRpt : 11|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TDFwdClnMtgnBrEvRpt : 17|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TDRevClnMtgnBrEvRpt : 39|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TeenDrvMaxSpdRpt : 45|12@0+ (0.0625,0) [0|255.9375] "km/h" XXX + SG_ TeenDrvLDWEvntsRpt : 49|10@0+ (1,0) [0|1023] "counts" XXX + +BO_ 2153824256 Teen_Driver_Control_Info_LS: 8 XXX + SG_ TnDrvSpdLmtCstCrStVl : 2|11@0+ (1,0) [0|0] "" XXX + SG_ TDSLCCSV_SpLmtStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ TDSLCCSV_SpLmDisVl : 15|8@0+ (2,0) [0|510] "km/h" XXX + SG_ TnDrvSpdLmtCstStAvl : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvOvrSpdIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvGapAdjUnbIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TeenDrvPINStrd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TeenDrvFtrAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ TDOvSpdWrnCstCrStVl : 22|15@0+ (1,0) [0|0] "" XXX + SG_ TDOWCCSV_CrStVl : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" XXX + SG_ TDOWCCSV_CrStat : 22|3@0+ (1,0) [0|7] "" XXX + SG_ TDOvSpdWrnCstStAvl : 23|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvOvSpdEvntsRpt : 33|10@0+ (1,0) [0|1023] "counts" XXX + SG_ TeenDrvRsp : 37|4@0+ (1,0) [0|15] "" XXX + SG_ TeenDrvAct : 38|1@0+ (1,0) [0|1] "" XXX + SG_ TeenDrvAccelLimIO : 39|1@0+ (1,0) [0|1] "" XXX + SG_ TeenDrvDistDrvnRpt : 55|16@0+ (1,0) [0|65535] "km" XXX + +BO_ 2155151360 Psngr_Seat_Massage_Priority_LS: 8 XXX + SG_ PsngrStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ PSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ PSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX + SG_ PSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX + SG_ PSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2155134976 Psngr_Seat_Control_Disp_Stat_LS: 6 XXX + SG_ PsngrStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX + SG_ PSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX + SG_ PSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX + SG_ PSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_HdrstUDnFdRr : 22|3@0+ (1,0) [0|7] "" XXX + SG_ PSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX + SG_ PSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX + SG_ PSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX + SG_ PSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX + SG_ PSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX + SG_ PSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX + SG_ PsngrSetRrwdMvmnt : 6|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155118592 Psngr_Seat_Actuator_Priority_LS: 8 XXX + SG_ PsngrStActPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ PSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX + SG_ PSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2155102208 Driver_Seat_Massage_Priority_LS: 8 XXX + SG_ DrvStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ DSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ DSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX + SG_ DSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX + SG_ DSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2155085824 Driver_Seat_Control_Disp_Stat_LS: 8 XXX + SG_ DrvStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX + SG_ DSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX + SG_ DSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX + SG_ DSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_HdrstUDnFdRr : 22|3@0+ (1,0) [0|7] "" XXX + SG_ DSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX + SG_ DSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX + SG_ DSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX + SG_ DSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX + SG_ DSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX + SG_ CPMAPINFO4 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ StrgColCommsFlt : 7|2@0+ (1,0) [0|3] "" XXX + SG_ StrgColInOutPos : 55|8@0+ (1,0) [0|255] "" XXX + SG_ StrgColUpDwnPos : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2155069440 Driver_Seat_Actuator_Priority_LS: 8 XXX + SG_ DrvStActPrty : 7|64@0+ (1,0) [0|0] "" XXX + SG_ DSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX + SG_ DSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX + +BO_ 2156937216 PassPhrase_Digits_17_to_24_LS: 8 XXX + SG_ WiFiPssPhrsDgts17to24 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156929024 PassPhrase_Digits_9_to_16_LS: 8 XXX + SG_ WiFiPssPhrsDgts9to16 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156920832 PassPhrase_Digits_1_to_8_LS: 8 XXX + SG_ WiFiPssPhrsDgts1to8 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156871680 SSID_Digits_17_to_24_LS: 8 XXX + SG_ WiFiSSIDDgts17to24 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156863488 SSID_Digits_9_to_16_LS: 8 XXX + SG_ WiFiSSIDDgts9to16 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156855296 SSID_Digits_1_to_8_LS: 8 XXX + SG_ WiFiSSIDDgts1to8 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2152480768 Perfr_Data_Recorder_Lap_Info_LS: 6 XXX + SG_ PerfDatRecBstLpInfo : 2|19@0+ (1,0) [0|0] "" XXX + SG_ PDRBLI_BstLpTmMins : 2|6@0+ (1,0) [0|63] "min" XXX + SG_ PDRBLI_BstLpTmSecs : 12|6@0+ (1,0) [0|63] "sec" XXX + SG_ PDRBLI_BstLpTm100s : 22|7@0+ (0.01,0) [0|1.27] "sec" XXX + SG_ PerfDatRecLstLpInfo : 26|19@0+ (1,0) [0|0] "" XXX + SG_ PDRLLI_LstLpTmMins : 26|6@0+ (1,0) [0|63] "min" XXX + SG_ PDRLLI_LstLpTmSecs : 36|6@0+ (1,0) [0|63] "sec" XXX + SG_ PDRLLI_LstLpTm100s : 46|7@0+ (0.01,0) [0|1.27] "sec" XXX + +BO_ 2152497152 Perf_Data_Recroder_RT_Info_LS: 4 XXX + SG_ PerfDatRecRltmInfo : 1|26@0+ (1,0) [0|0] "" XXX + SG_ PDRRI_CrLpTmMins : 1|6@0+ (1,0) [0|63] "min" XXX + SG_ PDRRI_CrLpTmSecs : 11|6@0+ (1,0) [0|63] "" XXX + SG_ PDRRI_LpDiffTmSecs : 17|6@0+ (1,0) [0|63] "sec" XXX + SG_ PDRRI_CrLpTm10sSec : 21|4@0+ (0.1,0) [0|1.5] "sec" XXX + SG_ PDRRI_LpDiffTm10s : 27|4@0+ (0.1,0) [0|1.5] "sec" XXX + +BO_ 2153791488 ARB_State_LS: 1 XXX + SG_ ArtcldRngBrdSt : 2|3@0+ (1,0) [0|7] "" XXX + +BO_ 2149883904 BluetoothTetheringPairingRsp_LS: 7 XXX + SG_ BTTethrngPrngRsp : 4|53@0+ (1,0) [0|0] "" XXX + SG_ BTPR_RspInfoAvail : 0|1@0+ (1,0) [0|1] "" XXX + SG_ BTPR_RspStat : 4|4@0+ (1,0) [0|15] "" XXX + SG_ BTPR_RspVal : 15|48@0+ (1,0) [0|281474976710655] "" XXX + +BO_ 2150252544 HMI_EngyConsmpHistGrph_LS: 8 XXX + SG_ EngyConsmpHistGrph : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ECHG_EngyCnsmdAvg : 4|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_MeasUnit : 7|3@0+ (1,0) [0|7] "" XXX + SG_ ECHG_Column02 : 10|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column01 : 15|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column04 : 16|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column03 : 21|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column05 : 27|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column07 : 33|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column06 : 38|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column08 : 44|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column10 : 50|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_Column09 : 55|5@0+ (1,0) [0|31] "" XXX + SG_ ECHG_YAxisMaxVal : 58|3@0+ (1,0) [0|7] "" XXX + SG_ ECHG_XAxisTkMrkIntvl : 61|3@0+ (1,0) [0|7] "" XXX + +BO_ 2150391808 HMI_Hourmeter_Data_LS: 6 XXX + SG_ EngIdlAtvTm : 7|24@0+ (1,0) [0|16777215] "min" XXX + SG_ EngRunAtvTm : 31|24@0+ (1,0) [0|16777215] "min" XXX + +BO_ 2155913216 Diesel_Information_2_LS: 7 XXX + SG_ DslExhFldRmngDstHRsGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ DslExhFldRmngDstHRs : 6|15@0+ (2,0) [0|65534] "km" XXX + SG_ DslExhFldRmngDstHRsV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ DslExhFluidLvlPrcntGroup : 16|9@0+ (1,0) [0|0] "" XXX + SG_ DslExhFluidLvlPrcntV : 16|1@0+ (1,0) [0|1] "" XXX + SG_ DslExhFluidLvlPrcnt : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DslEmnsOBDMrkt : 18|2@0+ (1,0) [0|3] "" XXX + SG_ PedFrndlyAlrtCsCrStVal : 21|3@0+ (1,0) [0|7] "" XXX + SG_ PedFrndlyAlrtCsSetAvl : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PedFrndlyAlrtStat : 39|24@0+ (1,0) [0|0] "" XXX + SG_ PFAS_PFACrsOvrSpd : 34|8@0+ (1,0) [0|255] "km/h" XXX + SG_ PFAS_PFARevSnd : 36|2@0+ (1,0) [0|3] "" XXX + SG_ PFAS_PFAFwdSnd : 38|2@0+ (1,0) [0|3] "" XXX + SG_ PFAS_PFASndGenEn : 39|1@0+ (1,0) [0|1] "" XXX + SG_ PFAS_PFASndVolCtrl : 42|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ PFAS_SrvPedAlrtIO : 48|1@0+ (1,0) [0|1] "" XXX + SG_ PFAS_PFASysStat : 50|2@0+ (1,0) [0|3] "" XXX + +BO_ 2034 CCP_Data_Transmission_Object_LS: 8 XXX + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2032 CCP_Command_Receive_Object_LS: 8 XXX + SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2152095744 HSGMLAN_Customization_Setings_LS: 5 XXX + SG_ DrvlnPerfMdCustAvl : 5|6@0+ (1,0) [0|0] "" XXX + SG_ DPMCA_DrvlPrfMd6Avl : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DrvlPrfMd5Avl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DrvlPrfMd4Avl : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DrvlPrfMd3Avl : 3|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DrvlPrfMd2Avl : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DrvlPrfMd1Avl : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DispPerfCustMdAvl : 13|6@0+ (1,0) [0|0] "" XXX + SG_ DPMCA_DispPrfMd6Avl : 8|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DispPrfMd5Avl : 9|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DispPrfMd4Avl : 10|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DispPrfMd3Avl : 11|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DispPrfMd2Avl : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DPMCA_DispPrfMd1Avl : 13|1@0+ (1,0) [0|1] "" XXX + SG_ SndPerfMdCustAvl : 21|6@0+ (1,0) [0|0] "" XXX + SG_ SPMCA_SndPrfMd6Avl : 16|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SndPrfMd5Avl : 17|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SndPrfMd4Avl : 18|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SndPrfMd3Avl : 19|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SndPrfMd2Avl : 20|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SndPrfMd1Avl : 21|1@0+ (1,0) [0|1] "" XXX + SG_ StrPerfMdCustAvl : 29|6@0+ (1,0) [0|0] "" XXX + SG_ SPMCA_StrPrfMd6Avl : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_StrPrfMd5Avl : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_StrPrfMd4Avl : 26|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_StrPrfMd3Avl : 27|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_StrPrfMd2Avl : 28|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_StrPrfMd1Avl : 29|1@0+ (1,0) [0|1] "" XXX + SG_ SusPerfMdCustAvl : 37|6@0+ (1,0) [0|0] "" XXX + SG_ SPMCA_SusPrfMd6Avl : 32|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SusPrfMd5Avl : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SusPrfMd4Avl : 34|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SusPrfMd3Avl : 35|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SusPrfMd2Avl : 36|1@0+ (1,0) [0|1] "" XXX + SG_ SPMCA_SusPrfMd1Avl : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 2156945408 SSID_AMM_1_LS: 8 XXX + SG_ WiFiSSIDDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2152611840 OnBoard_Tester_Request_LS: 2 XXX + SG_ OBTCReq : 4|5@0+ (1,0) [0|0] "" XXX + SG_ OBTCR_Prty : 3|4@0+ (1,0) [0|15] "" XXX + SG_ OBTCR_Actv : 4|1@0+ (1,0) [0|1] "" XXX + SG_ OBTCReqstrStat : 7|3@0+ (1,0) [0|7] "" XXX + SG_ OBTCReqstrID : 15|8@0+ (1,0) [0|255] "" XXX + +BO_ 2153308160 Hyb_Redundant_Batt_Data2_LS: 4 XXX + SG_ RdHVltBatPckCrntGroup : 6|15@0+ (1,0) [0|0] "" XXX + SG_ RdHVltBatPckCrnt : 4|13@0- (0.15,0) [-614.4|614.25] "A" XXX + SG_ RdHVltBatPckCrntV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ RdHVltBatPckCrntM : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RdHVltBatPckVltGroup : 21|14@0+ (1,0) [0|0] "" XXX + SG_ RdHVltBatPckVlt : 19|12@0+ (0.125,0) [0|511.875] "V" XXX + SG_ RdHVltBatPckVltV : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RdHVltBatPckVltM : 21|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155970560 HVAC_PowerManager_Status_LS: 1 XXX + SG_ ClmCntLdShdLvlRq : 3|4@0+ (1,0) [0|15] "" XXX + SG_ ClmCntBatSaverIO : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151178240 Lighting_Customization_Rqst_1_LS: 4 XXX + SG_ LtRtHnTrGPSCstStRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ LtRtHnTrCstStReq : 5|3@0+ (1,0) [0|7] "" XXX + SG_ AutHgBmAsSnCsStRq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ AutHgBmAstCstStRq : 13|3@0+ (1,0) [0|7] "" XXX + SG_ AdpHgBmAsSnCsStRq : 18|3@0+ (1,0) [0|7] "" XXX + SG_ AdpHgBmAstCstStRq : 21|3@0+ (1,0) [0|7] "" XXX + SG_ AFLGPSCstStReq : 26|3@0+ (1,0) [0|7] "" XXX + SG_ AFLCstStReq : 29|3@0+ (1,0) [0|7] "" XXX + +BO_ 2154790912 Lighting_Customization_Info_2_LS: 2 XXX + SG_ AutHgBmAsCsCrStVal : 2|3@0+ (1,0) [0|7] "" XXX + SG_ AutHgBmAsSnCsCrStVa : 5|3@0+ (1,0) [0|7] "" XXX + SG_ AutHgBmAsCsStAvl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AutHgBmAsSnCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ AdpHgBmAsCsCrStVal : 10|3@0+ (1,0) [0|7] "" XXX + SG_ AdpHgBmAsSnCsCrStVal : 13|3@0+ (1,0) [0|7] "" XXX + SG_ AdpHgBmAsCsStAvl : 14|1@0+ (1,0) [0|1] "" XXX + SG_ AdpHgBmAsSnCsStAvl : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151292928 V2V_Customization_Menu_LS: 5 XXX + SG_ TrfRdsdInfCsStAvail : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CntdVehBrkAltCsStAvl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ IntrStopAlrtCsSetAvl : 2|1@0+ (1,0) [0|1] "" XXX + SG_ IntrStAlrtCsCrSetVal : 5|3@0+ (1,0) [0|7] "" XXX + SG_ TrfRdsdInfCsCrStVal : 10|3@0+ (1,0) [0|7] "" XXX + SG_ CntdVehBrAltCsCrStVal : 13|3@0+ (1,0) [0|7] "" XXX + SG_ IntrStAlrtCsAvail : 22|7@0+ (1,0) [0|0] "" XXX + SG_ ISACA_Resrv4Avail : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_Resrv3Avail : 17|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_Resrv2Avail : 18|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_Resrv1Avail : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_AlrtBrkAvail : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_AlrtAvail : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ISACA_OfAvail : 22|1@0+ (1,0) [0|1] "" XXX + SG_ CntdVehBrkAlrtCsAvail : 30|7@0+ (1,0) [0|0] "" XXX + SG_ CVBACA_Resrv5Avail : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_Resrv4Avail : 25|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_Resrv3Avail : 26|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_Resrv2Avail : 27|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_Resrv1Avail : 28|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_OnAvail : 29|1@0+ (1,0) [0|1] "" XXX + SG_ CVBACA_OfAvail : 30|1@0+ (1,0) [0|1] "" XXX + SG_ TrfRdsdInfCsAvail : 38|7@0+ (1,0) [0|0] "" XXX + SG_ TRICA_Resrv5Avail : 32|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_Resrv4Avail : 33|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_Resrv3Avail : 34|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_Resrv2Avail : 35|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_Resrv1Avail : 36|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_OnAvail : 37|1@0+ (1,0) [0|1] "" XXX + SG_ TRICA_OfAvail : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151464960 V2V_Warnings_LS: 5 XXX + SG_ V2VWrngIndReq : 4|5@0+ (1,0) [0|31] "" XXX + SG_ V2VWrngDirctn : 7|3@0+ (1,0) [0|7] "" XXX + SG_ V2VWrngDistRemng : 9|10@0+ (1,0) [0|1023] "" XXX + SG_ V2VTrfLghtInfo : 28|13@0+ (1,0) [0|0] "" XXX + SG_ V2VTLI_TrfLghtTmPhsSw : 28|6@0+ (1,0) [0|63] "" XXX + SG_ V2VTLI_TrfLghtMntngDirctn : 32|1@0+ (1,0) [0|1] "" XXX + SG_ V2VTLI_TrfLghtValDirctn : 34|2@0+ (1,0) [0|3] "" XXX + SG_ V2VTLI_TrfLghtPhsArivl : 36|2@0+ (1,0) [0|3] "" XXX + SG_ V2VTLI_TrfLghtActlPhs : 38|2@0+ (1,0) [0|3] "" XXX + SG_ V2VSrvIndReq : 30|2@0+ (1,0) [0|3] "" XXX + +BO_ 2151448576 V2V_Seat_Vib_Request_LS: 3 XXX + SG_ V2VSysHptcStVibReq : 5|6@0+ (1,0) [0|63] "" XXX + SG_ V2VSysHptStVibRqSN : 7|2@0+ (1,0) [0|3] "" XXX + SG_ V2VSyLftHptStVbRq : 13|6@0+ (1,0) [0|63] "" XXX + SG_ V2VSyLftHptStVbRqSN : 15|2@0+ (1,0) [0|3] "" XXX + SG_ V2VSyRghtHptStVbRq : 21|6@0+ (1,0) [0|63] "" XXX + SG_ V2VSyRghtHptStVbRqSN : 23|2@0+ (1,0) [0|3] "" XXX + +BO_ 2153930752 Lane_Centering_Convenience_LS: 3 XXX + SG_ LCWrnIndReq : 4|5@0+ (1,0) [0|31] "" XXX + SG_ LCCDrvrAwrnsIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LnCntrVhlStpd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ LnCntrNonRspDrvrCnd : 7|1@0+ (1,0) [0|1] "" XXX + SG_ LCConvMsgIndreq : 12|5@0+ (1,0) [0|31] "" XXX + SG_ LCCIndReq : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LnCntrEsclnStat : 17|2@0+ (1,0) [0|3] "" XXX + SG_ LnCntrSpchPrmtReq : 19|2@0+ (1,0) [0|3] "" XXX + SG_ LnCntrngCtlIcnLoctn : 23|4@0- (1,0) [-8|7] "" XXX + +BO_ 2153889792 Lane_Centering_Arrow_LS: 5 XXX + SG_ LCArrwBlk1Act : 0|1@0+ (1,0) [0|1] "" XXX + SG_ LCArrwBlk2Act : 1|1@0+ (1,0) [0|1] "" XXX + SG_ LCArrwBlk3Act : 2|1@0+ (1,0) [0|1] "" XXX + SG_ LCArrwBlk4Act : 3|1@0+ (1,0) [0|1] "" XXX + SG_ LCArrwBlk5Act : 4|1@0+ (1,0) [0|1] "" XXX + SG_ LCArrwBlk2Offst : 15|8@0- (1,0) [-128|127] "" XXX + SG_ LCArrwBlk3Offst : 23|8@0- (1,0) [-128|127] "" XXX + SG_ LCArrwBlk4Offst : 31|8@0- (1,0) [-128|127] "" XXX + SG_ LCArrwBlk5Offst : 39|8@0- (1,0) [-128|127] "" XXX + +BO_ 2153914368 Energy_Usage_LS: 7 XXX + SG_ EngyUsgScrScal : 7|56@0+ (1,0) [0|0] "" XXX + SG_ EUSS_OTEgUgScrMxScVal : 0|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_OTEgUgScrMnScVal : 7|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_ITEgUgScrMnScVal : 9|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_ITEgUgScrMxScVal : 18|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_TcEgUgScrMnScVal : 27|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_TcEgUgScrMxScVal : 36|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_TrEgUgScrMnScVal : 45|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUSS_TrEgUgScrMxScVal : 54|7@0- (0.1,0) [-5|5] "" XXX + +BO_ 2151882752 PTO_Customization_Request_LS: 3 XXX + SG_ PTOTpStpSpdCsStReq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ PTOEngRnTmrCsStRq : 11|4@0+ (1,0) [0|15] "" XXX + SG_ PTOStdbySpdCsStReq : 14|3@0+ (1,0) [0|7] "" XXX + SG_ PTOSet1SpdCsStReq : 19|4@0+ (1,0) [0|15] "" XXX + SG_ PTOSet2SpdCsStReq : 23|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151899136 PTO_Status_LS: 5 XXX + SG_ PTORelBrkPedIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PTORelAccPedIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PTORedEngSpdIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PTOPrsRelCltPedIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PTOPrsRelBrkPedIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PTOEngmntStatInd : 6|2@0+ (1,0) [0|3] "" XXX + SG_ PTODisengCrsCntlIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ PTOSet1SpdCsStAvl : 8|1@0+ (1,0) [0|1] "" XXX + SG_ PTOSet2SpdCsStAvl : 9|1@0+ (1,0) [0|1] "" XXX + SG_ PTOTpStpSpdCsStAvl : 10|1@0+ (1,0) [0|1] "" XXX + SG_ PTOEngRnTmrCsStAvl : 11|1@0+ (1,0) [0|1] "" XXX + SG_ PTOStdbySpdCsStAvl : 12|1@0+ (1,0) [0|1] "" XXX + SG_ PTOTransInGearIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ PTOSetPrkBrkIO : 14|1@0+ (1,0) [0|1] "" XXX + SG_ PTORelCltPedIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ PTOStdbSpdCsCrStVal : 18|3@0+ (1,0) [0|7] "" XXX + SG_ PTOGroup : 20|2@0+ (1,0) [0|0] "" XXX + SG_ PTOVDA : 19|1@0+ (1,0) [0|1] "" XXX + SG_ PTOVDM : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PTOManTransInGrIO : 21|1@0+ (1,0) [0|1] "" XXX + SG_ PTOAccelUpnBrkRelIO : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PTOEngUpnBrkRelIO : 23|1@0+ (1,0) [0|1] "" XXX + SG_ PTOTpStSpdCsCrStVal : 26|3@0+ (1,0) [0|7] "" XXX + SG_ PTOEnRnTmCsCrStVal : 30|4@0+ (1,0) [0|15] "" XXX + SG_ PTOServIndOn : 31|1@0+ (1,0) [0|1] "" XXX + SG_ PTOSet1SpdCsCrStVal : 35|4@0+ (1,0) [0|15] "" XXX + SG_ PTOSet2SpdCsCrStVal : 39|4@0+ (1,0) [0|15] "" XXX + +BO_ 2150580224 HMI_UtlChrgIntrfr_Indication_LS: 5 XXX + SG_ CstmrNonUsblSOCGroup : 1|10@0+ (1,0) [0|0] "" XXX + SG_ CstmrNonUsblSOCV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ CstmrNonUsblSOC : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ CstNonUsbSOCDspLvl : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ PrpDspTtlPwrLvlPct : 24|9@0- (0.392157,0) [-100.392192|100.000035] "%" XXX + +BO_ 2151735296 Rear_Cross_Traffic_Alert_Ind_LS: 1 XXX + SG_ RrCrsTrfcAlrtOffIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ LnChgAlrtOffIndOn : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RtRrCrsTrfcAlrtEnbld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RtSBZAlrtEnbld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RtLnChgAlrtEnbld : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RtSdDetSysTmpDsbld : 5|1@0+ (1,0) [0|1] "" XXX + SG_ RtSdDetSysServDsbld : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151792640 Rear_Cross_Traffic_Alert_Rght_LS: 5 XXX + SG_ RrCTfcRHptcStRqSqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RrCTfcRHptcStReq : 7|6@0+ (1,0) [0|63] "" XXX + SG_ RrCrsTrfAltRgtIndCtrl : 34|3@0+ (1,0) [0|0] "" XXX + SG_ RCTARIC_IndReq : 33|2@0+ (1,0) [0|3] "" XXX + SG_ RCTARIC_Indctr1Act : 34|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149826560 FCA_VisionBased_Info_2_LS: 4 XXX + SG_ FCAGpStng : 2|3@0+ (1,0) [0|7] "" XXX + SG_ FCAHdwyStngIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ FCACrusCtrlCnclReqd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ FCABrkPrflReq : 5|1@0+ (1,0) [0|1] "" XXX + SG_ FwdClnAlrtOffIO11E : 6|1@0+ (1,0) [0|1] "" XXX + SG_ FwdClnAlrtPr11E : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtVsnFsdSpdGroup : 15|15@0+ (1,0) [0|0] "" XXX + SG_ SpdLmtVsnFsdSpd : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SpdLmtVsnFsdSpdM : 17|1@0+ (1,0) [0|1] "" XXX + SG_ FwdObjAlrtInd11E : 16|9@0+ (1,0) [0|0] "" XXX + SG_ FOAI_AlrtChmIhbRq11E : 16|1@0+ (1,0) [0|1] "" XXX + SG_ FOAI_VehAhdIndRq11E : 27|4@0+ (1,0) [0|15] "" XXX + SG_ FOAI_AlrtWrnIndRq11E : 31|4@0+ (1,0) [0|15] "" XXX + SG_ SpdLmtVnFsSpdNwDet : 18|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtVsnFsdSpdUnt : 19|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149957632 Park_Assist_ESSprocess_Info_LS: 1 XXX + SG_ ClsnMtgtnInhbtd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstInhbtReq : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstRrObjSnsngRqAct : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstOprtrDsrdStat : 4|2@0+ (1,0) [0|3] "" XXX + +BO_ 2149941248 Park_Assist_ESSbased_Info_LS: 5 XXX + SG_ PrkAstRrExtdDstUnfltd : 3|12@0+ (0.01,0) [0|40.95] "m" XXX + SG_ PrkAstRrSysStatUnfltd : 5|2@0+ (1,0) [0|3] "" XXX + SG_ PrkAstFntnSnsDstrbdIO : 16|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstFntnSnrsBlkd : 17|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstFntnFld : 18|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstFntnDsbldIO : 19|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstFntnClnPrkAstIO : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ClsnMtgtnInhbtReqtd : 21|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstRrObjSnsngAct : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PARrRgn3ObjStatUnfltd : 27|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn4ObjStatUnfltd : 31|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn1ObjStatUnfltd : 35|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn2ObjStatUnfltd : 39|4@0+ (1,0) [0|15] "" XXX + +BO_ 2156314624 High_Volt_Time_Based_Chrg_LS: 8 XXX + SG_ TODCNxtPlnndDprtrTm : 5|14@0+ (1,0) [0|0] "" XXX + SG_ TODCNPDT_Hr : 2|5@0+ (1,0) [0|31] "Hour" XXX + SG_ TODCNPDT_DyOfWk : 5|3@0+ (1,0) [0|7] "" XXX + SG_ TODCNPDT_Min : 13|6@0+ (1,0) [0|63] "Minute" XXX + SG_ OffBrdCSFltDtctd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ OBVhCsACChgRqBnVs : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HVChgSyChgLvlPrfDt : 16|25@0+ (1,0) [0|0] "" XXX + SG_ HVCSCLPD_UsrIntTyp : 16|2@0+ (1,0) [0|3] "" XXX + SG_ HVCSCLPD_NrmChrgC : 27|5@0+ (1,0) [0|31] "A" XXX + SG_ HVCSCLPD_ChgLvlPfS : 30|3@0+ (1,0) [0|7] "" XXX + SG_ HVCSCLPD_RdCrntLv2 : 33|5@0+ (1,0) [0|31] "A" XXX + SG_ HVCSCLPD_RdCrntLv1 : 38|5@0+ (1,0) [0|31] "A" XXX + SG_ HVCSCLPD_RdCrntLv3 : 44|5@0+ (1,0) [0|31] "A" XXX + SG_ HVChrgAbrtRsn : 19|3@0+ (1,0) [0|7] "" XXX + SG_ TODCOpMd : 22|3@0+ (1,0) [0|7] "" XXX + SG_ HVChrgSysSplyFltIO : 23|1@0+ (1,0) [0|1] "" XXX + SG_ TODCDspMnPgTmpOr : 52|5@0+ (1,0) [0|0] "" XXX + SG_ TODCDMPTO_TpOvR : 51|4@0+ (1,0) [0|15] "" XXX + SG_ TODCDMPTO_CmPgR : 52|1@0+ (1,0) [0|1] "" XXX + SG_ HVChrgSysStNot : 55|3@0+ (1,0) [0|7] "" XXX + SG_ HVBatBlkSOC : 63|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2150449152 Engine_Information_5_LS: 4 XXX + SG_ SrvcFlSysPrkInOpnArIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvTrCtrlOffUnbIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvStblCtrlOffUnbIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ InActFuelMdFuelLvlIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ FuelSysNEmsRltMalfAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ EngInltSpcfcHmdtyGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ EngInltSpcfcHmdtyM : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EngInltSpcfcHmdtyV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngInltSpcfcHmdty : 15|8@0+ (0.0196078,0) [0|4.999989] "% water" XXX + SG_ AutoStpInhbtRsnInd : 23|8@0+ (1,0) [0|0] "" XXX + SG_ ASIRI_Indication08 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication07 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication06 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication05 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication04 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication03 : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication02 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ASIRI_Indication01 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtrSttngTypAct : 25|2@0+ (1,0) [0|3] "" XXX + SG_ ManTransIndReq : 28|3@0+ (1,0) [0|7] "" XXX + SG_ ESPDrvrExtIO : 29|1@0+ (1,0) [0|1] "" XXX + SG_ ESPDrvrDrStIndtrmntIO : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ESPAutoPrkIO : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149810176 FCA_VisionBased_Info_1_LS: 1 XXX + SG_ FCAHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ FCAHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX + +BO_ 2149793792 FCA_VisionBased_Info_LS: 6 XXX + SG_ FwdClnAlrtCustCrntSetngVal : 3|3@0+ (1,0) [0|7] "" XXX + SG_ FCACustStngAvlbl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ VhlAhdDstIndReq : 26|19@0+ (1,0) [0|0] "" XXX + SG_ VADIR_IndLvl : 26|4@0+ (1,0) [0|15] "" XXX + SG_ VADIR_FlwTme : 38|7@0+ (0.1,0) [0|12.7] "s" XXX + SG_ VADIR_FlwDst : 47|8@0+ (1,0) [0|255] "m" XXX + +BO_ 2150080512 Aux_Coolant_Heater_Status_LS: 8 XXX + SG_ EngAstHtDfrdHtMdAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCsCrStVal : 2|2@0+ (1,0) [0|3] "" XXX + SG_ AuxClntHtrVlvStat : 5|3@0+ (1,0) [0|7] "" XXX + SG_ LBCChrgLvlPrfExpIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCstmrDaRstResp : 12|5@0+ (1,0) [0|0] "" XXX + SG_ LBCCDRR_PosNumbr : 10|3@0+ (1,0) [0|7] "" XXX + SG_ LBCCDRR_ClrStrdPosResp : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LBCPosStgStat : 20|5@0+ (1,0) [0|0] "" XXX + SG_ LBCPSS_PosUpdtLct : 18|3@0+ (1,0) [0|7] "" XXX + SG_ LBCPSS_PosUpdtStat : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LBCVehLctStat : 27|4@0+ (1,0) [0|0] "" XXX + SG_ LBCVLS_VehGPSLct : 26|3@0+ (1,0) [0|7] "" XXX + SG_ LBCVLS_VehGPSLctV : 27|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCstmrFdbk : 31|4@0+ (1,0) [0|0] "" XXX + SG_ LBCCF_Lct4PosStrdIO : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCF_Lct3PosStrdIO : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCF_Lct2PosStrdIO : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LBCCF_Lct1PosStrdIO : 31|1@0+ (1,0) [0|1] "" XXX + SG_ ChrgCyclElecEngyEcnEq : 35|12@0+ (0.1,0) [0|409.5] "km/l" XXX + SG_ ChrgCyclOvrlEngyEcnEq : 51|12@0+ (0.1,0) [0|409.5] "km/l" XXX + +BO_ 2153873408 Heated_Steering_Whl_Rqsted_LS: 1 XXX + SG_ MnlHtdStWhlRqstd : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2152128512 Performance_Mode_Cust_Setings_LS: 4 XXX + SG_ ACCPerfMdCustAvl : 5|6@0+ (1,0) [0|0] "" XXX + SG_ ACCPMCA_ACCPrfMd6Avl : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPMCA_ACCPrfMd5Avl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPMCA_ACCPrfMd4Avl : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPMCA_ACCPrfMd3Avl : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPMCA_ACCPrfMd2Avl : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPMCA_ACCPrfMd1Avl : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DrvrStPerfMdCustAvl : 13|6@0+ (1,0) [0|0] "" XXX + SG_ DSPMCA_DrvrStPrfMd6Avl : 8|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvrStPrfMd5Avl : 9|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvrStPrfMd4Avl : 10|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvrStPrfMd3Avl : 11|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvrStPrfMd2Avl : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvrStPrfMd1Avl : 13|1@0+ (1,0) [0|1] "" XXX + SG_ PsngStPerfMdCustAvl : 21|6@0+ (1,0) [0|0] "" XXX + SG_ PSPMCA_PsngStPrfMd6Avl : 16|1@0+ (1,0) [0|1] "" XXX + SG_ PSPMCA_PsngStPrfMd5Avl : 17|1@0+ (1,0) [0|1] "" XXX + SG_ PSPMCA_PsngStPrfMd4Avl : 18|1@0+ (1,0) [0|1] "" XXX + SG_ PSPMCA_PsngStPrfMd3Avl : 19|1@0+ (1,0) [0|1] "" XXX + SG_ PSPMCA_PsngStPrfMd2Avl : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PSPMCA_PsngStPrfMd1Avl : 21|1@0+ (1,0) [0|1] "" XXX + SG_ DrvStyPerfMdCustAvl : 30|7@0+ (1,0) [0|0] "" XXX + SG_ DSPMCA_DrvStyPrfMd7Avl : 24|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd6Avl : 25|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd5Avl : 26|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd4Avl : 27|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd3Avl : 28|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd2Avl : 29|1@0+ (1,0) [0|1] "" XXX + SG_ DSPMCA_DrvStyPrfMd1Avl : 30|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151997440 Driver_Drowsiness_Dtctn_Stat_LS: 5 XXX + SG_ DrvDrowSysIndRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ DrvDrwDetCsCrStVal : 5|3@0+ (1,0) [0|7] "" XXX + SG_ DrvDrowDetCstStAvl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ DrvDrsnHptcStRqSeqN : 9|2@0+ (1,0) [0|3] "" XXX + SG_ DrDrwSysHptcStVbnRq : 15|6@0+ (1,0) [0|63] "" XXX + +BO_ 2156331008 High_Voltage_EnergyMgmt_Ctrl_LS: 7 XXX + SG_ LwRngLVLdShdRq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ HVDpltnMdMxCnfdcRg : 11|12@0+ (0.1,0) [0|409.5] "km" XXX + SG_ HVDpltnMdMiCnfdcRg : 27|12@0+ (0.1,0) [0|409.5] "km" XXX + SG_ HVDpltnMdMxGugRg : 43|12@0+ (0.1,0) [0|409.5] "km" XXX + +BO_ 2151776256 Rear_Cross_Traffic_Alert_Left_LS: 5 XXX + SG_ RrCTfcLHptcStRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RrCTfcLHptcStReq : 7|6@0+ (1,0) [0|63] "" XXX + SG_ RrCrsTrfAltLftIndCtrl : 34|3@0+ (1,0) [0|0] "" XXX + SG_ RCTALIC_IndReq : 33|2@0+ (1,0) [0|3] "" XXX + SG_ RCTALIC_Indctr1Act : 34|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154774528 Lighting_Customization_Info_1_LS: 1 XXX + SG_ LtRtHnTrCstStVal : 2|3@0+ (1,0) [0|7] "" XXX + SG_ LtRtHnTrGPCsCrStVal : 5|3@0+ (1,0) [0|7] "" XXX + SG_ LtRtHnTrCstStAvail : 6|1@0+ (1,0) [0|1] "" XXX + SG_ LtRtHnTrGPSCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150375424 Eng_Maintenance_Mode_Strt_Req_LS: 3 XXX + SG_ MntnceMdStEngRq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ EngAstHtCstStRq : 3|3@0+ (1,0) [0|7] "" XXX + SG_ EngAstHtPlgInCstStRq : 6|3@0+ (1,0) [0|7] "" XXX + SG_ DsplTrnsShftLvrLckRqd : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngyCnsHistGrphRstRq : 8|1@0+ (1,0) [0|1] "" XXX + SG_ USBProgInPrgrs : 9|1@0+ (1,0) [0|1] "" XXX + SG_ LBCPosMdfcReq : 12|3@0+ (1,0) [0|7] "" XXX + SG_ LBCCsStReq : 14|2@0+ (1,0) [0|3] "" XXX + SG_ LBCCstmrDaRstReq : 20|5@0+ (1,0) [0|0] "" XXX + SG_ LBCCDRR_PosNum : 18|3@0+ (1,0) [0|7] "" XXX + SG_ LBCCDRR_ClrStrdPosReq : 20|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150383616 Engine_Maintenance_Mode_Req_LS: 8 XXX + SG_ MntnceMdDsplyRq : 3|4@0+ (1,0) [0|15] "" XXX + SG_ EngMntnceMdAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ EngMntncePrcntCpl : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ EngPrpDspPwrLvlPct : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ EstElecPrpCap : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ PrpCapDspOpPs : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ PrpDspTtlPwr : 45|13@0+ (0.5,-326.6) [-326.6|3768.9] "kW" XXX + SG_ BatPrpDspPwrLvlPct : 48|9@0- (0.392157,0) [-100.392192|100.000035] "%" XXX + +BO_ 2151981056 Drive_Cycle_Efficiency_LS: 8 XXX + SG_ DstTrvldDt : 7|51@0+ (1,0) [0|0] "" XXX + SG_ DTD_BattPrpDstTrvld : 7|17@0+ (0.015625,0) [0|2047.984375] "km" XXX + SG_ DTD_FuelPrpDstTrvld : 22|17@0+ (0.015625,0) [0|2047.984375] "km" XXX + SG_ DTD_DrvCyclDstTrvld : 37|17@0+ (0.015625,0) [0|2047.984375] "km" XXX + SG_ DrvCyclBatPropRat : 50|11@0+ (0.048852,0) [0|100.000044] "%" XXX + +BO_ 2151964672 Drive_Cycle_Energy_Efficiency_LS: 8 XXX + SG_ DrvCyclBatCondEnrgEfncy : 7|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DrvCyclCbnCondEnrgEfncy : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DrvCyclDrvStEnrgEfncy : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DrvCyclTtlEnrgEfncy : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DrvCyclFuelEnmy : 47|12@0+ (0.1,0) [0|409.5] "km/liters" XXX + SG_ DrvCyclFuelUsd : 51|12@0+ (0.125,0) [0|511.875] "liters" XXX + +BO_ 2156298240 High_Volt_Batt_Time_Pwr_Chrg_LS: 8 XXX + SG_ HVBatCmpltTmHghPwrChrg : 7|14@0+ (1,0) [0|0] "" XXX + SG_ HVBCTHPC_HrOfDy : 4|5@0+ (1,0) [0|31] "Hour" XXX + SG_ HVBCTHPC_DyOfWk : 7|3@0+ (1,0) [0|7] "" XXX + SG_ HVBCTHPC_MntOfHr : 15|6@0+ (1,0) [0|63] "Minute" XXX + SG_ HVBatCmpltTmLwPwrChrg : 9|14@0+ (1,0) [0|0] "" XXX + SG_ HVBCTLPC_DyOfWk : 9|3@0+ (1,0) [0|7] "" XXX + SG_ HVBCTLPC_MntOfHr : 17|6@0+ (1,0) [0|63] "Minute" XXX + SG_ HVBCTLPC_HrOfDy : 22|5@0+ (1,0) [0|31] "Hour" XXX + SG_ HVBatStrTmHghPwrChrg : 27|14@0+ (1,0) [0|0] "" XXX + SG_ HVBSTHPC_HrOfDy : 24|5@0+ (1,0) [0|31] "Hour" XXX + SG_ HVBSTHPC_DyOfWk : 27|3@0+ (1,0) [0|7] "" XXX + SG_ HVBSTHPC_MntOfHr : 35|6@0+ (1,0) [0|63] "Minute" XXX + SG_ HVBatStrTmLwPwrChrg : 45|14@0+ (1,0) [0|0] "" XXX + SG_ HVBSTLPC_HrOfDy : 42|5@0+ (1,0) [0|31] "Hour" XXX + SG_ HVBSTLPC_DyOfWk : 45|3@0+ (1,0) [0|7] "" XXX + SG_ HVBSTLPC_MntOfHr : 53|6@0+ (1,0) [0|63] "Minute" XXX + SG_ HVChrgSysDpTmExdSt : 58|3@0+ (1,0) [0|0] "" XXX + SG_ HVCSDTES_NPDTIO : 56|1@0+ (1,0) [0|1] "" XXX + SG_ HVCSDTES_HiPwrCIO : 57|1@0+ (1,0) [0|1] "" XXX + SG_ HVCSDTES_LoPwrCIO : 58|1@0+ (1,0) [0|1] "" XXX + SG_ HTRActvIndOn : 59|1@0+ (1,0) [0|1] "" XXX + SG_ InsfcntTmTFlChrgIO : 60|1@0+ (1,0) [0|1] "" XXX + SG_ InvldHMIEtrIO : 61|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatChrgCrdAlrtReq : 63|2@0+ (1,0) [0|3] "" XXX + +BO_ 2149924864 Drv_Pref_Mode_Switch_Status_LS: 8 XXX + SG_ DrvSelMd1Stat : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd1ReqDnd : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd2Stat : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd2ReqDnd : 3|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd3Stat : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd3ReqDnd : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HilRlbkCtrlActIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ FwdClnMtgnBrkReqAct : 7|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMdSelnStat : 8|17@0+ (1,0) [0|0] "" XXX + SG_ DSMSS_DrvSelMd1Un : 8|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd1Pn : 16|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd8Un : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd7Un : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd6Un : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd5Un : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd4Un : 21|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd3Un : 22|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd2Un : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd0Pn : 24|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd8Pn : 25|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd7Pn : 26|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd6Pn : 27|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd5Pn : 28|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd4Pn : 29|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd3Pn : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DSMSS_DrvSelMd2Pn : 31|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd4Stat : 9|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd4ReqDnd : 10|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd5Stat : 11|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd5ReqDnd : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd6Stat : 13|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd6ReqDnd : 14|1@0+ (1,0) [0|1] "" XXX + SG_ PTOMobModTrnsInGrIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ECODrvAsstDsplyStat : 34|11@0+ (1,0) [0|0] "" XXX + SG_ EDADS_ShftIndStat : 33|2@0+ (1,0) [0|3] "" XXX + SG_ EDADS_EcoDrvShftIO : 34|1@0+ (1,0) [0|1] "" XXX + SG_ EDADS_RcmndtFwdGr : 43|4@0+ (1,0) [0|15] "" XXX + SG_ EDADS_CrntFwdMsdG : 47|4@0+ (1,0) [0|15] "" XXX + SG_ DrvSelMd7Stat : 35|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd7ReqDnd : 36|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd8Stat : 37|1@0+ (1,0) [0|1] "" XXX + SG_ DrvSelMd8ReqDnd : 38|1@0+ (1,0) [0|1] "" XXX + SG_ FstIdlMdAct : 39|1@0+ (1,0) [0|1] "" XXX + SG_ DsplyPerfMdRq : 50|3@0+ (1,0) [0|7] "" XXX + SG_ TireLFLowTracIO : 51|1@0+ (1,0) [0|1] "" XXX + SG_ TireLRLowTracIO : 52|1@0+ (1,0) [0|1] "" XXX + SG_ TireRFLowTracIO : 53|1@0+ (1,0) [0|1] "" XXX + SG_ TireRRLowTracIO : 54|1@0+ (1,0) [0|1] "" XXX + SG_ a_12VBatSysUnstab : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ColPrepSysCustAvail : 62|7@0+ (1,0) [0|0] "" XXX + SG_ CPSCA_Resrv3Avail : 56|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_Resrv2Avail : 57|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_Resrv1Avail : 58|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_AlrtBrkStrAvail : 59|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_AlrtBrkAvail : 60|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_AlrtAvail : 61|1@0+ (1,0) [0|1] "" XXX + SG_ CPSCA_OffAvail : 62|1@0+ (1,0) [0|1] "" XXX + +BO_ 2152054784 HMI_Disp_Hyb_Animation_Status_LS: 1 XXX + SG_ AnmStrtReq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ IntPnlClstrAnmtStat : 5|3@0+ (1,0) [0|7] "" XXX + SG_ FuelEconMetDispUnts : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150301696 HMI_Animation_Initiator_LS: 1 XXX + SG_ WlcAnmReq : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150563840 HMI_AnimationHybridRadio_LS: 3 XXX + SG_ RadAnmtStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ RadAudQueStat : 5|3@0+ (1,0) [0|7] "" XXX + SG_ DrStStatDispAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ PsStStatDispAct : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154758144 Auxiliary_Heater_Active_LS: 1 XXX + SG_ ChldLckOtSwAct : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154577920 Amp_Sink_Stat_LS: 2 XXX + SG_ AmpSnkStat : 4|13@0+ (1,0) [0|0] "" XXX + SG_ ASS_SurndAvail : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPAvail : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_VehNoisCmpnAvail : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_PhLckdLpLckd : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_MtxSnkMutStat : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd7Prsnt : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd6Prsnt : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd5Prsnt : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd4Prsnt : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd3Prsnt : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd2Prsnt : 13|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd1Prsnt : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ASS_DSPMd0Prsnt : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154594304 Amp_Settings_Tone_Ctrl_LS: 5 XXX + SG_ AmpSetTonCtrl : 1|34@0+ (1,0) [0|0] "" XXX + SG_ ASTC_ChimSnkLvl : 1|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX + SG_ ASTC_ChimSnkSpkrPos : 9|4@0+ (1,0) [0|15] "" XXX + SG_ ASTC_SurndLvl : 21|6@0- (1,0) [-32|31] "" XXX + SG_ ASTC_MtxSnkMutRmpTm : 25|8@0+ (5,0) [0|1275] "ms" XXX + SG_ ASTC_MtxSnkMut : 26|1@0+ (1,0) [0|1] "" XXX + SG_ ASTC_DSPMd : 30|4@0+ (1,0) [0|15] "" XXX + SG_ ASTC_VehNoisCmpnAct : 31|1@0+ (1,0) [0|1] "" XXX + SG_ ASTC_GblAudSnkMut : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ASTC_AmpLwPwrSt : 33|1@0+ (1,0) [0|1] "" XXX + SG_ InfotnBkltngConfigSt : 3|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154586112 Amp_Settings_Sink_Lvl_Ctrl_LS: 8 XXX + SG_ AmpSetSnkLvlCtrl : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ASSLC_MtxSnkLvl : 7|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX + SG_ ASSLC_MxPrmtSnkLvl : 15|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX + SG_ ASSLC_AudFdbkSnkLvl : 23|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX + SG_ ASSLC_FvSnkLvl : 31|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX + SG_ ASSLC_MtxSnkFd : 33|6@0- (1,0) [-32|31] "" XXX + SG_ ASSLC_MtxSnkBal : 39|6@0- (1,0) [-32|31] "" XXX + SG_ ASSLC_MtxSnkBass : 43|6@0- (1,0) [-32|31] "" XXX + SG_ ASSLC_MtxSnkMdrng : 53|6@0- (1,0) [-32|31] "" XXX + SG_ ASSLC_AutoLdnsCmpnAct : 56|1@0+ (1,0) [0|1] "" XXX + SG_ ASSLC_VcSrcActOnMtx : 57|1@0+ (1,0) [0|1] "" XXX + SG_ ASSLC_MtxSnkTrbl : 63|6@0- (1,0) [-32|31] "" XXX + +BO_ 2152857600 ACC_TrafficJam_RouteSpd_Stat_LS: 3 XXX + SG_ ACCRteSpdDrvIntvReq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACCTrfcJamAstActStat : 10|3@0+ (1,0) [0|7] "" XXX + SG_ ACCRteSpdAdaptStat : 12|2@0+ (1,0) [0|3] "" XXX + SG_ ACCGrnMdStat : 14|2@0+ (1,0) [0|3] "" XXX + SG_ ACCTrfcJamAstRmnTm : 23|8@0+ (1,0) [0|255] "sec" XXX + +BO_ 2158149632 High_Volt_Bat_Time_Bsd_Rsp_1_LS: 7 XXX + SG_ HVBatTmBsSsnChRsp : 0|14@0+ (1,0) [0|0] "" XXX + SG_ HVBTBSCR_SsnStat : 0|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBSCR_SsnMthStat : 11|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBSCR_SsnSlctStat : 14|3@0+ (1,0) [0|7] "" XXX + SG_ HVBTBSCR_SsnDyStat : 23|5@0+ (1,0) [0|31] "day" XXX + SG_ HVBatTmBsChrgStRsp : 3|3@0+ (1,0) [0|7] "" XXX + SG_ HVBatCrgDspStat : 6|3@0+ (1,0) [0|7] "" XXX + SG_ HVBatTmBsChrgRtRsp : 17|10@0+ (1,0) [0|0] "" XXX + SG_ HVBTBCRS_ChRtEnblStat : 17|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBCRS_ChRtSlctStat : 27|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBCRS_ChRtDStat : 31|4@0+ (1,0) [0|15] "" XXX + SG_ EngyCnsHsGrphCnfgDt : 36|13@0+ (1,0) [0|0] "" XXX + SG_ ECHGCD_YAxMaxVal : 32|6@0+ (4,0) [0|252] "" XXX + SG_ ECHGCD_MeasUt : 36|4@0+ (1,0) [0|15] "" XXX + SG_ ECHGCD_XAxTkMrkInterv : 42|3@0+ (1,0) [0|7] "" XXX + SG_ EgyCnsHstGphInsEgyCns : 55|5@0+ (1,0) [0|31] "" XXX + +BO_ 2158116864 High_Volt_Bat_Time_Bsd_Rsp_LS: 8 XXX + SG_ OBHVBCMinsRmng : 5|6@0+ (1,0) [0|63] "" XXX + SG_ OBHVBCCompTmDispFrmt : 7|2@0+ (1,0) [0|3] "" XXX + SG_ HVBatTmBsDelChrgRsp : 12|21@0+ (1,0) [0|0] "" XXX + SG_ HVBTBDCRS_DlChHRsp : 12|5@0+ (1,0) [0|31] "hr" XXX + SG_ HVBTBDCRS_DlChSlctStat : 19|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCRS_DlChDStat : 23|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCRS_DlChMHRsp : 29|6@0+ (1,0) [0|63] "min" XXX + SG_ HVBTBDCRS_DlChSsnStat : 31|2@0+ (1,0) [0|3] "" XXX + SG_ HVBatTmBsRtChrgRsp : 34|27@0+ (1,0) [0|0] "" XXX + SG_ HVBTBRCR_RtChMHRsp : 32|6@0+ (1,0) [0|63] "min" XXX + SG_ HVBTBRCR_RtChSsnStat : 34|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBRCR_RtChSlctStat : 42|3@0+ (1,0) [0|7] "" XXX + SG_ HVBTBRCR_RtChDStat : 50|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBRCR_RtChHRsp : 55|5@0+ (1,0) [0|31] "hr" XXX + SG_ HVBTBRCR_RtCHSlctTblRwStat : 58|3@0+ (1,0) [0|7] "rows" XXX + SG_ HVBTBRCR_RtChSlRtStat : 62|4@0+ (1,0) [0|15] "" XXX + +BO_ 2156281856 High_Volt_Bat_Time_Bsd_Req_1_LS: 7 XXX + SG_ HVBatTmBsSsnChStReq : 0|14@0+ (1,0) [0|0] "" XXX + SG_ HVBTBSCSR_SsnStReq : 0|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBSCSR_SsnMthStReq : 11|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBSCSR_SsnSlStReq : 14|3@0+ (1,0) [0|7] "" XXX + SG_ HVBTBSCSR_SsnDayStReq : 23|5@0+ (1,0) [0|31] "day" XXX + SG_ HVBatTmBsChrgMdReq : 3|3@0+ (1,0) [0|7] "" XXX + SG_ HVChgSyChgLvlPrfSt : 6|3@0+ (1,0) [0|7] "" XXX + SG_ StTODChrgTmpOvrd : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatTmBsChrgRtStReq : 17|10@0+ (1,0) [0|0] "" XXX + SG_ HVBTBCRSR_ChRtEnblStReq : 17|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBCRSR_ChRtSlStReq : 27|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBCRSR_ChRtDStReq : 31|4@0+ (1,0) [0|15] "" XXX + SG_ TmpOvdNxtPlnDptTmRq : 32|17@0+ (1,0) [0|0] "" XXX + SG_ TONPDTR_StTmpOvrAtv : 32|2@0+ (1,0) [0|3] "" XXX + SG_ TONPDTR_HrOfDy : 42|5@0+ (1,0) [0|31] "Hour" XXX + SG_ TONPDTR_DyOfWk : 46|4@0+ (1,0) [0|15] "" XXX + SG_ TONPDTR_MntOfHr : 53|6@0+ (1,0) [0|63] "Minute" XXX + SG_ RtBsChrgCmplnTmPrfReq : 34|2@0+ (1,0) [0|3] "" XXX + SG_ HTRCsStReq : 37|3@0+ (1,0) [0|7] "" XXX + +BO_ 2156265472 High_Volt_Bat_Time_Bsd_Req_LS: 8 XXX + SG_ ChgCdTfAlCzStRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ChgPwLsAlCzStRq : 5|3@0+ (1,0) [0|7] "" XXX + SG_ PrtyChrgRq : 7|2@0+ (1,0) [0|3] "" XXX + SG_ HVBatTmBsDlChStReq : 12|21@0+ (1,0) [0|0] "" XXX + SG_ HVBTBDCSRQ_DlChHStReq : 12|5@0+ (1,0) [0|31] "hr" XXX + SG_ HVBTBDCSRQ_DlChSlStReq : 19|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCSRQ_DlChDStReq : 23|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCSRQ_DlChMHStReq : 29|6@0+ (1,0) [0|63] "min" XXX + SG_ HVBTBDCSRQ_DlChSsnStReq : 31|2@0+ (1,0) [0|3] "" XXX + SG_ ChgSysAudInCsStReq : 15|3@0+ (1,0) [0|7] "" XXX + SG_ HVBatTmBsRtChrgStReq : 34|27@0+ (1,0) [0|0] "" XXX + SG_ HVBTBRCSR_RtChDStReq : 34|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBRCSR_RtChSlStReq : 42|3@0+ (1,0) [0|7] "" XXX + SG_ HVBTBRCSR_RtChSlRtStReq : 46|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBRCSR_RtChMHStReq : 48|6@0+ (1,0) [0|63] "min" XXX + SG_ HVBTBRCSR_RtChSsnStReq : 50|2@0+ (1,0) [0|3] "" XXX + SG_ HVBTBRCSR_RtChHStReq : 55|5@0+ (1,0) [0|31] "hr" XXX + SG_ HVBTBRCSR_RtChSlTbRwReq : 58|3@0+ (1,0) [0|7] "rows" XXX + SG_ OffBrdHVCVehCsChRq : 35|1@0+ (1,0) [0|1] "" XXX + SG_ EngyUsgScrnMeasUtStat : 39|4@0+ (1,0) [0|15] "" XXX + +BO_ 2150113280 Energy_Storage_System_LS: 8 XXX + SG_ EngyStgSysActCoolEnb : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrvCycElEnrgUsd : 21|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + SG_ DrvCyclElecEngyEcon : 32|9@0+ (0.1,0) [0|51.1] "" XXX + SG_ HVChrgInhbRsn : 36|4@0+ (1,0) [0|15] "" XXX + SG_ DrvCyclTrpDstTrvld : 54|15@0+ (0.1,0) [0|3276.7] "km" XXX + +BO_ 2150055936 Climate_Control_Status_LS: 5 XXX + SG_ ClmtCtrlUpprPwrLmt : 7|8@0+ (0.1,0) [0|25.5] "kW" XXX + SG_ ClmtCtrlLwrPwrLmt : 15|8@0+ (0.1,0) [0|25.5] "kW" XXX + SG_ ClimCtrlHVDvcShtdwnCmd : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ClmCntCmpPwrUsdClc : 39|8@0+ (0.04,0) [0|10.2] "kW" XXX + +BO_ 2150039552 Thrml_Ref_Compressor_Status_LS: 5 XXX + SG_ ThrmlRefCompStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ EvpCorOtltAirTmpCalcdGroup : 4|13@0+ (1,0) [0|0] "" XXX + SG_ EvpCorOtltAirTmpCalcdV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ EvpCorOtltAirTmpCalcd : 15|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ ThrmlRefCompSpdGroup : 22|15@0+ (1,0) [0|0] "" XXX + SG_ ThrmlRefCompSpd : 21|14@0+ (1,0) [0|16383] "rpm" XXX + SG_ ThrmlRefCompSpdV : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ThrmlRfCmpOvTmpFltPr : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154856448 Humidity_Sensor_Status_LS: 5 XXX + SG_ HmdtySnsrGlssTemp : 1|10@0+ (0.146628,-50) [-50|100.000444] "deg C" XXX + SG_ HmdtySnsrTemp : 17|10@0+ (0.146628,-50) [-50|100.000444] "deg C" XXX + SG_ HmdtySnsrRltvHmdty : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2151342080 Park_Assistant_Right_Status_LS: 2 XXX + SG_ PARtRgn1ObjStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ PrkAstRtSysStat : 5|2@0+ (1,0) [0|3] "" XXX + SG_ PARtRgn3ObjStat : 11|4@0+ (1,0) [0|15] "" XXX + SG_ PARtRgn2ObjStat : 15|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151325696 Park_Assistant_Left_Status_LS: 2 XXX + SG_ PALtRgn1ObjStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ PrkAstLtSysStat : 5|2@0+ (1,0) [0|3] "" XXX + SG_ PALtRgn3ObjStat : 11|4@0+ (1,0) [0|15] "" XXX + SG_ PALtRgn2ObjStat : 15|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151809024 Drv_Cycl_Elec_Enrgy_Consumd_LS: 8 XXX + SG_ DrvCycElecEngySt5 : 5|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + SG_ DrvCycElecEngyCnsmd : 23|32@0+ (1,0) [0|0] "" XXX + SG_ DCEEC_EngyPct1 : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DCEEC_EngyPct2 : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DCEEC_EngyPct3 : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ DCEEC_EngyPct4 : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ ElecEngyEconAvg : 48|9@0+ (0.1,0) [0|51.1] "" XXX + +BO_ 2151858176 Drv_Cycl_Elec_Enrgy_States_LS: 8 XXX + SG_ DrvCycElecEngySt1 : 5|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + SG_ DrvCycElecEngySt2 : 21|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + SG_ DrvCycElecEngySt3 : 37|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + SG_ DrvCycElecEngySt4 : 53|14@0+ (0.36,0) [0|5897.88] "MJ" XXX + +BO_ 2150547456 HMI_Hybrid_Vehicle_Status_LS: 8 XXX + SG_ HVDpltnMdRng : 0|16@0+ (0.015625,0) [0|1023.984375] "km" XXX + SG_ VehChrgMdSt : 3|3@0+ (1,0) [0|7] "" XXX + SG_ GrnAudQueReq : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SvcHybChrgSysIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatChrgCrdConnIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ CntrsOpnUndrTmpIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ OffBrdHVCVehCplrLkd : 16|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatLimDTmpInd : 25|2@0+ (1,0) [0|3] "" XXX + SG_ OffBrdHVCVehPwrDrtd : 26|1@0+ (1,0) [0|1] "" XXX + SG_ HVChrgrSysStat : 29|3@0+ (1,0) [0|7] "" XXX + SG_ HVChrgrCplrStat : 31|2@0+ (1,0) [0|3] "" XXX + SG_ ChgrSysAdblIndReq : 33|2@0+ (1,0) [0|3] "" XXX + SG_ HVBatOutOfEnrgyInd : 36|3@0+ (1,0) [0|7] "" XXX + SG_ OffBrdHVBlkChrgCmp : 37|1@0+ (1,0) [0|1] "" XXX + SG_ ElecPrplsnMtrOvrSpdIO : 38|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatCntctrsOpnIO : 39|1@0+ (1,0) [0|1] "" XXX + SG_ HVDpltnMdCnfdcTrndg : 47|8@0- (0.787402,0) [-100.787456|100.000054] "%" XXX + SG_ OffBrdHVBlkChgCpltTm : 53|14@0+ (1,0) [0|0] "" XXX + SG_ OBHVBCCT_HrofDay : 50|5@0+ (1,0) [0|31] "" XXX + SG_ OBHVBCCT_DayofWk : 53|3@0+ (1,0) [0|7] "" XXX + SG_ OBHVBCCT_MinofHr : 61|6@0+ (1,0) [0|63] "" XXX + SG_ OffBrdHVCVehPwrLvl : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 2151489536 CSV_EOCM_R_Indications_LS: 1 XXX + SG_ RVBShtToPrkBfExtngVehIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RVBAutoBrkRlsIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NVSysStat : 4|3@0+ (1,0) [0|7] "" XXX + +BO_ 2149761024 Chassis_Information_2_LS: 6 XXX + SG_ PerfTrcCrnExStngVal : 4|5@0+ (1,0) [0|31] "" XXX + SG_ ActVehAccelGroup : 5|22@0+ (1,0) [0|0] "" XXX + SG_ ActVehAccelV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ActVehAccel : 11|12@0- (0.01,0) [-20.48|20.47] "m/s^2" XXX + SG_ TrlrStabAstActIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ElvtdIdlCstStAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ElvtdIdlCstCrStVal : 13|2@0+ (1,0) [0|3] "" XXX + SG_ TrnsCltchThrmlProtIndR : 27|20@0+ (1,0) [0|0] "" XXX + SG_ TCTPIR_DrvNotfn : 27|4@0+ (1,0) [0|15] "" XXX + SG_ TCTPIR_TnsEsClTmpD : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ TCTPIR_TnsEsClCDwT : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ PsngStPerfMdCsCrStVal : 30|3@0+ (1,0) [0|7] "" XXX + SG_ PsngStPerfMdCsStAvl : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155012096 SBZA_Right_Status_LS: 1 XXX + SG_ SODTmpUnavlbleIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SODSnsClnRqdIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SODRtIndCntl : 6|5@0+ (1,0) [0|0] "" XXX + SG_ SODRIC_Ind3 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SODRIC_Ind2 : 3|1@0+ (1,0) [0|1] "" XXX + SG_ SODRIC_Ind1 : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SODRIC_IndReq : 6|2@0+ (1,0) [0|3] "" XXX + SG_ SrvSODSysIO : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150514688 Power_Slidining_Door_Status_LS: 1 XXX + SG_ SldngDrRgtStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ SldngDrLftStat : 5|3@0+ (1,0) [0|7] "" XXX + SG_ PwrSldngDrUnavlblIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ SdClsrObstclDtctdStat : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158067712 Video_Master_Info_2_LS: 5 XXX + SG_ TchScnDsplUsrActnExt : 1|34@0+ (1,0) [0|0] "" XXX + SG_ TSDUAE_RotBtnPsh : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TSDUAE_ScrnPrsdRq : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TSDUAE_GrphStrkInfRq : 15|8@0+ (1,0) [0|255] "" XXX + SG_ TSDUAE_XCoOdntRq : 23|8@0+ (1,0) [0|255] "" XXX + SG_ TSDUAE_YCoOdntRq : 31|8@0+ (1,0) [0|255] "" XXX + SG_ TSDUAE_RotEnc : 39|8@0- (1,0) [-128|127] "Detentions" XXX + +BO_ 2158051328 Video_Master_Info_1_LS: 5 XXX + SG_ RemRcvrSrcInpCmd : 3|4@0+ (1,0) [0|15] "" XXX + SG_ VidMstrDsplyMd : 5|2@0+ (1,0) [0|3] "" XXX + SG_ VidSrcUICntrlStat : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RmtRcvrTunCmnd : 12|5@0+ (1,0) [0|31] "" XXX + SG_ VidMstrArbCmd : 15|3@0+ (1,0) [0|7] "" XXX + SG_ RmtRcvrTunVal : 23|16@0- (1,0) [-32768|32767] "" XXX + SG_ VidMstrSrcType : 36|5@0+ (1,0) [0|31] "" XXX + SG_ TVDspCmd : 39|3@0+ (1,0) [0|7] "" XXX + +BO_ 2158034944 TV_Tuner_Info_LS: 6 XXX + SG_ VidSrcCompFormatER : 3|4@0+ (1,0) [0|15] "" XXX + SG_ CurntTVStnServc : 6|3@0+ (1,0) [0|7] "" XXX + SG_ CurntTVStnQual : 7|1@0+ (1,0) [0|1] "" XXX + SG_ RmtRcvrCmndStat : 10|3@0+ (1,0) [0|7] "" XXX + SG_ RmtRecvtDataTyp : 13|3@0+ (1,0) [0|7] "" XXX + SG_ RmtRcvrTunStat : 14|1@0+ (1,0) [0|1] "" XXX + SG_ TVTunerPres : 15|1@0+ (1,0) [0|1] "" XXX + SG_ RmtRcvrPrgrmServID : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ VidSrcStatCode : 35|4@0+ (1,0) [0|15] "" XXX + SG_ RemRcvrSrcInpStat : 39|4@0+ (1,0) [0|15] "" XXX + SG_ VidSrcType : 44|5@0+ (1,0) [0|31] "" XXX + +BO_ 2158018560 TV_Station_Name_LS: 8 XXX + SG_ TVStatNmeChar1_8 : 7|64@0+ (1,0) [0|0] "" XXX + +BO_ 2156838912 WiFi_Station_LS: 7 XXX + SG_ WiFiStationResp : 3|52@0+ (1,0) [0|0] "" XXX + SG_ WSR_WiFiAssnStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ WSR_WiFiStnMACAddr : 15|48@0+ (1,0) [0|281474976710655] "" XXX + +BO_ 2156822528 WiFi_AP_Data_LS: 2 XXX + SG_ WiFiAccsPntData : 0|9@0+ (1,0) [0|0] "" XXX + SG_ WAPD_IHUWiFiEnStat : 0|1@0+ (1,0) [0|1] "" XXX + SG_ WAPD_EncrptnType : 11|4@0+ (1,0) [0|15] "" XXX + SG_ WAPD_SecurityType : 15|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151948288 Driver_Drow_Det_Cst_Rqst_LS: 1 XXX + SG_ DrvDrowDetCstStRq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ RunBrdOpMdCstStReq : 7|3@0+ (1,0) [0|7] "" XXX + +BO_ 2158002176 XM_Radio_Service_LS: 1 XXX + SG_ CurntStnServc : 2|3@0+ (1,0) [0|7] "" XXX + SG_ SrvcPrvdr : 5|3@0+ (1,0) [0|7] "" XXX + +BO_ 2149728256 Charging_Sys_Trans_Shift_Lock_LS: 5 XXX + SG_ ChrgSysTrnsShftLckRq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ChrgPrtDrStat : 2|2@0+ (1,0) [0|3] "" XXX + SG_ PrtyChrgActIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PrtyChrgAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ HghVltgPropState : 7|3@0+ (1,0) [0|7] "" XXX + SG_ ChgCdTfAlCzCrStVal : 10|3@0+ (1,0) [0|7] "" XXX + SG_ ChgCdTfAlCzStAvbl : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ChgPwLsAlCzCrStVal : 14|3@0+ (1,0) [0|7] "" XXX + SG_ ChgPwLsAlCzStAvbl : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ChgSyAudInCsCrStVa : 18|3@0+ (1,0) [0|7] "" XXX + SG_ ChgSysAudInCsStAvl : 19|1@0+ (1,0) [0|1] "" XXX + SG_ HVChrgPwrLvl : 22|3@0+ (1,0) [0|7] "" XXX + SG_ EngAstHtCsCrStVal : 26|3@0+ (1,0) [0|7] "" XXX + SG_ EngAstHtCsStAvl : 27|1@0+ (1,0) [0|1] "" XXX + SG_ EngAstHtPlgInCsCrStVl : 30|3@0+ (1,0) [0|7] "" XXX + SG_ EngAstHtPlgInCsStAvl : 31|1@0+ (1,0) [0|1] "" XXX + SG_ PrtyChrgStPnt : 38|7@0+ (1,0) [0|127] "" XXX + +BO_ 2150023168 Hybrid_Information_LS: 5 XXX + SG_ HybChrgMdStat : 1|2@0+ (1,0) [0|3] "" XXX + SG_ HVInvRatVltGroup : 2|19@0+ (1,0) [0|0] "" XXX + SG_ HVInvRatVltV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ HVInvRatVlt : 8|9@0+ (1,0) [0|511] "volts" XXX + SG_ OffBrdVehImmbNot : 5|3@0+ (1,0) [0|7] "" XXX + SG_ ElecPrplsnMtrTach : 28|13@0+ (1,0) [0|8191] "rpm" XXX + +BO_ 2153988096 Power_Elec_Info_LS: 7 XXX + SG_ PwrElecCoolLpTempGroup : 1|10@0+ (1,0) [0|0] "" XXX + SG_ PwrElecCoolLpTempV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PwrElecCoolLpTempM : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PwrElecCoolLpTemp : 15|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ EngyUsgScr : 20|37@0+ (1,0) [0|0] "" XXX + SG_ EUS_TcEngyUsgScrAvVal : 20|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUS_TrEngyUsgScrAvVal : 29|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUS_OTEngyUsgScrAvVal : 38|7@0- (0.1,0) [-5|5] "" XXX + SG_ EUS_TtEngyUsgScrAvVal : 40|9@0- (0.1,0) [-20|20] "" XXX + SG_ EUS_ITEngyUsgScrAvVal : 47|7@0- (0.1,0) [-5|5] "" XXX + +BO_ 2155945984 Jump_Start_Req_LS: 1 XXX + SG_ JmpStrtReq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TCSysCurStReq : 2|2@0+ (1,0) [0|3] "" XXX + SG_ VehStbEnhmntCurStRq : 4|2@0+ (1,0) [0|3] "" XXX + SG_ VehStbCmptvMdCurStRq : 6|2@0+ (1,0) [0|3] "" XXX + +BO_ 2155585536 MSB_Customization_Setting_Req_LS: 1 XXX + SG_ StBltTgtCSRq : 2|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155569152 CPS_Customization_Setting_Req_LS: 3 XXX + SG_ ColPrSysCustReq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ExtHlStrAssCsStRq : 5|3@0+ (1,0) [0|7] "" XXX + SG_ IntDimSeldClrTypStReq : 12|5@0+ (1,0) [0|31] "" XXX + SG_ HLOCCstSetReq : 15|3@0+ (1,0) [0|7] "" XXX + SG_ IntDimSeldAnmTypStReq : 19|4@0+ (1,0) [0|15] "" XXX + SG_ SmPhRmFunCstStReq : 22|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155233280 VICM_Info_LS: 8 XXX + SG_ VehRefuelSt : 2|3@0+ (1,0) [0|7] "" XXX + SG_ FlDrOpenIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ UtlChrgPopUpAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ UtlChrgIntrfrIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ShftPrkIO_3B2 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ NtrlCstdwnCrtMdActvIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ RtBsChrgCmplnTmPrfRsp : 9|2@0+ (1,0) [0|3] "" XXX + SG_ EngRnngDutoVehSpdIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ NtrlGrWrngIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LftmFuelEcon : 19|12@0+ (0.1,0) [0|409.5] "kilometers/liter" XXX + SG_ LiftimeFuelEcnEquiv : 35|12@0+ (0.1,0) [0|409.5] "km/l" XXX + SG_ ChrgCyclFuelEcn : 51|12@0+ (0.1,0) [0|409.5] "km/l" XXX + +BO_ 2152169472 Coolant_Heater_Status_LS: 3 XXX + SG_ ClntHtrSt : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ClntHtrPCBOvTmpFlt : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ClntHtrHtSnkOvTmpFlt : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ClntHtrElecPwrGroup : 4|13@0+ (1,0) [0|0] "" XXX + SG_ ClntHtrElecPwrV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ClntHtrElecPwr : 15|8@0+ (0.04,0) [0|10.2] "kW" XXX + SG_ ClntHtrFlt : 7|3@0+ (1,0) [0|7] "" XXX + SG_ ClntHtrInltClntTmp : 23|8@0+ (1,-40) [-40|215] "deg C" XXX + +BO_ 2152759296 SITM_Front_Sensor_IO_LS: 1 XXX + SG_ FrtCmrBlckdIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ FrtEOCMMdlFldIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FrtCmrFldIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ FrtRdrFldIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PedWrnIndReq : 5|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152742912 SITM_Rear_Sensor_IO_LS: 1 XXX + SG_ RrEOCMMdlFldIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrRdrBlckdIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RrRdrFldIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ShrtRngRdrOffIO : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150891520 Go_Notifier_Req_LS: 5 XXX + SG_ DgtlMapSpdCat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ FwdClnAlrtCustStngReq : 5|3@0+ (1,0) [0|7] "" XXX + SG_ GNCustStngReq : 7|2@0+ (1,0) [0|3] "" XXX + SG_ DgtlMapDrvngSd : 8|1@0+ (1,0) [0|1] "" XXX + SG_ DgtlMapPsgRstrctn : 11|3@0+ (1,0) [0|7] "" XXX + SG_ RrStRmndrCstSetReq : 14|3@0+ (1,0) [0|7] "" XXX + SG_ DgtlMapEffSpdLmt : 20|5@0+ (1,0) [0|31] "" XXX + SG_ DgtlMapEffSpdLmtTyp : 23|3@0+ (1,0) [0|7] "" XXX + SG_ DgtlMapVerYr : 29|6@0+ (1,0) [0|63] "" XXX + SG_ DgtlMapVerQtr : 31|2@0+ (1,0) [0|3] "" XXX + SG_ DgtlMapCndlSpdLmt : 36|5@0+ (1,0) [0|31] "" XXX + SG_ DgtlMapCndlSpdLmtTyp : 39|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151751680 Haptic_Seat_Status_LS: 3 XXX + SG_ CrshAlrtDrvrSlctdType : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CrshAlrtStPrsnt : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HptcStVbnStat : 3|2@0+ (1,0) [0|3] "" XXX + SG_ HptcStFldIO : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155536384 Rear_Virtual_Bmper_Indication_LS: 1 XXX + SG_ RVBDsbldIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RVBEnbldIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RVBFldIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RVBUnblIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvRIMOffUnbIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RevClnMtgnBrkReqAct : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151481344 CSV_FSRACC_Indications_LS: 1 XXX + SG_ AutoBrkRlsIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ShtToPrkBfExtngVehIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HdUpDsplyUnblIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ FSRACCFrstRsmPrssIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ FrtRdrBlckdIO : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151432192 ACC_Drv_Seat_Vib_Req_IO_LS: 1 XXX + SG_ ACCHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACCHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX + +BO_ 2151415808 Ln_Dep_Wrn_Drv_Seat_Vib_Req_LS: 5 XXX + SG_ LDWLftHptcStRqSN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ LDWLftHptcStRq : 7|6@0+ (1,0) [0|63] "" XXX + SG_ LDWRghtHptcStRqSN : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDWRghtHptcStRq : 15|6@0+ (1,0) [0|63] "" XXX + SG_ LftLnChgThrtHptStRqSN : 17|2@0+ (1,0) [0|3] "" XXX + SG_ LftLnChgThrtHptStRq : 23|6@0+ (1,0) [0|63] "Pulse" XXX + SG_ RgtLnChgThrtHptStRqSN : 25|2@0+ (1,0) [0|3] "" XXX + SG_ RgtLnChgThrtHptStRq : 31|6@0+ (1,0) [0|63] "Pulse" XXX + SG_ FrPedDetCsStAvl : 32|1@0+ (1,0) [0|1] "" XXX + SG_ FrPedDetCsCrStVal : 35|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151350272 Frnt_Prk_Ast_Drv_Seat_Vib_Req_LS: 3 XXX + SG_ FPAHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ FPAHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX + SG_ APAIconDispRq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ APAIconFilPctRq : 22|7@0+ (1,0) [0|127] "" XXX + +BO_ 2151333888 Rear_Prk_Ast_Drv_Seat_Vib_Req_LS: 1 XXX + SG_ RPAHptcStVbRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RPAHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX + +BO_ 2151522304 Reset_FuelLife_Request_LS: 1 XXX + SG_ FuelFltLfRstRqd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ElEngyEconAvgRstRq : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TCSTmpDsblReqConf : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LnchCtrlRelLnLockReqd : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150629376 CV_System_Failure_LS: 1 XXX + SG_ CVSysFlrIO : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155929600 Diesel_Information_LS: 8 XXX + SG_ DslExFldTpWrngIndRq : 3|4@0+ (1,0) [0|15] "" XXX + SG_ DslExhFldDiagWrnIdRq : 6|3@0+ (1,0) [0|7] "" XXX + SG_ DslExhFldQlyWrngIReq : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DslExhFldWrngIdRqER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ DslExhFluidDistTIndcmt : 22|15@0+ (2,0) [0|65534] "km" XXX + SG_ DslExNxEmWrngIndRq : 35|4@0+ (1,0) [0|15] "" XXX + SG_ DslExFldCnWrngIndRq : 39|4@0+ (1,0) [0|15] "" XXX + SG_ DslExFldWrngVSpdLmt : 47|24@0+ (1,0) [0|0] "" XXX + SG_ DEFWVSL_S1SpdLmt : 47|8@0+ (1,0) [0|255] "km / h" XXX + SG_ DEFWVSL_S2SpdLmt : 55|8@0+ (1,0) [0|255] "km / h" XXX + SG_ DEFWVSL_S3SpdLmt : 63|8@0+ (1,0) [0|255] "km / h" XXX + +BO_ 2154741760 RSA_Status_LS: 1 XXX + SG_ RSAPrsnt : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154807296 Lighting_Customization_Info_3_LS: 4 XXX + SG_ AFLGPSCstCrStVal : 2|3@0+ (1,0) [0|7] "" XXX + SG_ AFLCstCrStVal : 5|3@0+ (1,0) [0|7] "" XXX + SG_ AFLGPSCstStAvl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AFLCstStAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ AFLGPSMnu2CstStAvl : 8|1@0+ (1,0) [0|1] "" XXX + SG_ AFLMnu2CstStAvl : 9|1@0+ (1,0) [0|1] "" XXX + SG_ AFLMnu3CstStAvl : 10|1@0+ (1,0) [0|1] "" XXX + SG_ EngAutoStpNotProb : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ESCMHiEleclLdReqAct : 12|1@0+ (1,0) [0|1] "" XXX + SG_ EngAutoStrtStpInfo : 17|10@0+ (1,0) [0|0] "" XXX + SG_ EASSI_StrtStpSt : 17|2@0+ (1,0) [0|3] "" XXX + SG_ EASSI_UnsdRsrvd2 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ EASSI_TorqDetdIndet : 25|1@0+ (1,0) [0|1] "" XXX + SG_ EASSI_StlDetd : 26|1@0+ (1,0) [0|1] "" XXX + SG_ EASSI_TrqDetd : 27|1@0+ (1,0) [0|1] "" XXX + SG_ EASSI_FuelReqOn : 28|1@0+ (1,0) [0|1] "" XXX + SG_ EASSI_StrtTyp : 31|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151079936 PDIM_Status_LS: 1 XXX + SG_ PDIMPrsnt : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155364352 Hybrid_Information_SuperSlow_LS: 5 XXX + SG_ SvcHybridSysIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ JmpStrtStat : 3|3@0+ (1,0) [0|7] "" XXX + SG_ HybMdDisp : 7|4@0+ (1,0) [0|15] "" XXX + SG_ CstmrUsblSOCGroup : 15|15@0+ (1,0) [0|0] "" XXX + SG_ CstmrUsblSOC : 15|8@0+ (0.39216,0) [0|100.0008] "%" XXX + SG_ CstmrUsblSOCV : 17|1@0+ (1,0) [0|1] "" XXX + SG_ BattCntrlPrcssrVDA : 16|1@0+ (1,0) [0|1] "" XXX + SG_ InstDrvEff : 31|8@0- (0.78125,0) [-100|99.21875] "%" XXX + SG_ ClntCrcFlwRtEst : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2154979328 Front_Seat_Heat_Cool_Req_LS: 1 XXX + SG_ FrntStVoltBstModReq : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155282432 RearSeat_HeatVent_Cool_LS: 1 XXX + SG_ RrStVoltBstModReq : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151505920 VehInfoTripComputer_LS: 7 XXX + SG_ SpdCurvAdvSysEnbld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrBrkDsplyAct : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSettingType : 3|2@0+ (1,0) [0|3] "" XXX + SG_ AutoMdSpdLmtCnfrmd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PTExPrtclFltManRgnRqd : 5|1@0+ (1,0) [0|1] "" XXX + SG_ Trp2OdomtrGroup : 6|55@0+ (1,0) [0|0] "" XXX + SG_ Trp2OdomtrV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ Trp2Odomtr : 38|23@0+ (0.015625,0) [0|131071.984375] "km" XXX + SG_ Trp1OdomtrGroup : 7|32@0+ (1,0) [0|0] "" XXX + SG_ Trp1OdomtrV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ Trp1Odomtr : 14|23@0+ (0.015625,0) [0|131071.984375] "km" XXX + +BO_ 2155896832 Alternative_Fuel_Information_LS: 5 XXX + SG_ FuelMdStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ AltFuelMdReqDndIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ FlLvlTank2PctGroup : 4|13@0+ (1,0) [0|0] "" XXX + SG_ FlLvlTank2PctV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ FlLvlTank2Pct : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ AltFuelAccWrnngAct : 5|1@0+ (1,0) [0|1] "" XXX + SG_ AltFuelLvlLo : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AltFuelPHeatAct : 7|1@0+ (1,0) [0|1] "" XXX + SG_ FuelTotCapTnk2 : 19|12@0+ (0.125,0) [0|511.875] "liters" XXX + SG_ FuelAlchlCompAdptnPrg : 20|1@0+ (1,0) [0|1] "" XXX + SG_ FuelAlcoholCompGroup : 21|22@0+ (1,0) [0|0] "" XXX + SG_ FuelAlcoholCompV : 21|1@0+ (1,0) [0|1] "" XXX + SG_ FuelAlcoholComp : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2155552768 Exterior_Lock_Switch_Req_LS: 1 XXX + SG_ PsvEntCmftWndRq : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154496000 Rear_Closure_Soft_Top_Info_LS: 1 XXX + SG_ CmpSftTopMotBfrOpTrnkIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TargaTopStateGroup : 2|2@0+ (1,0) [0|0] "" XXX + SG_ TargaTopState : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TargaTopStateV : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155208704 Power_Conv_Top_Info_LS: 3 XXX + SG_ SftTpAbvWrngSpdIndOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpFlrIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpLtcIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpMnlLtchIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpMchnOvhtIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpRmCrgCrrIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpStrIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpTmpLwIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpTneuCvrIO : 8|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpVehOvSpdIndOn : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpVltLwIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ CkSoftTpIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ClsTrnkLidIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FTUpdWndPsLmtEnbld : 13|1@0+ (1,0) [0|1] "" XXX + SG_ VltSwAtvIndOn : 14|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpTrnLmpsRqd : 15|1@0+ (1,0) [0|1] "" XXX + SG_ FldngTpSt : 18|3@0+ (1,0) [0|7] "" XXX + SG_ FldngTpWndCmftRq : 20|2@0+ (1,0) [0|3] "" XXX + SG_ SftTpPlsDnSrtdIndOn : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SftTpPlsDnWrngIndOn : 22|1@0+ (1,0) [0|1] "" XXX + +BO_ 2153390080 Manual_Liftgate_Control_LS: 1 XXX + SG_ RrClosOpenSwAct_2D1Group : 3|3@0+ (1,0) [0|0] "" XXX + SG_ RrClosOpenSwAct_2D1 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RrClosOpenSwAct_2D1V : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155175936 CruiseControlGapSwitch_LS: 1 XXX + SG_ AdptCrsGapSwAct : 1|2@0+ (1,0) [0|3] "" XXX + SG_ AdptCrsLKALDWSwAct : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2156806144 Cellular_Network_Date_and_Time: 6 XXX + SG_ CldrDayCmpstdVal : 4|5@0+ (1,0) [0|31] "days" XXX + SG_ HrsCmpstdValGroup : 5|30@0+ (1,0) [0|0] "" XXX + SG_ HrsCmpstdValV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HrsCmpstdVal : 28|5@0+ (1,0) [0|31] "h" XXX + SG_ MinsCmpstdValGroup : 6|39@0+ (1,0) [0|0] "" XXX + SG_ MinsCmpstdValV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ MinsCmpstdVal : 37|6@0+ (1,0) [0|63] "min" XXX + SG_ SecCmpstdValGroup : 7|48@0+ (1,0) [0|0] "" XXX + SG_ SecCmpstdValV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SecCmpstdVal : 45|6@0+ (1,0) [0|63] "secs" XXX + SG_ CldrMthCmpstdVal : 11|4@0+ (1,0) [0|15] "" XXX + SG_ CellNtwrkDtTmAvl : 12|1@0+ (1,0) [0|1] "" XXX + SG_ CldrYrCmpstdVal : 23|8@0+ (1,2000) [2000|2255] "year" XXX + +BO_ 2154078208 Window_Position_Status_LS: 2 XXX + SG_ DrvWndPosStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ LRWndPosStat : 5|3@0+ (1,0) [0|7] "" XXX + SG_ PsWndPosStat : 10|3@0+ (1,0) [0|7] "" XXX + SG_ RRWndPosStat : 13|3@0+ (1,0) [0|7] "" XXX + +BO_ 2159058944 ODIEvent_IPC_LS: 3 XXX + SG_ ODIEvntPkt_IPC : 5|22@0+ (1,0) [0|0] "" XXX + SG_ ODIEI_EvID : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIEI_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIEI_MultiFrRetCh : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 2159042560 ODI_DynData_IPC_LS: 8 XXX + SG_ ODIDynData_IPC : 14|55@0+ (1,0) [0|0] "" XXX + SG_ ODDI_InvldData : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODDI_DataType : 14|6@0+ (1,0) [0|63] "" XXX + SG_ ODDI_FUCID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDI_DataId : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDI_DataVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2150006784 System_Power_Mode_Pushbutton_LS: 1 XXX + SG_ SysPwrMdPshbtnActGroup : 1|2@0+ (1,0) [0|0] "" XXX + SG_ SysPwrMdPshbtnAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SysPwrMdPshbtnActV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PEPSRunCrnkRlyDctd : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155216896 Road_Type_Information_LS: 6 XXX + SG_ MpDataAvlbl : 0|1@0+ (1,0) [0|1] "" XXX + SG_ BldUpArDet : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SprtLnRd : 2|1@0+ (1,0) [0|1] "" XXX + SG_ CntrldAccRd : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CurvAdvInd : 5|2@0+ (1,0) [0|3] "" XXX + SG_ SpdLmtPstdSpdGroup : 6|23@0+ (1,0) [0|0] "" XXX + SG_ SpdLmtPstdSpdM : 6|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtPstdSpd : 23|8@0+ (1,0) [0|255] "" XXX + SG_ DgtlMapPstdSpdLimAsrd : 7|1@0+ (1,0) [0|1] "" XXX + SG_ FncRdClass : 10|3@0+ (1,0) [0|7] "" XXX + SG_ RdSpdCatType : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LnCat : 14|2@0+ (1,0) [0|3] "" XXX + SG_ SpdLmtUnits : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtRecmndSpd : 31|8@0+ (1,0) [0|255] "" XXX + SG_ IntlStdAlph2CddCntryCd : 33|10@0+ (1,0) [0|0] "" XXX + SG_ ISA2CCC_FrstCdChr : 33|5@0+ (1,0) [0|31] "" XXX + SG_ ISA2CCC_ScndCdChr : 44|5@0+ (1,0) [0|31] "" XXX + +BO_ 2156216320 TTY_Status_LS: 1 XXX + SG_ TxtTelephoneDevPr : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158813184 ODIIndication_IPC_LS: 8 XXX + SG_ ODIInd_IPC : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODIIIPC_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODIIIPC_ODIInd8 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd7 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd6 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd5 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd4 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd3 : 13|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd2 : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd1 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd16 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd15 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd14 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd13 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd12 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd11 : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd10 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd9 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd24 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd23 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd22 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd21 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd20 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd19 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd18 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd17 : 31|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd31 : 33|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd30 : 34|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd29 : 35|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd28 : 36|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd27 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd26 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd25 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd40 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd39 : 41|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd38 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd37 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd36 : 44|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd35 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd34 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd33 : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd48 : 48|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd47 : 49|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd46 : 50|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd45 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd44 : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd43 : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd42 : 54|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd41 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd56 : 56|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd55 : 57|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd54 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd53 : 59|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd52 : 60|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd51 : 61|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd50 : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIIPC_ODIInd49 : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150277120 GPS_Geographical_Position_LS: 8 XXX + SG_ PsngSysLatGroup : 6|31@0+ (1,0) [0|0] "" XXX + SG_ PsngSysLat : 5|30@0- (1,0) [-536870912|536870911] "mas" XXX + SG_ PsngSysLatV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ PsngSysLongGroup : 39|32@0+ (1,0) [0|0] "" XXX + SG_ PsngSysLong : 38|31@0- (1,0) [-1073741824|1073741823] "mas" XXX + SG_ PsngSysLongV : 39|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150285312 GPS_Elevation_and_Heading_LS: 8 XXX + SG_ PsngSysHdingGroup : 3|37@0+ (1,0) [0|0] "" XXX + SG_ PsngSysHding : 3|12@0+ (0.1,0) [0|409.5] "deg" XXX + SG_ PsngSysHdingV : 47|1@0+ (1,0) [0|1] "" XXX + SG_ PsngSysDilPrcsGroup : 4|29@0+ (1,0) [0|0] "" XXX + SG_ PsngSysDilPrcsV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PsngSysDilPrcs : 17|10@0+ (0.1,0) [0|102.3] "" XXX + SG_ PsngSysCalcSpdGroup : 39|10@0+ (1,0) [0|0] "" XXX + SG_ PsngSysCalcSpd : 39|8@0+ (1,0) [0|255] "km / h" XXX + SG_ PsngSysCalcSpdV : 46|1@0+ (1,0) [0|1] "" XXX + SG_ PsngSysElvtnGroup : 45|22@0+ (1,0) [0|0] "" XXX + SG_ PsngSysElvtn : 44|21@0+ (1,-100000) [-100000|1997151] "cm" XXX + SG_ PsngSysElvtnV : 45|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151890944 Telematics_Indication_Request_LS: 4 XXX + SG_ TlmtcsIndCntrlReq : 15|24@0+ (1,0) [0|0] "" XXX + SG_ TICR_Ind1Cnt : 11|4@0+ (1,0) [0|15] "" XXX + SG_ TICR_Ind1 : 13|2@0+ (1,0) [0|3] "" XXX + SG_ TICR_Ind1Req : 15|2@0+ (1,0) [0|3] "" XXX + SG_ TICR_Ind1FlshRtOff : 23|8@0+ (10,0) [0|2550] "ms" XXX + SG_ TICR_Ind1FlshRtOn : 31|8@0+ (10,0) [0|2550] "ms" XXX + +BO_ 2151251968 Telematics_Indication_Control_LS: 4 XXX + SG_ TlmtcsIndCntrlStat : 12|21@0+ (1,0) [0|0] "" XXX + SG_ TICS_Ind1V : 8|1@0+ (1,0) [0|1] "" XXX + SG_ TICS_Ind1 : 10|2@0+ (1,0) [0|3] "" XXX + SG_ TICS_Ind1Stat : 12|2@0+ (1,0) [0|3] "" XXX + SG_ TICS_Ind1FlshRtOffSt : 23|8@0+ (10,0) [0|2550] "ms" XXX + SG_ TICS_Ind1FlshRtOnSt : 31|8@0+ (10,0) [0|2550] "ms" XXX + +BO_ 2155495424 Remote_Start_Seat_Request_LS: 1 XXX + SG_ RmStrCldStEnReq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RmStrHtdStEnRq : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149990400 HS_Indications_Fast_LS: 8 XXX + SG_ ABSIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ StpOnBrkToRelPBIndOn : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrBrkngVDA : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DrvThrtlOvrdIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TreInfMonSysRstPrfmd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ACCHdwayStngIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ACCDrvrSeltdSpdIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrWiringFltIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ AdvHlmpsVDA : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SADmpVDA : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ScndryAxleVDA : 11|1@0+ (1,0) [0|1] "" XXX + SG_ SrvTrlrBrkngSysIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrBrkngGainSetIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrCnctdIO : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ChkTrlrIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrBrkngFrcOtpt : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ TrlrBrkngGainSet : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ TrlrHtchSwAtv_ITBC : 32|1@0+ (1,0) [0|1] "" XXX + SG_ TransNtrlCntrlMdStat : 34|2@0+ (1,0) [0|3] "" XXX + SG_ MotStBltFldIO : 35|1@0+ (1,0) [0|1] "" XXX + SG_ MotStBltUnblIO : 36|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsfrCsRngShfSpdLmt : 47|8@0+ (1,0) [0|255] "km / h" XXX + SG_ InstFuelConsmpRate : 51|12@0+ (0.025,0) [0|102.375] "liters/hr" XXX + SG_ SecAxlOperMod : 55|4@0+ (1,0) [0|15] "" XXX + +BO_ 2155380736 HS_Indications_SuperSlow_LS: 6 XXX + SG_ VehOvrLdIndOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SrvLevSysIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HdLtLvlFlrIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RrLevVDA : 3|1@0+ (1,0) [0|1] "" XXX + SG_ AirCndOffIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilHotIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ PTExPrtclFltrWrnIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ DslGlwPlgIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngHotFuelEnrchmntIO : 8|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilChngIO : 9|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilLvlLwIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilPrsLwIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ EngWtrInFlIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ RdcdPwrIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ CkFlFilrCapIO : 14|1@0+ (1,0) [0|1] "" XXX + SG_ EngHt_StpEngIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ StrAsstRdcdLvl2IO : 16|1@0+ (1,0) [0|1] "" XXX + SG_ PwrStrIO : 17|1@0+ (1,0) [0|1] "" XXX + SG_ PTExPrtclFltrWrn2IO : 18|1@0+ (1,0) [0|1] "" XXX + SG_ AdvFrntLghtSysIndRq : 21|3@0+ (1,0) [0|7] "" XXX + SG_ StrngAsstRdcdIO : 22|1@0+ (1,0) [0|1] "" XXX + SG_ StrAsstRdcdLvl3IO : 23|1@0+ (1,0) [0|1] "" XXX + SG_ PwrPckAirInTempFlt : 31|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ PwrPkFnSpd : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ ARSFlrIO : 40|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150498304 Analog_Values_Slow_LS: 8 XXX + SG_ EngCltTmpGroup : 0|57@0+ (1,0) [0|0] "" XXX + SG_ EngCltTmpV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ EngCltTmp : 63|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ EngIntAirTmpGroup : 1|50@0+ (1,0) [0|0] "" XXX + SG_ EngIntAirTmpV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ EngIntAirTmp : 55|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ EngOilTmpGroup : 2|43@0+ (1,0) [0|0] "" XXX + SG_ EngOilTmpV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilTmp : 47|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ OAT_PT_EstGroup : 4|37@0+ (1,0) [0|0] "" XXX + SG_ OAT_PT_EstV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ OAT_PT_EstM : 4|1@0+ (1,0) [0|1] "" XXX + SG_ OAT_PT_Est : 39|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ TrnOilTmpGroup : 5|30@0+ (1,0) [0|0] "" XXX + SG_ TrnOilTmpV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TrnOilTmp : 31|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ BarPrsAbsGroup : 6|23@0+ (1,0) [0|0] "" XXX + SG_ BarPrsAbsV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ BarPrsAbs : 23|8@0+ (0.5,0) [0|127.5] "kPa" XXX + SG_ EngOilPrsGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ EngOilPrsV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilPrs : 15|8@0+ (4,0) [0|1020] "kPa" XXX + +BO_ 2151047168 HUD_Status_LS: 1 XXX + SG_ HUDActv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ HdUpDspAnmtStat : 3|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155331584 Wheel_Pulses_LS: 4 XXX + SG_ WhlPlsPerRevDrvn : 6|7@0+ (1,0) [0|127] "" XXX + SG_ WhlPlsPerRevNonDrvn : 14|7@0+ (1,0) [0|127] "" XXX + SG_ WhlRotStatTmstmpRes : 18|11@0+ (0.002,0) [0|4.094] "uSec" XXX + +BO_ 2154225664 Door_Handle_Switch_Status_LS: 1 XXX + SG_ DrvDrHndleSwAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PasDrHndleSwAtv : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RCHndleSwAtv : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RRDrHndleSwAtv : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RLDrHndleSwAtv : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149900288 Telematics_Contol_LS: 3 XXX + SG_ EnhSrvRClsRlsRq : 1|1@0+ (1,0) [0|1] "" XXX + SG_ EnhSrvVisAlRq : 3|2@0+ (1,0) [0|3] "" XXX + SG_ EnhSrvAudAlRq : 5|2@0+ (1,0) [0|3] "" XXX + SG_ EnhSrvRmStrtRq : 7|2@0+ (1,0) [0|3] "" XXX + SG_ EnhSrvLckRq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ BTTethrngPrngReq : 14|4@0+ (1,0) [0|15] "" XXX + SG_ EnhSvVehTopSpdLim : 23|8@0+ (2,0) [0|510] "km / h" XXX + +BO_ 2159001600 ODIEnumDynamicData_IPC_LS: 8 XXX + SG_ ODIEnmDynData_IPC : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIEDDIPC_Data2Value : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data1Value : 5|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data5Value : 9|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data4Value : 12|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data3Value : 15|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data8Value : 16|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data7Value : 19|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data6Value : 22|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data10Value : 26|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data9Value : 29|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data13Value : 33|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data12Value : 36|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data11Value : 39|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data16Value : 40|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data15Value : 43|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data14Value : 46|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data18Value : 50|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_Data17Value : 53|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDIPC_FUCID : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158993408 ODIEnumDynamicData_CntrStack_LS: 8 XXX + SG_ ODIEnmDynData_CenterStack : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIEDDCS_Data2Value : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data1Value : 5|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data5Value : 9|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data4Value : 12|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data3Value : 15|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data8Value : 16|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data7Value : 19|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data6Value : 22|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data10Value : 26|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data9Value : 29|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data13Value : 33|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data12Value : 36|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data11Value : 39|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data16Value : 40|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data15Value : 43|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data14Value : 46|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data18Value : 50|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_Data17Value : 53|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDDCS_FUCID : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2154708992 Audio_Master_Source_Status_LS: 2 XXX + SG_ AudSrcStat2 : 3|12@0+ (1,0) [0|0] "" XXX + SG_ ASS2AudSrcType : 3|5@0+ (1,0) [0|31] "" XXX + SG_ ASS2AudSrcStatCode : 11|4@0+ (1,0) [0|15] "" XXX + SG_ ASS2AudSrcChType : 14|3@0+ (1,0) [0|7] "" XXX + +BO_ 2158985216 ODIDynDataMultiReq_OTIM_LS: 8 XXX + SG_ ODIDynDataMltRq_OTIM : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODDMO_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMO_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMO_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMO_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMO_ReqType : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ODDMO_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DispMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMO_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2154471424 Rear_Closure_Ajar_Switch_Status: 1 XXX + SG_ RrClosAjarSwAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrClsrSnwLdIO : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 2159149056 ODI_TEL_2_CenterStack_LS: 8 XXX + SG_ ODI_TEL2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159116288 ODI_TEL_2_AuxIP_LS: 8 XXX + SG_ ODI_TEL2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2158796800 ODIIndication_LS: 8 XXX + SG_ ODIInd : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODII_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODII_ODIInd8 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd7 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd6 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd5 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd4 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd3 : 13|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd2 : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd1 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd16 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd15 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd14 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd13 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd12 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd11 : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd10 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd9 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd24 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd23 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd22 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd21 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd20 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd19 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd18 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd17 : 31|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd31 : 33|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd30 : 34|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd29 : 35|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd28 : 36|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd27 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd26 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd25 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd40 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd39 : 41|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd38 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd37 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd36 : 44|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd35 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd34 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd33 : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd48 : 48|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd47 : 49|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd46 : 50|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd45 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd44 : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd43 : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd42 : 54|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd41 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd56 : 56|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd55 : 57|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd54 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd53 : 59|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd52 : 60|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd51 : 61|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd50 : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ODII_ODIInd49 : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158755840 ODIEvent_LS: 4 XXX + SG_ ODIEvntPkt : 13|22@0+ (1,0) [0|0] "" XXX + SG_ ODIE_EvID : 13|6@0+ (1,0) [0|63] "" XXX + SG_ ODIE_FUCID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIE_MultiFrRetCh : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 2159157248 ODI_CenterStack_2_TEL_LS: 8 XXX + SG_ ODI_CntrStck2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2153955328 Infrastructure_Timer_Status_LS: 5 XXX + SG_ EngOffTmExtRngGroup : 0|33@0+ (1,0) [0|0] "" XXX + SG_ EngOffTmExtRngV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ EngOffTmExtRng : 39|8@0+ (4,0) [0|1020] "min" XXX + SG_ ElpsdTimeCntRstOcc : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ElpsdTimeCnt : 15|24@0+ (1,0) [0|16777215] "min" XXX + +BO_ 2151063552 Infotainment_Operation_LS: 7 XXX + SG_ InftnOprAlwd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ValetMdAct : 1|1@0+ (1,0) [0|1] "" XXX + SG_ Frnt360CamSwAct : 2|1@0+ (1,0) [0|1] "" XXX + SG_ CamVideoICSDispAct : 3|1@0+ (1,0) [0|1] "" XXX + SG_ LRStStatDispAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RRStStatDispAct : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TrgdVidRecSwAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RrPedDetCstStReq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ IntrStopAlrtCsSetReq : 13|3@0+ (1,0) [0|7] "" XXX + SG_ ICSTchStat : 17|34@0+ (1,0) [0|0] "" XXX + SG_ ICSTS_TchPrxmty : 17|2@0+ (1,0) [0|3] "" XXX + SG_ ICSTS_X1TchCrdnt : 31|16@0+ (0.001526,0) [0|100] "" XXX + SG_ ICSTS_Y1TchCrdnt : 47|16@0+ (0.001526,0) [0|100] "" XXX + SG_ TrfRdsdInfCsStReq : 20|3@0+ (1,0) [0|7] "" XXX + SG_ CntdVehBrAltCsStReq : 23|3@0+ (1,0) [0|7] "" XXX + +BO_ 2157985792 Fob_Programming_Request_LS: 1 XXX + SG_ FobProgEvntRqd : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151284736 Park_Assistant_General_Status: 1 XXX + SG_ PrkAsstClnPrkAstIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAsstDisablIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstFld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstSnrsBlk : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstSnsDistrbdIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvPrkAstOffUnbIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAstOprtrDsrdStat_1D0 : 7|2@0+ (1,0) [0|3] "" XXX + +BO_ 2159099904 ODI_DAB_2_AuxIP_LS: 8 XXX + SG_ ODI_DAB2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159067136 ODI_DAB_2_IPC_LS: 8 XXX + SG_ ODI_DAB2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159206400 ODI_AuxIP_2_IPC_LS: 8 XXX + SG_ ODI_AxIP2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159198208 ODI_IPC_2_AuxIP_LS: 8 XXX + SG_ ODI_IPC2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159190016 ODI_AuxIP_2_CenterStack_LS: 8 XXX + SG_ ODI_AxIP2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159181824 ODI_CenterStack_2_AuxIP_LS: 8 XXX + SG_ ODI_CntrStck2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159173632 ODI_IPC_2_CenterStack_LS: 8 XXX + SG_ ODI_IPC2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159165440 ODI_CenterStack_2_IPC_LS: 8 XXX + SG_ ODI_CntrStck2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159108096 ODI_AuxIP_2_DAB_LS: 8 XXX + SG_ ODI_AxIP2DAB : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159075328 ODI_IPC_2_DAB_LS: 8 XXX + SG_ ODI_IPC2DAB : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2151718912 Chime_Active: 1 XXX + SG_ ChmAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ChmVolSt : 2|2@0+ (1,0) [0|3] "" XXX + +BO_ 2155479040 Customization_Setting_Request_LS: 5 XXX + SG_ DrvlnCustStngReq : 2|3@0+ (1,0) [0|7] "" XXX + SG_ RstrCustFctrDef : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PedFrndlyAlrtCsStReq : 6|3@0+ (1,0) [0|7] "" XXX + SG_ SusCustStngReq : 10|3@0+ (1,0) [0|7] "" XXX + SG_ StrCustStngReq : 13|3@0+ (1,0) [0|7] "" XXX + SG_ ElvtdIdlCstStReq : 15|2@0+ (1,0) [0|3] "" XXX + SG_ SndPerfMdCsStRq : 18|3@0+ (1,0) [0|7] "" XXX + SG_ DispPerfMdCsStRq : 21|3@0+ (1,0) [0|7] "" XXX + SG_ ACCPerfMdCsStReq : 26|3@0+ (1,0) [0|7] "" XXX + SG_ DrvrStPerfMdCsStReq : 29|3@0+ (1,0) [0|7] "" XXX + SG_ PsngStPerfMdCsStReq : 34|3@0+ (1,0) [0|7] "" XXX + SG_ DrvStyPerfMdCsStReq : 37|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151383040 Reset_TP_request_LS: 1 XXX + SG_ TreInfMonSysRstReq : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155421696 Passive_Entry_Challenge_LS: 5 XXX + SG_ PsvEntChlng : 7|32@0+ (1,0) [0|4294967295] "passwrd" XXX + SG_ ServKylsStSysIO : 32|1@0+ (1,0) [0|1] "" XXX + SG_ PsvEntApprchDtcd : 33|1@0+ (1,0) [0|1] "" XXX + SG_ PsvEntAprchDrctn : 36|3@0+ (1,0) [0|7] "" XXX + SG_ PsvEntApprchCnfgReq : 39|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155413504 Drv_Dr_Key_Cyl_Status_LS: 3 XXX + SG_ DrvrDrKeyCylUlkSwActGroup : 1|2@0+ (1,0) [0|0] "" XXX + SG_ DrvrDrKeyCylUlkSwAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrvrDrKeyCylUlkSwActV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PsvLckngReqd : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PsvApprchVehId : 15|16@0+ (1,0) [0|65535] "" XXX + +BO_ 2159026176 ODIDynamicData_LS: 8 XXX + SG_ ODIDynData : 14|55@0+ (1,0) [0|0] "" XXX + SG_ ODD_InvldData : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODD_DataType : 14|6@0+ (1,0) [0|63] "" XXX + SG_ ODD_FUCID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODD_DataId : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODD_DataVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2158936064 ODIEnumDynamicData_LS: 8 XXX + SG_ ODIEnmDynData : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIEDD_Data2Value : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data1Value : 5|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data5Value : 9|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data4Value : 12|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data3Value : 15|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data8Value : 16|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data7Value : 19|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data6Value : 22|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data10Value : 26|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data9Value : 29|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data13Value : 33|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data12Value : 36|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data11Value : 39|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data16Value : 40|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data15Value : 43|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data14Value : 46|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data18Value : 50|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_Data17Value : 53|3@0+ (1,0) [0|7] "" XXX + SG_ ODIEDD_FUCID : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158845952 ODIAction_CntrStack_LS: 8 XXX + SG_ ODIActn_CntrStck : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIAC_DaTy : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIAC_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAC_ActnID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAC_DspMID : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAC_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2158886912 ODIDynDataListRequest_IPC_LS: 8 XXX + SG_ ODIDynDataLstRq_IPC : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODDLI_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLI_DataId : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLI_DspMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLI_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLI_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX + SG_ ODDLI_Idx : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ ODDLI_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX + SG_ ODDLI_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLI_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLI_ReqType : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 2151366656 Man_Prk_Brk_LS: 1 XXX + SG_ RrAxlLckIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ FrntAxlLckIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PrkBrkSwAtv : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AxlLcksServIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ AxlLckUnavailIndReq : 6|3@0+ (1,0) [0|7] "" XXX + SG_ AxlLcksVDA : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149842944 Vehicle_Stability_LS: 8 XXX + SG_ IMUProtLonAccGroup : 2|11@0+ (1,0) [0|0] "" XXX + SG_ IMUProtLonAcc : 1|10@0- (0.03,0) [-15.36|15.33] "m/s^2" XXX + SG_ IMUProtLonAccV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ TCSysAtv : 3|1@0+ (1,0) [0|1] "" XXX + SG_ BrkSysAutBrkFld : 4|1@0+ (1,0) [0|1] "" XXX + SG_ VSEAct : 5|1@0+ (1,0) [0|1] "" XXX + SG_ StrWhAngGroup : 6|47@0+ (1,0) [0|0] "" XXX + SG_ StrWhAngV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ StrWhAng : 39|16@0- (0.0625,0) [-2048|2047.9375] "deg" XXX + SG_ StWhAnVDA : 7|1@0+ (1,0) [0|1] "" XXX + SG_ VehStabEnhmntStat : 18|3@0+ (1,0) [0|7] "" XXX + SG_ VehStabEnhmntMd : 21|3@0+ (1,0) [0|7] "" XXX + SG_ StrWhlAngSenCalStat : 23|2@0+ (1,0) [0|3] "" XXX + SG_ TCSysOpMd : 26|3@0+ (1,0) [0|7] "" XXX + SG_ TCSysOpStat : 29|3@0+ (1,0) [0|7] "" XXX + SG_ VSELatAccGroup : 52|13@0+ (1,0) [0|0] "" XXX + SG_ VSELatAcc : 51|12@0- (0.015625,0) [-32|31.984375] "m/s^2" XXX + SG_ VSELatAccV : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AdptDrvrSeatStng : 55|3@0+ (1,0) [0|7] "" XXX + +BO_ 2159132672 ODIAction_RearSeat_LS: 8 XXX + SG_ ODIActn_RSD : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIAR_DaTy : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIAR_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAR_ActnID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAR_DspMID : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAR_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2158968832 ODI_RearSeat_2_Centerstack_LS: 8 XXX + SG_ ODI_RSD2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2158960640 ODIIndication_Centerstack_LS: 8 XXX + SG_ ODIInd_CntrStck : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODIIC_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODIIC_ODIInd8 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd7 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd6 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd5 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd4 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd3 : 13|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd2 : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd1 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd16 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd15 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd14 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd13 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd12 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd11 : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd10 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd9 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd24 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd23 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd22 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd21 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd20 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd19 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd18 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd17 : 31|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd31 : 33|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd30 : 34|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd29 : 35|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd28 : 36|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd27 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd26 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd25 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd40 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd39 : 41|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd38 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd37 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd36 : 44|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd35 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd34 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd33 : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd48 : 48|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd47 : 49|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd46 : 50|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd45 : 51|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd44 : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd43 : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd42 : 54|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd41 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd56 : 56|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd55 : 57|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd54 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd53 : 59|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd52 : 60|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd51 : 61|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd50 : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ODIIC_ODIInd49 : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158977024 ODIEvent_Centerstack_LS: 4 XXX + SG_ ODIEvntPkt_CntrStck : 13|22@0+ (1,0) [0|0] "" XXX + SG_ ODIEC_EvID : 13|6@0+ (1,0) [0|63] "" XXX + SG_ ODIEC_FUCID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIEC_MultiFrRetCh : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158952448 ODIDynDataMultiReq_RearSeat_LS: 8 XXX + SG_ ODIDynDataMltRq_RSD : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODDMR_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMR_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMR_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMR_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMR_ReqType : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ODDMR_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DispMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMR_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158944256 ODIDynDataListReq_RearSeat_LS: 8 XXX + SG_ ODIDynDataLstRq_RSD : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODDLR_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLR_DataId : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLR_DspMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLR_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLR_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX + SG_ ODDLR_Idx : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ ODDLR_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX + SG_ ODDLR_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLR_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLR_ReqType : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 2158927872 ODI_DynData_CenterStack_LS: 8 XXX + SG_ ODIDynData_CntrStck : 14|55@0+ (1,0) [0|0] "" XXX + SG_ ODDC_InvldData : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ODDC_DataType : 14|6@0+ (1,0) [0|63] "" XXX + SG_ ODDC_FUCID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDC_DataId : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDC_DataVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2158895104 ODI_CenterStack_2_RearSeat_LS: 8 XXX + SG_ ODI_CntrStck2RSD : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2152038400 Infomatics_Response_Payload_LS: 8 XXX + SG_ InfMdRspPld : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2152022016 Infomatics_Metadata_Response_LS: 7 XXX + SG_ InfMdRspCmplt : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ InfMdRspInf : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ InfMdStRsp : 35|4@0+ (1,0) [0|15] "" XXX + SG_ AudSelctdSrcReq : 44|5@0+ (1,0) [0|31] "" XXX + SG_ AudSysVolSetCtrl : 55|8@0+ (1,0) [0|0] "" XXX + SG_ ASVSC_ReqEnbld : 48|1@0+ (1,0) [0|1] "" XXX + SG_ ASVSC_VolReq : 55|7@0+ (0.787402,0) [0|100.000054] "" XXX + +BO_ 2152005632 Infomatics_Request_Payload_LS: 8 XXX + SG_ InfMdRqstPld : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2151989248 Infomatics_Metadata_Request_LS: 5 XXX + SG_ InfMdRqstCmplt : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ InfMdRqstInt : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ InfMdStReq : 35|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151972864 Fuel_Level_Status_LS: 4 XXX + SG_ FuelLvlLwIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ LnchCtrlMdReq : 2|2@0+ (1,0) [0|3] "" XXX + SG_ LnchCtrlWhlSlpReq : 7|5@0+ (1,0) [0|31] "" XXX + SG_ VehFuelRngCalcGroup : 9|18@0+ (1,0) [0|0] "" XXX + SG_ VehFuelRngCalc : 8|17@0+ (0.015625,0) [0|2047.984375] "km" XXX + SG_ VehFuelRngCalcV : 9|1@0+ (1,0) [0|1] "" XXX + SG_ LnchCtrlEngRPMReq : 15|6@0+ (1,0) [0|63] "" XXX + +BO_ 2154528768 Wheel_Grnd_Velocity_LS: 8 XXX + SG_ WhlGrndVlctyLftDrvnGroup : 6|15@0+ (1,0) [0|0] "" XXX + SG_ WhlGrndVlctyLftDrvn : 5|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX + SG_ WhlGrndVlctyLftDrvnV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ WhlGrndVlctyLftNnDrvnGroup : 22|15@0+ (1,0) [0|0] "" XXX + SG_ WhlGrndVlctyLftNnDrvn : 21|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX + SG_ WhlGrndVlctyLftNnDrvnV : 22|1@0+ (1,0) [0|1] "" XXX + SG_ WhlGrndVlctyRtDrvnGroup : 38|15@0+ (1,0) [0|0] "" XXX + SG_ WhlGrndVlctyRtDrvn : 37|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX + SG_ WhlGrndVlctyRtDrvnV : 38|1@0+ (1,0) [0|1] "" XXX + SG_ WhlGrndVlctyRtNnDrvnGroup : 54|15@0+ (1,0) [0|0] "" XXX + SG_ WhlGrndVlctyRtNnDrvn : 53|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX + SG_ WhlGrndVlctyRtNnDrvnV : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150916096 Park_Heater_Info_LS: 4 XXX + SG_ PrkHtrAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ClntCircPmpAct : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PrkHtrCoolntTempGroup : 2|11@0+ (1,0) [0|0] "" XXX + SG_ PrkHtrCoolntTempV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PrkHtrCoolntTemp : 15|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ PrkHtrFlCsmdRlCntRsOc : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PrkHtrFlCnsmdRolCntGroup : 4|29@0+ (1,0) [0|0] "" XXX + SG_ PrkHtrFlCnsmdRolCntV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PrkHtrFlCnsmdRolCnt : 23|16@0+ (3.05176E-006,0) [0|0.1999970916] "liters" XXX + SG_ PrkHtrPrhtAch : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150367232 Immobilizer_Identifier_LS: 5 XXX + SG_ ImoId : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ LrnEnvId : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ LrnEnvIdSt : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ImoIdSt : 33|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150621184 Keyless_Start_Auth_LS: 1 XXX + SG_ KylsStrAuthRslt : 7|8@0+ (1,0) [0|0] "" XXX + SG_ KSARUID8 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID7 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID6 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID5 : 3|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID4 : 4|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID3 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID2 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ KSARUID1 : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151309312 Inflatable_Restraints_Key_Id_LS: 2 XXX + SG_ InflRestId : 7|16@0+ (1,0) [0|39321] "" XXX + +BO_ 2154061824 Window_Normalized_Indication_LS: 1 XXX + SG_ PsWndNtNrmIndOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrWndNtNrmIndOn : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RLWndNtNrmIndOn : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RRWndNtNrmIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RmtWndMvmntAtv : 4|1@0+ (1,0) [0|1] "" XXX + SG_ WndOprAlwd : 5|1@0+ (1,0) [0|1] "" XXX + SG_ RrDrUnlckIO : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154512384 Rear_Closure_Rel_Sw_Sta_LS: 1 XXX + SG_ RrClosRelSwActGroup : 1|2@0+ (1,0) [0|0] "" XXX + SG_ RrClosRelSwAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrClosRelSwActV : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155347968 HS_Indications_Slow_LS: 8 XXX + SG_ ActVbnCtrlMlfIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ PedtrnProtSysDpl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TirePrsLowIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACCUnavlbleDTWthrIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilStrvtnIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ SecAxlNonEmMalfIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ BrkFldLvlLwGroup : 7|4@0+ (1,0) [0|0] "" XXX + SG_ BrkFldLvlLwV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ BrkFldLvlLw : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSnsClnRqdIO : 8|1@0+ (1,0) [0|1] "" XXX + SG_ ACCTmpUnavlbleIO : 9|1@0+ (1,0) [0|1] "" XXX + SG_ EngRecmndUpshftIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ServAdpCrsCtrlIndOn : 11|1@0+ (1,0) [0|1] "" XXX + SG_ SrvSuspSysIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ BrkPadWrnIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ BrkSysMalFuncIndOn : 15|1@0+ (1,0) [0|1] "" XXX + SG_ EngEmsRelMalfIndReq : 18|3@0+ (1,0) [0|7] "" XXX + SG_ RrAxlMalfIO : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DrShftCntrlReqDndIO : 20|1@0+ (1,0) [0|1] "" XXX + SG_ CompOvrhtIndOn : 21|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsSkpShftIO : 22|1@0+ (1,0) [0|1] "" XXX + SG_ RrAxlTmpInhIO : 23|1@0+ (1,0) [0|1] "" XXX + SG_ SecAxlTmpInhIO : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CPSAlrtOnlIO : 25|1@0+ (1,0) [0|1] "" XXX + SG_ EPBSysStatIndReq : 27|2@0+ (1,0) [0|3] "" XXX + SG_ EPBSysWrnIndReq : 29|2@0+ (1,0) [0|3] "" XXX + SG_ CPSFldIO : 30|1@0+ (1,0) [0|1] "" XXX + SG_ CPSOffIO : 31|1@0+ (1,0) [0|1] "" XXX + SG_ CPSUnblIO : 32|1@0+ (1,0) [0|1] "" XXX + SG_ SrvPedtrnProtSysIO : 33|1@0+ (1,0) [0|1] "" XXX + SG_ PedtrnProtSysDisbld : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PedtrnProtVDA : 35|1@0+ (1,0) [0|1] "" XXX + SG_ AppCltchAutSrtIO : 36|1@0+ (1,0) [0|1] "" XXX + SG_ StBltTgtSetAvl : 37|1@0+ (1,0) [0|1] "" XXX + SG_ FourWhlDrvIndReq : 42|3@0+ (1,0) [0|7] "" XXX + SG_ EngRecDwnshftIO : 43|1@0+ (1,0) [0|1] "" XXX + SG_ StBltTgtCrtSetVal : 46|3@0+ (1,0) [0|7] "" XXX + SG_ HillDesCtrlRedVehSpIO : 47|1@0+ (1,0) [0|1] "" XXX + SG_ VehRollAngleGroup : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VehRollAngle : 54|7@0+ (0.703125,-45) [-45|44.296875] "deg" XXX + SG_ VehRollAngleV : 55|1@0+ (1,0) [0|1] "" XXX + SG_ ACCPerfMdCsCrStVal : 58|3@0+ (1,0) [0|7] "" XXX + SG_ ACCPerfMdCsStAvl : 59|1@0+ (1,0) [0|1] "" XXX + SG_ DrvrStPerfMdCsCrStVal : 62|3@0+ (1,0) [0|7] "" XXX + SG_ DrvrStPerfMdCsStAvl : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149777408 Non_Drvn_Whl_Rot_Status_LS: 8 XXX + SG_ WhlRotStatLftNDrvn : 7|32@0+ (1,0) [0|0] "" XXX + SG_ WRSLNDWhlDistPCntr : 1|10@0+ (1,0) [0|1023] "counts" XXX + SG_ WRSLNDWhlDistVal : 2|1@0+ (1,0) [0|1] "" XXX + SG_ WRSLNDWhlRotStRst : 3|1@0+ (1,0) [0|1] "" XXX + SG_ WRSLNDSeqNum : 5|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSLNDWhlDisTpRC : 7|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSLNDWhlDistTstm : 23|16@0+ (1,0) [0|65535] "counts" XXX + SG_ WhlRotStatRghtNDrvn : 39|32@0+ (1,0) [0|0] "" XXX + SG_ WRSRNDWhlDistPCntr : 33|10@0+ (1,0) [0|1023] "counts" XXX + SG_ WRSRNDWhlDistVal : 34|1@0+ (1,0) [0|1] "" XXX + SG_ WRSRNDWhlRotStRst : 35|1@0+ (1,0) [0|1] "" XXX + SG_ WRSRNDSeqNum : 37|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSRNDWhlDisTpRC : 39|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSRNDWhlDistTstm : 55|16@0+ (1,0) [0|65535] "counts" XXX + +BO_ 2149769216 Driven_Whl_Rotational_Stat_LS: 8 XXX + SG_ WhlRotatStatLftDrvn : 7|32@0+ (1,0) [0|0] "" XXX + SG_ WRSLDWhlDistPlsCntr : 1|10@0+ (1,0) [0|1023] "counts" XXX + SG_ WRSLDWhlDistVal : 2|1@0+ (1,0) [0|1] "" XXX + SG_ WRSLDWhlRotStatRst : 3|1@0+ (1,0) [0|1] "" XXX + SG_ WRSLDSeqNum : 5|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSLDWhlDisTpRC : 7|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSLDWhlDistTmstm : 23|16@0+ (1,0) [0|65535] "counts" XXX + SG_ WhlRotatStatRtDrvn : 39|32@0+ (1,0) [0|0] "" XXX + SG_ WRSRDWhlDistPlsCntr : 33|10@0+ (1,0) [0|1023] "counts" XXX + SG_ WRSRDWhlDistVal : 34|1@0+ (1,0) [0|1] "" XXX + SG_ WRSRDWhlRotStatRst : 35|1@0+ (1,0) [0|1] "" XXX + SG_ WRSRDSeqNum : 37|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSRDWhlDisTpRC : 39|2@0+ (1,0) [0|3] "counts" XXX + SG_ WRSRDWhlDistTmstm : 55|16@0+ (1,0) [0|65535] "counts" XXX + +BO_ 2156789760 Time_of_Day_LS: 6 XXX + SG_ CldrYr : 7|8@0+ (1,2000) [2000|2255] "year" XXX + SG_ CldrMth : 11|4@0+ (1,0) [0|15] "" XXX + SG_ FrPedDetCsStReq : 14|3@0+ (1,0) [0|7] "" XXX + SG_ CldrDay : 20|5@0+ (1,0) [0|31] "days" XXX + SG_ SmrtHgBmAstCstSetReq : 23|3@0+ (1,0) [0|7] "" XXX + SG_ TmofDay : 24|17@0+ (1,0) [0|0] "" XXX + SG_ TOD_HrofDay : 24|5@0+ (1,0) [0|31] "hr" XXX + SG_ TOD_MinofHr : 35|6@0+ (1,0) [0|63] "min" XXX + SG_ TOD_SecofMin : 45|6@0+ (1,0) [0|63] "s" XXX + SG_ TimeDispFormat : 25|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155020288 Language_Selection_LS: 1 XXX + SG_ LngSelExt : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ChVolRq2 : 7|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150432768 Engine_Information_4_LS: 8 XXX + SG_ TransOilTempSensPres : 0|1@0+ (1,0) [0|1] "" XXX + SG_ GenFldDutCycGroup : 1|42@0+ (1,0) [0|0] "" XXX + SG_ GenFldDutCycV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ GenFldDutCyc : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ FuelFltLifRstPerf : 2|1@0+ (1,0) [0|1] "" XXX + SG_ TrnEmsMlfAtv : 3|1@0+ (1,0) [0|1] "" XXX + SG_ GrdBrkgAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsNEmsRltMalfActv : 5|1@0+ (1,0) [0|1] "" XXX + SG_ EngShtdwnPndgIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EngManfldAirTempCrtdGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ EngManfldAirTempCrtdV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngManfldAirTempCrtd : 15|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ FuelTotCap : 19|12@0+ (0.125,0) [0|511.875] "liters" XXX + SG_ TrnsThrmlMngmntStat : 21|2@0+ (1,0) [0|3] "" XXX + SG_ PTHiElecLdReqd : 22|1@0+ (1,0) [0|1] "" XXX + SG_ EngOilRmnLf : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ FuelFltRmnLf : 63|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2155298816 Tire_Pressure_Sensor_Prog_Req_LS: 1 XXX + SG_ TrPrsSnsProgEvntRqd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TrPrsMntrTrLdRstRqstd : 2|2@0+ (1,0) [0|3] "" XXX + +BO_ 2158878720 ODIDynDataListReq_CntrStack_LS: 8 XXX + SG_ ODIDynDataLstRq_CntrStck : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODDLC_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLC_DataId : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLC_DspMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLC_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLC_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX + SG_ ODDLC_Idx : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ ODDLC_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX + SG_ ODDLC_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLC_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLC_ReqType : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 2158870528 ODIDynDataListRequest_AuxIP_LS: 8 XXX + SG_ ODIDynDataLstRq_AxIP : 7|64@0+ (1,0) [0|0] "" XXX + SG_ ODDLA_FUCID : 7|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLA_DataId : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLA_DspMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDLA_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLA_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX + SG_ ODDLA_Idx : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ ODDLA_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX + SG_ ODDLA_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLA_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX + SG_ ODDLA_ReqType : 55|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154692608 Audio_Source_Status_LS: 2 XXX + SG_ AudSrcStat : 3|12@0+ (1,0) [0|0] "" XXX + SG_ ASSAudSrcType : 3|5@0+ (1,0) [0|31] "" XXX + SG_ ASSAudSrcStatCode : 11|4@0+ (1,0) [0|15] "" XXX + SG_ ASSAudSrcChType : 14|3@0+ (1,0) [0|7] "" XXX + SG_ LgclAVChnl : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 2154627072 Audio_Master_Arbitration_Command: 2 XXX + SG_ AudMstrArbCom : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LgclAVChnl_368 : 7|4@0+ (1,0) [0|15] "" XXX + SG_ AudMstrSrcTyp : 12|5@0+ (1,0) [0|31] "" XXX + SG_ AudMstrChnnlTyp : 15|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151112704 Occupant_Sensning_Status_LS: 2 XXX + SG_ FrntPassClass : 2|3@0+ (1,0) [0|7] "" XXX + SG_ FrPsSeatOccSnsOpMd : 5|3@0+ (1,0) [0|7] "N/A" XXX + SG_ FrPasSeatResCtrlOccStGroup : 7|14@0+ (1,0) [0|0] "" XXX + SG_ FrPasSeatResCtrlOccSt : 7|2@0+ (1,0) [0|3] "" XXX + SG_ FrPasSeatResCtrlOccStV : 10|1@0+ (1,0) [0|1] "" XXX + SG_ FrPsSeatOccFltSt : 9|2@0+ (1,0) [0|3] "N/A" XXX + SG_ FrPasSeatbltRemOccSt : 11|1@0+ (1,0) [0|1] "" XXX + +BO_ 2153938944 Remote_Reflash_Req_LS: 1 XXX + SG_ RmtRflshMdReqtd : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2159239168 ODI_TEL_2_OTIM_LS: 8 XXX + SG_ ODI_TEL2OTIM : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159230976 ODI_OTIM_2_TEL_LS: 8 XXX + SG_ ODI_OTIM2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159222784 ODI_PDIM_2_CenterStack_LS: 8 XXX + SG_ ODI_PDIM2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2159214592 ODI_CenterStack_2_PDIM_LS: 8 XXX + SG_ ODI_CntrStck2PDIM : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2158862336 ODIAction_OTIM_LS: 8 XXX + SG_ ODIActn_OTIM : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIAOT_DaTy : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIAOT_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAOT_ActnID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAOT_DspMID : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAOT_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2150662144 Environment_Id_Resp_3_LS: 3 XXX + SG_ EnvIdRsp3 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ EnvIdRspSt3 : 17|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150653952 Environment_Id_Resp_2_LS: 3 XXX + SG_ EnvIdRsp2 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ EnvIdRspSt2 : 17|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150850560 Seatbelt_Information_LS: 1 XXX + SG_ DrSbltAtcGroup : 1|2@0+ (1,0) [0|0] "" XXX + SG_ DrSbltAtc : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrSbltAtcV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PsSbltAtcGroup : 3|2@0+ (1,0) [0|0] "" XXX + SG_ PsSbltAtc : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PsSbltAtcV : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154659840 Column_Lock_Status_2: 2 XXX + SG_ UnlckRtryRotIndOn : 2|1@0+ (1,0) [0|1] "" XXX + SG_ UnlockRtryPshIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ StrgClmnLckVisNot : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ClmnLckStatGroup : 5|6@0+ (1,0) [0|0] "" XXX + SG_ ClmnLckStat : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ClmnLckStatV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ClmSysFlrIndOn : 7|1@0+ (1,0) [0|1] "" XXX + SG_ StrngClmnLckTT : 9|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154938368 Fob_Programming_Mode_Status_LS: 1 XXX + SG_ FobProgMdStat : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 2155266048 Rear_Seat_Heat_Cool_Switches_LS: 1 XXX + SG_ RLHCSeatSw1Act : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSeatSw2Act : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSeatSw3Act : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSeatSw1Act : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSeatSw2Act : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSeatSw3Act : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155249664 Rear_Seat_Heat_Cool_Control_LS: 4 XXX + SG_ RLHCSModeIndCtrl : 4|5@0+ (1,0) [0|0] "" XXX + SG_ RLHCSMInd3 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSMInd2 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSMInd1 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSMIndReq : 4|2@0+ (1,0) [0|3] "" XXX + SG_ RRHCSModeIndCtrl : 12|5@0+ (1,0) [0|0] "" XXX + SG_ RRHCSMInd3 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSMInd2 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSMInd1 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSMIndReq : 12|2@0+ (1,0) [0|3] "" XXX + SG_ RLHCSeatLevIndCtrl : 22|7@0+ (1,0) [0|0] "" XXX + SG_ RLHCSLSeatLev5 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSLSeatLev4 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSLSeatLev3 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSLSeatLev2 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSLSeatLev1 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RLHCSLIndReq : 22|2@0+ (1,0) [0|3] "" XXX + SG_ RRHCSeatLevIndCtrl : 30|7@0+ (1,0) [0|0] "" XXX + SG_ RRHCSLSeatLev5 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSLSeatLev4 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSLSeatLev3 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSLSeatLev2 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSLSeatLev1 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ RRHCSLIndReq : 30|2@0+ (1,0) [0|3] "" XXX + +BO_ 2155184128 CruiseControl_LS: 3 XXX + SG_ CrsCntAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CrsSpdLmtrSwStat : 4|4@0+ (1,0) [0|15] "" XXX + SG_ TrnsShftLvrLckStat : 5|1@0+ (1,0) [0|1] "" XXX + SG_ RrStRmndrIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RrStRmndrCstSetAvail : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStat : 15|8@0+ (1,0) [0|0] "" XXX + SG_ CrsCntrlSwStSwDataIntgty : 9|2@0+ (1,0) [0|3] "" XXX + SG_ CrsCntrlSwStSpDcSwAct : 10|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStSpdInSwAct : 11|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStSetSwAct : 12|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStResSwAct : 13|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStOnSwAct : 14|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntrlSwStCanSwAct : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SmPhRmFunCstCurStVal : 18|3@0+ (1,0) [0|7] "" XXX + SG_ SmPhRmFunCstStAval : 19|1@0+ (1,0) [0|1] "" XXX + SG_ IdlRecmndToClEngIO : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RrStRmndrCstCurrSetVal : 23|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155167744 Power_Mode_Info_LS: 3 XXX + SG_ ShftPrkIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ShftToNtrlIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ Ky_IdDevPr : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SecPwrMdPshBtnAtv : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TransModActIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TransModInactIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ KylsStrtUseTxPckIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TrStLgMdAtv : 7|1@0+ (1,0) [0|1] "" XXX + SG_ VehMovState : 10|3@0+ (1,0) [0|7] "" XXX + SG_ AutoShtdwnDsblIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ AppPrkBrkIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ NRmtDtdPsCluRstIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ ApplyBrkPdlIO : 14|1@0+ (1,0) [0|1] "" XXX + SG_ ApplyCltPdlIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ NoReDetInOn : 16|1@0+ (1,0) [0|1] "" XXX + SG_ NRmtDtdPsBrkRstIO : 17|1@0+ (1,0) [0|1] "" XXX + SG_ PrsBtnAgnTTrnEngOffIO : 18|1@0+ (1,0) [0|1] "" XXX + SG_ TSLgMdPwrCtOWAtv : 19|1@0+ (1,0) [0|1] "" XXX + SG_ NRmtDtctdRstrtAllwd : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PrsStrtAgnIO : 21|1@0+ (1,0) [0|1] "" XXX + SG_ PrsCltchPrsStrtAgnIO : 22|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154921984 Fob_Status_LS: 2 XXX + SG_ RFAFnc : 1|10@0+ (1,0) [0|0] "" XXX + SG_ RFRmtCntFobNm : 1|3@0+ (1,0) [0|7] "" XXX + SG_ RFRmtCntFobBatLw : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RFRmtCntrlFobFnc : 14|6@0+ (1,0) [0|63] "" XXX + SG_ FobPogLimRchdIndOn : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151317504 Park_Assistant_Rear_Status: 4 XXX + SG_ PrkAsstRrExtdDist : 3|12@0+ (0.01,0) [0|40.95] "m" XXX + SG_ PrkAstRrSysStat : 5|2@0+ (1,0) [0|3] "" XXX + SG_ PARrRgn1ObjStat : 19|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn2ObjStat : 23|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn3ObjStat : 27|4@0+ (1,0) [0|15] "" XXX + SG_ PARrRgn4ObjStat : 31|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151301120 Park_Assistant_Front_Status: 4 XXX + SG_ PrkAsstFrtExtdDist : 3|12@0+ (0.01,0) [0|40.95] "m" XXX + SG_ PrkAstFrSysStat : 5|2@0+ (1,0) [0|3] "" XXX + SG_ PrkAstAdvSysAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ PrkAsstRrOffIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ PAFrtRgn1ObjStat : 19|4@0+ (1,0) [0|15] "" XXX + SG_ PAFrtRgn2ObjStat : 23|4@0+ (1,0) [0|15] "" XXX + SG_ PAFrtRgn3ObjStat : 27|4@0+ (1,0) [0|15] "" XXX + SG_ PAFrtRgn4ObjStat : 31|4@0+ (1,0) [0|15] "" XXX + +BO_ 2159083520 ODI_TEL_2_IPC_LS: 8 XXX + SG_ ODI_TEL2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2153922560 Climate_Control_Voltage_LS: 3 XXX + SG_ ClimCtrlVoltBstModReq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ClmtCtrlHtrEngRunRq : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HtrVlvRqstdPstn : 3|2@0+ (1,0) [0|3] "" XXX + SG_ ClntHtrElecPwrRatGroup : 4|13@0+ (1,0) [0|0] "" XXX + SG_ ClntHtrElecPwrRatV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ClntHtrElecPwrRat : 15|8@0+ (0.04,0) [0|10.2] "kW" XXX + SG_ ClmCtrHiVltPwrRqtd : 23|8@0+ (0.1,0) [0|25.5] "kW" XXX + +BO_ 2153807872 Door_Open_Switch_Status_LS: 1 XXX + SG_ DrDoorOpenSwActGroup : 1|2@0+ (1,0) [0|0] "" XXX + SG_ DrDoorOpenSwAct : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrDoorOpenSwActV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ PsDoorOpenSwActGroup : 3|2@0+ (1,0) [0|0] "" XXX + SG_ PsDoorOpenSwAct : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PsDoorOpenSwActV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ClmSysAuxFlrIndOn : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PsvStrtStrngClmnLckTT : 6|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150703104 Audio_Amplifier_Status: 1 XXX + SG_ AudSysDigSigProcPres : 0|1@0+ (1,0) [0|1] "" XXX + SG_ AudSysSurSndSysPres : 1|1@0+ (1,0) [0|1] "" XXX + SG_ AudSysVNoisCompPres : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151399424 Wash_Level_LS: 1 XXX + SG_ WshFldLw : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151956480 Driver_Workload_LS: 2 XXX + SG_ DrvWrkldLvl : 3|4@0+ (1,0) [0|15] "" XXX + SG_ ClstrHMIAnmSt : 6|3@0+ (1,0) [0|7] "" XXX + SG_ ClstrHMIRdy : 7|1@0+ (1,0) [0|1] "" XXX + SG_ StrWhlThbwhlCnts : 13|6@0- (1,0) [-32|31] "counts" XXX + +BO_ 2151940096 Alarm_2_Request_LS: 7 XXX + SG_ Alrm2ExtRngReq : 1|26@0+ (1,0) [0|0] "" XXX + SG_ A2ERRAlrmReq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ A2ERRAlrmTime : 15|24@0+ (1,0) [0|16777215] "min" XXX + SG_ EstBulkIntAirTmpGroup : 2|35@0+ (1,0) [0|0] "" XXX + SG_ EstBulkIntAirTmpV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ EstBulkIntAirTmp : 39|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ EstIntRfSrfcTmpGroup : 3|44@0+ (1,0) [0|0] "" XXX + SG_ EstIntRfSrfcTmpV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EstIntRfSrfcTmp : 47|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ EstIntHorzDshSrfTmpGroup : 4|53@0+ (1,0) [0|0] "" XXX + SG_ EstIntHorzDshSrfTmpM : 4|1@0+ (1,0) [0|1] "" XXX + SG_ EstIntHorzDshSrfTmp : 55|8@0+ (1,-40) [-40|215] "deg C" XXX + +BO_ 2151923712 Alarm_1_Request_LS: 5 XXX + SG_ Alrm1ExtRngReq : 1|26@0+ (1,0) [0|0] "" XXX + SG_ A1ERRAlrmReq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ A1ERRAlrmTime : 15|24@0+ (1,0) [0|16777215] "min" XXX + SG_ HLOCCstCurrSetVal : 6|3@0+ (1,0) [0|7] "" XXX + SG_ HLOCCstSetAvail : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCstAvail : 39|7@0+ (1,0) [0|0] "" XXX + SG_ HLOCCA_Res4Avail : 33|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_Res3Avail : 34|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_Res2Avail : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_Res1Avail : 36|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_OnOpnOnlyAvail : 37|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_OnAvail : 38|1@0+ (1,0) [0|1] "" XXX + SG_ HLOCCA_OffAvail : 39|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150645760 Environment_Id_Resp_1_LS: 3 XXX + SG_ EnvIdRsp1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ EnvIdRspSt1 : 17|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152464384 Lane_Departure_Warning_LS: 3 XXX + SG_ LaneDepWrnDisbldIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ LnKpAstDisbldIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SrvcLaneDepWrnSysIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SrvcLnKpAstSysIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ HndsOffStrWhlDtIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TnDrvLDWOffUnbIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LftLnDepWrnSt : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LaneDepWrnIndCntrl : 13|6@0+ (1,0) [0|0] "" XXX + SG_ LDWIC_LnDepWAWLn : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDWIC_Ind2 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ LDWIC_Ind1 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LDWIC_IndReq : 13|2@0+ (1,0) [0|3] "" XXX + SG_ RtLnDepWrnSt : 15|2@0+ (1,0) [0|3] "" XXX + SG_ LnKpAstIndCntrl : 21|6@0+ (1,0) [0|0] "" XXX + SG_ LKAIC_AdbWngLn : 17|2@0+ (1,0) [0|3] "" XXX + SG_ LKAIC_Ind2 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ LKAIC_Ind1 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ LKAIC_IndReq : 21|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154971136 Front_Seat_Heat_Cool_Switches_LS: 1 XXX + SG_ DrvHCSeatSw1Act : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSeatSw2Act : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSeatSw3Act : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSeatSw1Act : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSeatSw2Act : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSeatSw3Act : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154962944 Front_Seat_Heat_Cool_Control_LS: 4 XXX + SG_ DrvHCSModeIndCtrl : 4|5@0+ (1,0) [0|0] "" XXX + SG_ DrvHCSMInd3 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSMInd2 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSMInd1 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSMIndReq : 4|2@0+ (1,0) [0|3] "" XXX + SG_ PassHCSModeIndCtrl : 12|5@0+ (1,0) [0|0] "" XXX + SG_ PassHCSMInd3 : 8|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSMInd2 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSMInd1 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSMIndReq : 12|2@0+ (1,0) [0|3] "" XXX + SG_ DrvHCSLevIndCtrl : 22|7@0+ (1,0) [0|0] "" XXX + SG_ DrvHCSLSeatLev5 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSLSeatLev4 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSLSeatLev3 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSLSeatLev2 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSLSeatLev1 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DrvHCSLIndReq : 22|2@0+ (1,0) [0|3] "" XXX + SG_ PassHCSeatLevIndCtrl : 30|7@0+ (1,0) [0|0] "" XXX + SG_ PassHCSLSeatLev5 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSLSeatLev4 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSLSeatLev3 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSLSeatLev2 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSLSeatLev1 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ PassHCSLIndReq : 30|2@0+ (1,0) [0|3] "" XXX + +BO_ 2156232704 Alarm_Clock_Status_LS: 4 XXX + SG_ AlrmClkStat : 7|32@0+ (1,0) [0|0] "" XXX + SG_ ACSAlarm3 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm2 : 3|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm1 : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm0 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm7 : 9|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm6 : 11|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm5 : 13|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm4 : 15|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm11 : 17|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm10 : 19|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm9 : 21|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm8 : 23|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm15 : 25|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm14 : 27|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm13 : 29|2@0+ (1,0) [0|3] "" XXX + SG_ ACSAlarm12 : 31|2@0+ (1,0) [0|3] "" XXX + +BO_ 2154987520 Hood_Status_LS: 1 XXX + SG_ HdStGroup : 2|3@0+ (1,0) [0|0] "" XXX + SG_ HdSt : 1|2@0+ (1,0) [0|3] "" XXX + SG_ HdStV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ WrlsChrgSysChrgStat : 5|3@0+ (1,0) [0|7] "" XXX + +BO_ 2154840064 Compass_Status_LS: 4 XXX + SG_ CmpsOctHdingDataSrc : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsModFltPrs : 1|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsModManCalInPrc : 2|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsZnNvrSet : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsDecZone : 11|4@0+ (1,0) [0|15] "" XXX + SG_ CmpsOctHding : 14|3@0+ (1,0) [0|7] "" XXX + SG_ CmpsSatrtd : 15|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsCrHding : 23|16@0+ (0.0054932,0) [0|359.996862] "deg" XXX + +BO_ 2154676224 Compass_Request_LS: 1 XXX + SG_ CmpsDecZonCmndVal : 3|4@0+ (1,0) [0|15] "" XXX + SG_ CmpsDecZonSetReq : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsModManCalReq : 5|1@0+ (1,0) [0|1] "" XXX + SG_ CmpsModSlfTstReq : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154643456 Auxiliary_Heater_Status_LS: 3 XXX + SG_ AuxHtrAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ HtrCoreInltClntTmpCalcGroup : 4|21@0+ (1,0) [0|0] "" XXX + SG_ HtrCoreInltClntTmpCalcV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ HtrCoreInltClntTmpCalc : 23|8@0+ (1,-40) [-40|215] "deg C" XXX + SG_ CCClntCrcFlwRtReq : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2154905600 Driver_Identifier_LS: 1 XXX + SG_ DrId : 2|3@0+ (1,0) [0|7] "" XXX + SG_ DrvSeatPrsMemID : 5|3@0+ (1,0) [0|7] "" XXX + +BO_ 2154954752 High_Volt_Climate_Pwr_Status_LS: 5 XXX + SG_ ClmtHtPwrRqd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ HtdStWhlCmd : 2|2@0+ (1,0) [0|3] "" XXX + SG_ HtdStWhlInd : 4|2@0+ (1,0) [0|3] "" XXX + SG_ HtdStWhlCtrlSrc : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ClntHtrElecPwrReq : 15|8@0+ (0.04,0) [0|10.2] "kW" XXX + SG_ EstACCompPwrRchCbnCmf : 23|8@0+ (0.04,0) [0|10.2] "kw" XXX + SG_ EstACCompPwrMtnCbnCmf : 31|8@0+ (0.04,0) [0|10.2] "kW" XXX + +BO_ 2153381888 Control_Power_Liftgate_LS: 4 XXX + SG_ FnshRrClsrMtnBfrDrvIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrClsrObstclDtctd : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RrClsrInMtn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ RrClosOpenSwActGroup : 4|3@0+ (1,0) [0|0] "" XXX + SG_ RrClosOpenSwAct : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RrClosOpenSwActV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RrWprInhbRq : 5|1@0+ (1,0) [0|1] "" XXX + SG_ GrgPrgMdCmpl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ PwrLftgtInclAngGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ PwrLftgtInclAngV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ PwrLftgtInclAng : 15|8@0+ (1,0) [0|255] "" XXX + SG_ VehIncAngEst : 23|8@0+ (1,0) [0|255] "deg" XXX + SG_ PwrLftgtMotStat : 26|3@0+ (1,0) [0|7] "" XXX + SG_ VltActRrAccUnavlIO : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149752832 Chassis_Information_LS: 8 XXX + SG_ VehHghtStatGroup : 0|9@0+ (1,0) [0|0] "" XXX + SG_ VehHghtStatV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ VehHghtStat : 11|4@0+ (1,0) [0|15] "" XXX + SG_ IntBrkAssPreFilReq : 1|1@0+ (1,0) [0|1] "N/A" XXX + SG_ BksOvht : 2|1@0+ (1,0) [0|1] "" XXX + SG_ HalfSysFail : 3|1@0+ (1,0) [0|1] "" XXX + SG_ BrkSysRedBrkTlltlReq : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ABSAtv : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DrvlnCustStngAvlbl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ StrCustStngAvlbl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ PrkBrkVDA : 12|1@0+ (1,0) [0|1] "" XXX + SG_ PowStVDA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ RrDrCntVDA : 14|1@0+ (1,0) [0|1] "" XXX + SG_ BrkSysVDA : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SprTireSt : 18|3@0+ (1,0) [0|7] "" XXX + SG_ EPBSysAudWarnReq : 20|2@0+ (1,0) [0|3] "" XXX + SG_ EPBSysDspMsgReq : 23|3@0+ (1,0) [0|7] "" XXX + SG_ DrvlnCustCurrStngVal : 26|3@0+ (1,0) [0|7] "" XXX + SG_ StrCustCurrStngVal : 29|3@0+ (1,0) [0|7] "" XXX + SG_ SusCustStngAvlbl : 30|1@0+ (1,0) [0|1] "" XXX + SG_ EBDFailed : 31|1@0+ (1,0) [0|1] "" XXX + SG_ SusCustCurrStngVal : 34|3@0+ (1,0) [0|7] "" XXX + SG_ HillDscntCntlSysStat : 37|3@0+ (1,0) [0|7] "" XXX + SG_ ElecPrkBrkStat : 39|2@0+ (1,0) [0|3] "" XXX + SG_ HlStrAssActIO : 41|1@0+ (1,0) [0|1] "" XXX + SG_ ColPrSysStngAvl : 42|1@0+ (1,0) [0|1] "" XXX + SG_ GNCustSetngAvlbl : 44|1@0+ (1,0) [0|1] "" XXX + SG_ GNCustCrntStngVal : 47|3@0+ (1,0) [0|7] "" XXX + SG_ CPSInfotmntMtReq : 49|2@0+ (1,0) [0|3] "" XXX + SG_ ColPrSysCrntStng : 52|3@0+ (1,0) [0|7] "" XXX + SG_ SndEnhcmtPerfMdRq : 55|3@0+ (1,0) [0|7] "" XXX + SG_ DispPerfMdCsCrStVal : 58|3@0+ (1,0) [0|7] "" XXX + SG_ DispPerfMdCsStAvl : 59|1@0+ (1,0) [0|1] "" XXX + SG_ SndPerfMdCsCrStVal : 62|3@0+ (1,0) [0|7] "" XXX + SG_ SndPerfMdCsStAvl : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151514112 Reset_OilLife_Request_LS: 1 XXX + SG_ EngOilLfRstRq : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158903296 ODIDynDataMultiRequest_AuxIP_LS: 8 XXX + SG_ ODIDynDataMltRq_AuxIP : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODDMA_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMA_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMA_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMA_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMA_ReqType : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ODDMA_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DispMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMA_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158911488 ODIDynDataMultiReq_CntrStack_LS: 8 XXX + SG_ ODIDynDataMltRq_CntrStck : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODDMC_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMC_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMC_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMC_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMC_ReqType : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ODDMC_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DispMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMC_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2158919680 ODIDynDataMultiRequest_IPC_LS: 8 XXX + SG_ ODIDynDataMltRq_IPC : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODDMI_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMI_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMI_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMI_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ODDMI_ReqType : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ODDMI_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DispMID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ODDMI_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2151825408 Outside_Air_Temperature_LS: 3 XXX + SG_ OtsAirTmpCrValGroup : 0|9@0+ (1,0) [0|0] "" XXX + SG_ OtsAirTmpCrValV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ OtsAirTmpCrVal : 15|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ OtsAirTmpGroup : 1|18@0+ (1,0) [0|0] "" XXX + SG_ OtsAirTmpV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ OtsAirTmp : 23|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + SG_ OtsAirTmpCrValMsk : 2|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151153664 Rear_Window_Defog_Status_LS: 1 XXX + SG_ RrWndDfgOn : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151170048 Trailer_Status_LS: 2 XXX + SG_ TrlrHtchSwAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrBrkLtFld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrFgLtFld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrRvsLtFld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrTlLtFld : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrFgLtPrs : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TrlrRtTrInLtFld : 6|1@0+ (1,0) [0|1] "" XXX + SG_ TrlLfTrInLtFld : 7|1@0+ (1,0) [0|1] "" XXX + SG_ LftSecTrnIndFld : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RtSecTrnIndFld : 9|1@0+ (1,0) [0|1] "" XXX + SG_ DisRrPrmryLmps : 10|1@0+ (1,0) [0|1] "" XXX + SG_ RLftPrkLmpFld : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RRPrkLmpFld : 12|1@0+ (1,0) [0|1] "" XXX + SG_ RrEndCrrStat : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151841792 Wipe_Wash_Status_LS: 1 XXX + SG_ TurnWprIntIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RnSnsActIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RnSnsOffIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ WSWprAct : 3|1@0+ (1,0) [0|1] "" XXX + SG_ HtdFrntWSSt : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154995712 Air_Conditioning_Comp_Type_LS: 1 XXX + SG_ HVHtrOvrTmpIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ HVHtrFldIO : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154094592 Adjustable_Pedal_Motion_Inh_LS: 8 XXX + SG_ AdjPdlMotInhbtd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ IntDimSeldAnmTypStVal : 4|4@0+ (1,0) [0|15] "" XXX + SG_ IntDimSeldClrTypStVal : 12|5@0+ (1,0) [0|31] "" XXX + SG_ IntDimAnmTypAvl : 22|15@0+ (1,0) [0|0] "" XXX + SG_ IDATA_AnmTyp6Avl : 16|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp5Avl : 17|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp4Avl : 18|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp3Avl : 19|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp2Avl : 20|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp1Avl : 21|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_OffAvl : 22|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp14Avl : 24|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp13Avl : 25|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp12Avl : 26|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp11Avl : 27|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp10Avl : 28|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp9Avl : 29|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp8Avl : 30|1@0+ (1,0) [0|1] "" XXX + SG_ IDATA_AnmTyp7Avl : 31|1@0+ (1,0) [0|1] "" XXX + SG_ IntDimClrTypAvl : 38|31@0+ (1,0) [0|0] "" XXX + SG_ IDCTA_ClrTyp6Avl : 32|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp5Avl : 33|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp4Avl : 34|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp3Avl : 35|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp2Avl : 36|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp1Avl : 37|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_OffAvl : 38|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp14Avl : 40|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp13Avl : 41|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp12Avl : 42|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp11Avl : 43|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp10Avl : 44|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp9Avl : 45|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp8Avl : 46|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp7Avl : 47|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp22Avl : 48|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp21Avl : 49|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp20Avl : 50|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp19Avl : 51|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp18Avl : 52|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp17Avl : 53|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp16Avl : 54|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp15Avl : 55|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp30Avl : 56|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp29Avl : 57|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp28Avl : 58|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp27Avl : 59|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp26Avl : 60|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp25Avl : 61|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp24Avl : 62|1@0+ (1,0) [0|1] "" XXX + SG_ IDCTA_ClrTyp23Avl : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149711872 ACC_YawRate_Information_LS: 8 XXX + SG_ ACCDrvrSeltdSpd : 3|12@0+ (0.0625,0) [0|255.9375] "km / h" XXX + SG_ AdapCrsCntVDA : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ACCAct370 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ CrsCntlDrSelSpdAct : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CrsSpdLmtrDrvSelSpd : 19|12@0+ (0.0625,0) [0|255.9375] "km / h" XXX + SG_ ACCHdwyStg : 22|3@0+ (1,0) [0|7] "" XXX + SG_ FwdClnAlrtPr : 23|1@0+ (1,0) [0|1] "" XXX + SG_ VehDynYawRateGroup : 36|13@0+ (1,0) [0|0] "" XXX + SG_ VehDynYawRate : 35|12@0- (0.0625,0) [-128|127.9375] "deg/sec" XXX + SG_ VehDynYawRateV : 36|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtrSpdWrngEnbld : 37|1@0+ (1,0) [0|1] "" XXX + SG_ SpdLmtrSpdWrngAct : 38|1@0+ (1,0) [0|1] "" XXX + SG_ FwdClnAlrtOffIO : 39|1@0+ (1,0) [0|1] "" XXX + SG_ FwdObjAlrtInd : 48|9@0+ (1,0) [0|0] "" XXX + SG_ FOAI_AlrtChmIhbRq : 48|1@0+ (1,0) [0|1] "" XXX + SG_ FOAI_AlrtWrnIndRq : 59|4@0+ (1,0) [0|15] "" XXX + SG_ FOAI_VehAhdIndRq : 63|4@0+ (1,0) [0|15] "" XXX + SG_ AutoMdSpdLmtStat : 50|2@0+ (1,0) [0|3] "" XXX + SG_ ACCAutoSetSpdStat : 52|2@0+ (1,0) [0|3] "" XXX + SG_ SetSpdLmtRchd : 54|2@0+ (1,0) [0|3] "" XXX + +BO_ 2153979904 BulbOutage_LS: 2 XXX + SG_ CHMSLFld : 0|1@0+ (1,0) [0|1] "" XXX + SG_ FLTrnIndLtFld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FRTrnIndLtFld : 2|1@0+ (1,0) [0|1] "" XXX + SG_ LftBrkLtFld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ LftLwBmFld : 4|1@0+ (1,0) [0|1] "" XXX + SG_ LftPrkLtFld : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LicPltLtFld : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RLTrnIndLtFld : 7|1@0+ (1,0) [0|1] "" XXX + SG_ RRTrnIndLtFld : 8|1@0+ (1,0) [0|1] "" XXX + SG_ RtBrkLtFld : 9|1@0+ (1,0) [0|1] "" XXX + SG_ RtLwBmFld : 10|1@0+ (1,0) [0|1] "" XXX + SG_ RtPrkLtFld : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RFgLtFld : 12|1@0+ (1,0) [0|1] "" XXX + SG_ RvsLtFld : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LftDytmRunLmpFld : 14|1@0+ (1,0) [0|1] "" XXX + SG_ RtDytmRunLmpFld : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150154240 Passive_Entry_Reply_LS: 8 XXX + SG_ PsvEntVehIdExt : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ PsvEntChlngRply : 39|32@0+ (1,0) [0|4294967295] "passwrd" XXX + +BO_ 2155003904 Side_Blind_Zone_Alert_Status: 2 XXX + SG_ SBZASysClnIndOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SBZASysOffIndOn : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SBZASysSrvIndOn : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SBZATmpUnvIndOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ LftLnChgThrt : 4|1@0+ (1,0) [0|1] "" XXX + SG_ LfLnChngThrtAprchSpd : 15|8@0- (1,0) [-128|127] "km/h" XXX + +BO_ 2150817792 Airbag_Impact_Data_5: 3 XXX + SG_ ImpMaxLateralDeltaVel : 7|8@0- (1,0) [-128|127] "" XXX + SG_ ImpMaxLongDeltaVel : 15|8@0- (1,0) [-128|127] "" XXX + SG_ ImpTimeToMaxDeltaVel : 23|8@0+ (10,0) [0|2550] "ms" XXX + +BO_ 2150227968 Phone_Speech_Rec_Status_LS: 1 XXX + SG_ PhnSpRcgnApSt : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 2162982912 VIN_Digits_10_to_17: 8 XXX + SG_ VehIdNmDig10_17 : 7|64@0+ (1,0) [0|1] "" XXX + +BO_ 2162966528 VIN_Digits_2_to_9: 8 XXX + SG_ VehIdNmDig2_9 : 7|64@0+ (1,0) [0|1] "" XXX + +BO_ 2151497728 Tire_Pressure_Sensors_LS: 6 XXX + SG_ TireLFPrsGroup : 0|17@0+ (1,0) [0|0] "" XXX + SG_ TireLFPrsV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TireLFPrs : 23|8@0+ (4,0) [0|1020] "kPaG" XXX + SG_ TireRFPrsGroup : 1|34@0+ (1,0) [0|0] "" XXX + SG_ TireRFPrsV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TireRFPrs : 39|8@0+ (4,0) [0|1020] "kPaG" XXX + SG_ TireLFPrsStat : 4|3@0+ (1,0) [0|7] "" XXX + SG_ TireRFPrsStat : 7|3@0+ (1,0) [0|7] "" XXX + SG_ TireLRPrsGroup : 8|17@0+ (1,0) [0|0] "" XXX + SG_ TireLRPrsV : 8|1@0+ (1,0) [0|1] "" XXX + SG_ TireLRPrs : 31|8@0+ (4,0) [0|1020] "kPaG" XXX + SG_ TireRRPrsGroup : 9|34@0+ (1,0) [0|0] "" XXX + SG_ TireRRPrsV : 9|1@0+ (1,0) [0|1] "" XXX + SG_ TireRRPrs : 47|8@0+ (4,0) [0|1020] "kPaG" XXX + SG_ TireLRPrsStat : 12|3@0+ (1,0) [0|7] "" XXX + SG_ TireRRPrsStat : 15|3@0+ (1,0) [0|7] "" XXX + +BO_ 2151219200 Remote_Start_Status: 1 XXX + SG_ RemStrtSt : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RmVehStrRq : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 2153775104 DTC_Triggered: 7 XXX + SG_ DTCInfo : 7|56@0+ (1,0) [0|0] "" XXX + SG_ DTCI_DTCTriggered : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused1 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused2 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused3 : 3|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused4 : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused5 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused6 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ DTCIUnused7 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_DTCSource : 15|8@0+ (1,0) [0|255] "" XXX + SG_ DTCI_DTCNumber : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ DTCI_DTCFailType : 39|8@0+ (1,0) [0|255] "" XXX + SG_ DTCI_CodeSupported : 40|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_CurrentStatus : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_TstNPsdCdClrdSt : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_TstFldCdClrdStat : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_HistStat : 44|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_TstNPsdPwrUpSt : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_TstFldPwrUpSt : 46|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_WrnIndRqdSt : 47|1@0+ (1,0) [0|1] "" XXX + SG_ DTCI_DTCFaultType : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 2151235584 Vehicle_Theft_Notification_Stat: 5 XXX + SG_ DrIdDevLrnd : 0|1@0+ (1,0) [0|1] "" XXX + SG_ VehSecSysFldIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ VTDTmprDetected : 2|1@0+ (1,0) [0|1] "" XXX + SG_ EhnSrvEngImmStat : 3|1@0+ (1,0) [0|1] "" XXX + SG_ IllDrIdDevDtctd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ AlcKyIIncmIndOn : 5|1@0+ (1,0) [0|1] "" XXX + SG_ VehSecStrgColLckPwdGroup : 6|31@0+ (1,0) [0|0] "" XXX + SG_ VehSecStrgColLckPwdV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ VehSecStrgColLckPwd : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ VehSecAuthnSesComp : 7|1@0+ (1,0) [0|1] "" XXX + SG_ VhSecNImmoIndRq : 9|2@0+ (1,0) [0|3] "" XXX + SG_ StrgColLckCmd : 11|2@0+ (1,0) [0|3] "" XXX + SG_ NmofPrgKFbExtd : 15|4@0+ (1,0) [0|15] "" XXX + SG_ VehStatStAtv : 32|1@0+ (1,0) [0|1] "" XXX + SG_ EhnSrvImmbComRst : 33|1@0+ (1,0) [0|1] "" XXX + SG_ ClmSysBkupFlrIndOn : 34|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150809600 Airbag_Impact_Data_4: 8 XXX + SG_ ImpDltVlcSamp12 : 7|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS12_Axis1 : 7|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS12_Axis2 : 15|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp13 : 23|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS13_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS13_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp14 : 39|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS14_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS14_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp15 : 55|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS15_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS15_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX + +BO_ 2150793216 Airbag_Impact_Data_2: 8 XXX + SG_ ImpDltVlcSamp4 : 7|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS4_Axis1 : 7|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS4_Axis2 : 15|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp5 : 23|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS5_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS5_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp6 : 39|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS6_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS6_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp7 : 55|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS7_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS7_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX + +BO_ 2150801408 Airbag_Impact_Data_3: 8 XXX + SG_ ImpDltVlcSamp8 : 7|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS8_Axis1 : 7|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS8_Axis2 : 15|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp9 : 23|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS9_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS9_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp10 : 39|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS10_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS10_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp11 : 55|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS11_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS11_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX + +BO_ 2150785024 Airbag_Impact_Data_1: 8 XXX + SG_ ImpDltVlcScal : 7|8@0+ (0.00245,0.706) [0.706|1.33075] "kph/cnt" XXX + SG_ AirbgAccelOrien : 10|3@0+ (45,0) [0|315] "deg" XXX + SG_ ImpDltVlcSamp1 : 23|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS1_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS1_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp2 : 39|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS2_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS2_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX + SG_ ImpDltVlcSamp3 : 55|16@0+ (1,0) [0|0] "" XXX + SG_ IDVS3_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX + SG_ IDVS3_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX + +BO_ 2151202816 Rear_Window_Defog_Inhibit: 5 XXX + SG_ RrWndDfgInhRq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RrWndDfgSwAtv : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ILSSCommErr : 2|1@0+ (1,0) [0|1] "" XXX + SG_ IPSnsrRwSolrIntFltd : 3|1@0+ (1,0) [0|1] "" XXX + SG_ IPSnsrSolrAnglFltd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ IPSnsrTpCvrTempFltd : 5|1@0+ (1,0) [0|1] "" XXX + SG_ AuxHtrAlwd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ IPSnsrRwSolrInt : 15|8@0+ (3,0) [0|765] "W/m2" XXX + SG_ IPSnsrSolrAzmthAngl : 23|8@0+ (2,-180) [-180|330] "deg" XXX + SG_ IPSnsrSolrElvtnAngl : 31|8@0+ (1,0) [0|255] "deg" XXX + SG_ IPSnsrTpCvrTemp : 39|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX + +BO_ 2150825984 Airbag_Indications: 6 XXX + SG_ FsnDrvStbltIC : 7|8@0+ (1,0) [0|0] "" XXX + SG_ FDSIC_IndPer : 3|4@0+ (1,0) [0|15] "" XXX + SG_ FDSIC_IndDC : 6|3@0+ (12.5,12.5) [12.5|100] "%" XXX + SG_ FDSIC_IO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ FsnPsngStbltIC : 15|8@0+ (1,0) [0|0] "" XXX + SG_ FPSIC_IndPer : 11|4@0+ (1,0) [0|15] "" XXX + SG_ FPSIC_IndDtCyc : 14|3@0+ (12.5,12.5) [12.5|100] "%" XXX + SG_ FPSIC_IO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ AirbgIC : 23|8@0+ (1,0) [0|0] "" XXX + SG_ AirbgICIndPer : 19|4@0+ (1,0) [0|15] "" XXX + SG_ AirbgICDutCyc : 22|3@0+ (12.5,12.5) [12.5|100] "%" XXX + SG_ AirbgICIO : 23|1@0+ (1,0) [0|1] "" XXX + SG_ FstnSndRwLtPsStbtInR : 25|2@0+ (1,0) [0|3] "" XXX + SG_ FstnSndRwCtPsStbtInR : 27|2@0+ (1,0) [0|3] "" XXX + SG_ FstnSndRwRtPsStbtInR : 29|2@0+ (1,0) [0|3] "" XXX + SG_ FsnDrStbAuxIR : 31|2@0+ (1,0) [0|3] "" XXX + SG_ FsnPsStbAuxIR : 34|3@0+ (1,0) [0|7] "" XXX + SG_ AirbgFldIO : 35|1@0+ (1,0) [0|1] "" XXX + SG_ SndRwStbltRdIndMd : 37|2@0+ (1,0) [0|3] "" XXX + SG_ FstnThrdRwCtPsStbtInR : 39|2@0+ (1,0) [0|3] "" XXX + SG_ FstnThrdRwRtPsStbtInR : 41|2@0+ (1,0) [0|3] "" XXX + SG_ FstnThrdRwLtPsStbtInR : 43|2@0+ (1,0) [0|3] "" XXX + SG_ SrvIntdPdstProtSysIO : 44|1@0+ (1,0) [0|1] "" XXX + SG_ PdstIntdProtSysDsbld : 45|1@0+ (1,0) [0|1] "" XXX + SG_ PdstIntdProtSysDplyd : 46|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151759872 Door_Lock_Command: 4 XXX + SG_ CntrlLckRqwExtActFun : 9|18@0+ (1,0) [0|0] "" XXX + SG_ CLRAF_Unl_Lk : 9|3@0+ (1,0) [0|7] "" XXX + SG_ CLRAF_FuelD : 16|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_RrCls : 17|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_Hd : 18|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_RLD : 19|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_RRD : 20|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_PD : 21|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_DD : 22|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_ActFunc : 28|5@0+ (1,0) [0|31] "" XXX + SG_ CLRAF_UnandRsv3 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_UnandRsv2 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ CLRAF_UnandRsv1 : 31|1@0+ (1,0) [0|1] "" XXX + SG_ RrClsRelRq : 10|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149974016 Content_Theft_Sensor_Status: 3 XXX + SG_ SrvAlrmSysIO : 0|1@0+ (1,0) [0|1] "" XXX + SG_ IntrSnsDisbld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgDrvDr : 3|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgPsngDr : 4|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgRrRtDr : 5|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgRrLftDr : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrigTonn : 7|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgTrnk : 8|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgTltSns : 9|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgIntMvmntSns : 10|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrggrdBattRcnctd : 11|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgGlsBrkSns : 12|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgNonOffPM : 13|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrigMidClsr : 14|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmTrgdIO : 15|1@0+ (1,0) [0|1] "" XXX + SG_ AlrmStat : 18|3@0+ (1,0) [0|7] "" XXX + SG_ AlrmTrgHd : 21|1@0+ (1,0) [0|1] "" XXX + +BO_ 2151907328 Steering_Wheel_Control_Switches: 1 XXX + SG_ StrgWhlUnit1SwStat : 3|4@0+ (1,0) [0|15] "" XXX + SG_ StrgWhlUnit2SwStat : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 2150219776 Voice_Recognition_Status: 1 XXX + SG_ PhnSpRcgnRq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ VcRecVcFdbckSt : 3|2@0+ (1,0) [0|3] "" XXX + +BO_ 2152685568 Radiomarks_Response: 8 XXX + SG_ RadBrdcstSrc : 3|4@0+ (1,0) [0|15] "" XXX + SG_ RadConInfReqSrc : 7|4@0+ (1,0) [0|15] "" XXX + SG_ RadConInfCmd : 11|4@0+ (1,0) [0|15] "" XXX + SG_ RadConInfID : 31|40@0+ (1,0) [0|1099511627775] "" XXX + +BO_ 2151874560 Vehicle_Theft_Notify_Reset_Req: 8 XXX + SG_ EhnSrvEngImmbCom : 0|57@0+ (1,0) [0|0] "" XXX + SG_ ESEIC_EngImmbRq : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ESEIC_EngImRqPsw : 15|56@0+ (1,0) [0|1] "" XXX + SG_ RstVTDTmprDtctd : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RstIllDrIdDevDtctd : 2|1@0+ (1,0) [0|1] "" XXX + SG_ RstDrIdDevLrnd : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150268928 GPS_Date_and_Time_LS: 6 XXX + SG_ CldrYr_154 : 7|8@0+ (1,2000) [2000|2255] "year" XXX + SG_ CldrMth_154 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ CldrDay_154 : 20|5@0+ (1,0) [0|31] "days" XXX + SG_ HrsGroup : 29|6@0+ (1,0) [0|0] "" XXX + SG_ Hrs : 28|5@0+ (1,0) [0|31] "h" XXX + SG_ HrsV : 29|1@0+ (1,0) [0|1] "" XXX + SG_ MinsGroup : 38|7@0+ (1,0) [0|0] "" XXX + SG_ Mins : 37|6@0+ (1,0) [0|63] "min" XXX + SG_ MinsV : 38|1@0+ (1,0) [0|1] "" XXX + SG_ SecGroup : 46|7@0+ (1,0) [0|0] "" XXX + SG_ Sec : 45|6@0+ (1,0) [0|63] "s" XXX + SG_ SecV : 46|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150137856 RFA_Status_LS: 3 XXX + SG_ FobPrevLrndIndOn : 0|1@0+ (1,0) [0|1] "" XXX + SG_ Ky_IdDevNotPrIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FbProgCustActRqd : 2|1@0+ (1,0) [0|1] "" XXX + SG_ KeyInWrnIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ VehSecAtoLrnAtv : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Ky_IdDevPrgmAuthReq : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LMTTCPrsnOffStat : 6|1@0+ (1,0) [0|1] "" XXX + SG_ VehSecAtoLrnDlyTmr : 12|5@0+ (1,0) [0|31] "min" XXX + SG_ FldTpMotReq : 15|3@0+ (1,0) [0|7] "" XXX + SG_ RemCtrlFobNumForProgER : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 2151677952 Chime_Command: 5 XXX + SG_ SndChrs : 3|28@0+ (1,0) [0|0] "" XXX + SG_ SC_SndTne : 3|4@0+ (1,0) [0|15] "" XXX + SG_ SC_SndCdnPrd : 15|8@0+ (10,0) [0|2550] "ms" XXX + SG_ SC_NmofRp : 23|8@0+ (1,0) [0|255] "reps" XXX + SG_ SC_SndDutCyc : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ SndLoc : 7|4@0+ (1,0) [0|0] "" XXX + SG_ SndLocRtRr : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SndLocLftRr : 5|1@0+ (1,0) [0|1] "" XXX + SG_ SndLocPasFr : 6|1@0+ (1,0) [0|1] "" XXX + SG_ SndLocDrFr : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SndPriority : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 2150776832 Airbag_Status: 6 XXX + SG_ ShfUlkBrToShftIndCtrl : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ShftLkdBuStbltIndCtrl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SbItlkTrnsShftLvLkRd : 2|1@0+ (1,0) [0|1] "" XXX + SG_ MmryRclImpctDisRq : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EvntEnbld : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SftyMuteRd : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HybVehHiVltInvDisRqd : 6|1@0+ (1,0) [0|1] "" XXX + SG_ HybImpSnsDsbld : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SIREvntSychCntr : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ FrPsngrStOccSnsngPriDat : 39|16@0+ (1,0) [0|39321] "" XXX + +BO_ 2150760448 Airbag_Impact_Data: 8 XXX + SG_ SIRDpl : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NotPsSeatStat : 5|2@0+ (1,0) [0|3] "" XXX + SG_ NotDrvSeatStat : 7|2@0+ (1,0) [0|3] "" XXX + SG_ NotSecRowRtSeaOccStat : 9|2@0+ (1,0) [0|3] "" XXX + SG_ NotSndRwMdlSeatStat : 11|2@0+ (1,0) [0|3] "" XXX + SG_ NotSndRwRtSeatStat : 13|2@0+ (1,0) [0|3] "" XXX + SG_ NotSndRwLtSeatStat : 15|2@0+ (1,0) [0|3] "" XXX + SG_ NotEventStat : 17|2@0+ (1,0) [0|3] "" XXX + SG_ NotSecRowLeSeaOccStat : 25|2@0+ (1,0) [0|3] "" XXX + SG_ NotSecRowCtSeaOccStat : 27|2@0+ (1,0) [0|3] "" XXX + SG_ NotiFrntPasSeatOccSta : 34|3@0+ (1,0) [0|7] "" XXX + SG_ NoEvDeLoSt : 46|7@0+ (1,0) [0|0] "" XXX + SG_ NEDLSSdCrtnArbgDpld : 40|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSRtSdArbgDld : 41|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSLtSdArbgDld : 42|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSPaFrSt2De : 43|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSPaFrSt1De : 44|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSDrFrSt2De : 45|1@0+ (1,0) [0|1] "" XXX + SG_ NEDLSDrFrSt1De : 46|1@0+ (1,0) [0|1] "" XXX + SG_ NoEvSevSt : 54|7@0+ (1,0) [0|0] "" XXX + SG_ NESSRoSevSt : 48|1@0+ (1,0) [0|1] "" XXX + SG_ NESSRiSiSevSt : 49|1@0+ (1,0) [0|1] "" XXX + SG_ NESSReImpSevSt : 50|1@0+ (1,0) [0|1] "" XXX + SG_ NESSLeSiSevSt : 51|1@0+ (1,0) [0|1] "" XXX + SG_ NESSFrImpSt2SevSt : 52|1@0+ (1,0) [0|1] "" XXX + SG_ NESSFrImpSt1SevSt : 53|1@0+ (1,0) [0|1] "" XXX + SG_ NESSFrImpPreSevSt : 54|1@0+ (1,0) [0|1] "" XXX + SG_ NotiEventCount : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 2155872256 Fuel_Information: 6 XXX + SG_ FlLvlPctGroup : 0|9@0+ (1,0) [0|0] "" XXX + SG_ FlLvlPctV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ FlLvlPct : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ FlInjRlCtRstOcc : 1|1@0+ (1,0) [0|1] "" XXX + SG_ FuelFltChgNwIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DrvStyPerfMdCsCrStVal : 5|3@0+ (1,0) [0|7] "" XXX + SG_ DrvStyPerfMdCsStAvl : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RdWhlAngGroup : 23|8@0+ (1,0) [0|0] "" XXX + SG_ RdWhlAng : 22|7@0+ (0.703125,-45) [-45|44.296875] "deg" XXX + SG_ RdWhlAngV : 23|1@0+ (1,0) [0|1] "" XXX + SG_ VehPitchAngleGroup : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VehPitchAngle : 30|7@0+ (0.703125,-45) [-45|44.296875] "deg" XXX + SG_ VehPitchAngleV : 31|1@0+ (1,0) [0|1] "" XXX + SG_ FlInjRlCt : 39|16@0+ (3.05176E-005,0) [0|1.999970916] "liters" XXX + +BO_ 2156175360 Display_Measurement_System_LS: 1 XXX + SG_ DispMeasSysExt : 1|2@0+ (1,0) [0|3] "" XXX + SG_ DispMeasSys : 2|1@0+ (1,0) [0|1] "" XXX + SG_ NtVsnSysEnbld : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149859328 System_Power_Mode_Backup_LS: 1 XXX + SG_ SysBkupPwrMdEn : 2|1@0+ (1,0) [0|1] "" XXX + SG_ SysBkUpPwrMdGroup : 3|4@0+ (1,0) [0|0] "" XXX + SG_ SysBkUpPwrMd : 1|2@0+ (1,0) [0|3] "" XXX + SG_ SysBkUpPwrMdV : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2158854144 ODIAction_IPC_LS: 8 XXX + SG_ ODIActn_IPC : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIAI_DaTy : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIAI_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAI_ActnID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAI_DspMID : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAI_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2158837760 ODIAction_AuxIP_LS: 8 XXX + SG_ ODIActn_AxIP : 5|62@0+ (1,0) [0|0] "" XXX + SG_ ODIAA_DaTy : 5|6@0+ (1,0) [0|63] "" XXX + SG_ ODIAA_FUCID : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAA_ActnID : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAA_DspMID : 31|8@0+ (1,0) [0|255] "" XXX + SG_ ODIAA_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2159091712 ODI_IPC_2_TEL_LS: 8 XXX + SG_ ODI_IPC2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2154561536 Vehicle_Odo_LS: 5 XXX + SG_ VehOdoGroup : 7|40@0+ (1,0) [0|0] "" XXX + SG_ VehOdo : 7|32@0+ (0.015625,0) [0|67108863.984375] "km" XXX + SG_ VehOdoV : 32|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149908480 Brake_Pedal_Status_LS: 2 XXX + SG_ BrkPedInitTrvlAchvdStat : 1|2@0+ (1,0) [0|0] "" XXX + SG_ BrkPedTrvlAchvdV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ BrkPedTrvlAchvd : 1|1@0+ (1,0) [0|1] "" XXX + SG_ BrkPdlModTrvlGroup : 3|2@0+ (1,0) [0|0] "" XXX + SG_ BrkPdlModTrvl : 2|1@0+ (1,0) [0|1] "" XXX + SG_ BrkPdlModTrvlV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ BrkPdlPos : 15|8@0+ (0.392157,0) [0|100.000035] "% full" XXX + +BO_ 2151268352 Column_Lock_Status: 1 XXX + SG_ ClmnLckTT : 1|2@0+ (1,0) [0|3] "" XXX + +BO_ 2150604800 Right_Rear_Door_Status: 1 XXX + SG_ RRDoorAjarSwAct : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150588416 Passenger_Door_Status_LS: 1 XXX + SG_ PDAjrSwAtv : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150596608 Left_Rear_Door_Status: 1 XXX + SG_ RLDoorAjarSwAct : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 2155036672 Climate_Control_General_Status: 6 XXX + SG_ ACCompNormLdGroup : 0|9@0+ (1,0) [0|0] "" XXX + SG_ ACCompNormLdV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ACCompNormLd : 15|8@0+ (0.1,0) [0|25.5] "l/min" XXX + SG_ ACCmEngRunReq : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACCmpsrFldOn : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ACCompModReq : 5|2@0+ (1,0) [0|3] "" XXX + SG_ ClmtCtrlTrgtTemp : 17|10@0+ (0.1,-10) [-10|92.3] "deg C" XXX + +BO_ 2150424576 Engine_Information_3_LS: 8 XXX + SG_ TrnsEngdStateGroup : 2|3@0+ (1,0) [0|0] "" XXX + SG_ TrnsEngdState : 1|2@0+ (1,0) [0|3] "" XXX + SG_ TrnsEngdStateV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ACRfHiSdFldPrsGroup : 3|20@0+ (1,0) [0|0] "" XXX + SG_ ACRfHiSdFldPrsV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ACRfHiSdFldPrs : 23|8@0+ (14,0) [0|3570] "kPaG" XXX + SG_ ACCompCmnd : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RrAxlELSDCplLwResGroup : 5|46@0+ (1,0) [0|0] "" XXX + SG_ RrAxlELSDCplLwResV : 5|1@0+ (1,0) [0|1] "" XXX + SG_ RrAxlELSDCplLwRes : 47|8@0+ (10,0) [0|2550] "Nm" XXX + SG_ EngAirIntBstPrGroup : 6|39@0+ (1,0) [0|0] "" XXX + SG_ EngAirIntBstPrV : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EngAirIntBstPr : 39|8@0- (1,0) [-128|127] "kPaG" XXX + SG_ ExtHlStrAssCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsRngInhbtStat : 10|3@0+ (1,0) [0|7] "" XXX + SG_ DrvtShftCntrlTrgtGear : 14|4@0+ (1,0) [0|15] "" XXX + SG_ ACCmpNrmLdGrdAld : 31|8@0+ (0.1,0) [0|25.5] "dm3/m/s" XXX + SG_ EngTrqDrRqdExtRngGroup : 52|13@0+ (1,0) [0|0] "" XXX + SG_ EngTrqDrRqdExtRng : 51|12@0+ (0.5,-848) [-848|1199.5] "Nm" XXX + SG_ EngTrqDrRqdExtRngV : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ExtHlStrAssCsCrStVal : 55|3@0+ (1,0) [0|7] "" XXX + +BO_ 2150416384 Engine_Information_2_LS: 8 XXX + SG_ EngBstPrsIndGroup : 0|33@0+ (1,0) [0|0] "" XXX + SG_ EngBstPrsIndV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ EngBstPrsInd : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ VaccBoostFailure : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GenFld : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EngSpdLmtnMdAct : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PTWrmgWtToShftIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ EngNEmsnsRelMalfAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EngCstFlCutAct : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EngRunAtv : 8|1@0+ (1,0) [0|1] "" XXX + SG_ EngIdlAtv : 11|1@0+ (1,0) [0|1] "" XXX + SG_ VehTopSpdLmtMdAct : 13|1@0+ (1,0) [0|1] "" XXX + SG_ EngCylDeactMd : 15|2@0+ (1,0) [0|3] "" XXX + SG_ TransEstGearGroup : 20|5@0+ (1,0) [0|0] "" XXX + SG_ TransEstGear : 19|4@0+ (1,0) [0|15] "" XXX + SG_ TransEstGearV : 20|1@0+ (1,0) [0|1] "" XXX + SG_ EngTrqActExtRngGroup : 21|46@0+ (1,0) [0|0] "" XXX + SG_ EngTrqActExtRngV : 21|1@0+ (1,0) [0|1] "" XXX + SG_ EngTrqActExtRng : 51|12@0+ (0.5,-848) [-848|1199.5] "Nm" XXX + SG_ EngVDA : 22|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsVDA : 23|1@0+ (1,0) [0|1] "" XXX + SG_ EngCoolFanSpd : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ VehTopSpdLmtArbVal : 47|8@0+ (2,0) [0|510] "km / h" XXX + SG_ EngSpdStat : 53|2@0+ (1,0) [0|3] "" XXX + SG_ RmVhStrtEngRng : 54|1@0+ (1,0) [0|1] "" XXX + SG_ TrnCrpMdAtv : 55|1@0+ (1,0) [0|1] "" XXX + +BO_ 2150408192 Engine_Information_1_LS: 8 XXX + SG_ TrnsSftMdStat : 2|3@0+ (1,0) [0|7] "" XXX + SG_ ThrPosGroup : 3|36@0+ (1,0) [0|0] "" XXX + SG_ ThrPosV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ThrPos : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ AccActPosGroup : 4|45@0+ (1,0) [0|0] "" XXX + SG_ AccActPosV : 4|1@0+ (1,0) [0|1] "" XXX + SG_ AccActPos : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ ElcRngSelDrvAct : 5|1@0+ (1,0) [0|1] "" XXX + SG_ TmpDrvrShftCtlAct : 6|1@0+ (1,0) [0|1] "" XXX + SG_ AccPdlOvrrdAtv : 7|1@0+ (1,0) [0|1] "" XXX + SG_ TrnShftPtrnActStat : 10|3@0+ (1,0) [0|7] "" XXX + SG_ TransTUDMdStat : 12|2@0+ (1,0) [0|3] "" XXX + SG_ Eng12vStrtrMtrCmmdOn : 13|1@0+ (1,0) [0|1] "" XXX + SG_ EngRunng : 14|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsShftLvrPosGroup : 15|48@0+ (1,0) [0|0] "" XXX + SG_ TrnsShftLvrPosV : 15|1@0+ (1,0) [0|1] "" XXX + SG_ TrnsShftLvrPos : 51|4@0+ (1,0) [0|15] "" XXX + SG_ EngSpd : 23|16@0+ (0.25,0) [0|16383.75] "rpm" XXX + SG_ AutoTransComndGear : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CrsCntEnbld : 56|1@0+ (1,0) [0|1] "" XXX + SG_ CltStartSwAtvGroup : 58|2@0+ (1,0) [0|0] "" XXX + SG_ CltStartSwAtv : 57|1@0+ (1,0) [0|1] "" XXX + SG_ CltStartSwAtvV : 58|1@0+ (1,0) [0|1] "" XXX + SG_ TopTrvlCltchSwActGroup : 60|2@0+ (1,0) [0|0] "" XXX + SG_ TopTrvlCltchSwAct : 59|1@0+ (1,0) [0|1] "" XXX + SG_ TopTrvlCltchSwActV : 60|1@0+ (1,0) [0|1] "" XXX + SG_ AdptPsngrSeatStng : 63|3@0+ (1,0) [0|7] "" XXX + +BO_ 2155954176 Climate_Control_Basic_Status_LS: 4 XXX + SG_ ACHtIdleBstLevReq : 1|2@0+ (1,0) [0|3] "" XXX + SG_ ClimCtrlAftBlowModActv : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AirCndActIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ClmCntlExtDefActIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ClntCircPmpRq : 7|1@0+ (1,0) [0|1] "" XXX + SG_ ClmCntFrBlwFnSp : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ AirCndCmptLdEst : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ ClmCntRrBlwFnSp : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2153971712 Driver_Door_Status: 1 XXX + SG_ LftglsAjrSwAct : 1|1@0+ (1,0) [0|1] "" XXX + SG_ LftglsRelSwAct : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DDAjrSwAtvGroup : 7|8@0+ (1,0) [0|0] "" XXX + SG_ DDAjrSwAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DDAjrSwAtvM : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149875712 Battery_Voltage: 7 XXX + SG_ BatVltGroup : 0|17@0+ (1,0) [0|0] "" XXX + SG_ BatVltV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ BatVlt : 23|8@0+ (0.1,3) [3|28.5] "volts" XXX + SG_ BatSaverIO : 1|1@0+ (1,0) [0|1] "" XXX + SG_ SrvBattChrgSysIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ BatSOCGroup : 3|28@0+ (1,0) [0|0] "" XXX + SG_ BatSOCV : 3|1@0+ (1,0) [0|1] "" XXX + SG_ BatSOC : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ BattStOfChrgCrtyLow : 4|1@0+ (1,0) [0|1] "" XXX + SG_ IntlgntBattSnsFldIO : 5|1@0+ (1,0) [0|1] "" XXX + SG_ BattStOfChrgLowIO : 6|1@0+ (1,0) [0|1] "" XXX + SG_ DCCnvStblznErrIO : 7|1@0+ (1,0) [0|1] "" XXX + SG_ EnrgMgtLdShdRq : 11|4@0+ (1,0) [0|15] "" XXX + SG_ BattVltIRq : 13|2@0+ (1,0) [0|3] "" XXX + SG_ PwrMdOffBattSOC : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ BattCrntFltrd : 47|8@0- (0.5,0) [-64|63.5] "A" XXX + SG_ BatSvrMdSevLvl : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 2151186432 Auto_High_Beam_Status: 1 XXX + SG_ AutoBmSlctStat : 1|2@0+ (1,0) [0|3] "" XXX + SG_ CtLghtDet : 2|1@0+ (1,0) [0|1] "" XXX + SG_ AutoHgBmCtrlInOn : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2149629952 Lighting_Status_LS: 5 XXX + SG_ OtsdAmbtLtLvlStatGroup : 0|23@0+ (1,0) [0|0] "" XXX + SG_ OtsdAmbtLtLvlStatV : 0|1@0+ (1,0) [0|1] "" XXX + SG_ OtsdAmbtLtLvlStat : 27|2@0+ (1,0) [0|3] "" XXX + SG_ DRLAct : 1|1@0+ (1,0) [0|1] "" XXX + SG_ HazSwAtv : 2|1@0+ (1,0) [0|1] "" XXX + SG_ PrkLtLeftIO : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PrkLtRightIO : 4|1@0+ (1,0) [0|1] "" XXX + SG_ TrnSwAct : 6|2@0+ (1,0) [0|3] "" XXX + SG_ FrFogLmpsAct : 7|1@0+ (1,0) [0|1] "" XXX + SG_ PrkLtLeftOn : 8|1@0+ (1,0) [0|1] "" XXX + SG_ FrFgLtIO : 9|1@0+ (1,0) [0|1] "" XXX + SG_ AutoLtsInactIO : 10|1@0+ (1,0) [0|1] "" XXX + SG_ AutoLtsActIO : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RrFgLtIO : 12|1@0+ (1,0) [0|1] "" XXX + SG_ HiBmIO : 13|1@0+ (1,0) [0|1] "" XXX + SG_ PrkLtIO : 14|1@0+ (1,0) [0|1] "" XXX + SG_ BrkLtsAtv : 15|1@0+ (1,0) [0|1] "" XXX + SG_ FlToPsSwAtv : 16|1@0+ (1,0) [0|1] "" XXX + SG_ RevLmpAtv : 17|1@0+ (1,0) [0|1] "N/A" XXX + SG_ PrkngLtsAct : 18|1@0+ (1,0) [0|1] "" XXX + SG_ RrFogLmpsAct : 19|1@0+ (1,0) [0|1] "" XXX + SG_ HiBmReqd : 20|1@0+ (1,0) [0|1] "" XXX + SG_ AutoBmSlctAllwd : 21|1@0+ (1,0) [0|1] "" XXX + SG_ PrkLtRightOn : 22|1@0+ (1,0) [0|1] "" XXX + SG_ SrvlnceMdAct : 23|1@0+ (1,0) [0|1] "" XXX + SG_ RtTrnLmpAtv : 25|2@0+ (1,0) [0|3] "" XXX + SG_ LftTrnLmpAtv : 29|2@0+ (1,0) [0|3] "" XXX + SG_ MainLghtSw : 31|2@0+ (1,0) [0|3] "N/A" XXX + SG_ HdlmpBmSelectStat : 33|2@0+ (1,0) [0|3] "" XXX + +BO_ 2149646336 Vehicle_Speed_Information: 8 XXX + SG_ VehSpdAvgDrvnGroup : 7|16@0+ (1,0) [0|0] "" XXX + SG_ VehSpdAvgDrvn : 6|15@0+ (0.015625,0) [0|511.984375] "km / h" XXX + SG_ VehSpdAvgDrvnV : 7|1@0+ (1,0) [0|1] "" XXX + SG_ DstRolCntAvgDrnRstOc : 21|1@0+ (1,0) [0|1] "" XXX + SG_ DistRollCntAvgDrvnGroup : 22|15@0+ (1,0) [0|0] "" XXX + SG_ DistRollCntAvgDrvn : 20|13@0+ (0.125,0) [0|1023.875] "m" XXX + SG_ DistRollCntAvgDrvnV : 22|1@0+ (1,0) [0|1] "" XXX + SG_ VehSpdAvgDrvnSrc : 23|1@0+ (1,0) [0|1] "" XXX + SG_ VehSpdAvgNDrvnGroup : 38|17@0+ (1,0) [0|0] "" XXX + SG_ VehSpdAvgNDrvn : 38|15@0+ (0.015625,0) [0|511.984375] "km / h" XXX + SG_ VehSpdAvgNDrvnV : 54|1@0+ (1,0) [0|1] "" XXX + SG_ DstRolCntAvgNonDrvnGroup : 39|32@0+ (1,0) [0|0] "" XXX + SG_ DstRolCntAvgNonDrvnV : 39|1@0+ (1,0) [0|1] "" XXX + SG_ DstRolCntAvgNonDrvn : 52|13@0+ (0.125,0) [0|1023.875] "m" XXX + SG_ DstRolCntAvNDrRstOc : 53|1@0+ (1,0) [0|1] "" XXX + SG_ DistRollCntAvgDrvnSrc : 55|1@0+ (1,0) [0|1] "" XXX + +BO_ 2154053632 Dimming_Information_LS: 3 XXX + SG_ IntDimNtPnlAtv : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DispNtSchmAtv : 1|1@0+ (1,0) [0|1] "" XXX + SG_ CargoLmpActIO : 2|1@0+ (1,0) [0|1] "" XXX + SG_ IntDimLvl : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX + SG_ IntDimDspLvl : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX + +BO_ 2149851136 System_Power_Mode_LS: 1 XXX + SG_ SysPwrMdGroup : 2|3@0+ (1,0) [0|0] "" XXX + SG_ SysPwrMd : 1|2@0+ (1,0) [0|3] "" XXX + SG_ SysPwrMdV : 2|1@0+ (1,0) [0|1] "" XXX + SG_ KylsStrtAuthRq : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 2159124480 ODI_AuxIP_2_TEL_LS: 8 XXX + SG_ ODI_AxIP2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX + +BO_ 2151530496 TPM_Display_Commands: 6 XXX + SG_ TPMTrLrnMdCmplt : 0|1@0+ (1,0) [0|1] "" XXX + SG_ TrPrsMntrAtLocFld : 1|1@0+ (1,0) [0|1] "" XXX + SG_ TrPrsMntrTrLdStat : 3|2@0+ (1,0) [0|3] "" XXX + SG_ TireTrdTmpStat : 6|3@0+ (1,0) [0|7] "" XXX + SG_ TrFrntAxlPresStat : 9|2@0+ (1,0) [0|3] "" XXX + SG_ TrRrAxlPresStat : 11|2@0+ (1,0) [0|3] "" XXX + SG_ WintTrRecIndOn : 12|1@0+ (1,0) [0|1] "" XXX + SG_ TrPrsMntrFld : 13|1@0+ (1,0) [0|1] "" XXX + SG_ TireLocatnWarnEn : 15|1@0+ (1,0) [0|1] "" XXX + SG_ HVChgSyChgLvPfStRmt1 : 18|3@0+ (1,0) [0|7] "" XXX + SG_ StTODChrgTmpOvrdRmt1 : 20|2@0+ (1,0) [0|3] "" XXX + SG_ PrtyChrgRqRmt1 : 22|2@0+ (1,0) [0|3] "" XXX + SG_ OfBrdHVCVhCsChRqRmt1 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ HVBatTmBsDlChStRqRmt1 : 28|21@0+ (1,0) [0|0] "" XXX + SG_ HVBTBDCSRR1_DChHStRq : 28|5@0+ (1,0) [0|31] "hr" XXX + SG_ HVBTBDCSRR1_DChSlSRq : 35|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCSRR1_DChDStRq : 39|4@0+ (1,0) [0|15] "" XXX + SG_ HVBTBDCSRR1_DChMHSRq : 45|6@0+ (1,0) [0|63] "min" XXX + SG_ HVBTBDCSRR1_DChSnSRq : 47|2@0+ (1,0) [0|3] "" XXX + SG_ HVBatTmBsChgMdRqRmt1 : 31|3@0+ (1,0) [0|7] "" XXX + + + +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "ProtocolType" "GMLAN"; +BA_ "BusType" "CAN"; + diff --git a/opendbc/gm_global_a_object.dbc b/opendbc/gm_global_a_object.dbc new file mode 100644 index 000000000..4643a640a --- /dev/null +++ b/opendbc/gm_global_a_object.dbc @@ -0,0 +1,724 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K109_FCM B233B_LRR NEO VIS_FO VIS2_FO K124_ASCM Vector__XXX EOCM_F_FO EOCM2A_IMX6_FO EOCM2A_K2_FO EOCM2A_K1_FO EOCM2B_IMX6_FO EOCM2B_K2_FO EOCM2B_K1_FO +VAL_TABLE_ RangeMode 1 "Active" 0 "Inactive" ; +VAL_TABLE_ TrkConf 3 "Confident" 2 "Speculative" 1 "Highly speculative" 0 "Invalid" ; +VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected" 1 "New object" 0 "No object" ; +VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currently stopped" 1 "Has never moved," 0 "Unknown" ; +VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ; +VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ; +VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ; +VAL_TABLE_ LnSnsRLnPosValid 1 "Invalid" 0 "Valid" ; +VAL_TABLE_ ObjectType 7 "no object present" 6 "fixed roadside object" 5 "fixed overhead object" 4 "pedestrian" 3 "motocycle / bicycle" 2 "Large vehicle (semi)" 1 "4 Wheel Vehicle (car, small trk)" 0 "Unknown" ; +VAL_TABLE_ FwVsnCinCoutPotT9Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT8Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT7Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT6Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT5Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT4Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT3Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT2Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT1Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT12Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT11Rev 2 "Right" 1 "Left" 0 "None" ; +VAL_TABLE_ FwVsnCinCoutPotT10Rev 2 "Right" 1 "Left" 0 "None" ; + + +BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX + SG_ Always12 : 0|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TimeStatusChecksum : 0|12@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 161 ASCMTimeStatus: 7 NEO + SG_ TimeStatus : 7|28@0+ (1,0) [0|0] "" B233B_LRR + SG_ RollingCounter : 27|2@0+ (1,0) [0|0] "" B233B_LRR + +BO_ 774 ASCMSteeringStatus: 8 NEO + SG_ ASCMSterringStatusChecksum : 55|16@0+ (1,0) [0|0] "" B233B_LRR + SG_ AlwaysF0 : 15|8@0+ (1,0) [0|0] "" B233B_LRR + SG_ Always20 : 23|8@0+ (1,0) [0|0] "" B233B_LRR + SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" B233B_LRR + +BO_ 784 ASCMHeadlight: 2 NEO + SG_ Always42 : 7|8@0+ (1,0) [0|0] "" B233B_LRR + SG_ Always4 : 15|8@0+ (1,0) [0|0] "" B233B_LRR + +BO_ 776 ASCMAccSpeedStatus: 7 NEO + SG_ AccSpeedChecksum : 42|11@0+ (1,0) [0|0] "" B233B_LRR + SG_ RollingCounter : 46|2@0+ (1,0) [0|0] "" B233B_LRR + SG_ NearRangeMode : 43|1@0+ (1,0) [0|0] "" B233B_LRR + SG_ FarRangeMode : 44|1@0+ (1,0) [0|0] "" B233B_LRR + SG_ VehicleAcceleration : 19|12@0+ (1,0) [0|0] "" B233B_LRR + SG_ VehicleSpeed : 15|12@0+ (1,0) [0|0] "" B233B_LRR + SG_ AlwaysOne : 3|1@0+ (1,0) [0|0] "" B233B_LRR + +BO_ 1120 F_LRR_Obj_Header: 8 LRR_FO + SG_ FLRRRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FLRRModeCmdFdbk : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRNumValidTargets : 20|5@0+ (1,0) [0|31] "" EOCM_F_FO + SG_ FLRRTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRTimeStamp : 2|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ FLRRRoadTypeInfo : 5|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FLRRBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + SG_ FLRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRLonVelPlsblityFlt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRYawRtPlsblityFlt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRTunlDtctd : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FLRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1134 LRRObject14: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1132 LRRObject12: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1131 LRRObject11: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1130 LRRObject10: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1129 LRRObject09: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1128 LRRObject08: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1127 LRRObject07: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1126 LRRObject06: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1125 LRRObject05: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1124 LRRObject04: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1123 LRRObject03: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1140 LRRObject20: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1139 LRRObject19: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1138 LRRObject18: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1137 LRRObject17: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1136 LRRObject16: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1135 LRRObject15: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1133 LRRObject13: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1122 LRRObject02: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + +BO_ 1121 LRRObject01: 8 B233B_LRR + SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO + SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" NEO + SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" NEO + SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" NEO + SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m" NEO + SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] "" NEO + + BO_ 1094 F_Vision_Obj_Track_12: 8 VIS2_FO + SG_ FwdVsnObjTypTr12Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk12Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk12Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FVisionWidthTrk12 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FVisionMeasStatTrk12 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk12 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionRelLaneTrk12 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk12 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec" EOCM_F_FO + SG_ FVisionConfTrk12 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ ObjDirTrk12 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk12 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk12 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1093 F_Vision_Obj_Track_11: 8 VIS2_FO + SG_ FwdVsnObjTypTr11Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk11Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk11Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FVisionWidthTrk11 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FVisionMeasStatTrk11 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk11 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionRelLaneTrk11 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk11 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec" EOCM_F_FO + SG_ FVisionConfTrk11 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ ObjDirTrk11 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk11 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk11 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + +BO_ 1100 F_Vision_Obj_Track_12_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT12Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk12 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk12 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk12 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk12 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr12 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk12 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo12 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1099 F_Vision_Obj_Track_11_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT11Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk11 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk11 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk11 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk11 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr11 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk11 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo11 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1098 F_Vision_Obj_Track_10_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT10Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk10 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk10 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk10 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk10 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr10 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk10 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo10 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1097 F_Vision_Obj_Track_9_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT9Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk9 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk9 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk9 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk9 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr9 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk9 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo9 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1096 F_Vision_Obj_Track_8_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT8Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk8 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk8 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk8 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk8 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr8 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk8 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo8 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1095 F_Vision_Obj_Track_7_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT7Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk7 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk7 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk7 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk7 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr7 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk7 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo7 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1068 F_Vision_Obj_Track_6_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT6Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk6 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk6 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk6 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk6 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr6 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk6 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo6 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1067 F_Vision_Obj_Track_5_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT5Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk5 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk5 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk5 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk5 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr5 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk5 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo5 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1066 F_Vision_Obj_Track_4_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT4Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk4 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk4 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk4 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk4 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr4 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk4 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo4 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1065 F_Vision_Obj_Track_3_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT3Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk3 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk3 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk3 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk3 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr3 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk3 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo3 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1064 F_Vision_Obj_Track_2_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT2Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjAgeTrk2 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk2 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk2 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk2 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr2 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk2 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo2 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1063 F_Vision_Obj_Track_1_B: 8 VIS2_FO + SG_ FwVsnCinCoutPotT1Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnObjSclChgTrk1 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO + SG_ FwdVsnObjAgeTrk1 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO + SG_ FwdVsnLongVlctyTrk1 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO + SG_ FwdVsnLatOfstTrk1 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO + SG_ FwdVsnBrkLtStatTrk1 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FwdVsnTrnSigStatTr1 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FrtVsnBrstIDAddInfo1 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1088 F_Vision_Obj_Header_2: 8 VIS2_FO + SG_ FrntVsnInPthVehBrkNwSt : 35|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrntVsnClostPedBrkNwSt : 39|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrntVsnClostPedObjID : 29|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FrntVsnClostPedAlrtNwFlg : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrntVsnClostPedNotftnFlg : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrntVsnInPthVehAlrtNwFlg : 2|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnVldTgtNum2 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FrtVsnTmStmp2V : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnTmStmp2 : 10|11@0+ (1,0) [0|2047] "" EOCM_F_FO + SG_ FrtVsnRollCnt2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FrtVsnBrstChksum2 : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO + +BO_ 854 F_Vision_Environment_7: 3 VIS2_FO + SG_ FwdVsnCnstrctAreaDst : 13|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnCnstrctZnDet : 15|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnEgoVehLnPos : 17|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnRdTypDet : 9|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnTunnlDetd : 23|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ FwdVsnTunnlDst : 21|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID5 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 853 F_Vision_Environment_6: 8 VIS2_FO + SG_ LnMrkg4LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnDstV : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvtGrad : 47|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnSnsLnCrvt : 31|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkrTyp : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID4 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 852 F_Vision_Environment_5: 8 VIS2_FO + SG_ LnMrkg3LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnDstV : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvtGrad : 47|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnSnsLnCrvt : 31|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkrTyp : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBrstID3 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 309 LHT_CameraObjConfirmation_FO: 1 VIS_FO + SG_ HiBmRecmnd : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ CtLghtDet : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 848 F_Vision_Environment: 8 VIS_FO + SG_ FwdVsnEnvIllum : 37|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnRtV : 1|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnRt : 31|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnChngStatus : 39|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseSystemOK : 4|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSnsLLnPosValid : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSenseDistToLLnEdge : 14|7@0+ (0.05,0) [0|6.35] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRLnPosValid : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsDistToRLnEdge : 22|7@0+ (0.05,0) [0|6.35] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseTimeStampV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseTimeStamp : 34|11@0+ (1,0) [0|2047] "ms" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LaneSenseSystemOKV : 3|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 849 F_Vision_Environment_2: 8 VIS_FO + SG_ LnSnsLatVRelToRgtMrkg : 23|8@0- (0.02,0) [-2.56|2.54] "m/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO + SG_ LnSnsRtLnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntRtV : 63|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnMrkgWdthRt : 62|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRtAnchrLn : 57|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtAnchrLn : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrRghtV : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrRght : 47|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntRt : 31|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/rad/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID : 2|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLatVRelToLftMrkg : 15|8@0- (0.02,0) [-2.56|2.54] "m/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + +BO_ 1056 F_Vision_Obj_Header: 6 VIS_FO + SG_ FVsnSnsrBlckd : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ ClstInPathVehObjID : 30|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FrtVsnFld : 6|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnIniDiagSuccCmpt : 5|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnSrvAlgnInPrcs : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FrtVsnUnvlbl : 7|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVISModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO + SG_ FVisionNumValidTrgts : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisionTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO + SG_ VISBurstChecksum : 39|16@0+ (1,0) [0|65535] "" EOCM_F_FO + +BO_ 1057 F_Vision_Obj_Track_1: 8 VIS_FO + SG_ FwdVsnRngTrk1Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk1Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr1Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk1 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisBurstIDTrk1 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk1 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk1 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk1 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ ObjDirTrk1 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1058 F_Vision_Obj_Track_2: 8 VIS_FO + SG_ FwdVsnVertPosTrk2 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk2Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk2Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ ObjDirTrk2 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FwdVsnObjTypTr2Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisBurstIDTrk2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk2 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk2 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk2 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1059 F_Vision_Obj_Track_3: 8 VIS_FO + SG_ FwdVsnVertPosTrk3 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk3Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk3Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr3Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk3 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk3 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk3 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk3 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk3 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1060 F_Vision_Obj_Track_4: 8 VIS_FO + SG_ FwdVsnVertPosTrk4 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FVisionMeasStatTrk4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk4 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FwdVsnRngTrk4Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk4Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr4Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FVisBurstIDTrk4 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk4 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ ObjDirTrk4 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionConfTrk4 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + +BO_ 1061 F_Vision_Obj_Track_5: 8 VIS_FO + SG_ FwdVsnVertPosTrk5 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk5Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk5Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr5Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk5 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk5 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk5 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk5 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk5 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1062 F_Vision_Obj_Track_6: 8 VIS_FO + SG_ FwdVsnVertPosTrk6 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk6Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk6Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr6Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk6 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk6 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk6 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk6 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk6 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1089 F_Vision_Obj_Track_7: 8 VIS2_FO + SG_ FVisBurstIDTrk7 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk7 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk7 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk7 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + SG_ FwdVsnRngTrk7Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnObjTypTr7Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk7Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnVertPosTrk7 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ ObjDirTrk7 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + +BO_ 1090 F_Vision_Obj_Track_8: 8 VIS2_FO + SG_ FVisBurstIDTrk8 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk8 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FwdVsnAzmthTrk8Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnVertPosTrk8 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk8Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnObjTypTr8Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk8 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisionConfTrk8 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk8 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1091 F_Vision_Obj_Track_9: 8 VIS2_FO + SG_ FwdVsnVertPosTrk9 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ FwdVsnRngTrk9Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk9Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr9Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ ObjDirTrk9 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk9 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk9 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk9 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk9 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk9 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 1092 F_Vision_Obj_Track_10: 8 VIS2_FO + SG_ FwdVsnRngTrk10Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO + SG_ FwdVsnAzmthTrk10Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO + SG_ FwdVsnObjTypTr10Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO + SG_ FwdVsnVertPosTrk10 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO + SG_ ObjDirTrk10 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO + SG_ FVisBurstIDTrk10 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionObjectIDTrk10 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO + SG_ FVisionConfTrk10 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionAzRateTrk10 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO + SG_ FVisionRelLaneTrk10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionMeasStatTrk10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO + SG_ FVisionWidthTrk10 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO + +BO_ 851 F_Vision_Environment_4: 8 VIS_FO + SG_ LnMrkg3LnPrvwDst : 45|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTtlNmLnMrkgDetRt : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsRtLinCrsTm : 25|5@0+ (0.1,0) [0|3.1] "s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsNumPrlLnsDetRt : 33|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsNumPrlLnsDetLt : 36|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntLftV : 31|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLinCrsTm : 30|5@0+ (0.1,0) [0|3.1] "s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnPrvwDst : 50|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkgTypChgDst : 40|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMrkgWdth : 62|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4LnMarkrElvtd : 51|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg4AnchrLnLin : 57|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMrkgWdth : 41|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3LnMarkrElvtd : 46|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkg3AnchrLnLin : 52|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID2 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsCrvtGrdntLft : 15|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/rad/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + + BO_ 850 F_Vision_Environment_3: 8 VIS_FO + SG_ LnSnsTtlNmLnMrkgDetLt : 58|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLnMrkgWdth : 63|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLtLnMrkgTypChgDst : 62|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnLftV : 23|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsTngtOfHdngLnLft : 31|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrLftV : 15|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsLnCrvtrLft : 39|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrTypRght : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrTypLft : 53|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrElvtdRght : 54|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnMrkrElvtdLft : 55|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnSnsBurstID1 : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnQltyCnfdncLvlRght : 22|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnQltyCnfdncLvlLft : 14|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnPrvwDstncRght : 2|3@0+ (10,0) [0|70] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + SG_ LnPrvwDstncLft : 5|3@0+ (10,0) [0|70] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO + + +BO_TX_BU_ 161 : K124_ASCM,NEO; +BO_TX_BU_ 774 : K124_ASCM,NEO; +BO_TX_BU_ 784 : K124_ASCM,NEO; +BO_TX_BU_ 776 : K124_ASCM,NEO; + + +CM_ BU_ K109_FCM "Frontview Camera Module"; +CM_ BU_ B233B_LRR "Radar Sensor Module Long Range"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ VIS_FO "Front Camera Data"; +CM_ BU_ VIS2_FO "Front Camera Data2"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +CM_ BO_ 3221225472 "This is a message for not used signals, created by Vector CANdb++ DBC OLE DB Provider."; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; +BA_ "UseGMParameterIDs" 0; +VAL_ 776 NearRangeMode 1 "Active" 0 "Inactive"; +VAL_ 776 FarRangeMode 1 "Active" 0 "Inactive"; diff --git a/opendbc/gm_global_a_powertrain_expansion.dbc b/opendbc/gm_global_a_powertrain_expansion.dbc new file mode 100644 index 000000000..b18ac6974 --- /dev/null +++ b/opendbc/gm_global_a_powertrain_expansion.dbc @@ -0,0 +1,56 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: +BU_: K1_APM +BO_ 470 APM_Stats: 7 K1_APM + SG_ APM_Low_Voltage_Sensed : 16|8@1+ (0.0787402,0) [0|0] "V" Vector__XXX + SG_ APM_Temperature_1 : 24|8@1+ (1,-40) [0|0] "C" Vector__XXX + SG_ APM_Temperature_2 : 32|8@1+ (1,-40) [0|0] "C" Vector__XXX + SG_ APM_Low_Voltage_Current_Output : 40|8@1- (1,0) [0|0] "A" Vector__XXX + SG_ APM_Status : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ APM_High_Voltage_Input_Current : 8|8@1- (0.15,-7) [0|0] "A" Vector__XXX + SG_ APM_Counter : 48|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 468 APM_Command: 2 K1_APM + SG_ APM_Status : 0|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ APM_Voltage_Requested : 8|8@1+ (0.0787402,0) [0|0] "V" Vector__XXX + +BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ; +BA_DEF_ BO_ "GenMsgForegroundColor" STRING ; +BA_DEF_ BO_ "isj1939dbc" INT 0 0; +BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff"; +BA_DEF_DEF_ "GenMsgForegroundColor" "#000000"; +BA_DEF_DEF_ "isj1939dbc" 0; +CM_ BU_ K1_APM "14V Power Module"; +VAL_ 468 APM_Status 0 "Off" 160 "On"; diff --git a/opendbc/gm_global_a_powertrain_generated.dbc b/opendbc/gm_global_a_powertrain_generated.dbc new file mode 100644 index 000000000..839fe742f --- /dev/null +++ b/opendbc/gm_global_a_powertrain_generated.dbc @@ -0,0 +1,318 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 NEO + SG_ GAS_COMMAND : 7|16@0+ (0.125677,-75.909) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.251976,-76.601) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (0.125677,-75.909) [0|1] "" NEO + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.251976,-76.601) [0|1] "" NEO + SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +CM_ "gm_global_a_powertrain.dbc starts here"; + +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB +VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ; +VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; +VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ; +VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ; +VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ; +VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ; +VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; +VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ; +VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; + + +BO_ 189 EBCMRegenPaddle: 7 K17_EBCM + SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] "" NEO + +BO_ 190 ECMAcceleratorPos: 6 K20_ECM + SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky" NEO + SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] "" NEO + +BO_ 201 ECMEngineStatus: 8 K20_ECM + SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO + SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO + SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO + SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO + SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO + +BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM + SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX + SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX + SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX + SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX + +BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM + SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO + +BO_ 298 BCMDoorBeltStatus: 8 K9_BCM + SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] "" NEO + SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] "" NEO + SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] "" NEO + SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] "" NEO + SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] "" NEO + SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] "" NEO + +BO_ 309 ECMPRDNL: 8 K20_ECM + SG_ PRNDL : 2|3@0+ (1,0) [0|0] "" NEO + SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 320 BCMTurnSignals: 3 K9_BCM + SG_ TurnSignals : 19|2@0+ (1,0) [0|0] "" NEO + SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX + SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX + SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 328 PSCM_148: 1 K43_PSCM + +BO_ 381 ESPStatus: 6 K20_ECM + SG_ TractionControlOn : 5|1@0+ (1,0) [0|0] "" NEO + SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] "" NEO + +BO_ 384 ASCMLKASteeringCmd: 4 NEO + SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] "" NEO + SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] "" NEO + +BO_ 388 PSCMStatus: 8 K43_PSCM + SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO + SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO + SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO + SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO + SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO + SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO + +BO_ 417 AcceleratorPedal: 7 XXX + SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 451 GasAndAcc: 8 XXX + SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] "" NEO + +BO_ 452 AcceleratorPedal2: 8 XXX + SG_ CruiseState : 15|3@0+ (1,0) [0|7] "" NEO + SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] "" NEO + +BO_ 481 ASCMSteeringButton: 7 K124_ASCM + SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO + SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO + SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO + SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX + +BO_ 485 PSCMSteeringAngle: 8 K43_PSCM + SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO + SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO + +BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM + SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO + SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO + SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO + SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO + +BO_ 352 VehicleIgnition: 5 XXX + SG_ Ignition : 7|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 497 VehicleIgnitionAlt: 8 XXX + SG_ Ignition : 5|1@0+ (1,0) [0|1] "" XXX + SG_ ParkBrake : 36|1@0+ (1,0) [0|3] "" XXX + +BO_ 501 ECMPRDNL2: 8 K20_ECM + SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO + SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO + SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO + +BO_ 560 EPBStatus: 8 EPB + SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO + +BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM + SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO + SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO + +BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM + SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO + SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO + SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] "" NEO + SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] "" NEO + +BO_ 717 ASCM_2CD: 5 K124_ASCM + +BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM + SG_ RollingCounter : 33|2@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO + SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO + +BO_ 800 AEBCmd: 6 K124_ASCM + SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO + SG_ Checksum : 27|20@0+ (1,0) [0|2047] "" NEO + SG_ BrakeCmdActive : 3|1@1+ (1,0) [0|1] "" NEO + SG_ BrakingForce : 2|7@0+ (1,0) [0|7] "" NEO + +BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC + SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO + SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO + +BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM + SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + +BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM + SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + +BO_ 869 ASCM_365: 4 K124_ASCM + +BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM + SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO + SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO + SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO + SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO + SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX + +BO_ 1001 ECMVehicleSpeed: 8 K20_ECM + SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO + +BO_ 1033 ASCMKeepAlive: 7 NEO + SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO + +BO_ 1034 ASCM_40A: 7 K124_ASCM + +BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM + SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C" NEO + +BO_ 1249 VIN_Part2: 8 K20_ECM + SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1296 ASCM_510: 4 K124_ASCM + +BO_ 1300 VIN_Part1: 8 K20_ECM + SG_ VINPart1 : 7|64@0+ (1,0) [0|0] "" NEO + +BO_ 1912 PSCM_778: 8 K43_PSCM + +BO_ 1930 ASCM_78A: 7 K124_ASCM + +BO_TX_BU_ 384 : K124_ASCM,NEO; +BO_TX_BU_ 880 : NEO,K124_ASCM; +BO_TX_BU_ 1033 : K124_ASCM,NEO; +BO_TX_BU_ 715 : NEO,K124_ASCM; +BO_TX_BU_ 789 : NEO,K124_ASCM; +BO_TX_BU_ 800 : NEO,K124_ASCM; + + +CM_ BU_ K16_BECM "Battery Energy Control Module"; +CM_ BU_ K73_TCIC "Telematics Communication Control Module"; +CM_ BU_ K9_BCM "Body Control Module"; +CM_ BU_ K43_PSCM "Power Steering Control Module"; +CM_ BU_ K17_EBCM "Electronic Brake Control Module"; +CM_ BU_ K20_ECM "Engine Control Module"; +CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; +CM_ BU_ NEO "Comma NEO"; +CM_ BU_ K124_ASCM "Active Safety Control Module"; +CM_ SG_ 381 MSG17D_AccPower "Need to investigate"; +CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62"; +CM_ SG_ 352 Ignition "Non-zero when ignition is on"; +CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62"; +CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy"; +CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10"; +BA_DEF_ "UseGMParameterIDs" INT 0 0; +BA_DEF_ "ProtocolType" STRING ; +BA_DEF_ "BusType" STRING ; +BA_DEF_DEF_ "UseGMParameterIDs" 1; +BA_DEF_DEF_ "ProtocolType" "GMLAN"; +BA_DEF_DEF_ "BusType" ""; +BA_ "BusType" "CAN"; +BA_ "ProtocolType" "GMLAN"; +BA_ "UseGMParameterIDs" 0; +VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ; +VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ; +VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; +VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ; +VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ; +VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ; +VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ; +VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ; +VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; +VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ; +VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; +VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ; +VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; +VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ; +VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; +VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ; +VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ; +VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ; +VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting"; +VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged"; +VAL_ 501 ManualMode 1 "Active" 0 "Inactive" diff --git a/opendbc/honda_accord_2018_can_generated.dbc b/opendbc/honda_accord_2018_can_generated.dbc new file mode 100644 index 000000000..d1a84ac80 --- /dev/null +++ b/opendbc/honda_accord_2018_can_generated.dbc @@ -0,0 +1,520 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _bosch_adas_2018.dbc starts here"; +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_accord_2018_can.dbc starts here"; + +BO_ 401 GEARBOX_15T: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 419 GEARBOX: 8 XXX + SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS + SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; +VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P"; +VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P"; +VAL_ 545 ECON_ON_2 0 "off" 3 "on"; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none"; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none"; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released"; diff --git a/opendbc/honda_civic_ex_2022_can_generated.dbc b/opendbc/honda_civic_ex_2022_can_generated.dbc new file mode 100644 index 000000000..782316108 --- /dev/null +++ b/opendbc/honda_civic_ex_2022_can_generated.dbc @@ -0,0 +1,503 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_civic_ex_2022_can.dbc starts here"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 456 ACC_CONTROL: 8 XXX + SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX + SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX + SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@1+ (1,0) [0|7] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_1 : 24|1@1+ (1,0) [0|3] "" XXX + SG_ FCW_2 : 54|1@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ LANE_LINES : 36|2@0+ (1,0) [0|3] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +BO_ 882 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +BO_ 254913108 LKAS_HUD_2: 8 ADAS + SG_ COUNTER_2 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_BOH_1 : 15|6@0+ (1,0) [0|63] "" XXX + SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_BOH_2 : 30|5@0+ (1,0) [0|31] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +CM_ BO 456 "not sure which bit enables cruise"; +CM_ SG_ 456 ACCEL_COMMAND "seems to be m/s^2? need to verify"; +CM_ SG_ 456 BOH "could be cruise standstill?"; + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; diff --git a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc new file mode 100644 index 000000000..349fd2f9e --- /dev/null +++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc @@ -0,0 +1,502 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _bosch_adas_2018.dbc starts here"; +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS + SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/honda_civic_touring_2016_can_generated.dbc b/opendbc/honda_civic_touring_2016_can_generated.dbc new file mode 100644 index 000000000..9be63fe36 --- /dev/null +++ b/opendbc/honda_civic_touring_2016_can_generated.dbc @@ -0,0 +1,388 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_civic_touring_2016_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 493 HUD_SETTING: 5 XXX + SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON + +BO_ 545 ECON_STATUS: 6 XXX + SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\""; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; diff --git a/opendbc/honda_clarity_hybrid_2018_can_generated.dbc b/opendbc/honda_clarity_hybrid_2018_can_generated.dbc new file mode 100644 index 000000000..0e703e572 --- /dev/null +++ b/opendbc/honda_clarity_hybrid_2018_can_generated.dbc @@ -0,0 +1,405 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_clarity_hybrid_2018_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 388 BRAKE_ERROR: 8 XXX + SG_ BRAKE_ERROR_1 : 32|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 34|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 545 ECON_STATUS: 6 XXX + SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 768 VEHICLE_STATE: 8 ADAS + SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX + SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX + SG_ SET_ME_X8A : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_XD0 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SALTED_WITH_IDX : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 769 VEHICLE_STATE2: 8 ADAS + SG_ SET_ME_X5D : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X02 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X5F : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +BO_ 1302 XXX_27: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 5 "tmp_fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; diff --git a/opendbc/honda_crv_ex_2017_body_generated.dbc b/opendbc/honda_crv_ex_2017_body_generated.dbc new file mode 100644 index 000000000..4d154e53f --- /dev/null +++ b/opendbc/honda_crv_ex_2017_body_generated.dbc @@ -0,0 +1,13 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + +CM_ "honda_crv_ex_2017_body.dbc starts here"; +BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX + SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX + +BO_ 318291615 BSM_STATUS_LEFT: 8 XXX + SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX + +VAL_ 318291879 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off"; +VAL_ 318291615 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off"; diff --git a/opendbc/honda_crv_ex_2017_can_generated.dbc b/opendbc/honda_crv_ex_2017_can_generated.dbc new file mode 100644 index 000000000..345d94819 --- /dev/null +++ b/opendbc/honda_crv_ex_2017_can_generated.dbc @@ -0,0 +1,505 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _bosch_adas_2018.dbc starts here"; +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_crv_ex_2017_can.dbc starts here"; + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX + SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied"; +CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas"; + +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/honda_crv_executive_2016_can_generated.dbc b/opendbc/honda_crv_executive_2016_can_generated.dbc new file mode 100644 index 000000000..a00563215 --- /dev/null +++ b/opendbc/honda_crv_executive_2016_can_generated.dbc @@ -0,0 +1,332 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + +CM_ "honda_crv_executive_2016_can.dbc starts here"; + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/honda_crv_touring_2016_can_generated.dbc b/opendbc/honda_crv_touring_2016_can_generated.dbc new file mode 100644 index 000000000..d56746bc2 --- /dev/null +++ b/opendbc/honda_crv_touring_2016_can_generated.dbc @@ -0,0 +1,337 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_crv_touring_2016_can.dbc starts here"; + +BO_ 399 STEER_STATUS: 6 EPS + SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON + SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS + SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/honda_fit_ex_2018_can_generated.dbc b/opendbc/honda_fit_ex_2018_can_generated.dbc new file mode 100644 index 000000000..b1900455c --- /dev/null +++ b/opendbc/honda_fit_ex_2018_can_generated.dbc @@ -0,0 +1,347 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_fit_ex_2018_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/honda_fit_hybrid_2018_can_generated.dbc b/opendbc/honda_fit_hybrid_2018_can_generated.dbc new file mode 100644 index 000000000..53b3070a4 --- /dev/null +++ b/opendbc/honda_fit_hybrid_2018_can_generated.dbc @@ -0,0 +1,361 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + +CM_ "honda_fit_hybrid_2018_can.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 545 ECON_STATUS: 5 XXX + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/honda_insight_ex_2019_can_generated.dbc b/opendbc/honda_insight_ex_2019_can_generated.dbc new file mode 100644 index 000000000..095774203 --- /dev/null +++ b/opendbc/honda_insight_ex_2019_can_generated.dbc @@ -0,0 +1,484 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _bosch_2018.dbc starts here"; +BO_ 148 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX + SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 576 LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 577 LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 579 RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 580 RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM + SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX + SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX + SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX + SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX + SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM + SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX + SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX + SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX + SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 13274 LKAS_HUD_A: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 13275 LKAS_HUD_B: 8 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; +CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; +CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; +CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; +CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; +CM_ SG_ 577 LINE_SOLID "1 = line is solid"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; + + +CM_ "Imported file _bosch_adas_2018.dbc starts here"; +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX + SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX + SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; +CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; +CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; +CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_a.dbc starts here"; +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON + SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_insight_ex_2019_can.dbc starts here"; + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +VAL_ 419 GEAR 10 "R" 1 "D" 0 "P"; +VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P"; diff --git a/opendbc/honda_odyssey_exl_2018_generated.dbc b/opendbc/honda_odyssey_exl_2018_generated.dbc new file mode 100644 index 000000000..1afefeee1 --- /dev/null +++ b/opendbc/honda_odyssey_exl_2018_generated.dbc @@ -0,0 +1,374 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + + +CM_ "Imported file _steering_sensors_b.dbc starts here"; +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + +CM_ "honda_odyssey_exl_2018.dbc starts here"; + +BO_ 228 STEERING_CONTROL: 5 ADAS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON + SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 450 EPB_STATUS: 8 XXX + SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 927 RADAR_HUD: 8 ADAS + SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY + SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY + SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY + SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY + SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY + SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; + +VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; +VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; +VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ; +VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; +VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc new file mode 100644 index 000000000..5ee66d2ca --- /dev/null +++ b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc @@ -0,0 +1,355 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _honda_common.dbc starts here"; +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 316 GAS_PEDAL: 8 PCM + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 427 STEER_MOTOR_TORQUE: 3 EPS + SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON + SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON + SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 490 VEHICLE_DYNAMICS: 8 VSA + SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY + SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY + SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY + SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY + SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY + +BO_ 804 CRUISE: 8 PCM + SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON + SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON + SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON + SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 884 STALK_STATUS: 8 XXX + SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +CM_ SG_ 304 "Seems to be platform-agnostic"; +CM_ SG_ 316 "Should exist on Nidec"; +CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; +CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; +CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; +CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; +CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; +CM_ SG_ 780 PCM_SPEED "Used by Nidec"; +CM_ SG_ 780 PCM_GAS "Used by Nidec"; +CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; + +VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; +VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; +VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; +VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; + + +CM_ "Imported file _nidec_common.dbc starts here"; +BO_ 145 KINEMATICS: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 148 KINEMATICS_ALT: 8 XXX + SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON + SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON + SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 487 BRAKE_PRESSURE: 4 VSA + SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + +BO_ 506 BRAKE_COMMAND: 8 ADAS + SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM + SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM + SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM + SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM + SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM + SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM + SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM + SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM + SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM + SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX + SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 892 CRUISE_PARAMS: 8 PCM + SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; +CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; +CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; +CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; + +VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; +VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; +VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; +VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; + +CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here"; + +BO_ 342 STEERING_SENSORS: 6 EPS + SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON + SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + +BO_ 401 GEARBOX: 8 PCM + SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON + SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 404 STEERING_CONTROL: 4 EON + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS + SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS + SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS + +BO_ 422 SCM_BUTTONS: 8 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON + SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON + SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON + SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 XXX + SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 660 SCM_FEEDBACK: 8 SCM + SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON + SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 862 HIGHBEAM_CONTROL: 8 ADAS + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 1302 ODOMETER: 8 XXX + SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; +VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ; +VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; +VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; +VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; +VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/hyundai_2015_ccan.dbc b/opendbc/hyundai_2015_ccan.dbc new file mode 100644 index 000000000..0c86beb95 --- /dev/null +++ b/opendbc/hyundai_2015_ccan.dbc @@ -0,0 +1,1416 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: IAP ODS _4WD BCM HUD DATC MDPS AAF_Tester AEMC SMK _4WD EPB CUBIS MTS TMU EVP CGW TPMS LPI DI_BOX SPAS EMS LCA TCU IBOX FATC AFLS FPCM SCC AHLS AVM ABS SNV OPI PGS SAS AAF Dummy LDWS_LKAS LVR ESC PSB CLU ECS ACU REA + +BO_ 1532 ODS13: 5 ODS + SG_ CR_Ods_ID : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_Chksum_H : 8|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_Chksum_L : 16|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_RomID_H : 24|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_RomID_L : 32|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + +BO_ 1531 ODS12: 8 ODS + SG_ CR_Ods_SerNum0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum3 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum4 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum5 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum6 : 48|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum7 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + +BO_ 1530 ODS11: 8 ODS + SG_ CF_Ods_PrcCmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy + SG_ CF_Ods_BtsFail : 3|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy + SG_ CF_Ods_AcuRcvSN : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_EolCal : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_PsFail : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_EcuFail : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_WgtStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_OccStat : 16|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CR_Wcs_ErrStat : 32|8@1+ (1.0,0.0) [0.0|63.0] "" ACU + SG_ CR_Wcs_ClassStat : 40|8@1+ (1.0,0.0) [0.0|4.0] "" ACU,BCM + +BO_ 1017 ECS12: 4 ECS + SG_ Height_FL : 0|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_FR : 8|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_RL : 16|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_RR : 24|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + +BO_ 1268 SPAS12: 8 SPAS + SG_ CF_Spas_HMI_Stat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Spas_Disp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS + SG_ CF_Spas_FIL_Ind : 10|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FIR_Ind : 13|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FOL_Ind : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FOR_Ind : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_VolDown : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RIL_Ind : 24|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_RIR_Ind : 27|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FLS_Alarm : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_ROL_Ind : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_ROR_Ind : 35|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FCS_Alarm : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_FI_Ind : 40|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_RI_Ind : 43|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FRS_Alarm : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_FR_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Spas_RR_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Spas_BEEP_Alarm : 52|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Spas_StatAlarm : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Spas_RLS_Alarm : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RCS_Alarm : 59|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RRS_Alarm : 61|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1265 CLU11: 4 CLU + SG_ CF_Clu_CruiseSwState : 0|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,LDWS_LKAS,SCC + SG_ CF_Clu_CruiseSwMain : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,LDWS_LKAS,SCC + SG_ CF_Clu_SldMainSW : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Clu_ParityBit1 : 5|1@1+ (1.0,0.0) [0.0|1.0] "pulse count" EMS + SG_ CF_Clu_VanzDecimal : 6|2@1+ (0.125,0.0) [0.0|0.375] "" EMS + SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0.0) [0.0|255.5] "km/h or MPH" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Clu_SPEED_UNIT : 17|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Clu_DetentOut : 18|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,BCM,LCA,PGS,SPAS + SG_ CF_Clu_RheostatLevel : 19|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,BCM,LCA,PGS,SPAS + SG_ CF_Clu_CluInfo : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_AmpInfo : 25|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1.0,0.0) [0.0|15.0] "" AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC + +BO_ 1492 TMU_GW_PE_01: 8 CLU + SG_ TMU_IVRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ TMU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1491 HU_DATC_PE_00: 8 CLU + SG_ HU_VRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ HU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ BlowerNoiseControl : 4|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1490 HU_DATC_E_02: 8 CLU + SG_ HU_DATC_RearOnOffSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ HU_DATC_ADSOnOffSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1479 EMS21: 8 EMS + SG_ SCR_LEVEL_WARN_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ SCR_LEVEL_WARN : 1|3@1+ (1.0,0.0) [0.0|4.0] "" CLU + SG_ SCR_SYS_ERROR_WARN : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ SCR_SYSTEM_WARN_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ SCR_INDUCEMENT_EXIT_COND : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ SCR_UREA_LEVEL : 16|8@1+ (0.5,0.0) [0.0|100.0] "%" CLU + SG_ SCR_NO_REMAINING_RESTARTS : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ SCR_REMAINING_DISTANCE : 32|16@1+ (1.0,0.0) [0.0|25000.0] "km" CLU + +BO_ 1472 GW_Warning_PE: 8 BCM + SG_ Audio_VolumeDown : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Flh_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Fcnt_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Frh_Alarm : 52|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Rlh_Alarm : 56|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS + SG_ Pas_Spkr_Rcnt_Alarm : 58|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Rrh_Alarm : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS + +BO_ 1984 CAL_SAS11: 2 ESC + SG_ CCW : 0|4@1+ (1.0,0.0) [0.0|15.0] "" SAS + SG_ SAS_CID : 4|11@1+ (1.0,0.0) [0.0|2047.0] "" SAS + +BO_ 1456 CLU12: 4 CLU + SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km" _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS + +BO_ 688 SAS11: 5 MDPS + SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU + SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] "" AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU + SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS + SG_ CheckSum : 36|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS + +BO_ 1441 ACU12: 8 ACU + SG_ CR_Acu_SN : 0|64@1+ (1.0,0.0) [0.0|0.0] "" ODS + +BO_ 1440 ACU11: 8 ACU + SG_ CF_Ods_SNRcv : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Ods_IDRcv : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Ods_RZReq : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Abg_DepInhEnt : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Abg_DepEnt : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_PasBkl_FltStat : 28|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_DriBkl_FltStat : 29|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_PasBkl_Stat : 30|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,ODS,PSB,TMU + SG_ CF_DriBkl_Stat : 31|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_SWL_Ind : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX + SG_ CF_Acu_FltStat : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX + SG_ CF_Acu_ExtOfSab : 36|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,CUBIS,IBOX + SG_ CF_Acu_Dtc : 40|16@1+ (1.0,0.0) [0.0|65535.0] "" CUBIS,IBOX + SG_ CF_Acu_NumOfFlt : 56|8@1+ (1.0,0.0) [0.0|255.0] "" CUBIS,IBOX + +BO_ 1437 AHLS11: 8 AHLS + SG_ CF_Ahls_WarnLamp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Ahls_WarnMsg : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1434 PSB11: 2 PSB + SG_ PSB_LH_FAIL : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PSB_LH_TGL : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ PSB_LH_ACT : 3|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy + SG_ PSB_RH_FAIL : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PSB_RH_TGL : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ PSB_RH_ACT : 11|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy + +BO_ 916 TCS13: 8 ESC + SG_ aBasis : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC + SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,SCC + SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,SCC + SG_ ACCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ TQI_ACC : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS + SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC + SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ StandStill : 47|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ CheckSum_TCS3 : 48|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,SCC + SG_ ACC_EQUIP : 52|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ PBRAKE_ACT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ ACC_REQ : 54|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ DriverBraking : 55|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ CF_VSM_Coded : 56|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_VSM_Avail : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,SCC + SG_ CF_VSM_Handshake : 59|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_DriBkeStat : 60|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_VSM_ConfSwi : 61|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ AEB_EQUIP : 63|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + +BO_ 1427 TPMS11: 6 BCM + SG_ TPMS_W_LAMP : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX + SG_ TREAD_W_LAMP : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX + SG_ POS_FL_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_FR_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_RL_W_LAMP : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_RR_W_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ STATUS_TPMS : 8|3@1+ (1.0,0.0) [0.0|0.0] "" CLU + SG_ UNIT : 11|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PRESSURE_FL : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_FR : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_RL : 32|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_RR : 40|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + +BO_ 915 TCS12: 4 ESC + SG_ SA_COUNT : 0|16@1+ (2.0,-32768.0) [-32768.0|98302.0] "" _4WD,ACU,MDPS + SG_ SA_Z_COUNT : 16|15@1+ (2.0,-32768.0) [-32768.0|32766.0] "" _4WD,ACU,MDPS + SG_ SA_Z_FLAG : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,MDPS + +BO_ 1170 EMS19: 8 EMS + SG_ CF_Ems_BrkReq : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,TCU + SG_ CF_Ems_DnShftReq : 1|4@1+ (1.0,0.0) [0.0|14.0] "" IBOX,TCU + SG_ CF_Ems_RepModChk : 5|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,IBOX + SG_ CF_Ems_DecelReq : 8|12@1+ (0.0010,-4.094) [-4.094|0.0] "m/s^2" ESC,IBOX,TCU + SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0.0) [0.0|4094.0] "hPa" CLU,IBOX + SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40.0) [0.0|254.0] "deg" CLU,IBOX + SG_ DPF_LAMP_STAT : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ BAT_LAMP_STAT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41.0) [-41.0|85.5] "deg" AAF,IBOX + SG_ CF_Ems_OPSFail : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU + SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU + +BO_ 1425 AFLS11: 2 AFLS + SG_ AFLS_STAT : 1|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Afls_TrfChgStat : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Afls_LedHLStat : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 912 SPAS11: 7 SPAS + SG_ CF_Spas_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,MDPS + SG_ CF_Spas_TestMode : 4|2@1+ (1.0,0.0) [0.0|3.0] "" MDPS + SG_ CR_Spas_StrAngCmd : 8|16@1- (0.1,0.0) [-3276.8|3276.7] "" MDPS + SG_ CF_Spas_BeepAlarm : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Spas_Mode_Seq : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_AliveCnt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Spas_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Spas_PasVol : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CGW,CLU + +BO_ 1168 EPB11: 7 EPB + SG_ EPB_I_LAMP : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU,CUBIS,ESC,IBOX + SG_ EPB_F_LAMP : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,ESC,IBOX + SG_ EPB_ALARM : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ EPB_CLU : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC + SG_ EPB_SWITCH : 16|2@1+ (1.0,0.0) [0.0|3.0] "" ESC,SCC + SG_ EPB_RBL : 18|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,ESC + SG_ EPB_STATUS : 19|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC,SCC,TCU + SG_ EPB_FRC_ERR : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,SCC,TCU + SG_ EPB_DBF_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ ESP_ACK : 25|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ EPB_DBF_REQ : 26|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ EPB_FAIL : 29|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,SCC + SG_ EPB_FORCE : 32|12@1+ (1.0,-1000.0) [-1000.0|3000.0] "" ESC + SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0.0) [0.0|2.54] "g" ESC + +BO_ 399 EMS_H12: 8 EMS + SG_ R_TqAcnApvC : 0|8@1+ (0.2,0.0) [0.0|51.0] "Nm" DATC,IBOX + SG_ R_PAcnC : 8|8@1+ (125.0,0.0) [0.0|31875.0] "hPa" DATC,IBOX + SG_ TQI_B : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ABS,ESC,IBOX + SG_ SLD_VS : 24|8@1+ (1.0,0.0) [0.0|255.0] "km/h" CLU,IBOX + SG_ CF_CdaStat : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AEMC,IBOX,TCU + SG_ CF_Ems_IsgStat : 35|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,MDPS,SMK,TCU + SG_ CF_Ems_OilChg : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ R_NEngIdlTgC : 40|8@1+ (10.0,0.0) [0.0|2550.0] "rpm" DATC,IBOX,TCU + SG_ CF_Ems_UpTarGr : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_DownTarGr : 49|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_DesCurGr : 50|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX + SG_ CF_Ems_SldAct : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_SldPosAct : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_HPresStat : 56|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ CF_Ems_IsgBuz : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_FCopen : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_ActEcoAct : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ CF_Ems_EngRunNorm : 61|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,IBOX,TCU + SG_ CF_Ems_IsgStat2 : 62|2@1+ (2.0,0.0) [0.0|3.0] "" CLU,IBOX,TCU + +BO_ 1419 LCA11: 8 LCA + SG_ CF_Lca_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Rcta_Stat : 4|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Lca_IndLeft : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Rcw_Stat : 10|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_RCW_Warning : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Lca_IndRight : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Lca_SndWan_Stat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_FR_SndWan : 20|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_FL_SndWan : 21|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_RR_SndWan : 22|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_RL_SndWan : 23|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_Lca_IndBriLeft : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_Lca_IndBriRight : 32|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndBriLeft : 40|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndBriRight : 48|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndLeft : 56|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_RCTA_IndRight : 58|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_SndWarnForClu : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 906 ABS11: 8 ABS + SG_ ABS_DEF : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EMS,SPAS,TCU + SG_ EBD_DEF : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,SPAS,TCU + SG_ ABS_ACT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EPB,SPAS,TCU + SG_ ABS_W_LAMP : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,MTS,TMU + SG_ EBD_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ ABS_DIAG : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ ESS_STAT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS + +BO_ 903 WHL_PUL11: 6 ABS + SG_ WHL_PUL_FL : 0|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_FR : 8|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_RL : 16|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_RR : 24|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_DIR_FL : 32|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_FR : 34|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_RL : 36|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_RR : 38|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_PUL_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,SPAS,TPMS,EPB,LCA,LDWS_LKAS,SPAS,TPMS + +BO_ 1415 TMU11: 8 IBOX + SG_ CF_Tmu_VehSld : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Tmu_VehImmo : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Tmu_ReqRepCnd : 2|2@1+ (1.0,0.0) [0.0|3.0] "" EMS + SG_ CF_Tmu_AirconCtr : 4|1@1+ (1.0,0.0) [0.0|1.0] "" DATC + SG_ CF_Tmu_TempMd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" DATC + SG_ CF_Tmu_TempSet : 6|16@1+ (1.0,0.0) [0.0|20.0] "" DATC + SG_ CF_Tmu_DefrostCtr : 22|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,FATC + SG_ CF_Tmu_AliveCnt1 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" EMS + +BO_ 902 WHL_SPD11: 8 ABS + SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,ACU,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,BCM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,BCM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_AliveCounter_LSB : 14|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_AliveCounter_MSB : 30|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_Checksum_LSB : 46|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_Checksum_MSB : 62|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + +BO_ 1414 EVP11: 3 EVP + SG_ CF_Evp_Stat : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1412 AAF11: 8 AAF + SG_ CF_Aaf_ActFlapStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester + SG_ CF_Aaf_ModeStatus : 2|3@1+ (1.0,0.0) [0.0|7.0] "" AAF_Tester + SG_ CF_Aaf_WrnLamp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Aaf_ErrStatus : 6|10@1+ (1.0,0.0) [0.0|1023.0] "" AAF_Tester,EMS + SG_ CF_Aaf_OpenRqSysAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester + SG_ CF_Aaf_PStatus : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" AAF_Tester + SG_ CF_Aaf_OpenRqSysSol : 32|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester + SG_ CF_Aaf_SolFlapStatus : 40|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester + SG_ CF_Aaf_MilOnReq : 42|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 900 EMS17: 8 EMS + SG_ CF_Ems_PkpCurMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_HolCurMSV : 8|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_InjVBnkAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_InjVActSet : 24|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_DiagFulHDEV : 32|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_SwiOffIC1 : 33|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_SwiOffIC2 : 34|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_DiagReqHDEV : 38|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CR_Ems_DutyCycMSV : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" DI_BOX + SG_ CR_Ems_BatVolRly : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" DI_BOX + +BO_ 387 REA11: 8 REA + SG_ CF_EndBst_PwmDuH : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PwmDuL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PwmFqOutRng : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_HbriOverCur : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_HbriOverTemp : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PosSnsKOR : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PosSnsOSOR : 7|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_EepFlt : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_RomFlt : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_RamFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_CanFlt : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_AgH : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_AgL : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_ORVol : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CR_EndBst_ActPos : 16|16@1+ (0.117,0.0) [1.989|118.053] "" EMS + SG_ CR_EndBst_DemPos : 32|16@1+ (0.117,0.0) [0.0|119.691] "" EMS + SG_ CR_EndBst_HbriPwr : 48|16@1+ (0.045,0.0) [0.0|99.99] "%" EMS + +BO_ 1411 CUBIS11: 8 CUBIS + SG_ CF_Cubis_HUDisp : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + +BO_ 899 FATC11: 8 DATC + SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0.0) [0.0|50.8] "Nm" EMS,IBOX + SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,EMS,IBOX + SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_EcvFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_BlwrOn : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_FATC_Iden : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Fatc_BlwrMax : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX + SG_ CF_Fatc_EngStartReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_CtrInf : 17|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX + SG_ CF_Fatc_MsgCnt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU,EMS,IBOX,SPAS,TCU,TPMS + SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" AAF,AHLS,CLU,EMS,IBOX,SPAS,TCU + SG_ CF_Fatc_Compload : 40|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX + SG_ CF_Fatc_ActiveEco : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Fatc_AutoActivation : 44|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX + SG_ CF_Fatc_DefSw : 45|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,IBOX + SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_ChkSum : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,IBOX,SPAS + +BO_ 129 EMS_DCT12: 8 EMS + SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5.0,0.0) [0.0|315.0] "Min" TCU + SG_ BRAKE_ACT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" TCU + SG_ CF_Ems_EngOperStat : 8|8@1+ (1.0,0.0) [0.0|255.0] "" TCU + SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" TCU + SG_ CF_Ems_Alive2 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Ems_ChkSum2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 897 MDPS11: 8 MDPS + SG_ CF_Mdps_WLmp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,EMS,IBOX,SPAS + SG_ CF_Mdps_Flex : 2|3@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS + SG_ CF_Mdps_FlexDisp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Mdps_Stat : 7|4@1+ (1.0,0.0) [0.0|15.0] "" SPAS + SG_ CR_Mdps_DrvTq : 11|12@1+ (0.01,-20.48) [-20.48|20.46] "" SPAS + SG_ CF_Mdps_ALTRequest : 23|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CR_Mdps_StrAng : 24|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" SPAS + SG_ CF_Mdps_AliveCnt : 40|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS + SG_ CF_Mdps_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS + SG_ CF_Mdps_SPAS_FUNC : 57|1@1+ (1.0,0.0) [0.0|1.0] "flag" SPAS + SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag" LDWS_LKAS + SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] "" LDWS_LKAS,SPAS + +BO_ 896 DI_BOX13: 8 DI_BOX + SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVStat1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVStat2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVPkp : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVBpt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_ErrRegFrtMSV : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_ErrRegSedMSV : 48|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SPIErrSedMSV : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_SPIErrFrtMSV : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IDErrSedMSV : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IDErrFrtMSV : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IniStatMSV : 60|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 640 EMS13: 8 EMS + SG_ LV_FUEL_TYPE_ECU : 0|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,LPI,SMK + SG_ LV_BFS_CFIRM : 1|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_CRASH : 2|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_VB_OFF_ACT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_GSL_MAP M : 4|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_ENG_TURN : 5|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ ERR_FUEL : 8|8@1+ (1.0,0.0) [0.0|255.0] "" LPI + SG_ EOS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" LPI + SG_ TCO : 24|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI + SG_ N_32 : 32|8@1+ (32.0,0.0) [0.0|8160.0] "rpm" LPI + SG_ MAF : 40|8@1+ (5.447,0.0) [0.0|1388.985] "mg/TDC" LPI + SG_ TIA : 48|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI + SG_ MAP m1 : 56|8@1+ (0.47058,0.0) [0.0|119.9979] "kPa" LPI + SG_ AMP m0 : 56|8@1+ (21.22,0.0) [0.0|5411.1] "hPa" LPI + +BO_ 128 EMS_DCT11: 8 EMS + SG_ PV_AV_CAN : 0|8@1+ (0.3906,0.0) [0.0|99.603] "%" TCU + SG_ TQ_STND : 8|6@1+ (10.0,0.0) [0.0|630.0] "Nm" TCU + SG_ F_N_ENG : 14|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ F_SUB_TQI : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" TCU + SG_ TQI_ACOR : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" IBOX,TCU + SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" TCU + SG_ TQI : 48|8@1+ (0.390625,0.0) [0.0|99.609375] "%" TCU + SG_ CF_Ems_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Ems_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 1407 HU_MON_PE_01: 8 CLU + SG_ HU_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" AVM,PGS + +BO_ 127 CGW5: 8 BCM + SG_ C_StopLampLhOpenSts : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_StopLampRhOpenSts : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HMSLOpenSts : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampLowLhOpenSts : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampLowRhOpenSts : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampHighLhOpenSts : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampHighRhOpenSts : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_DRLLampLhOpenSts : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_DRLLampRhOpenSts : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearFOGLhOpenSts : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearFOGRhOpenSts : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontFOGLhOpenSts : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontFOGRhOpenSts : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearEXTTailLhOpenSts : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearEXTTailRhOpenSts : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontEXTTailLhOpenSts : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontEXTTailRhOpenSts : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearTSIGLhOpenSts : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearTSIGRhOpenSts : 18|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontTSIGLhOpenSts : 19|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontTSIGRhOpenSts : 20|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SBendingLhOpenSts : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SBendingRhOpenSts : 22|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_LicensePlateLhOpenSts : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_LicensePlateRhOpenSts : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1151 ESP11: 6 ESC + SG_ AVH_STAT : 0|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,TCU + SG_ LDM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EPB,TCU + SG_ REQ_EPB_ACT : 3|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,TCU + SG_ REQ_EPB_STAT : 5|1@1+ (1.0,0.0) [0.0|1.0] "" EPB + SG_ ECD_ACT : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EPB + SG_ _4WD_LIM_REQ : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS + SG_ ROL_CNT_ESP : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,TCU + SG_ _4WD_TQC_LIM : 16|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" _4WD,EMS + SG_ _4WD_CLU_LIM : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" _4WD,EMS + SG_ _4WD_OPEN : 40|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS + SG_ _4WD_LIM_MODE : 42|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD + +BO_ 1397 HU_AVM_E_00: 8 CLU + SG_ HU_AVM_Cal_Cmd : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_Cal_Method : 4|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_Save_Controlpoint : 6|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_PT_X : 8|12@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_RearViewPointOpt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_PT_Y : 24|12@1+ (1.0,0.0) [0.0|4095.0] "" AVM,PGS + SG_ HU_AVM_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_SelectedMenu : 40|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS + SG_ HU_AVM_CameraOff : 45|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_Option : 48|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_CrossLineMove_Cmd : 52|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_RearView_Option : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_FrontView_Option : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + +BO_ 1395 HU_AVM_E_01: 8 CLU + SG_ HU_PGSSelectedMenu : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_PGSOption : 8|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS + SG_ HU_AVM_ParkingAssistMenu : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_ParkingAssistSB : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + +BO_ 1393 OPI11: 5 OPI + SG_ CR_Opi_Spd_Rpm : 0|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" TCU + SG_ CF_Opi_Over_Temp : 8|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Over_Cur : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Over_Vol : 10|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Hall_Fail : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Flt : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Motor_Dir : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Romver : 16|8@1+ (1.0,0.0) [0.0|255.0] "" TCU + SG_ CF_Opi_PWM_Rate : 24|12@1+ (1.0,0.0) [0.0|100.0] "%" TCU + +BO_ 625 LPI11: 8 LPI + SG_ FUP_LPG_MMV : 0|8@1+ (128.0,0.0) [0.0|32640.0] "hPa" EMS + SG_ LV_FUEL_TYPE_BOX : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_BFS_IN_PROGRESS : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_GAS_OK : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_FUP_ENA_THD : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,EMS,SMK + SG_ LPI_OBD : 12|4@1+ (1.0,0.0) [0.0|15.0] "" EMS + SG_ ERR_GAS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ FAC_TI_GAS_COR : 24|16@1+ (3.05E-5,0.0) [0.0|1.9988175] "" EMS + SG_ FTL_AFU : 40|8@1+ (0.392,0.0) [0.0|99.96] "%" EMS + SG_ BFS_CYL : 48|8@1+ (1.0,0.0) [0.0|6.0] "Cyl Nr." EMS + SG_ LV_PRE_CDN_LEAK : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_CONF_INJECTION_DELAY : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_LPG_SW_DRIVER_REQ : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 356 VSM11: 4 ESC + SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" MDPS + SG_ CF_Esc_Act : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,MDPS + SG_ CF_Esc_CtrMode : 13|3@1+ (1.0,0.0) [0.0|7.0] "" MDPS + SG_ CF_Esc_Def : 16|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Esc_AliveCnt : 17|4@1+ (1.0,0.0) [0.0|15.0] "" LDWS_LKAS,MDPS + SG_ CF_Esc_Chksum : 24|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,MDPS + +BO_ 1379 PGS_HU_PE_01: 8 PGS + SG_ PGS_State : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ PGS_ParkGuideState : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ PGS_Option : 16|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ PGS_Version : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU + +BO_ 354 TCU_DCT13: 3 TCU + SG_ Clutch_Driving_Tq : 0|10@1+ (1.0,-512.0) [0.0|0.0] "Nm" ESC + SG_ Cluster_Engine_RPM : 10|13@1+ (0.9766,0.0) [0.0|0.0] "" CLU + SG_ Cluster_Engine_RPM_Flag : 23|1@1+ (1.0,0.0) [0.0|0.0] "" CLU + +BO_ 1378 HUD11: 4 HUD + SG_ CF_Hud_HeightStaus : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ CF_Hud_PBackStatus : 6|2@1+ (1.0,0.0) [0.0|0.0] "" BCM,CLU + SG_ CF_Hud_Brightness : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + +BO_ 608 EMS16: 8 EMS + SG_ TQI_MIN : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ TQI : 8|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ TQI_TARGET : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EPB,ESC,IBOX,TCU + SG_ GLOW_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,IBOX,SMK + SG_ CRUISE_LAMP_M : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ CRUISE_LAMP_S : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ENG_STAT : 28|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,AHLS,AVM,BCM,CLU,EPB,ESC,EVP,FPCM,IBOX,LCA,LDWS_LKAS,MDPS,SCC,SMK,TCU + SG_ SOAK_TIME_ERROR : 31|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EPB,IBOX,TCU + SG_ SOAK_TIME : 32|8@1+ (1.0,0.0) [0.0|255.0] "Min" _4WD,DATC,EPB,IBOX,TCU + SG_ TQI_MAX : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60.0] "" IBOX,TCU + SG_ Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ AliveCounter : 60|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Ems_AclAct : 62|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,SCC + +BO_ 1371 AVM_HU_PE_00: 8 AVM + SG_ AVM_View : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ AVM_ParkingAssist_BtnSts : 5|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ AVM_Display_Message : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ AVM_Popup_Msg : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Ready : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_ParkingAssist_Step : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_FrontBtn_Type : 28|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Option : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_RearView_Option : 40|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_FrontView_Option : 44|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Version : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU + +BO_ 1370 HU_AVM_PE_00: 8 CLU + SG_ HU_AVM_Status : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + +BO_ 1369 CGW4: 8 BCM + SG_ CF_Gway_MemoryP1Cmd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_MemoryP2Cmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackP1Cmd : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackP2Cmd : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_StrgWhlHeatedState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackStopCmd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD + SG_ CF_Gway_StaticBendLhAct : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_StaticBendRhAct : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_DrvWdwStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RLWdwState : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RRWdwState : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_AstWdwStat : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_MemoryEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBACKStopCmd : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBACKStop : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD + SG_ CF_Gway_IMSBuzzer : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_DrvSeatBeltInd : 36|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_AstSeatBeltInd : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RCSeatBeltInd : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RLSeatBeltInd : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RRSeatBeltInd : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RrWiperHighSw : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RrWiperLowSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1367 EngFrzFrm12: 8 EMS + SG_ PID_06h : 0|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_07h : 8|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_08h : 16|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_09h : 24|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_0Bh : 32|8@1+ (1.0,0.0) [0.0|255.0] "kPa" AAF,IBOX,TCU + SG_ PID_23h : 40|16@1+ (10.0,0.0) [0.0|655350.0] "kPa" AAF,IBOX,TCU + +BO_ 1366 EngFrzFrm11: 8 EMS + SG_ PID_04h : 0|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU + SG_ PID_05h : 8|8@1+ (1.0,-40.0) [-40.0|215.0] "deg" AAF,TCU + SG_ PID_0Ch : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" AAF,TCU + SG_ PID_0Dh : 32|8@1+ (1.0,0.0) [0.0|255.0] "km/h" AAF,TCU + SG_ PID_11h : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU + SG_ PID_03h : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" AAF,TCU + +BO_ 1365 FPCM11: 8 FPCM + SG_ CR_Fpcm_LPActPre : 0|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" EMS + SG_ CF_Fpcm_LPPumpOverCur : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrHi : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrDisc : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrShort : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LPPumpDiscShort : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LP_System_Error : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrSigErr : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 852 LVR11: 7 LVR + SG_ CF_Lvr_GearInf : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU + SG_ CF_Lvr_PRelStat : 4|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,SMK,TCU + SG_ CF_Lvr_BkeAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Lvr_NFnStat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Lvr_PosInf : 8|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_PosCpl : 12|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_UlkButStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" TCU + SG_ CF_Lvr_PNStat : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lvr_ShtLkStat : 24|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_ShfErrInf : 28|20@1+ (1.0,0.0) [0.0|8191.0] "" CLU,TCU + SG_ CF_Lvr_AC : 48|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_CS : 52|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 1363 CGW2: 8 BCM + SG_ CF_Gway_GwayDiagState : 0|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_DDMDiagState : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SCMDiagState : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_PSMDiagState : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SJBDiagState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IPMDiagState : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_LDMFail : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS,LDWS_LKAS + SG_ CF_Gway_CLUSwGuiCtrl : 10|3@1+ (1.0,0.0) [0.0|63.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwGroup : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwMode : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwEnter : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_AutoLightValue : 16|1@1+ (1.0,0.0) [0.0|1.0] "" LCA,LCA + SG_ CF_Gway_BrakeFluidSw : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_DrvSeatBeltInd : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_AvTail : 20|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,SNV,SNV + SG_ CF_Gway_RearFogAct : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ExtTailAct : 22|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,CLU,LCA,PGS,SPAS,AVM,LCA,PGS,SPAS + SG_ CF_Gway_RRDrSw : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_RLDrSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IntTailAct : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CountryCfg : 26|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,Dummy + SG_ CF_Gway_WiperParkPosition : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,EMS,LDWS_LKAS,AFLS,EMS,LDWS_LKAS + SG_ CF_Gway_HLLowLHFail : 33|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV + SG_ CF_Gway_HLLowRHFail : 34|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV + SG_ CF_Gway_ESCLFailWarn : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ESCLNotLockedWarn : 36|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ESCLNotUnlockWarn : 37|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IDoutWarn : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ImmoLp : 40|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_BCMRKEID : 41|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_VehicleNotPWarn : 44|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_DeactivationWarn : 45|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_KeyBATDischargeWarn : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SSBWarn : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SMKFobID : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_SMKRKECmd : 51|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_AutoLightOption : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_SJBDeliveryMode : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_KeyoutLp : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SMKDispWarn : 57|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,Dummy + SG_ CF_Gway_WngBuz : 61|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + +BO_ 339 TCS11: 8 ESC + SG_ TCS_REQ : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,TCU + SG_ MSR_C_REQ : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,SCC,TCU + SG_ TCS_PAS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,SCC,SPAS,TCU + SG_ TCS_GSC : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,TCU + SG_ CF_Esc_LimoInfo : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,SCC + SG_ ABS_DIAG : 6|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB + SG_ ABS_DEF : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,SCC,SPAS,TCU + SG_ TCS_DEF : 8|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU + SG_ TCS_CTL : 9|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU + SG_ ABS_ACT : 10|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU + SG_ EBD_DEF : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SPAS,TCU + SG_ ESP_PAS : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU,EMS,EPB,LDWS_LKAS,SCC,TCU + SG_ ESP_DEF : 13|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,TCU + SG_ ESP_CTL : 14|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU + SG_ TCS_MFRN : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,TCU + SG_ DBC_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ DBC_PAS : 17|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ DBC_DEF : 18|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ HAC_CTL : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ HAC_PAS : 20|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ HAC_DEF : 21|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ ESS_STAT : 22|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS,EPB + SG_ TQI_TCS : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ TQI_MSR : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ CF_Esc_BrkCtl : 48|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ BLA_CTL : 49|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CGW,CLU + SG_ AliveCounter_TCS1 : 52|4@1+ (1.0,0.0) [0.0|14.0] "" EMS,EPB,LDWS_LKAS + SG_ CheckSum_TCS1 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,EPB,LDWS_LKAS + +BO_ 1362 SNV11: 4 SNV + SG_ CF_SNV_DisplayControl : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD + SG_ CF_Snv_BeepWarning : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD + SG_ CF_Snv_WarningMessage : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,HUD + SG_ CF_Snv_DetectionEnable : 7|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,HUD + SG_ CF_Snv_PedestrianDetect : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD + SG_ CF_Snv_IRLampControl : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD + +BO_ 593 MDPS12: 8 MDPS + SG_ CR_Mdps_StrColTq : 0|11@1+ (0.0078125,-8.0) [-8.0|7.9921875] "Nm" LDWS_LKAS + SG_ CF_Mdps_Def : 11|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_ToiActive : 13|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_ToiFlt : 14|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_FailStat : 15|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_MsgCount2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS + SG_ CF_Mdps_Chksum2 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS + SG_ CF_Mdps_SErr : 37|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CR_Mdps_StrTq : 40|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" ESC + SG_ CR_Mdps_OutTq : 52|12@1+ (0.1,-204.8) [-204.8|204.7] "" ESC,LDWS_LKAS + +BO_ 1360 IAP11: 3 IAP + SG_ CF_Iap_EcoPmodSwi : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Iap_EcoPmodAct : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Iap_ReqWarn : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1356 TCU_DCT14: 8 TCU + SG_ Vehicle_Stop_Time : 0|5@1+ (1.0,0.0) [0.0|0.0] "" CLU + SG_ HILL_HOLD_WARNING : 5|1@1+ (1.0,0.0) [0.0|0.0] "" CLU + +BO_ 1353 BAT11: 8 EMS + SG_ BAT_SNSR_I : 0|16@1+ (0.01,-327.0) [-327.0|328.0] "A" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOC : 16|8@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_V : 24|14@1+ (0.0010,6.0) [6.0|18.0] "V" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Temp : 38|9@1- (0.5,-40.0) [-40.0|125.0] "deg" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_State : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOH : 48|7@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Invalid : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOF : 56|7@1+ (0.1,0.0) [0.0|12.0] "V" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Error : 63|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + +BO_ 1351 EMS15: 8 EMS + SG_ ECGPOvrd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,SCC + SG_ QECACC : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ ECFail : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ SwitchOffCondExt : 3|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ BLECFail : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ CF_Ems_IsaAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ FA_PV_CAN : 8|8@1+ (0.3906,0.0) [0.0|99.2] "%" IBOX,LDWS_LKAS,TCU + SG_ IntAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,ECS,EPB,IBOX,TCU + SG_ STATE_DC_OBD : 24|7@1+ (1.0,0.0) [0.0|127.0] "" IBOX,TCU + SG_ INH_DC_OBD : 31|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ CTR_IG_CYC_OBD : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" ACU,IBOX,TCU + SG_ CTR_CDN_OBD : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" IBOX,TCU + +BO_ 1350 DI_BOX12: 8 DI_BOX + SG_ CF_DiBox_FrtInjVDiagReg0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_FrtInjVDiagReg1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_FrtInjVDiagReg2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg0 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg1 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg2 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CR_DiBox_BatVol : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" EMS + SG_ CF_DiBox_SedInjVChg : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_FrtInjVChg : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_SedInjVErrSPI : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_FrtInjVErrSPI : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 1349 EMS14: 8 EMS + SG_ IMMO_LAMP_STAT : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ L_MIL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX + SG_ IM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ AMP_CAN : 3|5@1+ (10.731613,458.98) [458.98|791.660003] "mmHg" CLU,IBOX,TCU,TPMS + SG_ BAT_Alt_FR_Duty : 8|8@1+ (0.4,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ VB : 24|8@1+ (0.1015625,0.0) [0.0|25.8984375] "V" CLU,CUBIS,DATC,EPB,FPCM,IBOX + SG_ EMS_VS : 32|12@1+ (0.0625,0.0) [0.0|255.875] "km/h" CLU + SG_ TEMP_FUEL : 56|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" FPCM + +BO_ 68 DATC11: 8 DATC + SG_ CF_Datc_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Datc_VerMaj : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Datc_VerMin : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg" CLU,FPCM + SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg" CLU + SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU + +BO_ 67 DATC13: 8 DATC + SG_ CF_Datc_TempDispUnit : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ CF_Datc_ModDisp : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_IonClean : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_ChgReqDisp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_IntakeDisp : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AutoDisp : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_FrDefLed : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ CF_Datc_AutoDefogBlink : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_ClmScanDisp : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AqsDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AcDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_OpSts : 25|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Mtc_MaxAcDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_DualDisp : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_PwrInf : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_RearManual : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearAutoDisp : 40|2@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Datc_RearOffDisp : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearClimateScnDisp : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearChgReqDisp : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearModDisp : 48|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_RearBlwDisp : 52|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_PSModDisp : 56|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_FrontBlwDisp : 60|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX + +BO_ 66 DATC12: 8 DATC + SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX + SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "" CLU,IBOX + SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX + SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "" CLU,IBOX + SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU + SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "" CLU + SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1345 CGW1: 8 BCM + SG_ CF_Gway_IGNSw : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC + SG_ CF_Gway_RKECmd : 3|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvKeyLockSw : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvKeyUnlockSw : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvDrSw : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU + SG_ CF_Gway_DrvSeatBeltSw : 10|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,PSB,TCU,EMS,EPB,ESC,IBOX,PSB,TCU + SG_ CF_Gway_TrunkTgSw : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,ECS,EMS,EPB,ESC,IBOX + SG_ CF_Gway_AstSeatBeltSw : 14|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,PSB,IBOX,PSB + SG_ CF_Gway_SMKOption : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,EMS,IBOX,SMK + SG_ CF_Gway_HoodSw : 17|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,EPB,ESC,IBOX,EMS,EPB,ESC,IBOX + SG_ CF_Gway_TurnSigLh : 19|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC + SG_ CF_Gway_WiperIntT : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperIntSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperLowSw : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperHighSw : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperAutoSw : 27|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_RainSnsState : 28|3@1+ (1.0,0.0) [0.0|7.0] "" AFLS,EMS,IBOX,LDWS_LKAS,AFLS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_HeadLampLow : 31|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,SNV,AFLS,EMS,IBOX,LDWS_LKAS,SNV + SG_ CF_Gway_HeadLampHigh : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,AFLS,EMS,IBOX,LDWS_LKAS + SG_ CF_Gway_HazardSw : 33|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS,ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS + SG_ CF_Gway_AstDrSw : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,IBOX + SG_ CF_Gway_DefoggerRly : 36|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX + SG_ CF_Gway_ALightStat : 37|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_LightSwState : 38|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_Frt_Fog_Act : 40|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_TSigRHSw : 41|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_TSigLHSw : 42|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_DriveTypeOption : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_StarterRlyState : 44|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX,SMK + SG_ CF_Gway_PassiveAccessLock : 45|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK + SG_ CF_Gway_WiperMistSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS + SG_ CF_Gway_PassiveAccessUnlock : 48|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK + SG_ CF_Gway_RrSunRoofOpenState : 50|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX + SG_ CF_Gway_PassingSW : 51|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_HBAControlMode : 52|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_HLpHighSw : 53|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_InhibitRMT : 54|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,MDPS,PGS,SCC,SPAS,TPMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,PGS,SCC,SPAS,TPMS + SG_ CF_Gway_RainSnsOption : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX,DATC,IBOX + SG_ CF_Gway_Ign1 : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_Ign2 : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_ParkBrakeSw : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IBOX,SCC,ESC,IBOX,SCC + SG_ CF_Gway_TurnSigRh : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC + +BO_ 64 DATC14: 8 DATC + SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] "" CLU + SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 832 LKAS11: 8 LDWS_LKAS + SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX,PSB + SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB + SG_ CF_Lkas_LdwsRHWarning : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB + SG_ CF_Lkas_HbaLamp : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Lkas_FcwBasReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC + SG_ CR_Lkas_StrToqReq : 16|11@1+ (0.0078125,-8.0) [-8.0|8.0] "Nm" MDPS + SG_ CF_Lkas_ActToi : 27|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Lkas_ToiFlt : 28|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Lkas_HbaSysState : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM,CLU + SG_ CF_Lkas_FcwOpt : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_HbaOpt : 34|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CGW + SG_ CF_Lkas_MsgCount : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,MDPS + SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,MDPS + +BO_ 1342 LKAS12: 6 LDWS_LKAS + SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_LkasTsrStatus : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1338 TMU_GW_E_01: 8 CLU + SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqDrUnlock : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqHazard : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqHorn : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqEngineOperate : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1078 PAS11: 4 BCM + SG_ CF_Gway_PASDisplayFLH : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASDisplayFRH : 3|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASRsound : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASDisplayFCTR : 8|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASDisplayRCTR : 11|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASFsound : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASDisplayRLH : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASDisplayRRH : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASCheckSound : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASSystemOn : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASOption : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PASDistance : 28|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 48 EMS18: 6 EMS + SG_ CF_Ems_DC1NumPerMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_DC2NumPerMSV : 8|16@1+ (1.0,0.0) [0.0|65535.0] "" DI_BOX + SG_ CR_Ems_DutyCyc1MSV : 24|8@1+ (0.1953,0.0) [0.0|49.8] "%" DI_BOX + SG_ CR_Ems_DutyCyc2MSV : 32|8@1+ (0.13725,0.0) [0.0|35.0] "%" DI_BOX + SG_ CR_Ems_DutyCyc3MSV : 40|8@1+ (0.392,0.0) [0.0|100.0] "%" DI_BOX + +BO_ 1322 CLU15: 8 CLU + SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] "" BCM + SG_ CF_Clu_InhibitP : 9|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_InhibitR : 10|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_InhibitN : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_InhibitD : 12|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] "" HUD + SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] "" HUD + SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS + SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC + +BO_ 1066 _4WD13: 6 _4WD + SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A" TCU + SG_ _4WD_POSITION : 8|16@1+ (0.015625,0.0) [-180.0|180.0] "Deg" TCU + SG_ _4WD_CLU_THERM_STR : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" TCU + SG_ _4WD_STATUS : 32|8@1+ (1.0,0.0) [0.0|15.0] "" ESC,TCU + +BO_ 1065 _4WD12: 8 _4WD + SG_ Ster_Pos : 0|16@1+ (1.0,-600.0) [-600.0|600.0] "Deg" ESC + SG_ FRSS : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ FLSS : 24|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ RRSS : 32|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ RLSS : 40|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ CLU_PRES : 48|16@1+ (0.0625,-50.0) [-50.0|50.0] "Bar" ESC + +BO_ 809 EMS12: 8 EMS + SG_ CONF_TCU m1 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LCA,SMK + SG_ CAN_VERS m0 : 0|6@1+ (1.0,0.0) [0.0|7.7] "" _4WD,ABS,ESC,IBOX + SG_ TQ_STND m3 : 0|6@1+ (10.0,0.0) [0.0|630.0] "Nm" _4WD,DATC,ECS,EPB,ESC,FATC,IBOX + SG_ OBD_FRF_ACK m2 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ESC,IBOX + SG_ MUL_CODE M : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,BCM,CLU,DATC,ECS,EPB,ESC,IBOX,LCA,SMK,TCU + SG_ TEMP_ENG : 8|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,BCM,CLU,DATC,EPB,ESC,IBOX,SMK,TCU + SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0.0) [0.0|1.99155] "" IBOX,TCU + SG_ VB_OFF_ACT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ACK_ES : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,IBOX + SG_ CONF_MIL_FMY : 26|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,IBOX,TCU + SG_ OD_OFF_REQ : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ACC_ACT : 30|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,CLU,ESC,IAP,IBOX,SCC,TCU + SG_ CLU_ACK : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EPB,ESC,IBOX + SG_ BRAKE_ACT : 32|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,AFLS,CLU,DATC,ECS,EPB,ESC,IBOX,LDWS_LKAS,TCU + SG_ ENG_CHR : 34|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,ABS,ACU,CLU,DATC,EPB,ESC,FATC,IBOX,SCC,SMK,TCU + SG_ GP_CTL : 38|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ TPS : 40|8@1+ (0.4694836,-15.0234742) [-15.0234742|104.6948357] "%" _4WD,ABS,ACU,CLU,DATC,ECS,EPB,ESC,IBOX,TCU + SG_ PV_AV_CAN : 48|8@1+ (0.3906,0.0) [0.0|99.603] "%" _4WD,AAF,ABS,ACU,AFLS,CLU,DATC,EPB,ESC,IAP,IBOX,LDWS_LKAS,SCC,TCU + SG_ ENG_VOL : 56|8@1+ (0.1,0.0) [0.0|25.5] "liter" _4WD,ABS,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,SCC,SMK + +BO_ 1064 _4WD11: 8 _4WD + SG_ _4WD_TYPE : 0|2@1+ (1.0,0.0) [0.0|3.0] "" ACU,ESC,TPMS + SG_ _4WD_SUPPORT : 2|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,ESC,TPMS + SG_ _4WD_ERR : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC + SG_ CLU_DUTY : 16|8@1+ (1.0,0.0) [0.0|64.0] "%" ABS,ESC + SG_ R_TIRE : 24|8@1+ (1.0,200.0) [200.0|455.0] "mm" ABS,ESC,TPMS + SG_ _4WD_SW : 32|8@1+ (1.0,0.0) [0.0|9.9] "" ESC + SG_ _2H_ACT : 40|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC + SG_ _4H_ACT : 41|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS + SG_ LOW_ACT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TCU,TPMS + SG_ AUTO_ACT : 43|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TPMS + SG_ LOCK_ACT : 44|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS + SG_ _4WD_TQC_CUR : 48|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" ABS,ESC + +BO_ 1319 HU_GW_E_01: 8 CLU + SG_ C_ADrLNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ C_ADrUNValueSet : 4|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ C_TwUnNValueSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_ABuzzerNValueSet : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_ArmWKeyNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_PSMNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SCMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_HLEscortNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_WELNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TriTurnLNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SNVWarnNValueSet : 24|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_LkasWarnNValueSet : 26|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1318 HU_GW_E_00: 8 CLU + SG_ C_ADrLURValueReq : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TwUnRValueReq : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_AlarmRValueReq : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_IMSRValueReq : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_HLEscortRValueReq : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_WELRValueReq : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TriTurnLRValueReq : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SNVWarnRValueReq : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_LkasWarnRValueReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1317 GW_HU_E_01: 8 BCM + SG_ C_ADrLRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_ADrURValue : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_TwUnRValue : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ABuzzerRValue : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ArmWKeyRValue : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_PSMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SCMRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_HLEscortRValue : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_WELRValue : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TriTurnLRValue : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1316 GW_HU_E_00: 8 BCM + SG_ C_ADrLUNValueConf : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TwUnNValueConf : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_AlarmNValueConf : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_PSMNValueConf : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SCMNValueConf : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_HLEscortNValueConf : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_WELNValueConf : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TriTurnLNValueConf : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1315 GW_SWRC_PE: 8 BCM + SG_ C_ModeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_MuteSW : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SeekDnSW : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SeekUpSW : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_BTPhoneCallSW : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_BTPhoneHangUpSW : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_DISCDownSW : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_DISCUpSW : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SdsSW : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_MTSSW : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_VolDnSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_VolUpSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1314 GW_IPM_PE_1: 8 BCM + SG_ C_AV_Tail : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ParkingBrakeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RKECMD : 4|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ C_BAState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_IGNSW : 12|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_CountryCfg : 16|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_TailLampActivity : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ RearSW_RSELockOnOff : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SMKTeleCrankingState : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1057 SCC12: 8 SCC + SG_ CF_VSM_Prefill : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_VSM_DecCmdAct : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_VSM_HBACmd : 2|2@1+ (1.0,0.0) [0.0|3.0] "" ESC + SG_ CF_VSM_Warn : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IAP + SG_ CF_VSM_Stat : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,PSB + SG_ CF_VSM_BeltCmd : 8|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,PSB + SG_ ACCFailInfo : 11|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,ESC,IBOX + SG_ ACCMode : 13|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IBOX,TCU + SG_ StopReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EPB,ESC + SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0.0) [0.0|2.55] "g" ESC + SG_ aReqMax : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,ESC,TCU + SG_ TakeOverReq : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC,TCU + SG_ PreFill : 36|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,TCU + SG_ aReqMin : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,ESC,TCU + SG_ CF_VSM_ConfMode : 48|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ AEB_Failinfo : 50|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ AEB_Status : 52|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ AEB_CmdAct : 54|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ AEB_StopReq : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC + SG_ CR_VSM_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,PSB + SG_ CR_VSM_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,PSB + +BO_ 1313 GW_DDM_PE: 8 BCM + SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ASTDoorStatus : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RLDoorStatus : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1056 SCC11: 8 SCC + SG_ MainMode_ACC : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,ESC + SG_ SCCInfoDisplay : 1|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC + SG_ AliveCounterACC : 4|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,EMS,ESC,TCU + SG_ VSetDis : 8|8@1+ (1.0,0.0) [0.0|255.0] "km/h or MPH" CLU,ESC,TCU + SG_ ObjValid : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC,TCU + SG_ DriverAlertDisplay : 17|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ TauGapSet : 19|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC,TCU + SG_ ACC_ObjStatus : 22|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,ESC + SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20.0) [-20.0|31.1] "m" ABS,ESC + SG_ ACC_ObjDist : 33|11@1+ (0.1,0.0) [0.0|204.7] "m" ABS,ESC + SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170.0) [-170.0|239.5] "m/s" ABS,ESC + SG_ Navi_SCC_Curve_Status : 56|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Navi_SCC_Curve_Act : 58|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Navi_SCC_Camera_Act : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Navi_SCC_Camera_Status : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1312 CGW3: 8 BCM + SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC + SG_ CR_Photosensor_RH : 10|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC + SG_ CF_Hoodsw_memory : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EMS + SG_ C_MirOutTempSns : 24|8@1+ (0.5,-40.5) [-40.0|60.0] "deg" AAF,CLU,DATC,EMS,SPAS,AAF,DATC,EMS,SPAS + +BO_ 544 ESP12: 8 ESC + SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LAT_ACCEL_STAT : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LAT_ACCEL_DIAG : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LONG_ACCEL : 13|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ LONG_ACCEL_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ LONG_ACCEL_DIAG : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ CYL_PRES : 26|12@1+ (0.1,0.0) [0.0|409.5] "Bar" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU + SG_ CYL_PRES_STAT : 38|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU + SG_ CYL_PRESS_DIAG : 39|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,PSB,SCC,TCU + SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ ESP12_AliveCounter : 56|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ ESP12_Checksum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + +BO_ 1307 CLU16: 8 CLU + SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" TPMS + SG_ CF_Clu_SlifNValueSet : 3|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_RearWiperNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 790 EMS11: 8 EMS + SG_ SWI_IGK : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,ACU,AHLS,CUBIS,DI_BOX,ECS,EPB,ESC,IBOX,LDWS_LKAS,MDPS,REA,SAS,SCC,TCU + SG_ F_N_ENG : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,IBOX,MDPS,SCC,TCU + SG_ ACK_TCS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ PUC_STAT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,DATC,IBOX,TCU + SG_ TQ_COR_STAT : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ESC,IBOX,TCU + SG_ RLY_AC : 6|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,IBOX,TCU + SG_ F_SUB_TQI : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EPB,ESC,IBOX,TCU + SG_ TQI_ACOR : 8|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU + SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,FPCM,IBOX,MDPS,SCC,TCU + SG_ TQI : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,ECS,EPB,ESC,IBOX,TCU + SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU + SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h" _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS + SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] "" _4WD,IBOX,TCU + +BO_ 1301 CLU14: 8 CLU + SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_EscortHLNValueSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_DoorLSNValueSet : 8|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_PSMNValueSet : 11|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_TTUnlockNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_PTGMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_SCMNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_WlightNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_TempUnitNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,DATC + SG_ CF_Clu_MoodLpNValueSet : 24|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_TrfChgSet : 27|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS + SG_ CF_Clu_OTTurnNValueSet : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_LcaNValueSet : 32|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_RctaNValueSet : 34|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_RcwNValueSet : 36|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_EscOffNValueSet : 38|3@1+ (1.0,0.0) [0.0|7.0] "" ESC + SG_ CF_Clu_SccNaviCrvNValueSet : 41|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_SccNaviCamNValueSet : 43|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_SccAebNValueSet : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_LkasModeNValueSet : 47|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_FcwNValueSet : 51|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_PasSpkrLvNValueSet : 53|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_SccDrvModeNValueSet : 56|3@1+ (1.0,0.0) [0.0|7.0] "" SCC + SG_ CF_Clu_HAnBNValueSet : 59|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_HfreeTrunkTgNValueSet : 61|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + +BO_ 275 TCU13: 8 TCU + SG_ N_TGT_LUP : 0|8@1+ (10.0,500.0) [500.0|3040.0] "rpm" EMS,IBOX + SG_ SLOPE_TCU : 8|6@1+ (0.5,-16.0) [-16.0|15.5] "%" CLU,CUBIS,EMS,IBOX + SG_ CF_Tcu_InhCda : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_IsgInhib : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_NCStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_TarGr : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,DATC,EMS,EPB,ESC,IBOX,SCC + SG_ CF_Tcu_ShfPatt : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,CUBIS,EMS,IBOX + SG_ CF_Tcu_InhVis : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_PRelReq : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LVR + SG_ CF_Tcu_ITPhase : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10.0,0.0) [0.0|2540.0] "Nm/s" EMS,IBOX + SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" EMS,IBOX + SG_ CF_Tcu_SptRdy : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_Alive3 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + +BO_ 274 TCU12: 8 TCU + SG_ ETL_TCU : 0|8@1+ (2.0,0.0) [0.0|508.0] "Nm" EMS,IBOX + SG_ CUR_GR : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,ESC,IBOX,SCC,TPMS + SG_ CF_Tcu_Alive : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC + SG_ CF_Tcu_ChkSum : 14|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC + SG_ VS_TCU : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" BCM,CLU,DATC,EMS,IBOX,LCA,LVR,PGS,SMK,SNV + SG_ FUEL_CUT_TCU : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ INH_FUEL_CUT : 29|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ IDLE_UP_TCU : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ N_INC_TCU : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15.0|15.0] "" EMS,IBOX + SG_ N_TC_RAW : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" EMS,IBOX + SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0.0) [0.0|0.9921875] "km/h" CLU,EMS,IBOX,LCA + +BO_ 273 TCU11: 8 TCU + SG_ TQI_TCU_INC : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX + SG_ G_SEL_DISP : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,AFLS,AVM,BCM,CGW,CLU,CUBIS,ECS,EMS,EPB,ESC,IAP,IBOX,LCA,LDWS_LKAS,LVR,MDPS,PGS,SCC,SMK,SNV,SPAS,TPMS + SG_ F_TCU : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX + SG_ TCU_TYPE : 14|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS,ESC,IBOX + SG_ TCU_OBD : 16|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,ESC,IBOX + SG_ SWI_GS : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,ESC,IBOX,SCC + SG_ GEAR_TYPE : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,EMS,ESC,IBOX,SCC + SG_ TQI_TCU : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX + SG_ TEMP_AT : 32|8@1+ (1.0,-40.0) [-40.0|214.0] "deg" AAF,CLU,CUBIS,EMS,ESC,IBOX + SG_ N_TC : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" _4WD,EMS,EPB,ESC,IBOX + SG_ SWI_CC : 56|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU,EMS,ESC,IBOX + SG_ CF_Tcu_Alive1 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_ChkSum1 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + +BO_ 16 ACU13: 8 ACU + SG_ CF_Acu_CshAct : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CUBIS,IBOX,ODS + +BO_ 1040 CGW_USM1: 8 BCM + SG_ CF_Gway_ATTurnRValue : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PTGMRValue : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_EscortHLRValue : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_TTUnlockRValue : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_ADrLRValue : 8|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_ADrURValue : 11|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_SCMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_WlightRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PSMRValue : 18|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_OTTurnRValue : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_DrLockSoundRValue : 24|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_HAnBRValue : 27|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_MoodLpRValue : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_HfreeTrunkRValue : 32|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_AutoLightRValue : 35|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_RearWiperRValue : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PasSpkrLvRValue : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + +BO_ 1292 CLU13: 8 CLU + SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,FPCM,IBOX + SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX + SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,SCC + SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] "" IBOX + SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] "" DATC,ECS,EMS,ESC,IAP,MDPS,TCU + SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] "" CGW,IBOX + SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] "" DATC + SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] "" ACU,EMS + SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EMS,TCU + SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CUBIS,EMS,IAP,IBOX + SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,DATC,EMS + SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,LDWS_LKAS + +BO_ 1290 SCC13: 8 SCC + SG_ SCCDrvModeRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ SCC_Equip : 3|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ AebDrvSetStatus : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC + +BO_ 1287 TCS15: 4 ESC + SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,IBOX + SG_ TCS_OFF_LAMP : 1|2@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU + SG_ TCS_LAMP : 3|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ACU,CLU,CUBIS,IBOX,SCC + SG_ DBC_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ DBC_F_LAMP : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU + SG_ ESC_Off_Step : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ AVH_CLU : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,EPB + SG_ AVH_I_LAMP : 24|2@1+ (1.0,0.0) [0.0|3.0] "" EPB + SG_ EBD_W_LAMP : 26|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ AVH_ALARM : 27|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ AVH_LAMP : 29|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EPB,SPAS + +BO_ 1282 TCU14: 4 TCU + SG_ CF_TCU_WarnMsg : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_TCU_WarnImg : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_TCU_WarnSnd : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Tcu_GSel_BlinkReq : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,LVR + SG_ CF_Tcu_StRelStat : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,ESC + SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC + SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,ESC + +BO_ 1281 ECS11: 3 ECS + SG_ ECS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX + SG_ SYS_NA : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ ECS_DEF : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ ECS_DIAG : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ L_CHG_NA : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Leveling_Off : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ LC_overheat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Lifting : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Lowering : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Damping_Mode : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_Damping : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_Height : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_level : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ ACT_Height : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + +BO_ 1024 CLU_CFG11: 2 CLU + SG_ Vehicle_Type : 0|16@1+ (1.0,0.0) [0.0|65536.0] "" _4WD + +BO_ 1280 ACU14: 1 ACU + SG_ CF_SWL_Ind : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_TTL_Ind : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_SBR_Ind : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + +BO_ 512 EMS20: 6 EMS + SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul" CLU,CUBIS,FPCM,IBOX + SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" FPCM,IBOX + SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] "" FPCM diff --git a/opendbc/hyundai_2015_mcan.dbc b/opendbc/hyundai_2015_mcan.dbc new file mode 100644 index 000000000..6bcd771e5 --- /dev/null +++ b/opendbc/hyundai_2015_mcan.dbc @@ -0,0 +1,1564 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: CLOCK HUD H_U DATC CCP KMA_TMU CUBIS TMU IPM RSE_R RRC CGW RSE_L AMP EDT SWRC IBOX CLU FHCU ASD MON AVM KBD + + +BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX + SG_ C_WHEEL_FL : 0|12@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_WHEEL_FR : 0|12@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_WHEEL_RL : 0|12@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_WHEEL_RR : 0|12@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 2046 TP_EDT_AMP: 8 EDT + SG_ Byte0_TCP_7FE : 7|8@0+ (1,0) [0|0] "" AMP + SG_ Byte1_Data_7FE : 15|8@0+ (1,0) [0|0] "" AMP + SG_ Byte2_Data_7FE : 23|8@0+ (1,0) [0|0] "" AMP + SG_ Byte3_Data_7FE : 31|8@0+ (1,0) [0|0] "" AMP + SG_ Byte4_Data_7FE : 39|8@0+ (1,0) [0|0] "" AMP + SG_ Byte5_Data_7FE : 47|8@0+ (1,0) [0|0] "" AMP + SG_ Byte6_Data_7FE : 55|8@0+ (1,0) [0|0] "" AMP + SG_ Byte7_Data_7FE : 63|8@0+ (1,0) [0|0] "" AMP + +BO_ 251 HU_TMU_E_02: 8 H_U + SG_ HU_GPS_Year : 7|8@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ HU_GPS_Month : 15|8@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ HU_GPS_Day : 23|8@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ HU_GPS_Hour : 31|8@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ HU_GPS_Minute : 39|8@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ HU_GPS_Second : 47|8@0+ (1,0) [0|0] "" CUBIS,TMU + +BO_ 250 HU_TMU_E_01: 8 H_U + SG_ HU_VoiceRecCom : 2|3@0+ (1,0) [0|0] "" TMU + SG_ HU_LangChgCom : 5|3@0+ (1,0) [0|0] "" TMU + SG_ HU_CallEndCmd : 9|2@0+ (1,0) [0|0] "" TMU + SG_ HU_ServiceReqtID : 13|4@0+ (1,0) [0|0] "" TMU + SG_ HU_MicReqCmd : 15|2@0+ (1,0) [0|0] "" TMU + SG_ HU_SeviceAction : 18|3@0+ (1,0) [0|0] "" TMU + SG_ HU_eCallStatus : 20|2@0+ (1,0) [0|0] "" TMU + +BO_ 1269 TP_CLU_ANDAUTO_HU: 8 CLU + SG_ Byte0_TCP_4F5 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4F5 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4F5 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4F5 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4F5 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4F5 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4F5 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4F5 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1268 TP_HU_ANDAUTO_CLU: 8 H_U + SG_ Byte0_TCP_4F4 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4F4 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4F4 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4F4 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4F4 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4F4 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4F4 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4F4 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1267 TP_CLU_CARPLAY_HU: 8 CLU + SG_ Byte0_TCP_4F3 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4F3 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4F3 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4F3 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4F3 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4F3 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4F3 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4F3 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1266 TP_HU_CARPLAY_CLU: 8 H_U + SG_ Byte0_TCP_4F2 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4F2 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4F2 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4F2 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4F2 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4F2 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4F2 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4F2 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1263 TP_CLU_IBOX_HU: 8 CLU + SG_ Byte0_TCP_4EF : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4EF : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4EF : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4EF : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4EF : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4EF : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4EF : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4EF : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1262 TP_HU_IBOX_CLU: 8 H_U + SG_ Byte0_TCP_4EE : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4EE : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4EE : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4EE : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4EE : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4EE : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4EE : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4EE : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1261 TP_CLU_DLNA_HU: 8 CLU + SG_ Byte0_TCP_4ED : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4ED : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4ED : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4ED : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4ED : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4ED : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4ED : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4ED : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1260 TP_HU_DLNA_CLU: 8 H_U + SG_ Byte0_TCP_4EC : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4EC : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4EC : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4EC : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4EC : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4EC : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4EC : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4EC : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 491 GW_DDM_PE: 8 CLU + SG_ C_DRVDoorStatus : 1|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ C_ASTDoorStatus : 3|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ C_RLDoorStatus : 5|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ C_RRDoorStatus : 7|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ C_TrunkStatus : 9|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ C_OSMirrorStatus : 11|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + +BO_ 1259 TP_CLU_MP_HU: 8 CLU + SG_ Byte0_TCP_4EB : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4EB : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4EB : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4EB : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4EB : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4EB : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4EB : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4EB : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1258 TP_HU_MP_CLU: 8 H_U + SG_ Byte0_TCP_4EA : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4EA : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4EA : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4EA : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4EA : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4EA : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4EA : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4EA : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1257 TP_CLU_FM_HU: 8 CLU + SG_ Byte0_TCP_4E9 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4E9 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4E9 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4E9 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4E9 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4E9 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4E9 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4E9 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1256 TP_HU_FM_CLU: 8 H_U + SG_ Byte0_TCP_4E8 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4E8 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4E8 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4E8 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4E8 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4E8 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4E8 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4E8 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1255 TP_CLU_MLT_HU: 8 CLU + SG_ Byte0_TCP_4E7 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4E7 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4E7 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4E7 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4E7 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4E7 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4E7 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4E7 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 487 HU_CLU_PE_13: 8 H_U + SG_ Navi_DistToPoint1_F : 11|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint1_I : 7|12@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint1_U : 23|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint2_I : 19|12@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint2_F : 35|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint2_U : 39|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint3_F : 51|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint3_I : 47|12@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToPoint3_U : 63|4@0+ (1,0) [0|0] "" CLU,HUD + +BO_ 1254 TP_HU_MLT_CLU: 8 H_U + SG_ Byte0_TCP_4E6 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4E6 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4E6 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4E6 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4E6 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4E6 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4E6 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4E6 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 486 HU_CLU_PE_12: 8 H_U + SG_ Navi_DistToDest_I : 7|16@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToDest_F : 19|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_DistToDest_U : 23|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_EstimHour : 31|8@0+ (1,0) [0|254] "hh" CLU,HUD + SG_ Navi_EstimMin : 37|6@0+ (1,0) [0|59] "mm" CLU,HUD + SG_ Navi_EstimTimeType : 39|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_Compass : 45|6@0+ (7.5,-7.5) [0|352.5] "Degree" CLU,HUD + +BO_ 229 HU_SYS_E_00: 8 H_U + SG_ SYS_SW_Ver_Req : 1|2@0+ (1,0) [0|0] "" AMP,CCP,CGW,CLOCK,CLU,HUD,IBOX,RRC,RSE_L + SG_ SYS_CAN_Ver_Req : 3|2@0+ (1,0) [0|0] "" AMP,CCP,CGW,CLOCK,CLU,HUD,IBOX,RRC,RSE_L + SG_ SYS_HW_Ver_Req : 5|2@0+ (1,0) [0|0] "" AMP,CCP,CGW,CLOCK,CLU,IBOX,RRC + SG_ SYS_RBD_Req : 9|2@0+ (1,0) [0|0] "" AMP,IBOX + SG_ SYS_MOSTErrorDiag_Req : 11|2@0+ (1,0) [0|0] "" AMP,IBOX + SG_ SYS_Reset_Req : 17|2@0+ (1,0) [0|0] "" AMP,IBOX + +BO_ 1253 TP_CLU_VCDC_HU: 8 CLU + SG_ Byte0_TCP_4E5 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4E5 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4E5 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4E5 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4E5 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4E5 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4E5 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4E5 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 485 HU_CLU_PE_11: 8 H_U + SG_ Navi_FixedSpdTrap : 3|4@0+ (10,0) [10|110] "Km/h" CLU,HUD + SG_ Navi_MobileSpdTrap : 7|4@0+ (10,0) [10|110] "Km/h" CLU,HUD + SG_ Navi_OverSpdAlarm : 11|2@0+ (1,0) [0|0] "" CGW,CLU,HUD + SG_ Navi_SpdRedlightTrap : 15|4@0+ (10,0) [10|110] "Km/h" CLU,HUD + SG_ Navi_NonSpdTrap : 20|5@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_WarningZone : 27|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_MergeWarning : 33|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_CurveWarning : 39|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_BusSpdTrap : 43|4@0+ (10,0) [10|110] "Km/h" CLU,HUD + SG_ Navi_SpdLimit_Type : 49|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_SpdLimit_Unit : 51|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_SpdInfo_Type : 55|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ Navi_SpdLimit : 63|8@0+ (1,0) [1|254] "" CLU,HUD + +BO_ 1252 TP_HU_VCDC_CLU: 8 H_U + SG_ Byte0_TCP_4E4 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4E4 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4E4 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4E4 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4E4 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4E4 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4E4 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4E4 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1251 TP_CLU_JB_HU: 8 CLU + SG_ Byte0_TCP_4E3 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4E3 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4E3 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4E3 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4E3 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4E3 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4E3 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4E3 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1250 TP_HU_JB_CLU: 8 H_U + SG_ Byte0_TCP_4E2 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4E2 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4E2 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4E2 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4E2 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4E2 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4E2 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4E2 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1248 TP_TMU_HU: 8 TMU + SG_ Byte0_TCP_4E0 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4E0 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4E0 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4E0 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4E0 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4E0 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4E0 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4E0 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 479 CLU_HU_PE_01: 8 CLU + SG_ CLU_Type : 7|8@0+ (1,0) [0|0] "" H_U + SG_ CLU_Region : 15|8@0+ (1,0) [0|0] "" H_U + SG_ CLU_VersionMinor : 23|8@0+ (1,0) [0|0] "" H_U + SG_ CLU_VersionMajor : 31|8@0+ (1,0) [0|0] "" H_U + SG_ CLU_CurrentDispState : 39|8@0+ (1,0) [0|0] "" H_U + SG_ C_DRVDRSW : 41|2@0+ (1,0) [0|0] "" H_U + SG_ CF_Clu_LowfuelWarning : 44|2@0+ (1,0) [0|0] "" H_U + SG_ CLU_PowerInfo : 46|2@0+ (1,0) [0|0] "" H_U + SG_ C_DrivingModeState : 50|3@0+ (1,0) [0|0] "" H_U + SG_ Clu_RheostatLvl : 55|5@0+ (1,0) [0|0] "" H_U,MON,SWRC + SG_ C_Clu_ActiveEcoSW : 57|2@0+ (1,0) [0|0] "" H_U + SG_ C_Detent : 59|2@0+ (1,0) [0|0] "" CCP,CLOCK,H_U,KBD,MON,RRC,RSE_L,RSE_R + SG_ C_DrivingModeOn : 61|2@0+ (1,0) [0|0] "" H_U + +BO_ 2015 TP_EDT_All_Req: 8 EDT + SG_ Byte0_TCP_7DF : 7|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte1_Data_7DF : 15|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte2_Data_7DF : 23|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte3_Data_7DF : 31|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte4_Data_7DF : 39|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte5_Data_7DF : 47|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte6_Data_7DF : 55|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + SG_ Byte7_Data_7DF : 63|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + +BO_ 474 CLU_HU_PE_02: 8 CLU + SG_ CF_Clu_AvgFCU : 1|2@0+ (1,0) [0|0] "" H_U + SG_ CF_Clu_AvgFCL : 9|10@0+ (1,0) [0|0] "" H_U + SG_ CF_Clu_TermAvgSync : 25|2@0+ (1,0) [0|0] "" H_U + SG_ CF_Clu_EcoDriveInf : 36|3@0+ (1,0) [0|0] "" H_U + SG_ CR_Clu_TermAvgFCI : 33|10@0+ (1,0) [0|0] "" H_U + SG_ CF_CLU_EcoScore : 55|16@0+ (1,0) [0|0] "" H_U + +BO_ 1495 CLU_HU_P_05: 8 CLU + SG_ Clu_TripUnit : 9|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ Clu_DTEWarn : 11|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ Clu_DTE : 7|12@0+ (1,0) [0|1500] "km" H_U,IBOX + SG_ Clu_AFC : 23|10@0+ (0.1,0) [0|99.9] "" H_U,IBOX + SG_ Clu_IFC : 29|10@0+ (0.1,0) [0|99.9] "" H_U,IBOX + SG_ Clu_Odometer : 47|24@0+ (1,0) [0|999999] "" H_U,IBOX + +BO_ 1494 CLU_HU_P_01: 8 CLU + SG_ CF_TripUnit : 13|2@0+ (1,0) [0|0] "" H_U + SG_ CF_DTE : 7|10@0+ (1,0) [0|0] "" H_U + +BO_ 214 AMP_HU_E_SYS: 8 AMP + SG_ AMP_SWVerMajor : 7|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ AMP_SWVerMinor : 15|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ AMP_CANVerMajor : 23|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ AMP_CANVerMinor : 31|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ AMP_RBDResult : 34|3@0+ (1,0) [0|0] "" H_U + SG_ AMP_MOSTErrorDiagResult : 38|3@0+ (1,0) [0|0] "" H_U + SG_ AMP_HWVerMajor : 55|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ AMP_HWVerMinor : 63|8@0+ (1,0) [0|254] "" H_U,IBOX + +BO_ 1492 CLU_HU_P_04: 8 CLU + SG_ MM_CR_Fatc_AcnComCst_W : 7|10@0+ (10,0) [0|8000] "W" H_U + SG_ MM_CR_Ldc_PwrMon_W : 12|8@0+ (10,0) [0|2550] "W" H_U + SG_ MM_CR_Fatc_PTCPwrCon_W : 17|10@0+ (10,0) [0|10000] "W" H_U + SG_ MM_CR_BmsChgExp_T_Fast : 39|16@0+ (1,0) [0|0] "minute" H_U + SG_ MM_CR_BmsChgExp_T_Slow : 55|16@0+ (1,0) [0|0] "minute" H_U + +BO_ 1491 CLU_HU_P_03: 8 CLU + SG_ MM_CF_Vcu_EvMod : 3|4@0+ (1,0) [0|0] "" H_U + SG_ MM_CF_Vcu_GarSelDisp : 7|4@0+ (999,0) [0|0] "" H_U + SG_ MM_CF_Vcu_ThiBatTir : 8|1@0+ (1,0) [0|0] "" H_U + SG_ CR_Mcu_MotEstTqPc : 23|10@0+ (0.2,-100) [-100|99.8] "%" H_U + SG_ CR_Mcu_MotActRotSpd_rpm : 39|16@0+ (1,-32768) [-32768|32767] "rpm" H_U + +BO_ 1490 CLU_HU_P_02: 8 CLU + SG_ MM_CR_Vcu_EcoSco : 3|4@0+ (1,0) [0|0] "" H_U + SG_ MM_CF_Vcu_PgmRun5 : 5|2@0+ (1,0) [0|0] "" H_U + SG_ MM_CR_Clu_Odometer_kph : 15|24@0+ (0.1,0) [0|0] "km" H_U + +BO_ 1489 DATC_P_B_01: 8 CLU + SG_ C_InhibitR_DATC : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_InhibitP_DATC : 50|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_InhibitN_DATC : 49|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_InhibitD_DATC : 48|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 465 CLU_HU_PE_03: 8 CLU + SG_ CF_Clu_EVDTEDisp : 0|9@0+ (1,0) [0|0] "" H_U,IBOX + SG_ CF_Clu_GasDTEDisp : 17|10@0+ (1,0) [0|0] "" H_U,IBOX + SG_ MM_CR_Clu_TotalDTEDisp : 34|11@0+ (1,0) [0|0] "" H_U,IBOX + SG_ CF_Clu_TripUnit : 49|2@0+ (1,0) [0|0] "" H_U,IBOX + +BO_ 1232 TP_HU_TMU: 8 H_U + SG_ Byte0_TCP_4D0 : 7|8@0+ (1,0) [0|0] "" TMU + SG_ Byte1_Data_4D0 : 15|8@0+ (1,0) [0|0] "" TMU + SG_ Byte2_Data_4D0 : 23|8@0+ (1,0) [0|0] "" TMU + SG_ Byte3_Data_4D0 : 31|8@0+ (1,0) [0|0] "" TMU + SG_ Byte4_Data_4D0 : 39|8@0+ (1,0) [0|0] "" TMU + SG_ Byte5_Data_4D0 : 47|8@0+ (1,0) [0|0] "" TMU + SG_ Byte6_Data_4D0 : 55|8@0+ (1,0) [0|0] "" TMU + SG_ Byte7_Data_4D0 : 63|8@0+ (1,0) [0|0] "" TMU + +BO_ 1488 CLU_HU_P_00: 8 CLU + SG_ MM_CR_Mcu_VehSpd_Kph : 7|8@0+ (1,0) [0|0] "" H_U + SG_ MM_CR_Mcu_VehSpdDec_Kph : 15|8@0+ (1,0) [0|0] "" H_U + SG_ MM_CR_Bms_Soc_Pc : 23|8@0+ (1,0) [0|0] "" H_U + SG_ MM_CR_Vcu_TqMotClu_Pc : 31|8@0+ (1,-127) [0|0] "" H_U + SG_ MM_CR_Bms_DrvEnaDist : 39|8@0+ (1,0) [0|0] "" H_U + SG_ MM_CR_Clu_Soc_Seg : 44|5@0+ (1,0) [0|0] "" H_U,IBOX + +BO_ 208 CLU_HU_E_SYS: 8 CLU + SG_ CLU_SWVerMajor : 7|8@0+ (1,0) [0|254] "" H_U + SG_ CLU_SWVerMinor : 15|8@0+ (1,0) [0|254] "" H_U + SG_ CLU_CANVerMajor : 23|8@0+ (1,0) [0|254] "" H_U + SG_ CLU_CANVerMinor : 31|8@0+ (1,0) [0|254] "" H_U + SG_ CLU_HWVerMajor : 55|8@0+ (1,0) [0|254] "" H_U + SG_ CLU_HWVerMinor : 63|8@0+ (1,0) [0|254] "" H_U + +BO_ 448 HU_DATC_PE_00: 8 H_U + SG_ DATC_AqsLevelChg : 3|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ RSELockOnOff : 7|2@0+ (1,0) [0|0] "" CGW,DATC,IPM,RRC + SG_ DATC_AqsMode : 9|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_Graphreset_Info : 17|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_VRActivity : 33|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_PhoneActivity : 35|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ BlowerNoiseControl : 37|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + +BO_ 1211 TP_HU_TBT_CLU: 8 H_U + SG_ Byte0_TCP_4BB : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4BB : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4BB : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4BB : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4BB : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4BB : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4BB : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4BB : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1207 TP_HU_DAB_CLU: 8 H_U + SG_ Byte0_TCP_4B7 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4B7 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4B7 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4B7 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4B7 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4B7 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4B7 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4B7 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1206 TP_HU_XM_CLU: 8 H_U + SG_ Byte0_TCP_4B6 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4B6 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4B6 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4B6 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4B6 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4B6 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4B6 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4B6 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1204 TP_HU_DMB_CLU: 8 H_U + SG_ Byte0_TCP_4B4 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_4B4 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_4B4 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_4B4 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_4B4 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_4B4 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_4B4 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_4B4 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 432 TMU_GW_PE_01: 8 TMU + SG_ C_DATCOnOffReq : 1|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + SG_ C_DATCTempUnit : 3|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + SG_ C_DATCTempSet : 15|8@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + SG_ TMU_IVRActivity : 33|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + SG_ TMU_PhoneActivity : 35|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + +BO_ 1195 TP_CLU_TBT_HU: 8 CLU + SG_ Byte0_TCP_4AB : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4AB : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4AB : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4AB : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4AB : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4AB : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4AB : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4AB : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1191 TP_CLU_DAB_HU: 8 CLU + SG_ Byte0_TCP_4A7 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4A7 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4A7 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4A7 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4A7 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4A7 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4A7 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4A7 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1190 TP_CLU_XM_HU: 8 CLU + SG_ Byte0_TCP_4A6 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4A6 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4A6 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4A6 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4A6 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4A6 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4A6 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4A6 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1188 TP_CLU_DMB_HU: 8 CLU + SG_ Byte0_TCP_4A4 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_4A4 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_4A4 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_4A4 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_4A4 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_4A4 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_4A4 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_4A4 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1179 TP_HU_NAVI_CLU: 8 H_U + SG_ Byte0_TCP_49B : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_49B : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_49B : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_49B : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_49B : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_49B : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_49B : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_49B : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1178 TP_CLU_Ipod_HU: 8 CLU + SG_ Byte0_TCP_49A : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_49A : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_49A : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_49A : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_49A : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_49A : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_49A : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_49A : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 410 HU_CLU_PE_08: 8 H_U + SG_ VCDC_SelDiscNo : 11|4@0+ (1,0) [0|0] "" CLU + SG_ VCDC_TrackChapterNo : 7|10@0+ (1,0) [0|0] "" CLU + SG_ VCDC_PlayTime : 23|24@0+ (1,0) [0|0] "" CLU + SG_ MLT_PlayTime : 47|24@0+ (1,0) [0|0] "" CLU + +BO_ 1176 TP_CLU_DVD_HU: 8 CLU + SG_ Byte0_TCP_498 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_498 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_498 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_498 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_498 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_498 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_498 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_498 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 1175 TP_CLU_USB_HU: 8 CLU + SG_ Byte0_TCP_497 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_497 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_497 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_497 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_497 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_497 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_497 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_497 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 407 HU_CLU_PE_05: 8 H_U + SG_ HU_LanguageInfo : 7|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_MuteStatus : 9|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_VolumeStatus : 15|6@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_NaviDisp : 17|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_NaviStatus : 19|2@0+ (1,0) [0|0] "" CGW,CLU,HUD,IPM + SG_ HU_DistanceUnit : 21|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_Navigation_On_Off : 23|2@0+ (1,0) [0|0] "" AVM,CGW,CLU,DATC,HUD,IPM + +BO_ 1942 TP_AMP_HU_DiagRes: 8 AMP + SG_ Byte0_TCP_796 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_796 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_796 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_796 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_796 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_796 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_796 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_796 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 406 HU_CLU_PE_04: 8 H_U + SG_ C_SDARS_ChannelNo : 7|8@0+ (1,0) [0|0] "" CLU + SG_ C_NaviRouteGuidance : 11|2@0+ (1,0) [0|0] "" CLU + SG_ HD_SPS_ChannelNo : 15|4@0+ (1,0) [0|0] "" CLU + SG_ C_SDARS_PresetNo : 19|4@0+ (1,0) [0|0] "" CLU + SG_ DAB_ServiceFollowing : 21|2@0+ (1,0) [0|0] "" CLU + SG_ SXM_ChannelNo : 25|10@0+ (1,0) [0|999] "" AMP,CLU,HUD + +BO_ 1941 TP_HU_AMP_DiagReq: 8 H_U + SG_ Byte0_TCP_795 : 7|8@0+ (1,0) [0|0] "" AMP + SG_ Byte1_Data_795 : 15|8@0+ (1,0) [0|0] "" AMP + SG_ Byte2_Data_795 : 23|8@0+ (1,0) [0|0] "" AMP + SG_ Byte3_Data_795 : 31|8@0+ (1,0) [0|0] "" AMP + SG_ Byte4_Data_795 : 39|8@0+ (1,0) [0|0] "" AMP + SG_ Byte5_Data_795 : 47|8@0+ (1,0) [0|0] "" AMP + SG_ Byte6_Data_795 : 55|8@0+ (1,0) [0|0] "" AMP + SG_ Byte7_Data_795 : 63|8@0+ (1,0) [0|0] "" AMP + +BO_ 1173 TP_CLU_CD_HU: 8 CLU + SG_ Byte0_TCP_495 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_495 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_495 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_495 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_495 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_495 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_495 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_495 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 405 HU_CLU_PE_03: 8 H_U + SG_ HU_IntegPresetNum : 7|8@0+ (1,0) [0|0] "" AMP,CLU,HUD + SG_ Radio_Area : 10|8@0+ (1,0) [0|0] "" CLU + SG_ DMB_PresetNo : 29|5@0+ (1,0) [0|0] "" CLU + SG_ RADIO_PresetNo : 18|5@0+ (1,0) [0|0] "" CLU + SG_ HU_Opstate_DIS2 : 38|7@0+ (1,0) [0|0] "" AMP,CLU,HUD + +BO_ 1168 TP_HU_USB_CLU: 8 H_U + SG_ Byte0_TCP_490 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_490 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_490 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_490 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_490 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_490 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_490 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_490 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1936 TP_HU_All_Req: 8 H_U + SG_ Byte0_TCP_790 : 7|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte1_Data_790 : 15|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte2_Data_790 : 23|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte3_Data_790 : 31|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte4_Data_790 : 39|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte5_Data_790 : 47|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte6_Data_790 : 55|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + SG_ Byte7_Data_790 : 63|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU + +BO_ 1167 TP_HU_Ipod_CLU: 8 H_U + SG_ Byte0_TCP_48F : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_48F : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_48F : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_48F : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_48F : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_48F : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_48F : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_48F : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1166 TP_HU_DVD_CLU: 8 H_U + SG_ Byte0_TCP_48E : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_48E : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_48E : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_48E : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_48E : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_48E : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_48E : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_48E : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1165 TP_HU_CD_CLU: 8 H_U + SG_ Byte0_TCP_48D : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_48D : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_48D : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_48D : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_48D : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_48D : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_48D : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_48D : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 1164 TP_CLU_NAVI_HU: 8 CLU + SG_ Byte0_TCP_48C : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_48C : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_48C : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_48C : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_48C : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_48C : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_48C : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_48C : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 139 AMP_HU_E_12: 8 AMP + SG_ AMP_Beep2VolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2FrequencyState : 15|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2OutputMaskState : 31|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2DOnState : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2DOffState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 138 AMP_HU_E_11: 8 AMP + SG_ AMP_Beep1VolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1FrequencyState : 15|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1OutputMaskState : 31|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1DOnState : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1DOffState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 137 AMP_HU_E_10: 8 AMP + SG_ AMP_MTSOutputMaskSupport : 1|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_MTSMuteMaskSupport : 5|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_HFOutputMaskSupport : 9|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_HFMuteMaskSupport : 13|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_NaviOutputMaskSupport : 17|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_NaviMuteMaskSupport : 21|2@0+ (1,0) [0|0] "" H_U + +BO_ 1928 TP_HU_PhyRes: 8 H_U + SG_ Byte0_TCP_788 : 7|8@0+ (1,0) [0|0] "" EDT + SG_ Byte1_Data_788 : 15|8@0+ (1,0) [0|0] "" EDT + SG_ Byte2_Data_788 : 23|8@0+ (1,0) [0|0] "" EDT + SG_ Byte3_Data_788 : 31|8@0+ (1,0) [0|0] "" EDT + SG_ Byte4_Data_788 : 39|8@0+ (1,0) [0|0] "" EDT + SG_ Byte5_Data_788 : 47|8@0+ (1,0) [0|0] "" EDT + SG_ Byte6_Data_788 : 55|8@0+ (1,0) [0|0] "" EDT + SG_ Byte7_Data_788 : 63|8@0+ (1,0) [0|0] "" EDT + +BO_ 136 AMP_HU_E_09: 8 AMP + SG_ AMP_MaxBeep2VolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep2Freq_State : 15|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep2OutputMaskSup : 33|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep2DOnState : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep2DOffState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep2NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 135 AMP_HU_E_08: 8 AMP + SG_ AMP_MaxBeep1VolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep1Freq_State : 15|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_Beep1OutputMaskSup : 33|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep1DOnState : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep1DOffState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBeep1NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 134 AMP_HU_E_07: 8 AMP + SG_ ASD_SetValue : 2|3@0+ (1,0) [0|0] "" H_U,IBOX + SG_ ASD_Version : 15|8@0+ (1,0) [0|0] "" H_U,IBOX + +BO_ 1157 TP_HU_CLU_HF: 8 H_U + SG_ Byte0_TCP_485 : 7|8@0+ (1,0) [0|0] "" CLU + SG_ Byte1_Data_485 : 15|8@0+ (1,0) [0|0] "" CLU + SG_ Byte2_Data_485 : 23|8@0+ (1,0) [0|0] "" CLU + SG_ Byte3_Data_485 : 31|8@0+ (1,0) [0|0] "" CLU + SG_ Byte4_Data_485 : 39|8@0+ (1,0) [0|0] "" CLU + SG_ Byte5_Data_485 : 47|8@0+ (1,0) [0|0] "" CLU + SG_ Byte6_Data_485 : 55|8@0+ (1,0) [0|0] "" CLU + SG_ Byte7_Data_485 : 63|8@0+ (1,0) [0|0] "" CLU + +BO_ 133 AMP_HU_E_06: 8 AMP + SG_ AMP_MaxVolumeStep : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBalanceStep : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxFadeStep : 23|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxBassStep : 31|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxMidStep : 39|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxTrebleStep : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_ASDMajorVer : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_ASDMinorVer : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 389 AMP_HU_PE_05: 8 AMP + SG_ AMP_EngOrderC2Setting : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_EngOrderC4Setting : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_EngOrderC6Setting : 23|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_APSBand0Setting : 31|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_APSBand1Setting : 39|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_APSBand2Setting : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_APSBand3Setting : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_APSBand4Setting : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 132 AMP_HU_E_05: 8 AMP + SG_ AMP_HFVolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_HFAudioCutState : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_HFOutputMaskState : 23|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_HFMuteMaskState : 39|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxHFVolumeState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxHFAudioCutState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 388 AMP_HU_PE_04: 8 AMP + SG_ AMP_PESSModeState : 1|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_PESSDesignSetting : 4|3@0+ (1,0) [0|0] "" H_U + SG_ AMP_PESSAPSSetting : 7|3@0+ (1,0) [0|0] "" H_U + SG_ AMP_PESSVolumeSetting : 15|8@0+ (1,0) [0|0] "" H_U + +BO_ 1156 TP_CLU_HF_HU: 8 CLU + SG_ Byte0_TCP_484 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_484 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_484 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_484 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_484 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_484 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_484 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_484 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 131 AMP_HU_E_04: 8 AMP + SG_ AMP_MTSVolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MTSAudioCutState : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MTSOutputMaskState : 23|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_MTSMuteMaskState : 39|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxMTSVolumeState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxMTSAudioCutState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 387 AMP_HU_PE_03: 8 AMP + SG_ AMP_MainVolumeSetting : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_BalanceSetting : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_FadeSetting : 23|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_BassSetting : 31|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MidSetting : 39|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_TrebleSetting : 47|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_VehicleSpeedamp : 55|8@0+ (1,0) [0|0] "" H_U + +BO_ 130 AMP_HU_E_03: 8 AMP + SG_ AMP_NaviVolumeState : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_NaviAudioCutState : 15|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_NaviOutputMaskState : 23|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_NaviMuteMaskState : 39|16@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxNaviVolumeState : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_MaxNaviAudioCutState : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 129 AMP_HU_E_02: 8 AMP + SG_ AMP_DriveState : 1|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_ConvertibleTopState : 5|2@0+ (1,0) [0|0] "" H_U + +BO_ 385 AMP_HU_PE_02: 8 AMP + SG_ AMP_MuteState : 1|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_RearSpMuteState : 3|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SurroundModeState : 9|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_EQState : 13|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SPDIFMuteSt : 17|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_BeatsModeState : 21|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_DefaultBeep1St : 25|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_DefaultBeep2St : 29|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_AudioSource : 39|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_VIPModeState : 41|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_QLSModeState : 43|2@0+ (1,0) [0|0] "" H_U + +BO_ 128 AMP_HU_E_01: 8 AMP + SG_ AMP_CurrentVehicleID : 7|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_SPDIFModeState : 11|4@0+ (1,0) [0|0] "" H_U + SG_ AMP_MajorVer : 23|8@0+ (1,0) [0|0] "" H_U,MON + SG_ AMP_MinorVer : 31|8@0+ (1,0) [0|0] "" H_U,MON + SG_ AMP_UpdateStartResp : 33|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_UpdateEndResp : 41|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_TuningMajorVer : 55|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_TuningMinorVer : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 384 AMP_HU_PE_01: 8 AMP + SG_ AMP_HFModeState : 1|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ HU_InitInfo : 3|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_ASDModeState : 6|3@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_NaviModeState : 9|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_SPDIFInfo : 12|3@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_MTSModeState : 17|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_VSCModeState : 25|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_SDVCStepState : 29|3@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_Beep1ModeState : 33|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_Beep2ModeState : 41|2@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_DistrInfoState : 55|8@0+ (1,0) [0|0] "" CLU,H_U + SG_ AMP_INFORM_TO_IPM : 57|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM + SG_ AMP_SignalDoctorState : 59|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_AutoVolumeState : 61|2@0+ (1,0) [0|0] "" H_U + +BO_ 1408 AMP_HU_P_01: 8 AMP + SG_ AMP_SupportMute : 1|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportHFMode : 3|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportCfgBeep1 : 5|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportCfgBeep2 : 7|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportSpeedAdjust : 9|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportSurroundMode : 11|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportNaviMode : 13|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportMTSMode : 15|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportTopState : 17|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportBothLHDandRHD : 19|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportEQState : 21|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportVehicleID : 23|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportAudioSource : 25|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportSPDIFModeState : 27|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportRearSpMute : 29|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportVEQMode : 31|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_MakerID : 39|8@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportASDMode : 41|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportBeatsMode : 43|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportVIPMode : 45|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportQLS : 47|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportSignalDoctor : 49|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportAutoVolume : 51|2@0+ (1,0) [0|0] "" H_U + SG_ AMP_SupportPESSMode : 53|2@0+ (1,0) [0|0] "" H_U + +BO_ 1920 TP_HU_PhyReq: 8 EDT + SG_ Byte0_TCP_780 : 7|8@0+ (1,0) [0|0] "" H_U + SG_ Byte1_Data_780 : 15|8@0+ (1,0) [0|0] "" H_U + SG_ Byte2_Data_780 : 23|8@0+ (1,0) [0|0] "" H_U + SG_ Byte3_Data_780 : 31|8@0+ (1,0) [0|0] "" H_U + SG_ Byte4_Data_780 : 39|8@0+ (1,0) [0|0] "" H_U + SG_ Byte5_Data_780 : 47|8@0+ (1,0) [0|0] "" H_U + SG_ Byte6_Data_780 : 55|8@0+ (1,0) [0|0] "" H_U + SG_ Byte7_Data_780 : 63|8@0+ (1,0) [0|0] "" H_U + +BO_ 371 HU_TMU_PE_01: 8 H_U + SG_ HU_AliveStatus : 1|2@0+ (1,0) [0|0] "" CLU,CGW,TMU + SG_ HU_DeviceType : 5|4@0+ (1,0) [0|0] "" TMU + SG_ HU_DistanceUnit : 7|2@0+ (1,0) [0|0] "" TMU + SG_ HU_AudAllocStatus : 9|2@0+ (1,0) [0|0] "" TMU + SG_ HU_PowerStatus : 12|3@0+ (1,0) [0|0] "" TMU + SG_ HU_BTCallStatus : 15|3@0+ (1,0) [0|0] "" TMU + SG_ HU_VoiceRecStatus : 17|2@0+ (1,0) [0|0] "" TMU + SG_ HU_LangStatus : 20|3@0+ (1,0) [0|0] "" TMU + +BO_ 369 HU_Car_PE_01: 8 H_U + SG_ HU_VehiclePwr : 3|4@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CLOCK,CLU,CUBIS,DATC,FHCU,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU + +BO_ 1392 HU_TMU_P_01: 8 H_U + SG_ HU_GPS_Signal : 7|64@0+ (1,0) [0|0] "" TMU + +BO_ 112 HU_AMP_E_09: 8 H_U + SG_ AMP_Beep1VolumeStep : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1Frequency : 15|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1Ch_OutputMask : 31|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1DurationOn : 47|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1DurationOff : 55|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1NumberOfCycles : 63|8@0+ (1,0) [0|0] "" AMP + +BO_ 1390 GW_CLU_P: 8 CLU + SG_ C_VehicleSpeed : 7|8@0+ (1,0) [0|254] "" H_U,IBOX + SG_ C_Odometer : 15|24@0+ (1,0) [0|999999] "" H_U,IBOX + +BO_ 363 GW_IPM_PE_2: 8 CLU + SG_ C_DRVUnlockState : 1|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_ASTUnlockState : 3|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_RLUnlockstate : 5|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_RRUnlockState : 7|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_VehicleInfoTMU : 9|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_Engine_Status : 11|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_TMULockFeedBack : 23|2@0+ (1,0) [0|0] "" CUBIS,TMU + +BO_ 362 GW_IPM_PE_1: 8 CLU + SG_ C_AV_Tail : 1|2@0+ (1,0) [0|0] "" AMP,CCP,CLOCK,CLU,HUD,H_U,IBOX,RRC,RSE_L + SG_ C_ParkingBrakeSW : 3|2@0+ (1,0) [0|0] "" H_U + SG_ C_RKECMD : 7|4@0+ (1,0) [0|0] "" H_U + SG_ C_BAState : 9|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_IGNSW : 14|3@0+ (1,0) [0|0] "" AMP,AVM,CUBIS,EDT,H_U,MON,RRC,SWRC + SG_ C_CountryCfg : 18|3@0+ (1,0) [0|0] "" AVM,H_U + SG_ C_AltL : 25|2@0+ (1,0) [0|0] "" H_U + SG_ C_TailLampActivity : 27|2@0+ (1,0) [0|0] "" AMP,CCP,CLOCK,HUD,H_U,IBOX,RRC,RSE_L,SWRC + SG_ RearSW_RSELockOnOff : 29|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_TMULockFeedBack : 31|2@0+ (1,0) [0|0] "" CUBIS,TMU + SG_ C_SMKTeleCrankingState : 33|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_SMKTeleCrankingFailRes : 35|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_RKECMD_GEN2 : 39|3@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_Acu_CshAct : 41|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_IntTailAct : 43|2@0+ (1,0) [0|0] "" AMP,CCP,CLOCK,CLU,HUD,H_U,IBOX,RRC,RSE_L + SG_ C_PassiveAccessUnlock : 47|3@0+ (1,0) [0|0] "" H_U,IBOX + SG_ Lca_IndLeft : 49|2@0+ (1,0) [0|0] "" H_U + SG_ FL_SndWarn : 51|2@0+ (1,0) [0|0] "" AMP + SG_ FR_SndWarn : 53|2@0+ (1,0) [0|0] "" AMP + SG_ Lca_IndRight : 55|2@0+ (1,0) [0|0] "" H_U + SG_ RCTA_IndLeft : 57|2@0+ (1,0) [0|0] "" H_U + SG_ RL_SndWarn : 59|2@0+ (1,0) [0|0] "" AMP + SG_ RR_SndWarn : 61|2@0+ (1,0) [0|0] "" AMP + SG_ RCTA_IndRight : 63|2@0+ (1,0) [0|0] "" H_U + +BO_ 361 GW_CHASSIS_PE_1: 8 CLU + SG_ C_Inhibit_State : 3|4@0+ (1,0) [0|0] "" AVM,H_U + SG_ C_P_BrakeStatus : 5|2@0+ (1,0) [0|0] "" AVM,H_U + SG_ C_Clu_AltLStatus : 7|2@0+ (1,0) [0|0] "" AVM,H_U + +BO_ 359 GW_WARNING_PE_01: 8 CLU + SG_ Spas_BEEP_Alarm : 3|4@0+ (1,0) [0|0] "" AMP + SG_ Spas_Audio_VolumeDown : 5|2@0+ (1,0) [0|0] "" AMP + SG_ Spas_Spkr_Flh_Alarm : 9|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Fcnt_Alarm : 11|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Frh_Alarm : 13|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Rlh_Alarm : 17|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Rcnt_Alarm : 19|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Rrh_Alarm : 21|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Lkas_SysStatus : 27|4@0+ (1,0) [0|0] "" AMP,H_U + SG_ Lkas_LH_Warning : 29|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Lkas_RH_Warning : 31|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Spas_Spkr_Level : 35|3@0+ (1,0) [0|0] "" AMP + SG_ Lkas_Audio_VolumeDown : 37|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Audio_VolumeDown : 39|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_BEEP_Alarm : 43|4@0+ (1,0) [0|0] "" AMP + SG_ Pas_Audio_VolumeDown : 45|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Level : 32|3@0+ (1,0) [0|0] "" AMP + SG_ Pas_Spkr_Flh_Alarm : 49|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Fcnt_Alarm : 51|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Frh_Alarm : 53|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Rlh_Alarm : 57|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Rcnt_Alarm : 59|2@0+ (1,0) [0|0] "" AMP,H_U + SG_ Pas_Spkr_Rrh_Alarm : 61|2@0+ (1,0) [0|0] "" AMP,H_U + +BO_ 1376 HU_TMU_P_02: 8 H_U + SG_ HU_GPS_Signal2 : 7|8@0+ (2,0) [0|0] "Degree" TMU + SG_ HU_GPS_Signal3 : 9|2@0+ (1,0) [0|0] "" TMU + SG_ HU_GPS_Signal4 : 12|3@0+ (1,0) [0|0] "" TMU + +BO_ 93 DATC_HU_E_SYS: 8 CLU + SG_ DATC_SWVerMajor : 7|8@0+ (1,0) [0|254] "" H_U + SG_ DATC_SWVerMinor : 15|8@0+ (1,0) [0|254] "" H_U + SG_ DATC_CANVerMajor : 23|8@0+ (1,0) [0|254] "" H_U + SG_ DATC_CANVerMinor : 31|8@0+ (1,0) [0|254] "" H_U + +BO_ 344 GW_CLU_PE: 8 CLU + SG_ C_InhibitP : 1|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_InhibitR : 3|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_InhibitN : 5|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_InhibitD : 7|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_P_BrakeStatus : 9|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_Clu_AltLStatus : 11|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ CF_Clu_LowfuelWarning : 13|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ C_InhibitRMT : 15|2@0+ (1,0) [0|0] "" H_U + SG_ CF_SMKRKECmd : 18|3@0+ (1,0) [0|0] "" H_U + +BO_ 87 HU_E_02: 8 H_U + SG_ NaviValidity : 1|2@0+ (1,0) [0|0] "" CGW,CLU + +BO_ 343 GW_WARNING_PE_02: 8 CLU + SG_ CF_Lkas_TsrSlifOpt : 1|2@0+ (1,0) [0|3] "" H_U + SG_ CF_Lkas_TsrStatus : 3|2@0+ (1,0) [0|3] "" H_U + SG_ CF_Lkas_TsrAddinfo_Disp : 7|2@0+ (1,0) [0|3] "" H_U + SG_ CF_Lkas_TsrSpeed_Display : 15|8@0+ (1,0) [0|255] "" H_U + +BO_ 75 HU_AMP_E_12: 8 H_U + SG_ AMP_EngOrderC2GainSet : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_EngOrderC4GainSet : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_EngOrderC6GainSet : 23|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_APSBand0GainSet : 31|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_APSBand1GainSet : 39|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_APSBand2GainSet : 47|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_APSBand3GainSet : 55|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_APSBand4GainSet : 63|8@0+ (1,0) [0|0] "" AMP + +BO_ 74 HU_AMP_E_11: 8 H_U + SG_ AMP_PESSMode : 1|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_PESSDesignSet : 4|3@0+ (1,0) [0|0] "" AMP + SG_ AMP_PESSAPSSet : 7|3@0+ (1,0) [0|0] "" AMP + SG_ AMP_PESSVolumeSet : 15|8@0+ (1,0) [0|0] "" AMP + +BO_ 1864 TP_AMP_EDT: 8 AMP + SG_ Byte0_TCP_748 : 7|8@0+ (1,0) [0|0] "" EDT + SG_ Byte1_Data_748 : 15|8@0+ (1,0) [0|0] "" EDT + SG_ Byte2_Data_748 : 23|8@0+ (1,0) [0|0] "" EDT + SG_ Byte3_Data_748 : 31|8@0+ (1,0) [0|0] "" EDT + SG_ Byte4_Data_748 : 39|8@0+ (1,0) [0|0] "" EDT + SG_ Byte5_Data_748 : 47|8@0+ (1,0) [0|0] "" EDT + SG_ Byte6_Data_748 : 55|8@0+ (1,0) [0|0] "" EDT + SG_ Byte7_Data_748 : 63|8@0+ (1,0) [0|0] "" EDT + +BO_ 327 TMU_HU_PE_03: 8 TMU + SG_ TMU_TbT_TurnIcon : 7|8@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_CountDownBar : 11|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_Distance_Unit : 13|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_DestDistance_Unit : 15|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_DistanceLo : 27|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_DistanceHi : 23|12@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_DestDistanceLo : 43|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_DestDistanceHi : 39|12@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_ExpectRemainHour : 55|8@0+ (1,0) [0|0] "" H_U + SG_ TMU_TbT_ExpectRemainMin : 61|6@0+ (1,0) [0|0] "" H_U + +BO_ 326 TMU_HU_PE_02: 8 TMU + SG_ TMU_CallStatus : 3|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_CallType : 6|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_CDMA_Streng : 11|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_PacketStatus : 13|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_TalkTimeHour : 20|5@0+ (1,0) [0|0] "" H_U + SG_ TMU_TalkTimeMinute : 29|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_TalkTimeSecond : 37|6@0+ (1,0) [0|0] "" H_U + +BO_ 325 TMU_HU_PE_01: 8 TMU + SG_ TMU_AliveStatus : 2|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_AudioStatus : 4|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_UpdateStatus : 7|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_LangStatus : 10|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_VoiceRecStatus : 12|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_MicStatus : 14|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_ServCommuStatus : 19|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_PowerStatus : 21|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_EngineStatus : 23|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_DownProgress : 31|8@0+ (1,0) [0|0] "" H_U + +BO_ 69 TMU_HU_E_04: 8 TMU + SG_ TMU_eCall : 1|2@0+ (1,0) [0|0] "" H_U + +BO_ 67 TMU_GW_E_01: 8 TMU + SG_ C_ReqDrLock : 1|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ C_ReqDrUnlock : 3|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ C_ReqHazard : 5|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ C_ReqHorn : 7|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ C_ReqEngineOperate : 9|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + +BO_ 66 TMU_HU_E_03: 8 TMU + SG_ CDMA_SelfDiag : 1|2@0+ (1,0) [0|0] "" H_U + SG_ CDMA_Antena_SelfDiag : 3|2@0+ (1,0) [0|0] "" H_U + +BO_ 1345 TMU_HU_P_02: 8 TMU + SG_ TMU_SupVoiceTextService : 1|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_SupEcoCoachService : 3|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_SupSongTagService : 5|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_SupContentService : 7|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_MajorVersion : 15|8@0+ (1,0) [0|0] "" H_U + SG_ TMU_MinorVersion : 23|8@0+ (1,0) [0|0] "" H_U + SG_ TMU_DistributeInfo : 27|4@0+ (1,0) [0|0] "" H_U + +BO_ 65 TMU_HU_E_02: 8 TMU + SG_ TMU_BarLevel1 : 7|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel2 : 1|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel4 : 21|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel3 : 11|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel5 : 31|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel6 : 25|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel8 : 45|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel7 : 35|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel9 : 55|6@0+ (1,0) [0|0] "" H_U + SG_ TMU_BarLevel10 : 63|6@0+ (1,0) [0|0] "" H_U + +BO_ 1344 TMU_HU_P_01: 8 TMU + SG_ TMU_Arrow : 3|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_ReFill_Info : 5|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_AverageMPG : 1|10@0+ (1,0) [0|0] "" H_U + SG_ TMU_TotalMPG : 23|10@0+ (1,0) [0|0] "" H_U + SG_ TMU_RewardStar : 37|14@0+ (1,0) [0|0] "" H_U + +BO_ 64 TMU_HU_E_01: 8 TMU + SG_ TMU_DisMode : 3|4@0+ (1,0) [0|0] "" H_U + SG_ TMU_AudSrcType : 7|4@0+ (1,0) [0|0] "" CLU,DATC,H_U + SG_ TMU_AudReqCmd : 9|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_LangCmd : 12|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_ServReq : 15|3@0+ (1,0) [0|0] "" H_U + SG_ TMU_ErrorEvent : 23|8@0+ (1,0) [0|0] "" H_U + SG_ TMU_BeepCmd : 25|2@0+ (1,0) [0|0] "" H_U + SG_ TMU_eCall : 28|3@0+ (1,0) [0|0] "" H_U + +BO_ 62 HU_Navi_E_00: 8 H_U + SG_ Navi_SLIF_SpdUnit : 1|2@0+ (1,0) [0|0] "" CGW,CLU,HUD + SG_ Navi_SLIF_Frwinfo : 4|3@0+ (1,0) [0|0] "" CGW,CLU,HUD + SG_ Navi_SLIF_LinkClass : 7|3@0+ (1,0) [0|0] "" CGW,CLU,HUD + SG_ Navi_SLIF_SpdLimit : 15|8@0+ (1,0) [1|254] "" CGW,CLU,HUD + SG_ Navi_SLIFMapSource : 29|4@0+ (1,0) [0|8] "" CGW,CLU,HUD + SG_ Navi_SLIF_CountryCode : 23|10@0+ (1,0) [0|0] "" CGW,CLU,HUD + +BO_ 52 HU_DATC_E_02: 8 H_U + SG_ HU_DATC_DrTempUpDn : 1|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_PsTempUpDn : 3|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RlTempUpDn : 5|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RrTempUpDn : 7|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_MainBlower : 11|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_SubBlower : 15|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RearBlower : 19|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATCRearPsModeSet : 23|4@0+ (1,0) [0|0] "" CGW,CLU + SG_ HU_DATC_FrontModeSet : 27|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RearModeSet : 31|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_AutoSet : 33|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_OffReq : 35|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_IntakeSet : 37|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RearOnOffSet : 39|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_AcSet : 41|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_AqsSet : 43|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_FrontDefog : 45|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_RearDefog : 47|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_ZoneControl : 49|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ HU_DATC_CO2Set : 51|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ DATC_SmartVentOnOffSet : 53|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM + SG_ DATC_ADSOnOffSet : 55|2@0+ (1,0) [0|0] "" CGW,CLU + SG_ HU_DATC_RearAutoDisp : 57|2@0+ (1,0) [0|0] "" CGW,CLU + SG_ HU_DATC_RearOffDisp : 59|2@0+ (1,0) [0|0] "" CGW,CLU + +BO_ 308 DATC_PE_05: 8 CLU + SG_ DATC_PwrInfo : 3|4@0+ (1,0) [0|0] "" AMP,AVM,CUBIS,H_U,MON + SG_ DATC_AltL : 5|2@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_CarInfo : 7|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_ParkingBrake : 9|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_LowFuelWarn : 11|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_Rear_Off_Disp : 13|2@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_Rear_AutoDisp : 15|2@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_Rear_BlowerDisp : 19|4@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_DrSeatWarmerDisp : 22|3@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_SyncDisp : 27|4@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_RearDispCtrl : 31|4@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_RearDrModeDisp : 35|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_PsSeatWarmerDisp : 38|3@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_DrVentSeatDisp : 42|3@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_PSVentSeatDisp : 46|3@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_RrDefLed : 49|2@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_SmartVentOnOffStatus : 51|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_ADSOnOffStatus : 53|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_AcDisp_OSD : 55|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_PsModeDisp_OSD : 59|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_ModeDisp_OSD : 63|4@0+ (1,0) [0|0] "" H_U + +BO_ 307 DATC_PE_04: 8 CLU + SG_ DATC_DiagMode : 1|2@0+ (1,0) [0|0] "" H_U,IBOX,MON + SG_ DATC_Rear_ChangeReqDisp : 3|2@0+ (1,0) [0|0] "" H_U,IBOX,MON + SG_ DATC_Rear_ClimateScnDisp : 5|2@0+ (1,0) [0|0] "" H_U,IBOX,MON + SG_ DATC_CO2OnOffStatus : 7|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_SelfDiagDisp : 15|8@0+ (1,0) [0|0] "" H_U,IBOX,MON + SG_ DATC_RearBlwDisp_OSD : 19|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_AqsLevelOut : 23|4@0+ (1,0) [0|0] "" H_U,IBOX,MON + SG_ DATC_RearModeDisp : 27|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_RearPsModeDisp : 31|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_FrontBlwDisp_Ps : 35|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_AutoDisp_Ps : 39|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_RearModeDisp_OSD : 43|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_RearPSModeDisp_OSD : 47|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_FrontBlwDisp_OSD : 51|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_FrontBlwDispPs_OSD : 55|4@0+ (1,0) [0|0] "" H_U + SG_ DATC_Variant : 63|8@0+ (1,0) [0|0] "" H_U,IBOX,MON + +BO_ 306 DATC_PE_03: 8 CLU + SG_ DATC_ModeDisp : 3|4@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_TempUnit : 5|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_AutoDisp : 9|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_IntakeDisp : 11|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_ChangeReqDisp : 13|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_AcDisp : 17|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_AqsDisp : 19|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_ClimateScnDisp : 21|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_DualDisp : 25|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_OffDisp : 27|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_OpSts : 30|3@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_RearManual : 33|2@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_FrDefLed : 37|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_SmartVentDisp : 39|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_AutoDefogBlink : 41|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_ADSDisp : 43|2@0+ (1,0) [0|0] "" H_U + SG_ DATC_IonClean : 45|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_CO2Warning : 47|2@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_SubBlowerDisp : 51|4@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_BeepReq : 55|4@0+ (1,0) [0|0] "" H_U,KBD,MON + SG_ DATC_MainBlowerDisp : 59|4@0+ (1,0) [0|0] "" H_U,IBOX + SG_ DATC_PsModeDisp : 63|4@0+ (1,0) [0|0] "" H_U,IBOX + +BO_ 1329 DATC_P_02: 8 CLU + SG_ DATC_AmbientTemp_C : 7|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_AmbientTemp_F : 23|8@0+ (1,0) [0|0] "" H_U,MON + +BO_ 305 DATC_PE_02: 8 CLU + SG_ DATC_DrTempDispC : 7|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON + SG_ DATC_Rear_DrTempDispC : 15|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON + SG_ DATC_DrTempDispF : 23|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON + SG_ DATC_Rear_DrTempDispF : 31|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON + SG_ DATC_PsTempDispC : 39|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON + SG_ Datc_RearPsTempDispC : 47|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON + SG_ DATC_PsTempDispF : 55|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON + SG_ DATC_RearPsTempDispF : 63|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON + +BO_ 304 DATC_PE_01: 8 CLU + SG_ DATC_Type : 7|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerMMMajor : 15|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerMMMinor : 23|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerBDFMajor : 31|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerBDMinor : 39|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerCSMajor : 47|8@0+ (1,0) [0|0] "" H_U,MON + SG_ DATC_VerCSMinor : 55|8@0+ (1,0) [0|0] "" H_U,MON + +BO_ 291 HU_CLU_PE_07: 8 H_U + SG_ NV_DS_Curve : 3|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_Merge : 7|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_RailCross : 9|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_FallingRocks : 11|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_SchoolZone : 13|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_AccidentBlack : 15|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_SpeedBump : 17|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_RoadKill : 19|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_Downhill : 21|2@0+ (1,0) [0|0] "" CLU + SG_ NV_DS_Fog : 23|2@0+ (1,0) [0|0] "" CLU + SG_ NV_Display_TG : 31|2@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_Charge : 39|16@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_Charge_Unit : 55|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_BarGraph100Level : 63|8@0+ (1,0) [0|100] "%" CLU,HUD + +BO_ 290 HU_CLU_PE_06: 8 H_U + SG_ NV_SD_SpdLimit2 : 3|4@0+ (10,0) [0|0] "km/h" CLU + SG_ NV_SD_SpdLimit1 : 7|4@0+ (10,0) [0|0] "km/h" CLU + SG_ NV_SD_EtcCam : 11|4@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_SpdLimit3 : 15|4@0+ (10,0) [0|0] "km/h" CLU + SG_ NV_SD_SignCam : 17|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_SignOverCam : 19|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_MobileCam : 21|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_FixedCam : 23|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_OverLoadCam : 25|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_ParkCam : 27|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_CutInCam : 29|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_BusOnlyCam : 31|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_ShoulderCam : 35|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_TrafficCam : 37|2@0+ (1,0) [0|0] "" CLU + SG_ NV_SD_PlateRcgCam : 39|2@0+ (1,0) [0|0] "" CLU + +BO_ 286 HU_CLU_PE_10: 8 H_U + SG_ Navi_TBTInfo : 63|8@0+ (1,0) [0|0] "" CGW,CLU + +BO_ 29 CLU_HU_E_00: 8 CLU + SG_ SYS_CLUVer : 7|16@0+ (1,0) [0|0] "" CUBIS,H_U + SG_ CLU_ClockInfoReq : 17|2@0+ (1,0) [0|0] "" H_U + SG_ CLU_DateInfoReq : 19|2@0+ (1,0) [0|0] "" H_U + +BO_ 27 AMP_HU_E_00: 8 AMP + SG_ SYS_AMPVer : 7|16@0+ (1,0) [0|0] "" H_U + +BO_ 23 HU_IPM_E_00: 8 H_U + SG_ C_ADrLNValueSet : 2|3@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ADrUNValueSet : 5|3@0+ (1,0) [0|0] "" DATC,IPM + SG_ SYS_Ver_Req : 7|2@0+ (1,0) [0|0] "" AMP,AVM,CLU,CUBIS,DATC,IPM + SG_ C_IMSRValueReq : 9|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_PSMNValueSet : 11|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_SCMNValueSet : 13|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ADrLURValueReq : 15|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ABuzzerNValueSet : 17|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_AlarmRValueReq : 19|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ArmWKeyNValueSet : 21|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_TwUnRValueReq : 23|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_TwUnNValueSet : 25|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_AutoMRFoldRValueReq : 27|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_AutoMRFoldNValueSet : 29|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ADrLRValueReq : 31|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ArmWKeyRValueReq : 33|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ABuzzerRValueReq : 35|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_ADrURValueReq : 37|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_PSMRValueReq : 39|2@0+ (1,0) [0|0] "" DATC,IPM + SG_ C_SCMRValueReq : 47|2@0+ (1,0) [0|0] "" DATC,IPM + +BO_ 277 HU_CLU_PE_02: 8 H_U + SG_ TBT_Display_Type : 7|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_Side_Street : 15|16@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_Direction : 31|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_Distance_Turn_Point : 39|16@0+ (1,0) [0|0] "m" CLU,HUD + SG_ TBT_Combined_Side_Street : 51|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_Scale : 55|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ TBT_DistancetoTurnPoint : 59|4@0+ (1,0) [0|0] "times" CLU,HUD + SG_ TBT_Bar_Graph_Level : 63|4@0+ (10,0) [0|100] "" CLU,HUD + +BO_ 276 HU_CLU_PE_01: 8 H_U + SG_ HU_OpState : 6|7@0+ (1,0) [0|0] "" AMP,CLU + SG_ HU_Navi_On_Off : 7|1@0+ (1,0) [0|0] "" CLU,HUD + SG_ HU_Preset_Number : 12|5@0+ (1,1) [1|30] "" AMP,CLU + SG_ HU_Tuner_Area : 15|3@0+ (1,0) [0|0] "" AMP,CLU + SG_ HU_Track_Number : 23|16@0+ (1,0) [0|0] "" CLU + SG_ HU_Play_time_Sec : 39|6@0+ (1,0) [0|0] "" CLU + SG_ HU_Play_time_Min : 33|7@0+ (1,0) [0|0] "" CLU + SG_ HU_Play_time_Hour : 42|6@0+ (1,0) [0|0] "" CLU + SG_ HU_Disc_select_No : 59|4@0+ (1,0) [0|0] "" CLU + SG_ HU_Frequency : 52|9@0+ (1,0) [0|0] "" AMP,CLU + +BO_ 17 HU_AMP_E_10: 8 H_U + SG_ AMP_Beep2VolumeStep : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2Frequency : 15|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2Ch_OutputMask : 31|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2DurationOn : 47|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2DurationOff : 55|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2NumberOfCycles : 63|8@0+ (1,0) [0|0] "" AMP + +BO_ 15 HU_AMP_E_08: 8 H_U + SG_ AMP_MainVolumeSet : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_BalanceSet : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_FadeSet : 23|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_BassSet : 31|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_MidSet : 39|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_TrebleSet : 47|8@0+ (1,0) [0|0] "" AMP + +BO_ 14 HU_AMP_E_07: 8 H_U + SG_ AMP_HFVolumeStep : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_HFMainAudioCut : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_HFChannelOutputMask : 23|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_HFChannelMuteMask : 39|16@0+ (1,0) [0|0] "" AMP + +BO_ 13 HU_AMP_E_06: 8 H_U + SG_ AMP_MTSVolumeStep : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_MTSMainAudioCut : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_MTSChannelOutputMask : 23|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_MTSChannelMuteMask : 39|16@0+ (1,0) [0|0] "" AMP + +BO_ 12 HU_AMP_E_05: 8 H_U + SG_ AMP_NaviVolumeStep : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_NaviMainAudioCut : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_NaviChannelOutputMask : 23|16@0+ (1,0) [0|0] "" AMP + SG_ AMP_NaviChannelMuteMask : 39|16@0+ (1,0) [0|0] "" AMP + +BO_ 11 HU_AMP_E_04: 8 H_U + SG_ AMP_Drive : 1|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_ConvertibleTop : 5|2@0+ (1,0) [0|0] "" AMP + +BO_ 10 HU_AMP_E_03: 8 H_U + SG_ AMP_CrtVehicleID : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_SPDIFMode : 11|4@0+ (1,0) [0|0] "" AMP + SG_ AMP_VersionReq : 17|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_UpdateStart : 25|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_UpdateEnd : 33|2@0+ (1,0) [0|0] "" AMP + +BO_ 9 HU_AMP_E_02: 8 H_U + SG_ AMP_Mute : 1|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_RearSpMute : 3|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_SurroundMode : 5|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_VEQMode : 7|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_AudioMode : 15|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_EQ : 17|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_Reset : 19|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_SPDIFMute : 21|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_DefaultBeep1 : 25|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_DefaultBeep2 : 29|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_BeatsMode : 33|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_VIPMode : 35|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_QLSMode : 37|2@0+ (1,0) [0|0] "" AMP + +BO_ 1288 HU_CLU_P_02: 8 H_U + SG_ NV_TIME_TYPE : 3|4@0+ (1,0) [0|0] "" CLU + SG_ NV_Hour : 15|8@0+ (1,0) [0|0] "" CLU + SG_ NV_Min : 23|8@0+ (1,0) [0|0] "" CLU + +BO_ 8 HU_AMP_E_01: 8 H_U + SG_ AMP_HFMode : 1|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_NaviMode : 3|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_MTSMode : 5|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_VSCMode : 7|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep1Mode : 9|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_Beep2Mode : 11|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_SDVCStep : 14|3@0+ (1,0) [0|0] "" AMP + SG_ AMP_ASDMode : 18|3@0+ (1,0) [0|0] "" AMP + SG_ AMP_SignalDoctor : 20|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_AutoVolume : 22|2@0+ (1,0) [0|0] "" AMP + +BO_ 1287 HU_CLU_P_01: 8 H_U + SG_ NV_DistToTurn_F1 : 3|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_Unit : 7|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_F3 : 11|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_F2 : 15|4@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_I1 : 23|16@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_I2 : 39|16@0+ (1,0) [0|0] "" CLU + SG_ NV_DistToTurn_I3 : 55|16@0+ (1,0) [0|0] "" CLU + +BO_ 1286 HU_CLU_P_00: 8 H_U + SG_ NV_EstDist_F : 3|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_EstDist_Unit : 7|4@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_EstHour : 15|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_EstMin : 23|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_Azimuth : 31|8@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_EstDist_I : 39|16@0+ (1,0) [0|0] "" CLU,HUD + SG_ NV_EstimTimeType : 49|2@0+ (1,0) [0|0] "" CGW,CLU,HUD + SG_ NV_EstimTimeFormat : 51|2@0+ (1,0) [0|0] "" CGW,CLU,HUD + +BO_ 1284 HU_AMP_P_01: 8 H_U + SG_ HU_VehicleSpeed : 7|8@0+ (1,0) [0|0] "" AMP + SG_ AMP_SetMaxMainVolStep : 9|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_LKASWarningOn : 21|2@0+ (1,0) [0|0] "" AMP + SG_ AMP_BSDWarningOn : 23|2@0+ (1,0) [0|0] "" AMP + +BO_ 256 HU_MON_PE_01: 8 H_U + SG_ HU_Type : 7|8@0+ (1,0) [0|0] "" AMP,CGW,CLU,HUD,KMA_TMU + SG_ HU_VerMajor : 15|8@0+ (1,0) [0|0] "" AMP,CLU,KMA_TMU,MON + SG_ HU_VerMinor : 23|8@0+ (1,0) [0|0] "" AMP,CLU,KMA_TMU,MON + SG_ HU_DistributeInfo : 31|8@0+ (1,0) [0|0] "" AMP,CGW,CLU,KMA_TMU,MON,RRC + SG_ HU_SubVerMajor : 39|8@0+ (1,0) [0|0] "" AMP,MON + SG_ HU_SubVerMinor : 47|8@0+ (1,0) [0|0] "" AMP,MON + SG_ HU_SDARSVersion : 55|8@0+ (1,0) [0|0] "" AMP,MON + SG_ HU_AdasSupport : 58|3@0+ (1,0) [0|0] "" CGW,CLU + +BO_ 1092 NM_CLOCK: 8 CLOCK + SG_ Destination_CLOCK : 7|8@0+ (1,0) [0|0] "" HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_CLOCK : 13|2@0+ (1,0) [0|0] "" HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_CLOCK : 10|3@0+ (1,0) [0|0] "" HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1108 NM_HUD: 8 HUD + SG_ Destination_HUD : 7|8@0+ (1,0) [0|0] "" CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_HUD : 13|2@0+ (1,0) [0|0] "" CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_HUD : 10|3@0+ (1,0) [0|0] "" CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1088 NM_H_U: 8 H_U + SG_ Destination_H_U : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_H_U : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_H_U : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1091 NM_DATC: 8 DATC + SG_ Destination_DATC : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_DATC : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_DATC : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1105 NM_CCP: 8 CCP + SG_ Destination_CCP : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_CCP : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_CCP : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1100 NM_KMA_TMU: 8 KMA_TMU + SG_ Destination_KMA_TMU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_KMA_TMU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_KMA_TMU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1098 NM_CUBIS: 8 CUBIS + SG_ Destination_CUBIS : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_CUBIS : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_CUBIS : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1099 NM_TMU: 8 TMU + SG_ Destination_TMU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_TMU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_TMU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1095 NM_IPM: 8 IPM + SG_ Destination_IPM : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_IPM : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_IPM : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1107 NM_RSE_R: 8 RSE_R + SG_ Destination_RSE_R : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_RSE_R : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_RSE_R : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1093 NM_RRC: 8 RRC + SG_ Destination_RRC : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_RRC : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_RRC : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1109 NM_CGW: 8 CGW + SG_ Destination_CGW : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_CGW : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_CGW : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1106 NM_RSE_L: 8 RSE_L + SG_ Destination_RSE_L : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_RSE_L : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_RSE_L : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1096 NM_AMP: 8 AMP + SG_ Destination_AMP : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_AMP : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_AMP : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1103 NM_EDT: 8 EDT + SG_ Destination_EDT : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_EDT : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_EDT : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1110 NM_SWRC: 8 SWRC + SG_ Destination_SWRC : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_SWRC : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_SWRC : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1102 NM_IBOX: 8 IBOX + SG_ Destination_IBOX : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_IBOX : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_IBOX : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD + +BO_ 1101 NM_CLU: 8 CLU + SG_ Destination_CLU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_CLU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD + SG_ NMCommandCode_CLU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD + +BO_ 1097 NM_FHCU: 8 FHCU + SG_ Destination_FHCU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD + SG_ NMSleepFlag_FHCU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD + SG_ NMCommandCode_FHCU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD + +BO_ 1094 NM_ASD: 8 ASD + SG_ Destination_ASD : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD + SG_ NMSleepFlag_ASD : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD + SG_ NMCommandCode_ASD : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD + +BO_ 1089 NM_MON: 8 MON + SG_ Destination_MON : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD + SG_ NMSleepFlag_MON : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD + SG_ NMCommandCode_MON : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD + +BO_ 1104 NM_AVM: 8 AVM + SG_ Destination_AVM : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD + SG_ NMSleepFlag_AVM : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD + SG_ NMCommandCode_AVM : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD + +BO_ 1090 NM_KBD: 8 KBD + SG_ Destination_KBD : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM + SG_ NMSleepFlag_KBD : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM + SG_ NMCommandCode_KBD : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM + diff --git a/opendbc/hyundai_i30_2014.dbc b/opendbc/hyundai_i30_2014.dbc new file mode 100644 index 000000000..3524f9b21 --- /dev/null +++ b/opendbc/hyundai_i30_2014.dbc @@ -0,0 +1,549 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 128 EMS_DCT1: 8 XXX + SG_ PV_AV_CAN : 0|8@1+ (0.3906,0) [0|99.603] "%" XXX + SG_ TQ_STND : 8|6@1+ (10,0) [0|630] "Nm" XXX + SG_ F_N_ENG : 14|1@1+ (1,0) [0|1] "" XXX + SG_ F_SUB_TQI : 15|1@1+ (1,0) [0|1] "" XXX + SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX + SG_ TQI_ACOR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQI : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ CF_Ems_Alive : 56|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Ems_ChkSum : 60|4@1+ (1,0) [0|15] "" XXX + + +BO_ 129 EMS_DCT2: 8 XXX + SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5,0) [0|315] "Min" XXX + SG_ BRAKE_ACT : 6|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Ems_EngOperStat : 8|8@1+ (1,0) [0|255] "" XXX + SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX + SG_ CF_Ems_Alive2 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Ems_ChkSum2 : 60|4@1+ (1,0) [0|15] "" XXX + + +BO_ 160 EngFrzFrm1: 8 XXX + SG_ PID_04h : 0|8@1+ (0.392157,0) [0|100] "%" XXX + SG_ PID_05h : 8|8@1+ (1,-40) [-40|215] "" XXX + SG_ PID_0Ch : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX + SG_ PID_0Dh : 32|8@1+ (1,0) [0|255] "km/h" XXX + SG_ PID_11h : 40|8@1+ (0.392157,0) [0|100] "%" XXX + SG_ PID_03h : 48|16@1+ (1,0) [0|65535] "" XXX + + +BO_ 161 EngFrzFrm2: 8 XXX + SG_ PID_06h : 0|8@1+ (0.78125,-100) [-100|99.22] "%" XXX + SG_ PID_07h : 8|8@1+ (0.78125,-100) [-100|99.22] "%" XXX + SG_ PID_08h : 16|8@1+ (0.78125,-100) [-100|99.22] "%" XXX + SG_ PID_09h : 24|8@1+ (0.78125,-100) [-100|99.22] "%" XXX + SG_ PID_0Bh : 32|8@1+ (1,0) [0|255] "kPa" XXX + SG_ PID_23h : 40|16@1+ (10,0) [0|655350] "kPa" XXX + + +BO_ 304 YRS1: 8 XXX + SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "" XXX + SG_ CF_Yrs_SnsStat1 : 16|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Yrs_YrStat : 20|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Yrs_LatAc : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX + SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Yrs_LatAcStat1 : 52|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 305 YRS3: 8 XXX + SG_ CR_Yrs_YawAcc : 0|16@1+ (0.125,-4096) [-4096|4095.75] "" XXX + SG_ CF_Yrs_YawAccStat : 20|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Yrs_Ax : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX + SG_ CR_Yrs_MsgCnt3 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Yrs_AxStat : 52|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Yrs_Crc3 : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 320 YRS2: 8 XXX + SG_ CF_Yrs_McuStat : 0|8@1+ (1,0) [0|255] "" XXX + SG_ CF_Yrs_SnsStat2 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ CF_Yrs_ExtSysStat : 32|8@1+ (1,0) [0|255] "" XXX + SG_ CR_Yrs_Diag : 40|8@1+ (1,0) [0|255] "" XXX + SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Yrs_Type : 52|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 339 TCS1: 8 XXX + SG_ TCS_REQ : 0|1@1+ (1,0) [0|1] "" XXX + SG_ MSR_C_REQ : 1|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_PAS : 2|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_GSC : 3|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Esc_LimoInfo : 4|2@1+ (1,0) [0|3] "" XXX + SG_ ABS_DIAG : 6|1@1+ (1,0) [0|1] "" XXX + SG_ ABS_DEF : 7|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_DEF : 8|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_CTL : 9|1@1+ (1,0) [0|1] "" XXX + SG_ ABS_ACT : 10|1@1+ (1,0) [0|1] "" XXX + SG_ EBD_DEF : 11|1@1+ (1,0) [0|1] "" XXX + SG_ ESP_PAS : 12|1@1+ (1,0) [0|1] "" XXX + SG_ ESP_DEF : 13|1@1+ (1,0) [0|1] "" XXX + SG_ ESP_CTL : 14|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_MFRN : 15|1@1+ (1,0) [0|1] "" XXX + SG_ DBC_CTL : 16|1@1+ (1,0) [0|1] "" XXX + SG_ DBC_PAS : 17|1@1+ (1,0) [0|1] "" XXX + SG_ DBC_DEF : 18|1@1+ (1,0) [0|1] "" XXX + SG_ HAC_CTL : 19|1@1+ (1,0) [0|1] "" XXX + SG_ HAC_PAS : 20|1@1+ (1,0) [0|1] "" XXX + SG_ HAC_DEF : 21|1@1+ (1,0) [0|1] "" XXX + SG_ ESS_STAT : 22|2@1+ (1,0) [0|3] "" XXX + SG_ TQI_TCS : 24|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQI_MSR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ CF_Esc_BrkCtl : 48|1@1+ (1,0) [0|1] "" XXX + SG_ ESC_OFF_STEP : 49|2@1+ (1,0) [0|3] "" XXX + SG_ _4WD_Status : 51|1@1+ (1,0) [0|1] "" XXX + SG_ AliveCounter_TCS1 : 52|4@1+ (1,0) [0|1] "" XXX + SG_ CheckSum_TCS1 : 56|8@1+ (1,0) [0|1] "" XXX + + +BO_ 356 VSM1: 8 XXX + SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX + SG_ CF_Esc_Act : 12|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Esc_CtrMode : 13|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Esc_Def : 16|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Esc_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Esc_Chksum : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 357 VSM2: 8 XXX + SG_ CR_Mdps_StrTq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX + SG_ CR_Mdps_OutTq : 12|12@1+ (0.1,-204.8) [-204.8|204.7] "" XXX + SG_ CF_Mdps_Def : 24|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Mdps_SErr : 25|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Mdps_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Mdps_Chksum : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 399 EMS_H2: 8 XXX + SG_ R_TqAcnApvC : 0|8@1+ (0.2,0) [0|51] "Nm" XXX + SG_ R_PAcnC : 8|8@1+ (125,0) [0|31875] "hPa" XXX + SG_ TQI_B : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ SLD_VS : 24|8@1+ (1,0) [0|255] "km/h" XXX + SG_ CF_CdaStat : 32|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Ems_IsgStat : 35|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Ems_OilChg : 38|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1,0) [0|1] "" XXX + SG_ R_NEngIdlTgC : 40|8@1+ (10,0) [0|2550] "rpm" XXX + SG_ CF_Ems_UpTarGr : 48|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_DownTarGr : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_DesCurGr : 50|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Ems_SldAct : 54|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_SldPosAct : 55|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_HPresStat : 56|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_IsgBuz : 57|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_FCopen : 59|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_ActEcoAct : 60|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_EngRunNorm : 61|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_IsgStat2 : 62|2@1+ (2,0) [0|3] "" XXX + + +BO_ 497 TCS5: 8 XXX + SG_ ABS_W_LAMP : 0|1@1+ (1,0) [0|1] "" XXX + SG_ EBD_W_LAMP : 1|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_OFF_LAMP : 2|1@1+ (1,0) [0|1] "" XXX + SG_ TCS_LAMP : 3|2@1+ (1,0) [0|3] "" XXX + SG_ DBC_W_LAMP : 5|1@1+ (1,0) [0|1] "" XXX + SG_ DBC_F_LAMP : 6|2@1+ (1,0) [0|3] "" XXX + SG_ ODOMETER_LEFT : 8|4@1+ (1,0) [0|15] "m" XXX + SG_ ODOMETER_RIGHT : 12|4@1+ (1,0) [0|15] "m" XXX + SG_ WHEEL_FL : 16|12@1+ (0.125,0) [0|511.875] "km/h" XXX + SG_ WHEEL_FR : 28|12@1+ (0.125,0) [0|511.875] "km/h" XXX + SG_ WHEEL_RL : 40|12@1+ (0.125,0) [0|511.875] "km/h" XXX + SG_ WHEEL_RR : 52|12@1+ (0.125,0) [0|511.875] "km/h" XXX + + +BO_ 544 ESP2: 8 XXX + SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX + SG_ ESP2_AliveCounter_LSB : 11|3@1+ (1,0) [0|7] "" XXX + SG_ LAT_ACCEL_STAT : 14|1@1+ (1,0) [0|1] "" XXX + SG_ LAT_ACCEL_DIAG : 15|1@1+ (1,0) [0|1] "" XXX + SG_ LONG_ACCEL : 16|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX + SG_ ESP2_AliveCounter_MSB : 27|1@1+ (1,0) [0|1] "" XXX + SG_ ESP2_Checksum_LSB : 28|2@1+ (1,0) [0|3] "" XXX + SG_ LONG_ACCEL_STAT : 30|1@1+ (1,0) [0|1] "" XXX + SG_ LONG_ACCEL_DIAG : 31|1@1+ (1,0) [0|1] "" XXX + SG_ CYL_PRES : 32|12@1+ (0.1,0) [0|409.5] "Bar" XXX + SG_ ESP12_Checksum_MSB : 44|2@1+ (1,0) [0|3] "" XXX + SG_ CYL_PRES_STAT : 46|1@1+ (1,0) [0|1] "" XXX + SG_ CYL_PRESS_DIAG : 47|1@1+ (1,0) [0|1] "" XXX + SG_ YAW_RATE : 48|13@1+ (0.01,-40.95) [-40.95|40.96] "" XXX + SG_ CYL_PRES_FLAG : 61|1@1+ (1,0) [0|1] "" XXX + SG_ YAW_RATE_STAT : 62|1@1+ (1,0) [0|1] "" XXX + SG_ YAW_RATE_DIAG : 63|1@1+ (1,0) [0|1] "" XXX + + +BO_ 608 EMS6: 8 XXX + SG_ TQI_MIN : 0|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQI : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQI_TARGET : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ GLOW_STAT : 24|1@1+ (1,0) [0|1] "" XXX + SG_ CRUISE_LAMP_M : 25|1@1+ (1,0) [0|1] "" XXX + SG_ CRUISE_LAMP_S : 26|1@1+ (1,0) [0|1] "" XXX + SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1,0) [0|1] "" XXX + SG_ ENG_STAT : 28|3@1+ (1,0) [0|7] "" XXX + SG_ SOAK_TIME_ERROR : 31|1@1+ (1,0) [0|1] "" XXX + SG_ SOAK_TIME : 32|8@1+ (1,0) [0|255] "Min" XXX + SG_ TQI_MAX : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60] "" XXX + SG_ Checksum : 56|4@1+ (1,0) [0|15] "" XXX + SG_ AliveCounter : 60|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Ems_AclAct : 62|2@1+ (1,0) [0|3] "" XXX + + +BO_ 672 EMS5: 8 XXX + SG_ ECGPOvrd : 0|1@1+ (1,0) [0|1] "" XXX + SG_ QECACC : 1|1@1+ (1,0) [0|1] "" XXX + SG_ ECFail : 2|1@1+ (1,0) [0|1] "" XXX + SG_ SwitchOffCondExt : 3|1@1+ (1,0) [0|1] "" XXX + SG_ BLECFail : 4|1@1+ (1,0) [0|1] "" XXX + SG_ AliveCounter : 5|2@1+ (1,0) [0|3] "" XXX + SG_ Byte0Parity : 7|1@1+ (1,0) [0|1] "" XXX + SG_ FA_PV_CAN : 8|8@1+ (0.3906,0) [0|99.2] "%" XXX + SG_ IntAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX + SG_ STATE_DC_OBD : 24|7@1+ (1,0) [0|127] "" XXX + SG_ INH_DC_OBD : 31|1@1+ (1,0) [0|1] "" XXX + SG_ CTR_IG_CYC_OBD : 32|16@1+ (1,0) [0|65535] "" XXX + SG_ CTR_CDN_OBD : 48|16@1+ (1,0) [0|65535] "" XXX + + +BO_ 688 SAS1: 8 XXX + SG_ SAS_Angle : 0|16@1+ (0.1,0) [-3276.8|3276.7] "Deg" XXX + SG_ SAS_Speed : 16|8@1+ (4,0) [0|1016] "" XXX + SG_ SAS_Stat : 24|8@1+ (1,0) [0|255] "" XXX + SG_ MsgCount : 32|4@1+ (1,0) [0|15] "" XXX + SG_ CheckSum : 36|4@1+ (1,0) [0|15] "" XXX + + +BO_ 790 EMS1: 8 XXX + SG_ SWI_IGK : 0|1@1+ (1,0) [0|1] "" XXX + SG_ F_N_ENG : 1|1@1+ (1,0) [0|1] "" XXX + SG_ ACK_TCS : 2|1@1+ (1,0) [0|1] "" XXX + SG_ PUC_STAT : 3|1@1+ (1,0) [0|1] "" XXX + SG_ TQ_COR_STAT : 4|2@1+ (1,0) [0|3] "" XXX + SG_ RLY_AC : 6|1@1+ (1,0) [0|1] "" XXX + SG_ F_SUB_TQI : 7|1@1+ (1,0) [0|1] "" XXX + SG_ TQI_ACOR : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX + SG_ TQI : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ VS : 48|8@1+ (1,0) [0|254] "km/h" XXX + SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0) [0|2] "" XXX + + +BO_ 809 EMS2: 8 XXX + SG_ TQ_STND : 0|6@1+ (10,0) [0|630] "Nm" XXX + SG_ CAN_VERS : 0|6@1+ (1,0) [0|7.7] "" XXX + SG_ CONF_TCU : 0|6@1+ (1,0) [0|63] "" XXX + SG_ OBD_FRF_ACK : 0|6@1+ (1,0) [0|63] "" XXX + SG_ MUL_CODE : 6|2@1+ (1,0) [0|3] "" XXX + SG_ TEMP_ENG : 8|8@1+ (0.75,-48) [-48|143.25] "" XXX + SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0) [0|1.99155] "" XXX + SG_ VB_OFF_ACT : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ACK_ES : 25|1@1+ (1,0) [0|1] "" XXX + SG_ CONF_MIL_FMY : 26|3@1+ (1,0) [0|7] "" XXX + SG_ OD_OFF_REQ : 29|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_ACT : 30|1@1+ (1,0) [0|1] "" XXX + SG_ CLU_ACK : 31|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_ACT : 32|2@1+ (1,0) [0|3] "" XXX + SG_ ENG_CHR : 34|4@1+ (1,0) [0|15] "" XXX + SG_ GP_CTL : 38|2@1+ (1,0) [0|3] "" XXX + SG_ TPS : 40|8@1+ (0.469484,-15.0235) [-15.0235|104.695] "%" XXX + SG_ PV_AV_CAN : 48|8@1+ (0.3906,0) [0|99.603] "%" XXX + SG_ ENG_VOL : 56|8@1+ (0.1,0) [0|25.5] "liter" XXX + + +BO_ 848 FATC: 8 XXX + SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0) [0|50.8] "Nm" XXX + SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_EcvFlt : 10|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_BlwrOn : 11|1@1+ (1,0) [0|1] "" XXX + SG_ CF_FATC_Iden : 12|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Fatc_BlwrMax : 14|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_EngStartReq : 15|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_CtrInf : 17|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Fatc_MsgCnt : 20|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40) [-40|60] "" XXX + SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40) [-40|60] "" XXX + SG_ CF_Fatc_Compload : 40|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Fatc_ActiveEco : 43|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_AutoActivation : 44|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_DefSw : 45|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Fatc_ChkSum : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 880 TCU3: 8 XXX + SG_ N_TGT_LUP : 0|8@1+ (10,500) [500|3040] "rpm" XXX + SG_ SLOPE_TCU : 8|6@1+ (0.5,-16) [-16|15.5] "%" XXX + SG_ CF_Tcu_InhCda : 14|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_IsgInhib : 15|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_NCStat : 18|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_TarGr : 20|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Tcu_ShfPatt : 24|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Tcu_InhVis : 28|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_PRelReq : 29|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_ITPhase : 30|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10,0) [0|2540] "Nm/s" XXX + SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20,0) [0|3500] "rpm" XXX + SG_ TQI_TCU_INC : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX + SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_SptRdy : 57|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_Alive3 : 58|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1,0) [0|15] "" XXX + + +BO_ 898 EMS9: 8 XXX + SG_ CF_Ems_BrkReq : 0|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_DnShftReq : 1|4@1+ (1,0) [0|14] "" XXX + SG_ CF_Ems_RepModChk : 5|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_DecelReq : 8|12@1+ (0.001,-4.094) [-4.094|0] "m/s^2" XXX + SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0) [0|4094] "hPa" XXX + SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40) [0|254] "" XXX + SG_ CF_Ems_PumpTPres : 40|8@1+ (3.13725,0) [0|800] "kPa" XXX + SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41) [-40|60] "" XXX + SG_ CF_Ems_OPSFail : 56|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_ECTTRQLIM : 57|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1,0) [0|15] "" XXX + + +BO_ 1075 EPB1: 8 XXX + SG_ EPB_I_LAMP : 0|4@1+ (1,0) [0|15] "" XXX + SG_ EPB_F_LAMP : 4|2@1+ (1,0) [0|3] "" XXX + SG_ EPB_ALARM : 6|2@1+ (1,0) [0|3] "" XXX + SG_ EPB_CLU : 8|8@1+ (1,0) [0|255] "" XXX + SG_ EPB_SWITCH : 16|2@1+ (1,0) [0|3] "" XXX + SG_ EPB_RBL : 18|1@1+ (1,0) [0|1] "" XXX + SG_ EPB_STATUS : 19|3@1+ (1,0) [0|7] "" XXX + SG_ EPB_FRC_ERR : 22|2@1+ (1,0) [0|3] "" XXX + SG_ EPB_DBF_STAT : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ESP_ACK : 25|1@1+ (1,0) [0|1] "" XXX + SG_ EPB_DBF_REQ : 26|1@1+ (1,0) [0|1] "" XXX + SG_ EPB_FAIL : 29|3@1+ (1,0) [0|7] "" XXX + SG_ EPB_FORCE : 32|12@1+ (1,-1000) [-1000|3000] "" XXX + SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0) [0|2.54] "g" XXX + + +BO_ 1087 TCU1: 8 XXX + SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX + SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX + SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX + SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX + SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX + SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX + SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX + SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX + SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX + SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX + SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX + SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX + + +BO_ 1088 TCU2: 8 XXX + SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX + SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX + SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX + SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX + SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX + SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX + SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX + SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX + SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX + SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX + SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX + SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX + + +BO_ 1200 WHL_SPD: 8 XXX + SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0) [0|511.969] "km/h" XXX + SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0) [0|511.969] "km/h" XXX + SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0) [0|511.969] "km/h" XXX + SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0) [0|511.969] "km/h" XXX + + +BO_ 1201 WHL_PUL: 8 XXX + SG_ WHL_PUL_FL : 0|8@1+ (0.5,0) [0|127.5] "pulse count" XXX + SG_ WHL_PUL_FR : 8|8@1+ (0.5,0) [0|127.5] "pulse count" XXX + SG_ WHL_PUL_RL : 16|8@1+ (0.5,0) [0|127.5] "pulse count" XXX + SG_ WHL_PUL_RR : 24|8@1+ (0.5,0) [0|127.5] "pulse count" XXX + SG_ WHL_DIR_FL : 32|2@1+ (1,0) [0|3] "" XXX + SG_ WHL_DIR_FR : 34|2@1+ (1,0) [0|3] "" XXX + SG_ WHL_DIR_RL : 36|2@1+ (1,0) [0|3] "" XXX + SG_ WHL_DIR_RR : 38|2@1+ (1,0) [0|3] "" XXX + SG_ WHL_PUL_Chksum : 56|8@1+ (1,0) [0|255] "" XXX + + +BO_ 1264 CLU1: 8 XXX + SG_ CF_Clu_CruiseSwState : 0|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Blr_MaxStat : 3|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_SldMainSW : 4|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_ParityBit1 : 5|1@1+ (1,0) [0|1] "pulse count" XXX + SG_ CF_Clu_SPEED_UNIT : 6|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_ParkBrakeSw : 7|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0) [0|255.5] "km/h or MPH" XXX + SG_ CF_Clu_AliveCounter : 17|7@1+ (1,0) [0|127] "" XXX + SG_ CF_Clu_CruiseSwMain : 24|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_VanzDecimal : 25|2@1+ (1,0) [0|0.375] "" XXX + SG_ VEHICLE_INFO : 27|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_StrRlyState : 30|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_SMKOption : 31|1@1+ (1,0) [0|1] "" XXX + SG_ R_TqAcnOutC : 32|8@1+ (1,0) [0|51] "Nm" XXX + SG_ CF_Clu_Odometer : 40|24@1+ (0.1,0) [0|1.67772e+006] "km" XXX + + +BO_ 1265 CLU3: 8 XXX + SG_ CF_Clu_AcnRqSwi : 0|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_AcnCltEnRq : 1|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_RefDetMod : 2|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_DefoggerRly : 5|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_LowfuelWarn : 16|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_SportsModeSwi : 18|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_ALightStat : 20|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_FrtFog : 21|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_DetentOut : 22|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HeadLampTail : 23|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_TrailerMode : 24|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_DTE : 25|10@1+ (1,0) [0|1023] "" XXX + SG_ CF_Clu_TripUnit : 35|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_IsaMainSW : 37|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_FlexSteerSW : 40|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_AvsmCur : 41|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudSpeedset : 42|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudTbtSet : 43|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudSccSet : 44|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudLdwsSet : 45|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudDisSet : 46|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HudFontSizeSet : 47|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_HudFontColorSet : 49|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_HudBrightSet : 51|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_HudHeightSet : 53|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_CluInfo : 55|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_RheostatLevel : 56|5@1+ (1,0) [0|31] "" XXX + SG_ CF_Clu_DrivinglampStat : 61|3@1+ (1,0) [0|7] "" XXX + + +BO_ 1349 EMS4: 8 XXX + SG_ IMMO_LAMP_STAT : 0|1@1+ (1,0) [0|1] "" XXX + SG_ L_MIL : 1|1@1+ (1,0) [0|1] "" XXX + SG_ IM_STAT : 2|1@1+ (1,0) [0|1] "" XXX + SG_ AMP_CAN : 3|5@1+ (10.7316,458.98) [458.98|791.66] "mmHg" XXX + SG_ FCO : 8|16@1+ (0.128,0) [0|8388.48] "ul" XXX + SG_ VB : 24|8@1+ (0.101563,0) [0|25.8984] "V" XXX + SG_ TEMP_FUEL : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX + SG_ Split_Stat : 56|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Ems_IsaAct : 57|1@1+ (1,0) [0|1] "" XXX + + +BO_ 1435 TCU4: 8 XXX + SG_ CF_TCU_WarnMsg : 0|3@1+ (1,0) [0|7] "" XXX + SG_ CF_TCU_WarnImg : 3|1@1+ (1,0) [0|1] "" XXX + SG_ CF_TCU_WarnSnd : 4|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_EolStat : 5|1@1+ (1,0) [0|1] "" XXX + SG_ CR_Tcu_GearSelDisp2 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Tcu_StRelStat : 12|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_DrivingModeReq : 18|4@1+ (1,0) [0|0] "" XXX + SG_ CF_Tcu_DrivingModeDisp : 22|4@1+ (1,0) [0|0] "" XXX + SG_ CF_Tcu_SiCluster : 26|5@1+ (1,0) [0|0] "" XXX + SG_ CF_Tcu_DSmode_Inf : 31|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Tcu_Alive4 : 58|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Tcu_ChkSum4 : 60|4@1+ (1,0) [0|15] "" XXX + + +BO_ 1508 MDPS1: 8 XXX + SG_ CF_Mdps_WLmp : 1|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Mdps_ALTRequest : 5|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Mdps_Flex : 8|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Mdps_FlexDisp : 11|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Mdps_CurrMode : 12|2@1+ (1,0) [0|3] "" XXX + + +BO_ 1680 CLU2: 8 XXX + SG_ CF_Clu_IGNSw : 0|3@1+ (1,0) [0|7] "" XXX + SG_ RKE_CMD : 3|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_DrvDrSw : 6|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_DrvKeyLockSw : 8|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_DrvKeyUnlockSw : 9|1@1+ (1,0) [0|1] "" XXX + SG_ PIC_Lock : 10|3@1+ (1,0) [0|7] "" XXX + SG_ PIC_Unlock : 13|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_DrvSeatBeltSw : 16|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_TrunkTgSw : 18|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_AstSeatBeltSw : 20|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_HoodSw : 22|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_TurnSigLh : 24|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_TurnSigRh : 25|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_LdwsLkasSW : 26|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_WiperIntT : 27|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_WiperIntSW : 30|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_WiperLow : 31|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_WiperHigh : 32|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_WiperAuto : 33|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_RainSnsStat : 34|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_HeadLampLow : 37|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HeadLampHigh : 38|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_AltLStatus : 39|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_SwiGearR : 43|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_SWL_Stat : 45|3@1+ (1,0) [0|7] "" XXX + SG_ CF_Clu_ActiveEcoSW : 48|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_HazardSW : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CF_Clu_AliveCnt2 : 50|4@1+ (1,0) [0|15] "" XXX + SG_ CF_Clu_AstDrSw : 54|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_LkasDispMode : 56|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_AutoLightLevel : 58|2@1+ (1,0) [0|3] "" XXX + SG_ CF_Clu_SunRoofOpenState : 60|1@1+ (1,0) [0|1] "" XXX + + diff --git a/opendbc/hyundai_kia_generic.dbc b/opendbc/hyundai_kia_generic.dbc new file mode 100644 index 000000000..c09b59f40 --- /dev/null +++ b/opendbc/hyundai_kia_generic.dbc @@ -0,0 +1,1657 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: IAP ODS _4WD BCM HUD DATC MDPS AAF_Tester AEMC SMK _4WD EPB CUBIS MTS TMU EVP CGW TPMS LPI DI_BOX SPAS EMS LCA TCU IBOX FATC AFLS FPCM SCC AHLS AVM ABS SNV OPI PGS SAS AAF Dummy LDWS_LKAS LVR ESC PSB CLU ECS ACU REA + +BO_ 1532 ODS13: 5 ODS + SG_ CR_Ods_ID : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_Chksum_H : 8|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_Chksum_L : 16|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_RomID_H : 24|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_RomID_L : 32|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + +BO_ 1531 ODS12: 8 ODS + SG_ CR_Ods_SerNum0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum3 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum4 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum5 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum6 : 48|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum7 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + +BO_ 1530 ODS11: 8 ODS + SG_ CF_Ods_PrcCmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy + SG_ CF_Ods_BtsFail : 3|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy + SG_ CF_Ods_AcuRcvSN : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_EolCal : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_PsFail : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_EcuFail : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_WgtStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_OccStat : 16|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CR_Wcs_ErrStat : 32|8@1+ (1.0,0.0) [0.0|63.0] "" ACU + SG_ CR_Wcs_ClassStat : 40|8@1+ (1.0,0.0) [0.0|4.0] "" ACU,BCM + +BO_ 1017 ECS12: 4 ECS + SG_ Height_FL : 0|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_FR : 8|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_RL : 16|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_RR : 24|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + +BO_ 1268 SPAS12: 8 SPAS + SG_ CF_Spas_HMI_Stat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Spas_Disp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS + SG_ CF_Spas_FIL_Ind : 10|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FIR_Ind : 13|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FOL_Ind : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FOR_Ind : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_VolDown : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RIL_Ind : 24|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_RIR_Ind : 27|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FLS_Alarm : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_ROL_Ind : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_ROR_Ind : 35|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FCS_Alarm : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_FI_Ind : 40|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_RI_Ind : 43|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FRS_Alarm : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_FR_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Spas_RR_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Spas_BEEP_Alarm : 52|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Spas_StatAlarm : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Spas_RLS_Alarm : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RCS_Alarm : 59|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RRS_Alarm : 61|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1265 CLU11: 4 CLU + SG_ CF_Clu_CruiseSwState : 0|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,LDWS_LKAS,SCC + SG_ CF_Clu_CruiseSwMain : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,LDWS_LKAS,SCC + SG_ CF_Clu_SldMainSW : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Clu_ParityBit1 : 5|1@1+ (1.0,0.0) [0.0|1.0] "pulse count" EMS + SG_ CF_Clu_VanzDecimal : 6|2@1+ (0.125,0.0) [0.0|0.375] "" EMS + SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0.0) [0.0|255.5] "km/h or MPH" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Clu_SPEED_UNIT : 17|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Clu_DetentOut : 18|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,BCM,LCA,PGS,SPAS + SG_ CF_Clu_RheostatLevel : 19|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,BCM,LCA,PGS,SPAS + SG_ CF_Clu_CluInfo : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_AmpInfo : 25|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1.0,0.0) [0.0|15.0] "" AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC + +BO_ 1492 TMU_GW_PE_01: 8 CLU + SG_ TMU_IVRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ TMU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1491 HU_DATC_PE_00: 8 CLU + SG_ HU_VRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ HU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ BlowerNoiseControl : 4|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1490 HU_DATC_E_02: 8 CLU + SG_ HU_DATC_RearOnOffSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ HU_DATC_ADSOnOffSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1479 EMS21: 8 EMS + SG_ SCR_LEVEL_WARN_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ SCR_LEVEL_WARN : 1|3@1+ (1.0,0.0) [0.0|4.0] "" CLU + SG_ SCR_SYS_ERROR_WARN : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ SCR_SYSTEM_WARN_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ SCR_INDUCEMENT_EXIT_COND : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ SCR_UREA_LEVEL : 16|8@1+ (0.5,0.0) [0.0|100.0] "%" CLU + SG_ SCR_NO_REMAINING_RESTARTS : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ SCR_REMAINING_DISTANCE : 32|16@1+ (1.0,0.0) [0.0|25000.0] "km" CLU + +BO_ 1472 GW_Warning_PE: 8 BCM + SG_ Audio_VolumeDown : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Flh_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Fcnt_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Frh_Alarm : 52|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Rlh_Alarm : 56|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS + SG_ Pas_Spkr_Rcnt_Alarm : 58|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Rrh_Alarm : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS + +BO_ 1984 CAL_SAS11: 2 ESC + SG_ CCW : 0|4@1+ (1.0,0.0) [0.0|15.0] "" SAS + SG_ SAS_CID : 4|11@1+ (1.0,0.0) [0.0|2047.0] "" SAS + +BO_ 1456 CLU12: 4 CLU + SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km" _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS + +BO_ 688 SAS11: 5 MDPS + SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU + SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] "" AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU + SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS + SG_ CheckSum : 36|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS + +BO_ 1441 ACU12: 8 ACU + SG_ CR_Acu_SN : 0|64@1+ (1.0,0.0) [0.0|0.0] "" ODS + +BO_ 1440 ACU11: 8 ACU + SG_ CF_Ods_SNRcv : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Ods_IDRcv : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Ods_RZReq : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Abg_DepInhEnt : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Abg_DepEnt : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_PasBkl_FltStat : 28|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_DriBkl_FltStat : 29|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_PasBkl_Stat : 30|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,ODS,PSB,TMU + SG_ CF_DriBkl_Stat : 31|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_SWL_Ind : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX + SG_ CF_Acu_FltStat : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX + SG_ CF_Acu_ExtOfSab : 36|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,CUBIS,IBOX + SG_ CF_Acu_Dtc : 40|16@1+ (1.0,0.0) [0.0|65535.0] "" CUBIS,IBOX + SG_ CF_Acu_NumOfFlt : 56|8@1+ (1.0,0.0) [0.0|255.0] "" CUBIS,IBOX + +BO_ 1437 AHLS11: 8 AHLS + SG_ CF_Ahls_WarnLamp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Ahls_WarnMsg : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1434 PSB11: 2 PSB + SG_ PSB_LH_FAIL : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PSB_LH_TGL : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ PSB_LH_ACT : 3|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy + SG_ PSB_RH_FAIL : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PSB_RH_TGL : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ PSB_RH_ACT : 11|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy + +BO_ 916 TCS13: 8 ESC + SG_ aBasis : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC + SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,SCC + SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,SCC + SG_ Pre_TCS_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX + SG_ EBA_ACK : 17|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX + SG_ FCA_ACK : 18|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX + SG_ DF_BF_STAT : 19|2@1+ (1.0,0.0) [0.0|3.0] "" BCW + SG_ SCCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ TQI_SCC : 24|8@1+ (0.390625,0.0) [0.0|199.609375] "%" Vector__XXX + SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC + SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ StandStill : 47|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ CheckSum_TCS3 : 48|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,SCC + SG_ ACC_EQUIP : 52|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ PBRAKE_ACT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ ACC_REQ : 54|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ DriverBraking : 55|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ CF_VSM_Coded : 56|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_VSM_Avail : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,SCC + SG_ CF_VSM_Handshake : 59|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_DriBkeStat : 60|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_VSM_ConfSwi : 61|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ AEB_EQUIP : 63|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + +BO_ 1427 TPMS11: 6 BCM + SG_ TPMS_W_LAMP : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX + SG_ TREAD_W_LAMP : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX + SG_ POS_FL_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_FR_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_RL_W_LAMP : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_RR_W_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ STATUS_TPMS : 8|3@1+ (1.0,0.0) [0.0|0.0] "" CLU + SG_ UNIT : 11|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PRESSURE_FL : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_FR : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_RL : 32|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_RR : 40|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + +BO_ 915 TCS12: 4 ESC + SG_ SA_COUNT : 0|16@1+ (2.0,-32768.0) [-32768.0|98302.0] "" _4WD,ACU,MDPS + SG_ SA_Z_COUNT : 16|15@1+ (2.0,-32768.0) [-32768.0|32766.0] "" _4WD,ACU,MDPS + SG_ SA_Z_FLAG : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,MDPS + +BO_ 1170 EMS19: 8 EMS + SG_ CF_Ems_BrkReq : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,TCU + SG_ CF_Ems_DnShftReq : 1|4@1+ (1.0,0.0) [0.0|14.0] "" IBOX,TCU + SG_ CF_Ems_RepModChk : 5|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,IBOX + SG_ CF_Ems_DecelReq : 8|12@1+ (0.0010,-4.094) [-4.094|0.0] "m/s^2" ESC,IBOX,TCU + SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0.0) [0.0|4094.0] "hPa" CLU,IBOX + SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40.0) [0.0|254.0] "deg" CLU,IBOX + SG_ DPF_LAMP_STAT : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ BAT_LAMP_STAT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41.0) [-41.0|85.5] "deg" AAF,IBOX + SG_ CF_Ems_OPSFail : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU + SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU + +BO_ 1425 AFLS11: 2 AFLS + SG_ AFLS_STAT : 1|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Afls_TrfChgStat : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Afls_LedHLStat : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 912 SPAS11: 7 SPAS + SG_ CF_Spas_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,MDPS + SG_ CF_Spas_TestMode : 4|2@1+ (1.0,0.0) [0.0|3.0] "" MDPS + SG_ CR_Spas_StrAngCmd : 8|16@1- (0.1,0.0) [-3276.8|3276.7] "" MDPS + SG_ CF_Spas_BeepAlarm : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Spas_Mode_Seq : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_AliveCnt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Spas_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Spas_PasVol : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CGW,CLU + +BO_ 1168 EPB11: 7 EPB + SG_ EPB_I_LAMP : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU,CUBIS,ESC,IBOX + SG_ EPB_F_LAMP : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,ESC,IBOX + SG_ EPB_ALARM : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ EPB_CLU : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC + SG_ EPB_SWITCH : 16|2@1+ (1.0,0.0) [0.0|3.0] "" ESC,SCC + SG_ EPB_RBL : 18|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,ESC + SG_ EPB_STATUS : 19|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC,SCC,TCU + SG_ EPB_FRC_ERR : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,SCC,TCU + SG_ EPB_DBF_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ ESP_ACK : 25|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ EPB_DBF_REQ : 26|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ EPB_FAIL : 29|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,SCC + SG_ EPB_FORCE : 32|12@1+ (1.0,-1000.0) [-1000.0|3000.0] "" ESC + SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0.0) [0.0|2.54] "g" ESC + +BO_ 399 EMS_H12: 8 EMS + SG_ R_TqAcnApvC : 0|8@1+ (0.2,0.0) [0.0|51.0] "Nm" DATC,IBOX + SG_ R_PAcnC : 8|8@1+ (125.0,0.0) [0.0|31875.0] "hPa" DATC,IBOX + SG_ TQI_B : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ABS,ESC,IBOX + SG_ SLD_VS : 24|8@1+ (1.0,0.0) [0.0|255.0] "km/h" CLU,IBOX + SG_ CF_CdaStat : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AEMC,IBOX,TCU + SG_ CF_Ems_IsgStat : 35|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,MDPS,SMK,TCU + SG_ CF_Ems_OilChg : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ R_NEngIdlTgC : 40|8@1+ (10.0,0.0) [0.0|2550.0] "rpm" DATC,IBOX,TCU + SG_ CF_Ems_UpTarGr : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_DownTarGr : 49|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_DesCurGr : 50|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX + SG_ CF_Ems_SldAct : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_SldPosAct : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_HPresStat : 56|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ CF_Ems_IsgBuz : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_FCopen : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_ActEcoAct : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ CF_Ems_EngRunNorm : 61|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,IBOX,TCU + SG_ CF_Ems_IsgStat2 : 62|2@1+ (2.0,0.0) [0.0|3.0] "" CLU,IBOX,TCU + +BO_ 1419 LCA11: 8 LCA + SG_ CF_Lca_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Rcta_Stat : 4|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Lca_IndLeft : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Rcw_Stat : 10|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_RCW_Warning : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Lca_IndRight : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Lca_SndWan_Stat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_FR_SndWan : 20|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_FL_SndWan : 21|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_RR_SndWan : 22|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_RL_SndWan : 23|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_Lca_IndBriLeft : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_Lca_IndBriRight : 32|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndBriLeft : 40|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndBriRight : 48|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndLeft : 56|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_RCTA_IndRight : 58|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_SndWarnForClu : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 906 ABS11: 8 ABS + SG_ ABS_DEF : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EMS,SPAS,TCU + SG_ EBD_DEF : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,SPAS,TCU + SG_ ABS_ACT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EPB,SPAS,TCU + SG_ ABS_W_LAMP : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,MTS,TMU + SG_ EBD_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ ABS_DIAG : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ ESS_STAT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS + +BO_ 903 WHL_PUL11: 6 ABS + SG_ WHL_PUL_FL : 0|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_FR : 8|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_RL : 16|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_RR : 24|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_DIR_FL : 32|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_FR : 34|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_RL : 36|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_RR : 38|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_PUL_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,SPAS,TPMS,EPB,LCA,LDWS_LKAS,SPAS,TPMS + +BO_ 1415 TMU11: 8 IBOX + SG_ CF_Tmu_VehSld : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Tmu_VehImmo : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Tmu_ReqRepCnd : 2|2@1+ (1.0,0.0) [0.0|3.0] "" EMS + SG_ CF_Tmu_AirconCtr : 4|1@1+ (1.0,0.0) [0.0|1.0] "" DATC + SG_ CF_Tmu_TempMd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" DATC + SG_ CF_Tmu_TempSet : 6|16@1+ (1.0,0.0) [0.0|20.0] "" DATC + SG_ CF_Tmu_DefrostCtr : 22|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,FATC + SG_ CF_Tmu_AliveCnt1 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" EMS + +BO_ 902 WHL_SPD11: 8 ABS + SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,ACU,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,BCM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,BCM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_AliveCounter_LSB : 14|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_AliveCounter_MSB : 30|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_Checksum_LSB : 46|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_Checksum_MSB : 62|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + +BO_ 1414 EVP11: 3 EVP + SG_ CF_Evp_Stat : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1412 AAF11: 8 AAF + SG_ CF_Aaf_ActFlapStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester + SG_ CF_Aaf_ModeStatus : 2|3@1+ (1.0,0.0) [0.0|7.0] "" AAF_Tester + SG_ CF_Aaf_WrnLamp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Aaf_ErrStatus : 6|10@1+ (1.0,0.0) [0.0|1023.0] "" AAF_Tester,EMS + SG_ CF_Aaf_OpenRqSysAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester + SG_ CF_Aaf_PStatus : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" AAF_Tester + SG_ CF_Aaf_OpenRqSysSol : 32|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester + SG_ CF_Aaf_SolFlapStatus : 40|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester + SG_ CF_Aaf_MilOnReq : 42|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 900 EMS17: 8 EMS + SG_ CF_Ems_PkpCurMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_HolCurMSV : 8|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_InjVBnkAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_InjVActSet : 24|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_DiagFulHDEV : 32|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_SwiOffIC1 : 33|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_SwiOffIC2 : 34|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_DiagReqHDEV : 38|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CR_Ems_DutyCycMSV : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" DI_BOX + SG_ CR_Ems_BatVolRly : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" DI_BOX + +BO_ 387 REA11: 8 REA + SG_ CF_EndBst_PwmDuH : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PwmDuL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PwmFqOutRng : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_HbriOverCur : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_HbriOverTemp : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PosSnsKOR : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PosSnsOSOR : 7|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_EepFlt : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_RomFlt : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_RamFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_CanFlt : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_AgH : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_AgL : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_ORVol : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CR_EndBst_ActPos : 16|16@1+ (0.117,0.0) [1.989|118.053] "" EMS + SG_ CR_EndBst_DemPos : 32|16@1+ (0.117,0.0) [0.0|119.691] "" EMS + SG_ CR_EndBst_HbriPwr : 48|16@1+ (0.045,0.0) [0.0|99.99] "%" EMS + +BO_ 1411 CUBIS11: 8 CUBIS + SG_ CF_Cubis_HUDisp : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + +BO_ 899 FATC11: 8 DATC + SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0.0) [0.0|50.8] "Nm" EMS,IBOX + SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,EMS,IBOX + SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_EcvFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_BlwrOn : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_FATC_Iden : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Fatc_BlwrMax : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX + SG_ CF_Fatc_EngStartReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_CtrInf : 17|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX + SG_ CF_Fatc_MsgCnt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU,EMS,IBOX,SPAS,TCU,TPMS + SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" AAF,AHLS,CLU,EMS,IBOX,SPAS,TCU + SG_ CF_Fatc_Compload : 40|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX + SG_ CF_Fatc_ActiveEco : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Fatc_AutoActivation : 44|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX + SG_ CF_Fatc_DefSw : 45|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,IBOX + SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_ChkSum : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,IBOX,SPAS + +BO_ 129 EMS_DCT12: 8 EMS + SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5.0,0.0) [0.0|315.0] "Min" TCU + SG_ BRAKE_ACT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" TCU + SG_ CF_Ems_EngOperStat : 8|8@1+ (1.0,0.0) [0.0|255.0] "" TCU + SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" TCU + SG_ CF_Ems_Alive2 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Ems_ChkSum2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 897 MDPS11: 8 MDPS + SG_ CF_Mdps_WLmp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,EMS,IBOX,SPAS + SG_ CF_Mdps_Flex : 2|3@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS + SG_ CF_Mdps_FlexDisp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Mdps_Stat : 7|4@1+ (1.0,0.0) [0.0|15.0] "" SPAS + SG_ CR_Mdps_DrvTq : 11|12@1+ (1.0,-2048.0) [-2048.0|2046.0] "" SPAS + SG_ CF_Mdps_ALTRequest : 23|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CR_Mdps_StrAng : 24|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" SPAS + SG_ CF_Mdps_AliveCnt : 40|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS + SG_ CF_Mdps_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS + SG_ CF_Mdps_SPAS_FUNC : 57|1@1+ (1.0,0.0) [0.0|1.0] "flag" SPAS + SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag" LDWS_LKAS + SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] "" LDWS_LKAS,SPAS + SG_ CF_MDPS_VSM_FUNC : 56|1@0+ (1.0,0.0) [0.0|1.0] "" XXX + +BO_ 896 DI_BOX13: 8 DI_BOX + SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVStat1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVStat2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVPkp : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVBpt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_ErrRegFrtMSV : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_ErrRegSedMSV : 48|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SPIErrSedMSV : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_SPIErrFrtMSV : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IDErrSedMSV : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IDErrFrtMSV : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IniStatMSV : 60|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 640 EMS13: 8 EMS + SG_ LV_FUEL_TYPE_ECU : 0|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,LPI,SMK + SG_ LV_BFS_CFIRM : 1|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_CRASH : 2|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_VB_OFF_ACT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_GSL_MAP M : 4|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_ENG_TURN : 5|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ ERR_FUEL : 8|8@1+ (1.0,0.0) [0.0|255.0] "" LPI + SG_ EOS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" LPI + SG_ TCO : 24|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI + SG_ N_32 : 32|8@1+ (32.0,0.0) [0.0|8160.0] "rpm" LPI + SG_ MAF : 40|8@1+ (5.447,0.0) [0.0|1388.985] "mg/TDC" LPI + SG_ TIA : 48|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI + SG_ MAP m1 : 56|8@1+ (0.47058,0.0) [0.0|119.9979] "kPa" LPI + SG_ AMP m0 : 56|8@1+ (21.22,0.0) [0.0|5411.1] "hPa" LPI + +BO_ 128 EMS_DCT11: 8 EMS + SG_ PV_AV_CAN : 0|8@1+ (0.3906,0.0) [0.0|99.603] "%" TCU + SG_ TQ_STND : 8|6@1+ (10.0,0.0) [0.0|630.0] "Nm" TCU + SG_ F_N_ENG : 14|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ F_SUB_TQI : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" TCU + SG_ TQI_ACOR : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" IBOX,TCU + SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" TCU + SG_ TQI : 48|8@1+ (0.390625,0.0) [0.0|99.609375] "%" TCU + SG_ CF_Ems_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Ems_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 1407 HU_MON_PE_01: 8 CLU + SG_ HU_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" AVM,PGS + +BO_ 127 CGW5: 8 BCM + SG_ C_StopLampLhOpenSts : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_StopLampRhOpenSts : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HMSLOpenSts : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampLowLhOpenSts : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampLowRhOpenSts : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampHighLhOpenSts : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampHighRhOpenSts : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_DRLLampLhOpenSts : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_DRLLampRhOpenSts : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearFOGLhOpenSts : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearFOGRhOpenSts : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontFOGLhOpenSts : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontFOGRhOpenSts : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearEXTTailLhOpenSts : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearEXTTailRhOpenSts : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontEXTTailLhOpenSts : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontEXTTailRhOpenSts : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearTSIGLhOpenSts : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearTSIGRhOpenSts : 18|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontTSIGLhOpenSts : 19|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontTSIGRhOpenSts : 20|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SBendingLhOpenSts : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SBendingRhOpenSts : 22|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_LicensePlateLhOpenSts : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_LicensePlateRhOpenSts : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1151 ESP11: 6 ESC + SG_ AVH_STAT : 0|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,TCU + SG_ LDM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EPB,TCU + SG_ REQ_EPB_ACT : 3|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,TCU + SG_ REQ_EPB_STAT : 5|1@1+ (1.0,0.0) [0.0|1.0] "" EPB + SG_ ECD_ACT : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EPB + SG_ _4WD_LIM_REQ : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS + SG_ ROL_CNT_ESP : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,TCU + SG_ _4WD_TQC_LIM : 16|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" _4WD,EMS + SG_ _4WD_CLU_LIM : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" _4WD,EMS + SG_ _4WD_OPEN : 40|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS + SG_ _4WD_LIM_MODE : 42|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD + +BO_ 1397 HU_AVM_E_00: 8 CLU + SG_ HU_AVM_Cal_Cmd : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_Cal_Method : 4|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_Save_Controlpoint : 6|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_PT_X : 8|12@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_RearViewPointOpt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_PT_Y : 24|12@1+ (1.0,0.0) [0.0|4095.0] "" AVM,PGS + SG_ HU_AVM_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_SelectedMenu : 40|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS + SG_ HU_AVM_CameraOff : 45|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_Option : 48|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_CrossLineMove_Cmd : 52|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_RearView_Option : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_FrontView_Option : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + +BO_ 1395 HU_AVM_E_01: 8 CLU + SG_ HU_PGSSelectedMenu : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_PGSOption : 8|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS + SG_ HU_AVM_ParkingAssistMenu : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_ParkingAssistSB : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + +BO_ 1393 OPI11: 5 OPI + SG_ CR_Opi_Spd_Rpm : 0|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" TCU + SG_ CF_Opi_Over_Temp : 8|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Over_Cur : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Over_Vol : 10|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Hall_Fail : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Flt : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Motor_Dir : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Romver : 16|8@1+ (1.0,0.0) [0.0|255.0] "" TCU + SG_ CF_Opi_PWM_Rate : 24|12@1+ (1.0,0.0) [0.0|100.0] "%" TCU + +BO_ 625 LPI11: 8 LPI + SG_ FUP_LPG_MMV : 0|8@1+ (128.0,0.0) [0.0|32640.0] "hPa" EMS + SG_ LV_FUEL_TYPE_BOX : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_BFS_IN_PROGRESS : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_GAS_OK : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_FUP_ENA_THD : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,EMS,SMK + SG_ LPI_OBD : 12|4@1+ (1.0,0.0) [0.0|15.0] "" EMS + SG_ ERR_GAS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ FAC_TI_GAS_COR : 24|16@1+ (3.05E-5,0.0) [0.0|1.9988175] "" EMS + SG_ FTL_AFU : 40|8@1+ (0.392,0.0) [0.0|99.96] "%" EMS + SG_ BFS_CYL : 48|8@1+ (1.0,0.0) [0.0|6.0] "Cyl Nr." EMS + SG_ LV_PRE_CDN_LEAK : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_CONF_INJECTION_DELAY : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_LPG_SW_DRIVER_REQ : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 356 VSM11: 4 ESC + SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" MDPS + SG_ CF_Esc_Act : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,MDPS + SG_ CF_Esc_CtrMode : 13|3@1+ (1.0,0.0) [0.0|7.0] "" MDPS + SG_ CF_Esc_Def : 16|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Esc_AliveCnt : 17|4@1+ (1.0,0.0) [0.0|15.0] "" LDWS_LKAS,MDPS + SG_ CF_Esc_Chksum : 24|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,MDPS + +BO_ 1379 PGS_HU_PE_01: 8 PGS + SG_ PGS_State : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ PGS_ParkGuideState : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ PGS_Option : 16|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ PGS_Version : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU + +BO_ 354 TCU_DCT13: 3 TCU + SG_ Clutch_Driving_Tq : 0|10@1+ (1.0,-512.0) [0.0|0.0] "Nm" ESC + SG_ Cluster_Engine_RPM : 10|13@1+ (0.9766,0.0) [0.0|0.0] "" CLU + SG_ Cluster_Engine_RPM_Flag : 23|1@1+ (1.0,0.0) [0.0|0.0] "" CLU + +BO_ 1378 HUD11: 4 HUD + SG_ CF_Hud_HeightStaus : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ CF_Hud_PBackStatus : 6|2@1+ (1.0,0.0) [0.0|0.0] "" BCM,CLU + SG_ CF_Hud_Brightness : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + +BO_ 608 EMS16: 8 EMS + SG_ TQI_MIN : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ TQI : 8|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ TQI_TARGET : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EPB,ESC,IBOX,TCU + SG_ GLOW_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,IBOX,SMK + SG_ CRUISE_LAMP_M : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ CRUISE_LAMP_S : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ENG_STAT : 28|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,AHLS,AVM,BCM,CLU,EPB,ESC,EVP,FPCM,IBOX,LCA,LDWS_LKAS,MDPS,SCC,SMK,TCU + SG_ SOAK_TIME_ERROR : 31|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EPB,IBOX,TCU + SG_ SOAK_TIME : 32|8@1+ (1.0,0.0) [0.0|255.0] "Min" _4WD,DATC,EPB,IBOX,TCU + SG_ TQI_MAX : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60.0] "" IBOX,TCU + SG_ Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ AliveCounter : 60|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Ems_AclAct : 62|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,SCC + +BO_ 1371 AVM_HU_PE_00: 8 AVM + SG_ AVM_View : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ AVM_ParkingAssist_BtnSts : 5|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ AVM_Display_Message : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ AVM_Popup_Msg : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Ready : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_ParkingAssist_Step : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_FrontBtn_Type : 28|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Option : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_RearView_Option : 40|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_FrontView_Option : 44|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Version : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU + +BO_ 1370 HU_AVM_PE_00: 8 CLU + SG_ HU_AVM_Status : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + +BO_ 1369 CGW4: 8 BCM + SG_ CF_Gway_MemoryP1Cmd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_MemoryP2Cmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackP1Cmd : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackP2Cmd : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_StrgWhlHeatedState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackStopCmd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD + SG_ CF_Gway_StaticBendLhAct : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_StaticBendRhAct : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_DrvWdwStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RLWdwState : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RRWdwState : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_AstWdwStat : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_MemoryEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBACKStopCmd : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBACKStop : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD + SG_ CF_Gway_IMSBuzzer : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_DrvSeatBeltInd : 36|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_AstSeatBeltInd : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RCSeatBeltInd : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RLSeatBeltInd : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RRSeatBeltInd : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RrWiperHighSw : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RrWiperLowSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1367 EngFrzFrm12: 8 EMS + SG_ PID_06h : 0|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_07h : 8|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_08h : 16|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_09h : 24|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_0Bh : 32|8@1+ (1.0,0.0) [0.0|255.0] "kPa" AAF,IBOX,TCU + SG_ PID_23h : 40|16@1+ (10.0,0.0) [0.0|655350.0] "kPa" AAF,IBOX,TCU + +BO_ 1366 EngFrzFrm11: 8 EMS + SG_ PID_04h : 0|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU + SG_ PID_05h : 8|8@1+ (1.0,-40.0) [-40.0|215.0] "deg" AAF,TCU + SG_ PID_0Ch : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" AAF,TCU + SG_ PID_0Dh : 32|8@1+ (1.0,0.0) [0.0|255.0] "km/h" AAF,TCU + SG_ PID_11h : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU + SG_ PID_03h : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" AAF,TCU + +BO_ 1365 FPCM11: 8 FPCM + SG_ CR_Fpcm_LPActPre : 0|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" EMS + SG_ CF_Fpcm_LPPumpOverCur : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrHi : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrDisc : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrShort : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LPPumpDiscShort : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LP_System_Error : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrSigErr : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 871 LVR12: 8 LVR + SG_ CF_Lvr_CruiseSet : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,TCU + SG_ CF_Lvr_Gear : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU + +BO_ 872 LVR11: 8 LVR + SG_ CF_Lvr_GearInf : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU + SG_ CF_Lvr_PRelStat : 4|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,SMK,TCU + SG_ CF_Lvr_BkeAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Lvr_NFnStat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Lvr_PosInf : 8|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_PosCpl : 12|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_UlkButStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" TCU + SG_ CF_Lvr_PNStat : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lvr_ShtLkStat : 24|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_ShfErrInf : 28|20@1+ (1.0,0.0) [0.0|8191.0] "" CLU,TCU + SG_ CF_Lvr_AC : 48|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_CS : 52|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 1363 CGW2: 8 BCM + SG_ CF_Gway_GwayDiagState : 0|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_DDMDiagState : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SCMDiagState : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_PSMDiagState : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SJBDiagState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IPMDiagState : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_LDMFail : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS,LDWS_LKAS + SG_ CF_Gway_CLUSwGuiCtrl : 10|3@1+ (1.0,0.0) [0.0|63.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwGroup : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwMode : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwEnter : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_AutoLightValue : 16|1@1+ (1.0,0.0) [0.0|1.0] "" LCA,LCA + SG_ CF_Gway_BrakeFluidSw : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_DrvSeatBeltInd : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_AvTail : 20|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,SNV,SNV + SG_ CF_Gway_RearFogAct : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ExtTailAct : 22|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,CLU,LCA,PGS,SPAS,AVM,LCA,PGS,SPAS + SG_ CF_Gway_RRDrSw : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_RLDrSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IntTailAct : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CountryCfg : 26|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,Dummy + SG_ CF_Gway_WiperParkPosition : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,EMS,LDWS_LKAS,AFLS,EMS,LDWS_LKAS + SG_ CF_Gway_HLLowLHFail : 33|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV + SG_ CF_Gway_HLLowRHFail : 34|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV + SG_ CF_Gway_ESCLFailWarn : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ESCLNotLockedWarn : 36|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ESCLNotUnlockWarn : 37|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IDoutWarn : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ImmoLp : 40|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_BCMRKEID : 41|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_VehicleNotPWarn : 44|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_DeactivationWarn : 45|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_KeyBATDischargeWarn : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SSBWarn : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SMKFobID : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_SMKRKECmd : 51|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_AutoLightOption : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_SJBDeliveryMode : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_KeyoutLp : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SMKDispWarn : 57|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,Dummy + SG_ CF_Gway_WngBuz : 61|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + +BO_ 339 TCS11: 8 ESC + SG_ TCS_REQ : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,TCU + SG_ MSR_C_REQ : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,SCC,TCU + SG_ TCS_PAS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,SCC,SPAS,TCU + SG_ TCS_GSC : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,TCU + SG_ CF_Esc_LimoInfo : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,SCC + SG_ ABS_DIAG : 6|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB + SG_ ABS_DEF : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,SCC,SPAS,TCU + SG_ TCS_DEF : 8|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU + SG_ TCS_CTL : 9|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU + SG_ ABS_ACT : 10|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU + SG_ EBD_DEF : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SPAS,TCU + SG_ ESP_PAS : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU,EMS,EPB,LDWS_LKAS,SCC,TCU + SG_ ESP_DEF : 13|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,TCU + SG_ ESP_CTL : 14|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU + SG_ TCS_MFRN : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,TCU + SG_ DBC_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ DBC_PAS : 17|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ DBC_DEF : 18|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ HAC_CTL : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ HAC_PAS : 20|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ HAC_DEF : 21|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ ESS_STAT : 22|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS,EPB + SG_ TQI_TCS : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ TQI_MSR : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ CF_Esc_BrkCtl : 48|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ BLA_CTL : 49|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CGW,CLU + SG_ AliveCounter_TCS1 : 52|4@1+ (1.0,0.0) [0.0|14.0] "" EMS,EPB,LDWS_LKAS + SG_ CheckSum_TCS1 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,EPB,LDWS_LKAS + +BO_ 1362 SNV11: 4 SNV + SG_ CF_SNV_DisplayControl : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD + SG_ CF_Snv_BeepWarning : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD + SG_ CF_Snv_WarningMessage : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,HUD + SG_ CF_Snv_DetectionEnable : 7|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,HUD + SG_ CF_Snv_PedestrianDetect : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD + SG_ CF_Snv_IRLampControl : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD + +BO_ 593 MDPS12: 8 MDPS + SG_ CR_Mdps_StrColTq : 0|11@1+ (1.0,-1024.0) [-1024.0|1024.0] "" LDWS_LKAS + SG_ CF_Mdps_Def : 11|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_ToiActive : 13|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_ToiFlt : 14|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_FailStat : 15|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_MsgCount2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS + SG_ CF_Mdps_Chksum2 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS + SG_ CF_Mdps_SErr : 37|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CR_Mdps_StrTq : 40|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" ESC + SG_ CR_Mdps_OutTq : 52|12@1+ (0.1,-204.8) [-204.8|204.7] "" ESC,LDWS_LKAS + +BO_ 1360 IAP11: 3 IAP + SG_ CF_Iap_EcoPmodSwi : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Iap_EcoPmodAct : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Iap_ReqWarn : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1356 TCU_DCT14: 8 TCU + SG_ Vehicle_Stop_Time : 0|5@1+ (1.0,0.0) [0.0|0.0] "" CLU + SG_ HILL_HOLD_WARNING : 5|1@1+ (1.0,0.0) [0.0|0.0] "" CLU + +BO_ 1353 BAT11: 8 EMS + SG_ BAT_SNSR_I : 0|16@1+ (0.01,-327.0) [-327.0|328.0] "A" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOC : 16|8@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_V : 24|14@1+ (0.0010,6.0) [6.0|18.0] "V" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Temp : 38|9@1- (0.5,-40.0) [-40.0|125.0] "deg" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_State : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOH : 48|7@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Invalid : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOF : 56|7@1+ (0.1,0.0) [0.0|12.0] "V" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Error : 63|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + +BO_ 1351 EMS15: 8 EMS + SG_ ECGPOvrd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,SCC + SG_ QECACC : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ ECFail : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ SwitchOffCondExt : 3|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ BLECFail : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ CF_Ems_IsaAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ FA_PV_CAN : 8|8@1+ (0.3906,0.0) [0.0|99.2] "%" IBOX,LDWS_LKAS,TCU + SG_ IntAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,ECS,EPB,IBOX,TCU + SG_ STATE_DC_OBD : 24|7@1+ (1.0,0.0) [0.0|127.0] "" IBOX,TCU + SG_ INH_DC_OBD : 31|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ CTR_IG_CYC_OBD : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" ACU,IBOX,TCU + SG_ CTR_CDN_OBD : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" IBOX,TCU + +BO_ 1350 DI_BOX12: 8 DI_BOX + SG_ CF_DiBox_FrtInjVDiagReg0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_FrtInjVDiagReg1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_FrtInjVDiagReg2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg0 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg1 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg2 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CR_DiBox_BatVol : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" EMS + SG_ CF_DiBox_SedInjVChg : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_FrtInjVChg : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_SedInjVErrSPI : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_FrtInjVErrSPI : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 1349 EMS14: 8 EMS + SG_ IMMO_LAMP_STAT : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ L_MIL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX + SG_ IM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ AMP_CAN : 3|5@1+ (10.731613,458.98) [458.98|791.660003] "mmHg" CLU,IBOX,TCU,TPMS + SG_ BAT_Alt_FR_Duty : 8|8@1+ (0.4,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ VB : 24|8@1+ (0.1015625,0.0) [0.0|25.8984375] "V" CLU,CUBIS,DATC,EPB,FPCM,IBOX + SG_ EMS_VS : 32|12@1+ (0.0625,0.0) [0.0|255.875] "km/h" CLU + SG_ TEMP_FUEL : 56|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" FPCM + +BO_ 68 DATC11: 8 DATC + SG_ CF_Datc_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Datc_VerMaj : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Datc_VerMin : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg" CLU,FPCM + SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg" CLU + SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU + +BO_ 67 DATC13: 8 DATC + SG_ CF_Datc_TempDispUnit : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ CF_Datc_ModDisp : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_IonClean : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_ChgReqDisp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_IntakeDisp : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AutoDisp : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_FrDefLed : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ CF_Datc_AutoDefogBlink : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_ClmScanDisp : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AqsDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AcDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_OpSts : 25|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Mtc_MaxAcDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_DualDisp : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_PwrInf : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_RearManual : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearAutoDisp : 40|2@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Datc_RearOffDisp : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearClimateScnDisp : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearChgReqDisp : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearModDisp : 48|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_RearBlwDisp : 52|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_PSModDisp : 56|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_FrontBlwDisp : 60|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX + +BO_ 66 DATC12: 8 DATC + SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX + SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "deg" CLU,IBOX + SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX + SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "deg" CLU,IBOX + SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU + SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "deg" CLU + SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1345 CGW1: 8 BCM + SG_ CF_Gway_IGNSw : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC + SG_ CF_Gway_RKECmd : 3|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvKeyLockSw : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvKeyUnlockSw : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvDrSw : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU + SG_ CF_Gway_DrvSeatBeltSw : 10|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,PSB,TCU,EMS,EPB,ESC,IBOX,PSB,TCU + SG_ CF_Gway_TrunkTgSw : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,ECS,EMS,EPB,ESC,IBOX + SG_ CF_Gway_AstSeatBeltSw : 14|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,PSB,IBOX,PSB + SG_ CF_Gway_SMKOption : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,EMS,IBOX,SMK + SG_ CF_Gway_HoodSw : 17|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,EPB,ESC,IBOX,EMS,EPB,ESC,IBOX + SG_ CF_Gway_TurnSigLh : 19|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC + SG_ CF_Gway_WiperIntT : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperIntSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperLowSw : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperHighSw : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperAutoSw : 27|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_RainSnsState : 28|3@1+ (1.0,0.0) [0.0|7.0] "" AFLS,EMS,IBOX,LDWS_LKAS,AFLS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_HeadLampLow : 31|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,SNV,AFLS,EMS,IBOX,LDWS_LKAS,SNV + SG_ CF_Gway_HeadLampHigh : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,AFLS,EMS,IBOX,LDWS_LKAS + SG_ CF_Gway_HazardSw : 33|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS,ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS + SG_ CF_Gway_AstDrSw : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,IBOX + SG_ CF_Gway_DefoggerRly : 36|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX + SG_ CF_Gway_ALightStat : 37|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_LightSwState : 38|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_Frt_Fog_Act : 40|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_TSigRHSw : 41|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_TSigLHSw : 42|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_DriveTypeOption : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_StarterRlyState : 44|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX,SMK + SG_ CF_Gway_PassiveAccessLock : 45|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK + SG_ CF_Gway_WiperMistSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS + SG_ CF_Gway_PassiveAccessUnlock : 48|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK + SG_ CF_Gway_RrSunRoofOpenState : 50|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX + SG_ CF_Gway_PassingSW : 51|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_HBAControlMode : 52|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_HLpHighSw : 53|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_InhibitRMT : 54|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,MDPS,PGS,SCC,SPAS,TPMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,PGS,SCC,SPAS,TPMS + SG_ CF_Gway_RainSnsOption : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX,DATC,IBOX + SG_ CF_Gway_Ign1 : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_Ign2 : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_ParkBrakeSw : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IBOX,SCC,ESC,IBOX,SCC + SG_ CF_Gway_TurnSigRh : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC + +BO_ 64 DATC14: 8 DATC + SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] "" CLU + SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 832 LKAS11: 8 LDWS_LKAS + SG_ CF_Lkas_LdwsActivemode : 0|2@1+ (1,0) [0|3] "" CLU,IBOX,PSB + SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX,PSB + SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB + SG_ CF_Lkas_LdwsRHWarning : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB + SG_ CF_Lkas_HbaLamp : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Lkas_FcwBasReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC + SG_ CR_Lkas_StrToqReq : 16|11@1+ (1.0,-1024.0) [-1024.0|1024.0] "" MDPS + SG_ CF_Lkas_ActToi : 27|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Lkas_ToiFlt : 28|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Lkas_HbaSysState : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM,CLU + SG_ CF_Lkas_FcwOpt : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_HbaOpt : 34|2@1+ (1.0,0.0) [0.0|1.0] "" BCM,CGW + SG_ CF_Lkas_MsgCount : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,MDPS + SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Lkas_Unknown1 : 47|1@1+ (1.0,0.0) [0.0|1.0] "" XXX + SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,MDPS + SG_ CF_Lkas_Unknown2 : 62|2@1+ (1.0,0.0) [0.0|1.0] "" XXX + +BO_ 1342 LKAS12: 6 LDWS_LKAS + SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_LkasTsrStatus : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_LkasDawStatus : 40|3@1+ (1,0) [0|7] "" CLU + SG_ CF_Lkas_Daw_USM : 37|3@1+ (1,0) [0|7] "" CLU + +BO_ 1338 TMU_GW_E_01: 8 CLU + SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqDrUnlock : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqHazard : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqHorn : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqEngineOperate : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1078 PAS11: 4 BCM + SG_ CF_Gway_PASDisplayFLH : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASDisplayFRH : 3|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASRsound : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASDisplayFCTR : 8|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASDisplayRCTR : 11|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASFsound : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASDisplayRLH : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASDisplayRRH : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASCheckSound : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASSystemOn : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASOption : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PASDistance : 28|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 48 EMS18: 6 EMS + SG_ CF_Ems_DC1NumPerMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_DC2NumPerMSV : 8|16@1+ (1.0,0.0) [0.0|65535.0] "" DI_BOX + SG_ CR_Ems_DutyCyc1MSV : 24|8@1+ (0.1953,0.0) [0.0|49.8] "%" DI_BOX + SG_ CR_Ems_DutyCyc2MSV : 32|8@1+ (0.13725,0.0) [0.0|35.0] "%" DI_BOX + SG_ CR_Ems_DutyCyc3MSV : 40|8@1+ (0.392,0.0) [0.0|100.0] "%" DI_BOX + +BO_ 1322 CLU15: 8 CLU + SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] "" BCM + SG_ CF_Clu_Gear : 9|4@1+ (1,0) [0|15] "" BCM + SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] "" HUD + SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] "" HUD + SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS + SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC + SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 1066 _4WD13: 6 _4WD + SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A" TCU + SG_ _4WD_POSITION : 8|16@1+ (0.015625,0.0) [-180.0|180.0] "Deg" TCU + SG_ _4WD_CLU_THERM_STR : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" TCU + SG_ _4WD_STATUS : 32|8@1+ (1.0,0.0) [0.0|15.0] "" ESC,TCU + +BO_ 1065 _4WD12: 8 _4WD + SG_ Ster_Pos : 0|16@1+ (1.0,-600.0) [-600.0|600.0] "Deg" ESC + SG_ FRSS : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ FLSS : 24|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ RRSS : 32|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ RLSS : 40|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ CLU_PRES : 48|16@1+ (0.0625,-50.0) [-50.0|50.0] "Bar" ESC + +BO_ 809 EMS12: 8 EMS + SG_ CONF_TCU m1 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LCA,SMK + SG_ CAN_VERS m0 : 0|6@1+ (1.0,0.0) [0.0|7.7] "" _4WD,ABS,ESC,IBOX + SG_ TQ_STND m3 : 0|6@1+ (10.0,0.0) [0.0|630.0] "Nm" _4WD,DATC,ECS,EPB,ESC,FATC,IBOX + SG_ OBD_FRF_ACK m2 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ESC,IBOX + SG_ MUL_CODE M : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,BCM,CLU,DATC,ECS,EPB,ESC,IBOX,LCA,SMK,TCU + SG_ TEMP_ENG : 8|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,BCM,CLU,DATC,EPB,ESC,IBOX,SMK,TCU + SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0.0) [0.0|1.99155] "" IBOX,TCU + SG_ VB_OFF_ACT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ACK_ES : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,IBOX + SG_ CONF_MIL_FMY : 26|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,IBOX,TCU + SG_ OD_OFF_REQ : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ACC_ACT : 30|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,CLU,ESC,IAP,IBOX,SCC,TCU + SG_ CLU_ACK : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EPB,ESC,IBOX + SG_ BRAKE_ACT : 32|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,AFLS,CLU,DATC,ECS,EPB,ESC,IBOX,LDWS_LKAS,TCU + SG_ ENG_CHR : 34|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,ABS,ACU,CLU,DATC,EPB,ESC,FATC,IBOX,SCC,SMK,TCU + SG_ GP_CTL : 38|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ TPS : 40|8@1+ (0.4694836,-15.0234742) [-15.0234742|104.6948357] "%" _4WD,ABS,ACU,CLU,DATC,ECS,EPB,ESC,IBOX,TCU + SG_ PV_AV_CAN : 48|8@1+ (0.3906,0.0) [0.0|99.603] "%" _4WD,AAF,ABS,ACU,AFLS,CLU,DATC,EPB,ESC,IAP,IBOX,LDWS_LKAS,SCC,TCU + SG_ ENG_VOL : 56|8@1+ (0.1,0.0) [0.0|25.5] "liter" _4WD,ABS,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,SCC,SMK + +BO_ 1064 _4WD11: 8 _4WD + SG_ _4WD_TYPE : 0|2@1+ (1.0,0.0) [0.0|3.0] "" ACU,ESC,TPMS + SG_ _4WD_SUPPORT : 2|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,ESC,TPMS + SG_ _4WD_ERR : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC + SG_ CLU_DUTY : 16|8@1+ (1.0,0.0) [0.0|64.0] "%" ABS,ESC + SG_ R_TIRE : 24|8@1+ (1.0,200.0) [200.0|455.0] "mm" ABS,ESC,TPMS + SG_ _4WD_SW : 32|8@1+ (1.0,0.0) [0.0|9.9] "" ESC + SG_ _2H_ACT : 40|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC + SG_ _4H_ACT : 41|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS + SG_ LOW_ACT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TCU,TPMS + SG_ AUTO_ACT : 43|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TPMS + SG_ LOCK_ACT : 44|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS + SG_ _4WD_TQC_CUR : 48|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" ABS,ESC + +BO_ 1319 HU_GW_E_01: 8 CLU + SG_ C_ADrLNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ C_ADrUNValueSet : 4|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ C_TwUnNValueSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_ABuzzerNValueSet : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_ArmWKeyNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_PSMNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SCMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_HLEscortNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_WELNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TriTurnLNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SNVWarnNValueSet : 24|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_LkasWarnNValueSet : 26|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1318 HU_GW_E_00: 8 CLU + SG_ C_ADrLURValueReq : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TwUnRValueReq : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_AlarmRValueReq : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_IMSRValueReq : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_HLEscortRValueReq : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_WELRValueReq : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TriTurnLRValueReq : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SNVWarnRValueReq : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_LkasWarnRValueReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1317 GW_HU_E_01: 8 BCM + SG_ C_ADrLRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_ADrURValue : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_TwUnRValue : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ABuzzerRValue : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ArmWKeyRValue : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_PSMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SCMRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_HLEscortRValue : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_WELRValue : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TriTurnLRValue : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1316 GW_HU_E_00: 8 BCM + SG_ C_ADrLUNValueConf : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TwUnNValueConf : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_AlarmNValueConf : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_PSMNValueConf : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SCMNValueConf : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_HLEscortNValueConf : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_WELNValueConf : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TriTurnLNValueConf : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1315 GW_SWRC_PE: 8 BCM + SG_ C_ModeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_MuteSW : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SeekDnSW : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SeekUpSW : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_BTPhoneCallSW : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_BTPhoneHangUpSW : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_DISCDownSW : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_DISCUpSW : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SdsSW : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_MTSSW : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_VolDnSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_VolUpSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1314 GW_IPM_PE_1: 8 BCM + SG_ C_AV_Tail : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ParkingBrakeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RKECMD : 4|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ C_BAState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_IGNSW : 12|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_CountryCfg : 16|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_TailLampActivity : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ RearSW_RSELockOnOff : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SMKTeleCrankingState : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1057 SCC12: 8 SCC + SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC + SG_ CF_VSM_DecCmdAct : 1|1@1+ (1,0) [0|1] "" ESC + SG_ CF_VSM_HBACmd : 2|2@1+ (1,0) [0|3] "" ESC + SG_ CF_VSM_Warn : 4|2@1+ (1,0) [0|3] "" CLU,ESC,IAP + SG_ CF_VSM_Stat : 6|2@1+ (1,0) [0|3] "" CLU,ESC,PSB + SG_ CF_VSM_BeltCmd : 8|3@1+ (1,0) [0|7] "" ESC,PSB + SG_ ACCFailInfo : 11|2@1+ (1,0) [0|3] "" CLU,CUBIS,ESC,IBOX + SG_ ACCMode : 13|2@1+ (1,0) [0|3] "" CLU,ESC,IBOX,TCU + SG_ StopReq : 15|1@1+ (1,0) [0|1] "" EPB,ESC + SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0) [0|2.55] "g" ESC + SG_ TakeOverReq : 35|1@1+ (1,0) [0|1] "" CLU,ESC,TCU + SG_ PreFill : 36|1@1+ (1,0) [0|1] "" ESC,TCU + SG_ CF_VSM_ConfMode : 48|2@1+ (1,0) [0|3] "" CLU,ESC + SG_ AEB_Failinfo : 50|2@1+ (1,0) [0|3] "" CLU,ESC + SG_ AEB_Status : 52|2@1+ (1,0) [0|3] "" CLU,ESC + SG_ AEB_CmdAct : 54|1@1+ (1,0) [0|1] "" ESC + SG_ AEB_StopReq : 55|1@1+ (1,0) [0|1] "" CLU,ESC + SG_ CR_VSM_Alive : 56|4@1+ (1,0) [0|15] "" ESC,PSB + SG_ CR_VSM_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC,PSB + SG_ aReqValue : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX + SG_ aReqRaw : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX + +BO_ 1313 GW_DDM_PE: 8 BCM + SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ASTDoorStatus : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RLDoorStatus : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1056 SCC11: 8 SCC + SG_ MainMode_ACC : 0|1@1+ (1,0) [0|1] "" CLU,EMS,ESC + SG_ SCCInfoDisplay : 1|3@1+ (1,0) [0|7] "" CLU,ESC + SG_ AliveCounterACC : 4|4@1+ (1,0) [0|15] "" CLU,EMS,ESC,TCU + SG_ VSetDis : 8|8@1+ (1,0) [0|255] "km/h or MPH" CLU,ESC,TCU + SG_ ObjValid : 16|1@1+ (1,0) [0|1] "" CLU,ESC,TCU + SG_ DriverAlertDisplay : 17|2@1+ (1,0) [0|3] "" CLU,ESC + SG_ TauGapSet : 19|3@1+ (1,0) [0|7] "" CLU,ESC,TCU + SG_ Navi_SCC_Curve_Status : 56|2@1+ (1,0) [0|3] "" CLU + SG_ Navi_SCC_Curve_Act : 58|2@1+ (1,0) [0|3] "" CLU + SG_ Navi_SCC_Camera_Act : 60|2@1+ (1,0) [0|3] "" CLU + SG_ Navi_SCC_Camera_Status : 62|2@1+ (1,0) [0|3] "" CLU + SG_ ACC_ObjStatus : 22|2@1+ (1,0) [0|3] "" ABS,ESC + SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20) [-20|31.1] "m" ABS,ESC + SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170) [-170|239.5] "m/s" ABS,ESC + SG_ ACC_ObjDist : 33|11@1+ (0.1,0) [0|204.7] "m" ABS,ESC + +BO_ 1312 CGW3: 8 BCM + SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC + SG_ CR_Photosensor_RH : 10|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC + SG_ CF_Hoodsw_memory : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EMS + SG_ C_MirOutTempSns : 24|8@1+ (0.5,-40.5) [-40.0|60.0] "deg" AAF,CLU,DATC,EMS,SPAS,AAF,DATC,EMS,SPAS + +BO_ 544 ESP12: 8 ESC + SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LAT_ACCEL_STAT : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LAT_ACCEL_DIAG : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LONG_ACCEL : 13|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ LONG_ACCEL_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ LONG_ACCEL_DIAG : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ CYL_PRES : 26|12@1+ (0.1,0.0) [0.0|409.5] "Bar" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU + SG_ CYL_PRES_STAT : 38|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU + SG_ CYL_PRESS_DIAG : 39|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,PSB,SCC,TCU + SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ ESP12_Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ ESP12_AliveCounter : 60|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + +BO_ 1307 CLU16: 8 CLU + SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" TPMS + SG_ CF_Clu_SlifNValueSet : 3|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_RearWiperNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 790 EMS11: 8 EMS + SG_ SWI_IGK : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,ACU,AHLS,CUBIS,DI_BOX,ECS,EPB,ESC,IBOX,LDWS_LKAS,MDPS,REA,SAS,SCC,TCU + SG_ F_N_ENG : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,IBOX,MDPS,SCC,TCU + SG_ ACK_TCS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ PUC_STAT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,DATC,IBOX,TCU + SG_ TQ_COR_STAT : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ESC,IBOX,TCU + SG_ RLY_AC : 6|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,IBOX,TCU + SG_ F_SUB_TQI : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EPB,ESC,IBOX,TCU + SG_ TQI_ACOR : 8|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU + SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,FPCM,IBOX,MDPS,SCC,TCU + SG_ TQI : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,ECS,EPB,ESC,IBOX,TCU + SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU + SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h" _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS + SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] "" _4WD,IBOX,TCU + +BO_ 1301 CLU14: 8 CLU + SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_EscortHLNValueSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_DoorLSNValueSet : 8|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_PSMNValueSet : 11|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_TTUnlockNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_PTGMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_SCMNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_WlightNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_TempUnitNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,DATC + SG_ CF_Clu_MoodLpNValueSet : 24|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_TrfChgSet : 27|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS + SG_ CF_Clu_OTTurnNValueSet : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_LcaNValueSet : 32|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_RctaNValueSet : 34|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_RcwNValueSet : 36|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_EscOffNValueSet : 38|3@1+ (1.0,0.0) [0.0|7.0] "" ESC + SG_ CF_Clu_SccNaviCrvNValueSet : 41|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_SccNaviCamNValueSet : 43|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_SccAebNValueSet : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_LkasModeNValueSet : 47|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_FcwNValueSet : 51|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_PasSpkrLvNValueSet : 53|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_SccDrvModeNValueSet : 56|3@1+ (1.0,0.0) [0.0|7.0] "" SCC + SG_ CF_Clu_HAnBNValueSet : 59|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_HfreeTrunkTgNValueSet : 61|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + +BO_ 275 TCU13: 8 TCU + SG_ N_TGT_LUP : 0|8@1+ (10.0,500.0) [500.0|3040.0] "rpm" EMS,IBOX + SG_ SLOPE_TCU : 8|6@1+ (0.5,-16.0) [-16.0|15.5] "%" CLU,CUBIS,EMS,IBOX + SG_ CF_Tcu_InhCda : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_IsgInhib : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_NCStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_TarGr : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,DATC,EMS,EPB,ESC,IBOX,SCC + SG_ CF_Tcu_ShfPatt : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,CUBIS,EMS,IBOX + SG_ CF_Tcu_InhVis : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_PRelReq : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LVR + SG_ CF_Tcu_ITPhase : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10.0,0.0) [0.0|2540.0] "Nm/s" EMS,IBOX + SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" EMS,IBOX + SG_ CF_Tcu_SptRdy : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_Alive3 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + +BO_ 274 TCU12: 8 TCU + SG_ ETL_TCU : 0|8@1+ (2.0,0.0) [0.0|508.0] "Nm" EMS,IBOX + SG_ CUR_GR : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,ESC,IBOX,SCC,TPMS + SG_ CF_Tcu_Alive : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC + SG_ CF_Tcu_ChkSum : 14|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC + SG_ VS_TCU : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" BCM,CLU,DATC,EMS,IBOX,LCA,LVR,PGS,SMK,SNV + SG_ FUEL_CUT_TCU : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ INH_FUEL_CUT : 29|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ IDLE_UP_TCU : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ N_INC_TCU : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15.0|15.0] "" EMS,IBOX + SG_ N_TC_RAW : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" EMS,IBOX + SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0.0) [0.0|0.9921875] "km/h" CLU,EMS,IBOX,LCA + +BO_ 273 TCU11: 8 TCU + SG_ TQI_TCU_INC : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX + SG_ G_SEL_DISP : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,AFLS,AVM,BCM,CGW,CLU,CUBIS,ECS,EMS,EPB,ESC,IAP,IBOX,LCA,LDWS_LKAS,LVR,MDPS,PGS,SCC,SMK,SNV,SPAS,TPMS + SG_ F_TCU : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX + SG_ TCU_TYPE : 14|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS,ESC,IBOX + SG_ TCU_OBD : 16|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,ESC,IBOX + SG_ SWI_GS : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,ESC,IBOX,SCC + SG_ GEAR_TYPE : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,EMS,ESC,IBOX,SCC + SG_ TQI_TCU : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX + SG_ TEMP_AT : 32|8@1+ (1.0,-40.0) [-40.0|214.0] "deg" AAF,CLU,CUBIS,EMS,ESC,IBOX + SG_ N_TC : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" _4WD,EMS,EPB,ESC,IBOX + SG_ SWI_CC : 56|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU,EMS,ESC,IBOX + SG_ CF_Tcu_Alive1 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_ChkSum1 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + +BO_ 16 ACU13: 8 ACU + SG_ CF_Acu_CshAct : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CUBIS,IBOX,ODS + +BO_ 1040 CGW_USM1: 8 BCM + SG_ CF_Gway_ATTurnRValue : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PTGMRValue : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_EscortHLRValue : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_TTUnlockRValue : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_ADrLRValue : 8|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_ADrURValue : 11|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_SCMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_WlightRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PSMRValue : 18|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_OTTurnRValue : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_DrLockSoundRValue : 24|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_HAnBRValue : 27|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_MoodLpRValue : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_HfreeTrunkRValue : 32|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_AutoLightRValue : 35|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_RearWiperRValue : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PasSpkrLvRValue : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + +BO_ 1292 CLU13: 8 CLU + SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,FPCM,IBOX + SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX + SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,SCC + SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] "" IBOX + SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] "" DATC,ECS,EMS,ESC,IAP,MDPS,TCU + SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] "" CGW,IBOX + SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] "" DATC + SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] "" ACU,EMS + SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EMS,TCU + SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CUBIS,EMS,IAP,IBOX + SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,DATC,EMS + SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,LDWS_LKAS + +BO_ 1290 SCC13: 8 SCC + SG_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU + SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC + SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC + SG_ Lead_Veh_Dep_Alert_USM : 13|2@0+ (1,0) [0|3] "" XXX + +BO_ 1287 TCS15: 4 ESC + SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,IBOX + SG_ TCS_OFF_LAMP : 1|2@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU + SG_ TCS_LAMP : 3|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ACU,CLU,CUBIS,IBOX,SCC + SG_ DBC_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ DBC_F_LAMP : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU + SG_ ESC_Off_Step : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ AVH_CLU : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,EPB + SG_ AVH_I_LAMP : 24|2@1+ (1.0,0.0) [0.0|3.0] "" EPB + SG_ EBD_W_LAMP : 26|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ AVH_ALARM : 27|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ AVH_LAMP : 29|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EPB,SPAS + +BO_ 1282 TCU14: 4 TCU + SG_ CF_TCU_WarnMsg : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_TCU_WarnImg : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_TCU_WarnSnd : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Tcu_GSel_BlinkReq : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,LVR + SG_ CF_Tcu_StRelStat : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,ESC + SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC + SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,ESC + +BO_ 1281 ECS11: 3 ECS + SG_ ECS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX + SG_ SYS_NA : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ ECS_DEF : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ ECS_DIAG : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ L_CHG_NA : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Leveling_Off : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ LC_overheat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Lifting : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Lowering : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Damping_Mode : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_Damping : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_Height : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_level : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ ACT_Height : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + +BO_ 1024 CLU_CFG11: 2 CLU + SG_ Vehicle_Type : 0|16@1+ (1.0,0.0) [0.0|65536.0] "" _4WD + +BO_ 1280 ACU14: 1 ACU + SG_ CF_SWL_Ind : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_TTL_Ind : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_SBR_Ind : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + +BO_ 512 EMS20: 6 EMS + SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul" CLU,CUBIS,FPCM,IBOX + SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" FPCM,IBOX + SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] "" FPCM + +BO_ 909 FCA11: 8 FCA + SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC + SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] "" ESC + SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] "" ACU,CLU,ESC + SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] "" ESC + SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g" ESC + SG_ FCA_Status : 18|2@1+ (1,0) [0|3] "" ACU,CLU,ESC + SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] "" ESC + SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] "" CLU,ESC + SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] "" CLU,ESC + SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] "" ESC + SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] "" ACU,CLU,ESC + SG_ FCA_RelativeVelocity : 39|9@1+ (0.1,-25.5) [-25.5|25.5] "m/s" iBAU + SG_ FCA_TimetoCollision : 48|8@1+ (10,0) [0|2540] "ms" iBAU + SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] "" ESC + SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC + SG_ Supplemental_Counter : 35|4@1+ (1,0) [0|15] "" XXX + SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX + +BO_ 1156 HDA11_MFC: 8 XXX + SG_ Counter : 5|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_1 : 1|2@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 16|2@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 18|14@1+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_6 : 33|2@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 34|14@1+ (1,0) [0|16383] "" XXX + SG_ NEW_SIGNAL_8 : 49|2@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_9 : 50|14@1- (1,-4095) [0|16383] "" XXX + +BO_ 1155 FCA12: 8 FCA + SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC + SG_ FCA_DrvSetState : 3|3@1+ (1,0) [0|7] "" CGW + +BO_ 1186 FRT_RADAR11: 2 FCA + SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC + +BO_ 905 SCC14: 8 SCC + SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC + SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC + SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC + SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC + SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC + SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC + +BO_ 1157 LFAHDA_MFC: 4 XXX + SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX + SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX + SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX + SG_ HDA_Chime : 7|1@1+ (1,0) [0|1] "" XXX + SG_ HDA_VSetReq : 8|8@1+ (1,0) [0|255] "km/h" XXX + SG_ LFA_SysWarning : 16|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_1 : 20|3@1+ (1,0) [0|7] "" XXX + SG_ LFA_Icon_State : 24|2@1+ (1,0) [0|3] "" XXX + SG_ LFA_USM : 27|2@1+ (1,0) [0|3] "" XXX + SG_ HDA_SysWarning : 29|2@1+ (1,0) [0|3] "" XXX + +BO_ 913 BCM_PO_11: 8 Vector__XXX + SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS + SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS + SG_ LFA_Pressed : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 1426 LABEL11: 8 XXX + SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX + +BO_ 910 WHL_SPD12_FS: 5 iBAU + SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ WHL_SPD12_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ WHL_SPD_FL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX + SG_ WHL_SPD_FR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX + +BO_ 911 WHL_SPD13_FS: 5 iBAU + SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ WHL_SPD13_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ WHL_SPD_RL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX + SG_ WHL_SPD_RR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX + +BO_ 865 ADAS_PRK_11: 8 ADAS_PRK + SG_ CF_PCA_BrkReq : 24|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ CF_PCA_DclTrgtVal : 28|4@1+ (0.04,0) [0|0] "g" Vector__XXX + SG_ PCA_ALIVE_CNT : 40|4@1+ (1,0) [0|0] "" Vector__XXX + SG_ PCA_CHECK_SUM : 48|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 882 ELECT_GEAR: 8 XXX + SG_ Elect_Gear_Shifter : 16|4@1+ (1,0) [0|7] "" CLU + +BO_ 881 E_EMS11: 8 XXX + SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX + SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX + SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX + SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX + SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|254] "" XXX + SG_ CR_Vcu_AccPedDep_Pos : 56|8@1+ (1,0) [0|254] "" XXX + +BO_ 1355 EV_PC6: 8 CGW + SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX + +BO_ 1430 EV_PC2: 8 CGW + SG_ CR_Ldc_ActVol_LS_V : 32|8@1+ (0.1,0) [0|0] "V" Vector__XXX + +BO_ 1535 EV_PC10: 8 CGW + SG_ CF_Vcu_EpbRequest : 37|1@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 908 RSPA11: 8 RSPA + SG_ CF_RSPA_State : 0|4@1+ (1,0) [0|15] "" XXX + SG_ CF_RSPA_Act : 4|2@1+ (1,0) [0|3] "" XXX + SG_ CF_RSPA_DecCmd : 6|2@1+ (1,0) [0|3] "" XXX + SG_ CF_RSPA_Trgt_Spd : 8|10@1+ (0.01,0) [0|10.23] "km/h" XXX + SG_ CF_RSPA_StopReq : 18|1@1+ (1,0) [0|2] "" XXX + SG_ CR_RSPA_EPB_Req : 22|2@1+ (1,0) [0|3] "" XXX + SG_ CF_RSPA_ACC_ACT : 50|1@1+ (1,0) [0|2] "" XXX + SG_ CF_RSPA_AliveCounter : 52|4@1+ (1,0) [0|15] "" XXX + SG_ CF_RSPA_CRC : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 914 S_MDPS11: 8 XXX + SG_ CF_Mdps_Stat : 0|4@1+ (1,0) [0|15] "" XXX + SG_ CR_Mdps_DrvTq : 8|12@1+ (1,0) [0|15] "" XXX + SG_ CR_Mdps_StrAng : 24|16@1- (1,0) [0|65535] "" XXX + SG_ CF_Mdps_AliveCnt : 47|8@0+ (1,0) [0|255] "" XXX + SG_ CF_Mdps_Chksum : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 357 S_MDPS12: 8 XXX + SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|4095] "" XXX + SG_ NEW_SIGNAL_2 : 12|12@1+ (1,0) [0|4095] "" XXX + SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 352 AHB1: 8 iBAU + SG_ CF_Ahb_SLmp : 0|2@1+ (1,0) [0|3] "" CLU + SG_ CF_Ahb_Def : 2|2@1+ (1,0) [0|3] "" CGW + SG_ CF_Ahb_Act : 4|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ CF_Ahb_Diag : 6|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ CF_Ahb_WLmp : 7|1@1+ (1,0) [0|1] "" CLU + SG_ CR_Ahb_StDep_mm : 8|16@1- (0.1,0) [-3276.8|3276.7] "mm" Vector__XXX + SG_ CF_Ahb_SnsFail : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ CF_Ahb_PedalCalStat : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX + +BO_ 1191 MFC_4a7: 8 XXX + SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 1162 BCA11: 8 BCW + SG_ CF_BCA_State : 16|3@1+ (1,0) [0|7] "" CLU,iBAU + SG_ CF_BCA_Warning : 19|2@1+ (1,0) [0|3] "" CLU,iBAU + SG_ AliveCounter : 21|4@1+ (1,0) [0|15] "" CLU,iBAU + SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU + SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU + +BO_ 1136 P_STS: 8 CGW + SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU + SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU + SG_ Counter : 58|4@1+ (1,0) [0|15] "" MDPS + SG_ Checksum : 62|2@1+ (1,0) [0|3] "" MDPS + +BO_ 304 YRS11: 8 ACU + SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU + SG_ CR_Yrs_LatAc : 16|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" iBAU + SG_ CF_Yrs_YrStat : 32|4@1+ (1,0) [0|15] "" iBAU + SG_ CF_Yrs_LatAcStat : 36|4@1+ (1,0) [0|15] "" iBAU + SG_ CF_Yrs_MCUStat : 40|4@1+ (1,0) [0|15] "" iBAU + SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" iBAU + SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" iBAU + +BO_ 320 YRS12: 8 ACU + SG_ CF_Yrs_LongAcStat : 16|4@1+ (1,0) [0|15] "" iBAU + SG_ CF_IMU_ResetStat : 20|4@1+ (1,0) [0|15] "" iBAU + SG_ YRS_Temp : 24|8@1+ (1,-68) [-68|187] "" iBAU + SG_ YRS_TempStat : 32|4@1+ (1,0) [0|15] "" iBAU + SG_ CF_Yrs_Type : 36|4@1+ (1,0) [0|15] "" iBAU + SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" iBAU + SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" iBAU + SG_ CR_Yrs_LongAc : 0|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" CGW,iBAU + +BO_ 1173 YRS13: 8 ACU + SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU + +BO_ 870 EMS_366: 8 EMS + SG_ TQI_1 : 0|8@1+ (0.390625,0) [0|99.6094] "%" MDPS + SG_ N : 8|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" MDPS + SG_ TQI_2 : 24|8@1+ (0.390625,0) [0|99.6094] "%" MDPS + SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS + SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX + +BO_ 854 M_356: 8 XXX + SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX + SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX + SG_ PAINT4 : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 1042 ICM_412h: 8 ICM + SG_ T_Outside_input : 0|9@0+ (0.01,0) [0|5] "V" Vector__XXX + SG_ WarningSoundOutput_1Group : 5|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ WarningSoundOutput_2Group : 6|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ WarningSoundOutput_3Group : 7|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ TRIP_A_DT_Display_clock : 22|7@0+ (1,0) [0|99] "clock" Vector__XXX + SG_ TRIP_A_DT_Display_minute : 29|6@0+ (1,0) [0|59] "minute" Vector__XXX + SG_ TRIP_B_DT_Display_clock : 38|7@0+ (1,0) [0|99] "clock" Vector__XXX + SG_ TRIP_B_DT_Display_minute : 45|6@0+ (1,0) [0|59] "minute" Vector__XXX + SG_ PopupMessageOutput_1Level : 48|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_2Level : 49|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_3Level : 50|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_4Level : 51|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_5Level : 52|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_6Level : 53|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_7Level : 54|1@0+ (1,0) [0|1] "" Vector__XXX + SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX + +BO_ 1348 Navi_HU: 8 XXX + SG_ SpeedLim_Nav_Clu : 7|8@0+ (1,0) [0|255] "" XXX + +CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list"; +CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD"; + +VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P"; +VAL_ 871 CF_Lvr_Gear 5 "D" 8 "S" 6 "N" 7 "R" 0 "P"; +VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P"; +VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled"; +VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB"; +VAL_ 1057 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault"; +VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda"; +VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red"; +VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink"; +VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled"; +VAL_ 1322 CF_Clu_Gear 1 "P" 2 "R" 4 "N" 8 "D"; diff --git a/opendbc/hyundai_kia_mando_front_radar.dbc b/opendbc/hyundai_kia_mando_front_radar.dbc new file mode 100644 index 000000000..552cdddea --- /dev/null +++ b/opendbc/hyundai_kia_mando_front_radar.dbc @@ -0,0 +1,454 @@ + +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 1280 RADAR_TRACK_500: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1281 RADAR_TRACK_501: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1282 RADAR_TRACK_502: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1283 RADAR_TRACK_503: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1284 RADAR_TRACK_504: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1285 RADAR_TRACK_505: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1286 RADAR_TRACK_506: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1287 RADAR_TRACK_507: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1288 RADAR_TRACK_508: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1289 RADAR_TRACK_509: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1290 RADAR_TRACK_50a: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1291 RADAR_TRACK_50b: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1292 RADAR_TRACK_50c: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1293 RADAR_TRACK_50d: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1294 RADAR_TRACK_50e: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1295 RADAR_TRACK_50f: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1296 RADAR_TRACK_510: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1297 RADAR_TRACK_511: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1298 RADAR_TRACK_512: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1299 RADAR_TRACK_513: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1300 RADAR_TRACK_514: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1301 RADAR_TRACK_515: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1302 RADAR_TRACK_516: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1303 RADAR_TRACK_517: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1304 RADAR_TRACK_518: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1305 RADAR_TRACK_519: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1306 RADAR_TRACK_51a: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1307 RADAR_TRACK_51b: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1308 RADAR_TRACK_51c: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1309 RADAR_TRACK_51d: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1310 RADAR_TRACK_51e: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + + +BO_ 1311 RADAR_TRACK_51f: 8 RADAR + SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX + SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX + SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX + SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX + SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX + SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX + SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + diff --git a/opendbc/hyundai_kia_mando_front_radar_gen.py b/opendbc/hyundai_kia_mando_front_radar_gen.py new file mode 100755 index 000000000..c262c50ee --- /dev/null +++ b/opendbc/hyundai_kia_mando_front_radar_gen.py @@ -0,0 +1,57 @@ +#!/usr/bin/env python3 + +if __name__ == "__main__": + print(""" +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + """) + + # note: 0x501/0x502 seem to be special in 0x5XX range + for a in range(0x500, 0x500 + 32): + print(f""" +BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR +SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX +SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX +SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX +SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX +SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX +SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX +SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX +SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX +SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX +SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + """) diff --git a/opendbc/kia_ev6.dbc b/opendbc/kia_ev6.dbc new file mode 100644 index 000000000..1def4dc12 --- /dev/null +++ b/opendbc/kia_ev6.dbc @@ -0,0 +1,265 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX CAMERA + + +BO_ 53 ACCELERATOR: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ GEAR : 192|3@1+ (1,0) [0|7] "" XXX + SG_ ACCELERATOR_PEDAL : 40|8@1+ (1,0) [0|255] "" XXX + +BO_ 80 LKAS: 16 XXX + SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX + SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX + SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX + SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX + SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX + SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX + SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX + +BO_ 96 ESP_STATUS: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ ESP_DISABLED : 42|3@1+ (1,0) [0|63] "" XXX + +BO_ 101 BRAKE: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSED : 57|1@1+ (1,0) [0|3] "" XXX + +BO_ 160 WHEEL_SPEEDS: 24 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ WHEEL_SPEED_1 : 64|16@1+ (0.03125,0) [0|65535] "m/s" XXX + SG_ WHEEL_SPEED_2 : 80|16@1+ (0.03125,0) [0|65535] "m/s" XXX + SG_ WHEEL_SPEED_3 : 96|16@1+ (0.03125,0) [0|65535] "m/s" XXX + SG_ WHEEL_SPEED_4 : 112|16@1+ (0.03125,0) [0|65535] "m/s" XXX + +BO_ 234 MDPS: 24 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ LKA_ACTIVE : 48|1@0+ (1,0) [0|16777215] "" XXX + SG_ STEERING_OUT_TORQUE : 64|12@1+ (0.1,-204.8) [0|65535] "" XXX + SG_ STEERING_COL_TORQUE : 80|13@1+ (1,-4095) [0|4095] "" XXX + SG_ STEERING_ANGLE : 96|16@1- (-0.1,0) [0|255] "deg" XXX + SG_ STEERING_ANGLE_2 : 128|16@1- (-0.1,0) [0|65535] "deg" XXX + +BO_ 293 STEERING_SENSORS: 16 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ STEERING_RATE : 40|8@1- (-0.1,0) [0|255] "deg/s" XXX + SG_ STEERING_ANGLE : 24|16@1- (-0.1,0) [0|255] "deg" XXX + +BO_ 298 LFA: 16 XXX + SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX + SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX + SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX + SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX + SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX + SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX + SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX + +BO_ 373 SCC1: 24 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ ACCEL_REQ : 48|13@1- (1,0) [0|1023] "" XXX + SG_ CRUISE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX + +BO_ 352 CAM_0x160: 16 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 384 CAM_0x180: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 385 CAM_0x181: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 386 CAM_0x182: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 387 CAM_0x183: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 388 CAM_0x184: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 389 CAM_0x185: 8 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 416 CRUISE_INFO: 32 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ CRUISE_STANDSTILL : 76|1@1+ (1,0) [0|1] "" XXX + SG_ SET_SPEED : 102|7@0+ (1,0) [0|127] "km/h or mph" XXX + SG_ CRUISE_ACTIVE : 184|1@1+ (1,0) [0|1] "" XXX + +BO_ 438 CAM_0x1b6: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 439 CAM_0x1b7: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 440 CAM_0x1b8: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 441 CAM_0x1b9: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 463 CRUISE_BUTTONS: 8 XXX + SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX + SG_ LKAS_BTN : 23|1@1+ (1,0) [0|1] "" XXX + SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX + SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX + SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX + SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX + +BO_ 480 NEW_MSG_1: 16 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ LFA_GREY : 47|1@0+ (1,0) [0|1] "" XXX + +BO_ 507 CAM_0x1fb: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 674 CAM_0x2a2: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 675 CAM_0x2a3: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 676 CAM_0x2a4: 24 XXX + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX + SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX + +BO_ 699 CAM_0x2bb: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 700 CAM_0x2bc: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 701 CAM_0x2bd: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 702 CAM_0x2be: 32 CAMERA + SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX + SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 961 BLINKER_STALKS: 8 XXX + SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|255] "" XXX + SG_ HIGHBEAM_FORWARD : 18|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM_BACKWARD : 26|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 32|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LIGHT_KNOB_POSITION : 21|2@0+ (1,0) [0|3] "" XXX + +BO_ 1041 DOORS_SEATBELTS: 8 XXX + SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|65535] "" XXX + SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX + SG_ DRIVER_SEATBELT_LATCHED : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_DOOR_OPEN : 24|1@1+ (1,0) [0|1] "" XXX + +BO_ 1043 BLINKERS: 8 XXX + SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX + SG_ LEFT_LAMP : 20|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LAMP : 22|1@0+ (1,0) [0|1] "" XXX + +BO_ 1240 CLUSTER_INFO: 8 XXX + SG_ DISTANCE_UNIT : 0|1@1+ (1,0) [0|1] "" XXX + + + +CM_ SG_ 961 COUNTER_ALT "only increments on change"; +CM_ SG_ 1041 COUNTER_ALT "only increments on change"; +CM_ SG_ 1043 COUNTER_ALT "only increments on change"; +VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ; +VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ; +VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ; +VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ; diff --git a/opendbc/luxgen_s5_2015.dbc b/opendbc/luxgen_s5_2015.dbc new file mode 100644 index 000000000..34fe6b646 --- /dev/null +++ b/opendbc/luxgen_s5_2015.dbc @@ -0,0 +1,153 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 928 EPB_STATUS: 8 XXX + SG_ EPB_BRAKE : 16|1@1+ (1,0) [0|3] "" XXX + +BO_ 1104 SEATBELT_STATUS: 8 XXX + SG_ DRIVER_SEAT_BELT_ONOFF : 21|1@0+ (1,0) [0|3] "" XXX + +BO_ 1056 BODY_ECU_STATUS: 8 XXX + SG_ DOOR_RL_STATUS : 18|1@0+ (1,0) [0|255] "" XXX + SG_ DOOR_FL_STATUS : 13|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_FR_STATUS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_RR_STATUS : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_BACK_DOOR_STATUS : 22|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_SIGNAL_STATUS : 10|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_SIGNAL_STATUS : 9|1@0+ (1,0) [0|1] "" XXX + +BO_ 832 GEAR_RPM_SPEED_STATUS: 8 XXX + SG_ TRANS_MODE : 7|5@1+ (1,0) [0|0] "" XXX + SG_ TRANS_GEAR_POS : 2|3@0+ (1,0) [0|1] "" XXX + SG_ ENGINE_RPM1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ENGINE_TEMP : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 821 THROTTLE_STATUS: 8 XXX + SG_ CRUSE_ONOFF : 2|1@0+ (1,0) [0|1] "on/off" XXX + SG_ CRUSE_ENABLED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ THROTTLE_PEDAL_POS : 32|8@1+ (1,0) [0|255] "" XXX + SG_ THROTTLE_POS : 24|8@1+ (1,0) [0|255] "" XXX + SG_ RPM : 48|8@1- (1,0) [0|65535] "" XXX + +BO_ 922 STEERING_ANGLE_STATUS: 8 XXX + SG_ STEER_ANGLE_9000 : 7|16@0- (1,0) [0|65535] "" XXX + +BO_ 906 WHEEL_SPEEDS: 8 XXX + SG_ SPEED_FR : 24|8@1+ (1,0) [0|255] "" XXX + SG_ ABS_UNDEF1 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ SPEED_FL : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 848 ABS_WHEELS_STATUS: 8 XXX + SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|255] "" XXX + +BO_ 1402 DASH_STATUS: 8 XXX + SG_ CAR_SPEED : 32|8@1+ (1,0) [0|255] "" XXX + SG_ DASH_INFO2 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ DASH_INFO0 : 0|8@1+ (1,0) [0|255] "" XXX + SG_ DASH_INFO_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ DASH_INFO_3 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 1306 _SPEEDX: 8 XXX + SG_ DASH_CAR_SPEED : 7|9@0+ (1,0) [0|255] "" XXX + +BO_ 1296 undefined: 8 XXX + +BO_ 790 ENGINE_DATA: 8 XXX + SG_ _X2 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 1313 undefined_2: 8 XXX + +BO_ 1312 __trigger_every_range: 8 XXX + SG_ __SIGNAL_every_interval : 4|1@0+ (1,0) [0|1] "" XXX + +BO_ 896 undefined_3: 8 XXX + SG_ NEW_SIGNAL_1 : 32|4@1+ (1,0) [0|15] "" XXX + +BO_ 809 undefined_4: 8 XXX + +BO_ 864 BREAK_TCS_STATUS: 8 XXX + SG_ SPEED3 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ TCS_ON_FF : 45|1@0+ (1,0) [0|1] "" XXX + SG_ XXXX1 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRSSED : 42|1@0+ (1,0) [0|1] "" XXX + +BO_ 842 undefined_5: 8 XXX + +BO_ 880 WHEEL_RPM_STATUS: 8 XXX + SG_ WHEEL_RL_SPEED : 23|16@0+ (1,0) [0|255] "" XXX + SG_ WHEEL_FR_SPEED : 39|16@0+ (1,0) [0|255] "" XXX + SG_ WHEEL_FL_SPEED : 55|16@0+ (1,0) [0|255] "" XXX + SG_ WHEEL_RR_SPEED : 7|16@0- (1,0) [0|255] "" XXX + +BO_ 1040 CONSOLE_STATUS: 8 XXX + SG_ LEFT_SIGNAL_SWITCH : 1|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_SIGNAL_SWITCH : 2|1@0+ (1,0) [0|1] "" XXX + SG_ HEAD_LIGHT_HANDLE_SWITCH : 3|1@0+ (1,0) [0|1] "" XXX + SG_ HID_LIGHT_SWITCH : 4|1@0+ (1,0) [0|1] "" XXX + SG_ YELLOW_WARN_TEMP_TRIGGER : 5|1@0+ (1,0) [0|1] "" XXX + SG_ HID_LIGHT_HANDLE_SWITCH : 6|1@0+ (1,0) [0|1] "" XXX + SG_ MIX_MODE : 7|1@0+ (1,0) [0|1] "" XXX + SG_ slider_rain_bar : 13|1@0+ (1,0) [0|1] "" XXX + SG_ temp_slider_rain_bar : 15|1@0+ (1,0) [0|1] "" XXX + SG_ temp_water_push : 11|1@0+ (1,0) [0|1] "" XXX + +BO_ 1120 HAVC_STATUS: 8 XXX + SG_ HAVC_TEMP : 32|8@1+ (1,0) [0|255] "" XXX + + +CM_ SG_ 1104 DRIVER_SEAT_BELT_ONOFF "0 - on , 1 = off"; +CM_ SG_ 1056 DOOR_RL_STATUS "04 - RL - open"; +CM_ SG_ 1056 DOOR_FL_STATUS "28 - FL open , 38 - FR"; +CM_ SG_ 1056 RIGHT_SIGNAL_STATUS "R,L shows at same time means hazard"; +CM_ SG_ 832 TRANS_MODE "AT - 85 / MT - 8D"; +CM_ SG_ 832 TRANS_GEAR_POS "R-7 , 0 - N"; +CM_ SG_ 821 CRUSE_ONOFF "Cruse Switch"; +CM_ SG_ 821 CRUSE_ENABLED "Cruse enabled"; +CM_ SG_ 821 THROTTLE_PEDAL_POS "Real Pedal Pos"; +CM_ SG_ 821 THROTTLE_POS "Throttle Pos for Cruse Mode"; +CM_ SG_ 906 ABS_UNDEF1 "ABS force"; +CM_ SG_ 906 SPEED_FL "used for car speed in dash board"; +CM_ SG_ 864 TCS_ON_FF "ON = 1, OFF =0"; diff --git a/opendbc/mazda_2017.dbc b/opendbc/mazda_2017.dbc new file mode 100644 index 000000000..fbd11162a --- /dev/null +++ b/opendbc/mazda_2017.dbc @@ -0,0 +1,775 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 117 STEER_RELATED: 8 XXX + SG_ CTR : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 48|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 49|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 50|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX + SG_ STEER_ANGLE_2 : 39|16@0+ (0.1,-1800) [0|131071] "" XXX + SG_ STEER_TORQUE : 19|12@0+ (1,-2000) [0|255] "" XXX + +BO_ 118 RPM_RELATED: 8 XXX + SG_ CTR : 7|8@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX + +BO_ 514 ENGINE_DATA: 8 XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|127] "" XXX + SG_ RPM : 7|16@0+ (0.25,0) [0|8500] "rpm" XXX + SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "kph" XXX + SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "%" XXX + +BO_ 357 PEDALS: 8 XXX + SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 8|3@1+ (1,0) [0|7] "" XXX + SG_ ACC_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_OFF : 2|1@1+ (1,0) [0|15] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX + SG_ STANDSTILL : 26|1@0+ (1,0) [0|16777215] "" XXX + SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ NO_BRAKE : 6|1@0+ (1,0) [0|7] "" XXX + SG_ BRAKE_ON_2 : 7|1@1+ (1,0) [0|255] "" XXX + SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX + SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX + +BO_ 533 WHEEL_SPEEDS: 8 XXX + SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX + SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "kph" XXX + SG_ RL : 39|16@0+ (0.01,-100) [0|15] "kph" XXX + SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "kph" XXX + +BO_ 134 STEER2: 8 XXX + SG_ CTR : 22|4@0+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ CTR_2 : 28|3@1+ (1,0) [0|7] "" XXX + SG_ STEER_ANGLE_ROUGH : 26|11@0+ (1,-1000) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX + SG_ STEER_ANGLE : 7|16@0+ (0.1,-1600) [-500|500] "deg" XXX + SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|7] "" XXX + +BO_ 576 STEER_TORQUE: 8 XXX + SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX + SG_ SENSOR1 : 39|8@0+ (1,-128) [0|127] "" XXX + SG_ STEER_TORQUE_MOTOR : 46|15@0- (0.1,0) [-3000|3000] "tbd" XXX + SG_ NEW_SIGNAL_2 : 62|4@0+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|127] "" XXX + SG_ STEER_TORQUE_SENSOR : 7|8@0+ (1,-127) [-85|85] "" XXX + +BO_ 577 STEER_RATE: 8 XXX + SG_ STEER_ANGLE_RATE : 23|16@0+ (0.25,-8192) [0|1] "deg/s" XXX + SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|15] "" XXX + SG_ LKAS_EFFECTIVE : 39|12@0+ (1,-2048) [0|255] "" XXX + SG_ HANDS_OFF_5_SECONDS : 51|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_BLOCK : 50|1@1+ (1,0) [0|3] "" XXX + SG_ LKAS_TRACK_STATE : 52|1@0+ (1,0) [0|3] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 582 CAM_LANEMAYBE: 8 XXX + SG_ NEW_SIGNAL_4 : 40|8@1+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_1 : 31|16@0- (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|65535] "" XXX + SG_ CTR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 15|16@0+ (1,0) [0|65535] "" XXX + +BO_ 541 CAM_EMPTY: 8 XXX + +BO_ 605 CAM_PEDESTRIAN: 8 XXX + SG_ CTR : 17|4@0+ (1,0) [0|255] "" XXX + SG_ AEB_NOT_ENGAGED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ PED_WARNING : 9|1@0+ (1,0) [0|255] "" XXX + SG_ PED_BRAKE : 3|3@0+ (1,0) [0|7] "" XXX + SG_ RST_CTR : 23|6@0+ (1,0) [0|63] "" XXX + SG_ S1 : 29|4@0+ (1,0) [0|31] "" XXX + SG_ BRAKE_WARNING : 25|1@0+ (1,0) [0|1] "" XXX + +BO_ 578 CAM_LANETRACK: 8 XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ZERO : 53|6@0+ (1,0) [0|63] "" XXX + SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX + SG_ LINE2 : 9|10@0+ (1,-686) [0|255] "" XXX + SG_ LANE_CURVE : 31|8@0+ (1,-127) [0|255] "" XXX + SG_ SIG1 : 39|8@0+ (1,-128) [0|255] "" XXX + SG_ SIG2 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SIG3 : 55|2@0+ (1,0) [0|3] "" XXX + SG_ LINE1 : 3|10@0+ (1,-686) [0|1] "" XXX + +BO_ 579 CAM_LKAS: 8 XXX + SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX + SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX + SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX + SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ ANGLE_ENABLED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ STEERING_ANGLE : 33|12@0+ (1,-2048) [-2048|2047] "" XXX + +BO_ 580 CAM_DISTANCE: 8 XXX + SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX + SG_ S2 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ S3 : 16|8@1+ (1,0) [0|3] "" XXX + SG_ S4 : 24|8@1+ (1,0) [0|31] "" XXX + SG_ S5 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ DISTANCE : 47|8@0+ (1,0) [0|65535] "" XXX + SG_ S6 : 55|16@0+ (1,0) [0|255] "" XXX + +BO_ 581 CAM_IDK3: 8 XXX + SG_ S1 : 0|8@1+ (1,0) [0|15] "" XXX + SG_ S2 : 8|6@1+ (1,0) [0|255] "" XXX + SG_ S3 : 15|2@0+ (1,0) [0|3] "" XXX + SG_ S4 : 16|8@1+ (1,0) [0|15] "" XXX + SG_ S5 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ S6 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ S7 : 40|8@1+ (1,0) [0|3] "" XXX + SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX + SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX + SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX + SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX + SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX + SG_ SPEED_SIGN_ON : 12|1@0+ (1,0) [0|3] "" XXX + SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX + +BO_ 1157 CAM_SETTINGS: 8 XXX + SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX + SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX + SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_SENSETIVITY : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX + SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX + SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX + SG_ BIT1 : 12|1@0+ (1,0) [0|7] "" XXX + SG_ BIT2 : 14|1@0+ (1,0) [0|1] "" XXX + SG_ BIT3 : 18|1@0+ (1,0) [0|1] "" XXX + +BO_ 1160 CAM_Empty3: 8 XXX + SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX + +BO_ 1088 CAM_LANEINFO: 8 XXX + SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX + SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX + SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX + SG_ S1_HBEAM : 54|1@0+ (1,0) [0|31] "" XXX + SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX + SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX + SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX + SG_ NO_ERR_BIT : 14|1@0+ (1,0) [0|1] "" XXX + SG_ BIT2 : 13|1@0+ (1,0) [0|15] "" XXX + SG_ LANE_LINES : 10|3@0+ (1,0) [0|3] "" XXX + SG_ BIT1 : 6|1@0+ (1,0) [0|65535] "" XXX + SG_ LINE_NOT_VISIBLE : 1|1@0+ (1,0) [0|1] "" XXX + SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX + SG_ LDW_WARN_RL : 58|1@0+ (1,0) [0|1] "" XXX + SG_ LDW_WARN_LL : 57|1@0+ (1,0) [0|1] "" XXX + +BO_ 1479 NEW_MSG_470: 8 XXX + +BO_ 1456 NEW_MSG_300: 8 XXX + +BO_ 1446 NEW_MSG_a600: 8 XXX + +BO_ 1416 MSG_18: 8 XXX + +BO_ 1086 DOORS: 8 XXX + SG_ LEFTGATE : 32|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 53|1@0+ (1,0) [0|255] "" XXX + SG_ KEYFOB_HORN : 2|1@0+ (1,0) [0|1] "" XXX + SG_ KEYFOB_LOCK : 3|1@0+ (1,0) [0|1] "" XXX + SG_ KEYFOB_UNLOCK : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CTR1 : 8|4@1+ (1,0) [0|3] "" XXX + SG_ CTR2 : 16|4@1+ (1,0) [0|15] "" XXX + SG_ BR : 34|1@0+ (1,0) [0|1] "" XXX + SG_ BL : 35|1@0+ (1,0) [0|1] "" XXX + SG_ FR : 36|1@0+ (1,0) [0|1] "" XXX + SG_ FL : 37|1@0+ (1,0) [0|255] "" XXX + SG_ DOORS_UNLOCKED : 30|1@0+ (1,0) [0|255] "" XXX + +BO_ 977 TWO_STATES: 8 XXX + SG_ NEW_SIGNAL_1 : 50|1@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_2 : 56|4@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_3 : 28|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 24|4@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 36|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 51|1@0+ (1,0) [0|1] "" XXX + +BO_ 1085 MSG_12: 8 XXX + SG_ NEW_SIGNAL_3 : 36|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 48|8@1+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_6 : 40|3@1+ (1,0) [0|7] "" XXX + +BO_ 159 MSG_11: 8 XXX + SG_ NEW_SIGNAL_1 : 50|4@1+ (1,0) [0|15] "" XXX + SG_ INCREASEING : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 1278 NEW_MSG_3: 8 XXX + SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ MILAGE_MAYBE : 7|16@0+ (1,0) [0|255] "" XXX + +BO_ 1277 NEW_MSG_10: 8 XXX + SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ counter : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 1275 2017_5: 8 XXX + SG_ counter : 4|5@0+ (1,0) [0|255] "" XXX + +BO_ 1274 NEW_MSG_12: 8 XXX + SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX + SG_ CTR : 55|4@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 35|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 32|3@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_4 : 48|4@1+ (1,0) [0|7] "" XXX + +BO_ 1180 last_byte_roughRPM: 8 XXX + SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1078 HVAC: 8 XXX + SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|1@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 56|5@0+ (1,0) [0|255] "" XXX + +BO_ 1056 CHECK_AND_TEMP: 8 XXX + SG_ NEW_SIGNAL_1 : 29|6@0+ (1,0) [0|255] "" XXX + SG_ counter_or_GEAR : 15|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 23|8@0+ (1,0) [0|255] "" XXX + SG_ STANDSTILL : 32|1@0+ (1,0) [0|255] "" XXX + SG_ COOLANT_TEMP : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LOW_ENGINE_OIL_PRESSURE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ CHECK_FUEL_CAP : 40|1@0+ (1,0) [0|1] "" XXX + SG_ CHARGING_SYSTEM_MALFUNCTION : 38|1@0+ (1,0) [0|1] "" XXX + SG_ OUTDOOR_TEMP : 63|8@0+ (0.25,-63) [0|255] "cel" XXX + +BO_ 1045 TRACTION: 8 XXX + SG_ NEW_SIGNAL_2 : 20|1@0+ (1,0) [0|3] "" XXX + SG_ CTR2 : 19|4@0+ (1,0) [0|31] "" XXX + SG_ CTR3 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ IS_MOVING : 12|1@0+ (1,0) [0|3] "" XXX + SG_ CTR1 : 53|6@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 54|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE : 55|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_WARNING : 2|1@0+ (1,0) [0|1] "" XXX + SG_ ABS_MALFUNCTION : 1|2@0+ (1,0) [0|3] "" XXX + SG_ DSC_OFF : 3|1@0+ (1,0) [0|1] "" XXX + SG_ TCS_DCS_MALFUNCTION : 6|2@0+ (1,0) [0|3] "" XXX + SG_ LOUD_BEEP : 28|1@0+ (1,0) [0|1] "" XXX + SG_ TPMS_WARNING_DOUBLE_BLINK : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 1034 MSG_07: 8 XXX + SG_ NEW_SIGNAL_1 : 6|3@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 0|4@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_4 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_8 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_9 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 870 RADAR_366_STATIC: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 867 RADAR_363: 8 XXX + SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX + SG_ STATIC_4 : 43|16@0+ (1,0) [0|255] "" XXX + SG_ FLIPPY_1 : 31|3@0+ (1,0) [0|7] "" XXX + SG_ FLIPPY_2 : 47|1@0+ (1,0) [0|15] "" XXX + SG_ FLIPPY_4 : 44|1@0+ (1,0) [0|3] "" XXX + SG_ FLIPPY_3 : 46|1@0+ (1,0) [0|3] "" XXX + SG_ CURVE_1 : 7|12@0+ (1,0) [0|255] "" XXX + SG_ CURVE_2 : 11|12@0+ (1,0) [0|255] "" XXX + SG_ CURVE_3 : 28|13@0+ (1,0) [0|255] "" XXX + +BO_ 130 STEER: 8 XXX + SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 47|4@0+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [500|-500] "deg" XXX + SG_ CHKSUM_MAYBE : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 120 BRAKE: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PRESSURE : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 304 GEAR_RELATED: 8 XXX + SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 865 RADAR_DISTANCE: 8 XXX + SG_ CTR : 56|4@1+ (1,0) [0|15] "" XXX + SG_ STATIC : 36|3@0+ (1,0) [0|31] "" XXX + SG_ DISTANCE_RELATED : 33|4@0+ (1,0) [0|3] "" XXX + SG_ SPEED_INVERSE : 43|12@0- (-0.225,0) [0|255] "kph" XXX + SG_ DISTANCE_LEAD : 7|24@0+ (1,0) [0|31] "" XXX + SG_ RELATIVE_VEL_LEAD : 31|11@0- (1,0) [0|255] "" XXX + +BO_ 836 NEW_MSG_19: 8 XXX + SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 832 SEATBELT: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ PASSENGER_SEATBELT : 26|1@1+ (1,0) [0|7] "" XXX + SG_ CTR1 : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CTR2 : 23|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 8|4@1+ (1,0) [0|3] "" XXX + SG_ DRIVER_SEATBELT : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 866 RADAR_TURN: 8 XXX + SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX + SG_ STEER_ANGLE : 43|12@0+ (-1,2048) [0|7] "" XXX + SG_ STATIC_2 : 63|4@0+ (1,0) [0|15] "" XXX + SG_ CURVE_1 : 7|12@0+ (1,0) [0|131071] "" XXX + SG_ CURVE_2 : 11|12@0- (1,0) [0|127] "" XXX + SG_ FLIPPY_1 : 44|1@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_4 : 34|3@1+ (1,0) [0|3] "" XXX + SG_ CURVE_3 : 31|11@0- (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_1 : 33|4@0+ (1,0) [0|3] "" XXX + +BO_ 158 MSG_05: 8 XXX + SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 157 CRZ_BTNS: 8 XXX + SG_ BIT1 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ BIT2 : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BIT3 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ SET_P_INV : 21|1@0+ (1,0) [0|1] "" XXX + SG_ CAN_OFF_INV : 17|1@0+ (1,0) [0|1] "" XXX + SG_ CAN_OFF : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SET_M_INV : 22|1@0+ (1,0) [0|1] "" XXX + SG_ SET_M : 5|1@0+ (1,0) [0|1] "" XXX + SG_ SET_P : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RES_INV : 19|1@0+ (1,0) [0|1] "" XXX + SG_ RES : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE_LESS : 7|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE_LESS_INV : 8|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE_MORE : 6|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE_MORE_INV : 23|1@0+ (1,0) [0|1] "" XXX + SG_ MODE_Y : 13|1@0+ (1,0) [0|1] "" XXX + SG_ MODE_X : 14|1@0+ (1,0) [0|1] "" XXX + SG_ MODE_Y_INV : 30|1@0+ (1,0) [0|1] "" XXX + SG_ MODE_X_INV : 31|1@0+ (1,0) [0|1] "" XXX + SG_ CTR : 29|4@0+ (1,0) [0|15] "" XXX + +BO_ 154 BLINK_INFO: 8 XXX + SG_ LEFT_BLINK : 18|1@1+ (1,0) [0|3] "" XXX + SG_ RIGHT_BLINK : 19|1@0+ (1,0) [0|255] "" XXX + SG_ REAR_WIPER_ON : 0|1@0+ (1,0) [0|1] "" XXX + SG_ WIPER_LO : 33|1@1+ (1,0) [0|31] "" XXX + SG_ WIPER_HI : 34|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAMS : 5|2@0+ (1,0) [0|3] "" XXX + SG_ HIGH_BEAMS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LBEAM1 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ LBEAM2 : 50|1@0+ (1,0) [0|1] "" XXX + SG_ LBEAM3 : 60|1@0+ (1,0) [0|1] "" XXX + +BO_ 145 TURN_SWITCH: 8 XXX + SG_ HAZARD : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_RIGHT_SWITCH : 12|1@0+ (1,0) [0|3] "" XXX + SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX + SG_ CTR : 27|4@0+ (1,0) [0|255] "" XXX + SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX + +BO_ 80 MSG_04: 8 XXX + SG_ NEW_SIGNAL_1 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SIGNAL : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 978 MSG_03: 8 XXX + SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 1|2@0+ (1,0) [0|255] "" XXX + +BO_ 607 NEW_MSG_25: 8 XXX + +BO_ 1115 MSG_02: 8 XXX + SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 47|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 63|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 2|3@0+ (1,0) [0|255] "" XXX + +BO_ 1067 NEW_MSG_27: 8 XXX + SG_ NEW_SIGNAL_2 : 3|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 11|1@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_7 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_9 : 8|1@0+ (1,0) [0|1] "" XXX + +BO_ 358 NEW_MSG_28: 8 XXX + +BO_ 608 NEW_MSG_29: 8 XXX + SG_ NEW_SIGNAL_1 : 8|5@1+ (1,0) [0|7] "" XXX + +BO_ 606 SPEED_TBD: 8 XXX + SG_ SPEED_TBD : 7|12@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 23|12@0- (1,0) [0|65535] "" XXX + +BO_ 552 GEAR: 8 XXX + SG_ NEW_SIGNAL_3 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 26|3@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 31|5@0+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|255] "" XXX + SG_ MORE_GEAR : 7|4@0+ (1,0) [0|15] "" XXX + SG_ GEAR : 2|3@0+ (1,0) [0|7] "" XXX + SG_ GEAR_BOX : 36|4@0+ (1,0) [0|15] "" XXX + +BO_ 543 CRZ_EVENTS: 8 XXX + SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_21 : 23|1@0+ (1,0) [0|15] "" XXX + SG_ GAS_MAYBE : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_CMD : 46|8@0- (1,0) [0|15] "" XXX + SG_ CRUISE_ACTIVE_CAR_MOVING : 16|1@0+ (1,0) [0|1] "" XXX + SG_ PLUS_ONE_CRZ : 17|1@0+ (1,0) [0|255] "" XXX + SG_ CRZ_STARTED : 18|1@0+ (1,0) [0|1] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX + SG_ PLUS_ONE_CRZ_2 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_CMD_LOW_RES : 29|8@0- (1,0) [0|255] "" XXX + SG_ CRZ_SPEED : 7|16@0+ (0.005,-0.5) [0|328] "kph" XXX + +BO_ 542 NEW_MSG_33: 8 XXX + SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CTR2 : 56|4@1+ (1,0) [0|15] "" XXX + +BO_ 868 RADAR_364: 8 XXX + SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 7|12@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 11|12@0- (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_3 : 27|12@0- (1,0) [0|255] "" XXX + SG_ FLIPPERS_1 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_4 : 44|1@1+ (1,0) [0|3] "" XXX + SG_ FLIPPY_1 : 46|1@0+ (1,0) [0|3] "" XXX + SG_ STATIC_1 : 47|1@0+ (1,0) [0|15] "" XXX + SG_ STATIC_2 : 43|16@0+ (1,0) [0|7] "" XXX + +BO_ 869 RADAR_365: 8 XXX + SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|6@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_1 : 7|14@0+ (1,0) [0|65535] "" XXX + SG_ RELATED_1 : 9|18@0+ (1,0) [0|3] "" XXX + SG_ RELATED_2 : 33|18@0+ (1,0) [0|15] "" XXX + SG_ STATIC : 61|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|15] "" XXX + +BO_ 1114 NEW_MSG_4: 8 XXX + +BO_ 535 CURVE_CTRS: 8 XXX + SG_ CTR_A_1 : 4|3@0+ (1,0) [0|31] "" XXX + SG_ CTR_A_2 : 7|3@0+ (1,0) [0|255] "" XXX + SG_ CTR_B_1 : 12|3@0+ (1,0) [0|7] "" XXX + SG_ CTR_B_2 : 15|3@0+ (1,0) [0|7] "" XXX + SG_ CTR_C_1 : 20|3@0+ (1,0) [0|7] "" XXX + SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX + SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX + SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX + SG_ SPEED : 39|16@0+ (0.01,0) [0|7] "kph" XXX + SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 17|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_MAYBE : 8|1@0+ (1,0) [0|1] "" XXX + SG_ NO_SEATBELT_MAYBE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 9|1@0+ (1,0) [0|1] "" XXX + +BO_ 540 CRZ_CTRL: 8 XXX + SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX + SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX + SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX + SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CRZ_AVAILABLE : 17|1@0+ (1,0) [0|255] "" XXX + SG_ DISTANCE_SETTING : 20|3@0+ (1,0) [0|7] "" XXX + SG_ MSG_1_INV : 1|1@0+ (1,0) [0|1] "" XXX + SG_ MSG_1_COPY : 9|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX + SG_ ACC_ACTIVE_2 : 52|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX + SG_ MSG_1 : 0|1@0+ (1,0) [0|3] "" XXX + SG_ 5_SEC_DISABLE_TIMER : 45|3@0+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_3 : 13|1@0+ (1,0) [0|3] "" XXX + SG_ MSG_1_INV_COPY : 8|1@0+ (1,0) [0|7] "" XXX + +BO_ 539 CRZ_INFO: 8 XXX + SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX + SG_ ACC_SET_ALLOWED : 34|1@0+ (1,0) [0|1] "" XXX + SG_ CRZ_ENDED : 36|1@0+ (1,0) [0|255] "" XXX + SG_ ACCEL_CMD : 17|13@0+ (1,-4096) [0|1] "" XXX + SG_ STATIC_1 : 15|11@0+ (1,0) [0|16383] "" XXX + SG_ STATIC_2 : 18|3@1+ (1,0) [0|3] "" XXX + SG_ ERROR_STATUS : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 121 EPB: 8 XXX + SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 25|2@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_8 : 41|2@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_9 : 47|1@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_10 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_11 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ EPB_ACTIVE : 29|1@0+ (1,0) [0|15] "" XXX + +BO_ 1070 2017_1: 8 XXX + +BO_ 1183 2017_2: 8 XXX + +BO_ 1243 2017_3: 8 XXX + SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX + +BO_ 1269 MSG_2017_4: 8 XXX + SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|18446744073709552000] "" XXX + +BO_ 1178 2017_6: 8 XXX + SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX + +BO_ 1179 2017_7: 8 XXX + SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX + +BO_ 1435 2017_8: 8 XXX + +BO_ 253 GAS: 8 XXX + SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX + SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX + SG_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX + SG_ GAS_CMD : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 359 MORE_GAS: 8 XXX + SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ CTR : 31|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 36|5@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 38|1@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 47|4@0+ (1,0) [0|255] "" XXX + +BO_ 512 NEW_MSG_30: 8 XXX + SG_ NEW_SIGNAL_1 : 6|7@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 22|7@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_6 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 38|7@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_9 : 40|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_10 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CTR : 51|3@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_11 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 515 MSG_01: 8 XXX + SG_ CTR : 39|4@0+ (1,0) [0|65535] "" XXX + SG_ CHKSUM : 47|8@0+ (1,0) [0|255] "" XXX + SG_ START1 : 6|1@0+ (1,0) [0|1] "" XXX + SG_ START2 : 28|5@0+ (1,0) [0|255] "" XXX + +BO_ 529 NEW_MSG_36: 8 XXX + SG_ NEW_SIGNAL_1 : 22|5@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_3 : 32|4@1+ (1,0) [0|3] "" XXX + SG_ CTR : 39|4@0+ (1,0) [0|255] "" XXX + SG_ CTR_2 : 47|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 53|1@0+ (1,0) [0|255] "" XXX + +BO_ 1242 NEW_MSG_37: 8 XXX + +BO_ 1266 MSG_09: 8 XXX + SG_ NEW_SIGNAL_1 : 20|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 19|4@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 31|1@0+ (1,0) [0|255] "" XXX + +BO_ 976 MSG_15: 8 XXX + SG_ NEW_SIGNAL_1 : 55|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 61|6@0+ (1,0) [0|1] "" XXX + +BO_ 155 MSG_14: 8 XXX + +BO_ 1267 MSG_10: 8 XXX + SG_ NEW_SIGNAL_1 : 40|1@0+ (1,0) [0|16777215] "" XXX + SG_ NEW_SIGNAL_2 : 42|1@0+ (1,0) [0|1] "" XXX + +BO_ 305 NEW_MSG_6: 8 XXX + SG_ NEW_SIGNAL_1 : 8|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 9|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 10|1@0+ (1,0) [0|1] "" XXX + +BO_ 1238 TEMPERATURE: 8 XXX + SG_ TEMPERATURE_MAYBE : 47|8@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1087 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 1143 BSM: 8 XXX + SG_ BSM_OFF : 0|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BS_3 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL : 8|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BS1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BS3 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BS4 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BS_SIDE : 36|1@0+ (1,0) [0|1] "" XXX + SG_ IS_MOVING : 9|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BS_BEHIND : 46|2@1+ (1,0) [0|16777215] "" XXX + SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX + SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX + +BO_ 1361 KEY_POSITION: 8 XXX + +BO_ 1283 KEY_POSITION2: 8 XXX + +BO_ 628 MSG_06: 8 XXX + +BO_ 1154 MSG_08: 8 XXX + +BO_ 1139 MSG_13: 8 XXX + +BO_ 1270 MSG_16: 8 XXX + +BO_ 1272 MSG_17: 8 XXX + +BO_ 1425 MSG_19: 8 XXX + +BO_ 70 MOB1: 8 XXX + SG_ NEW_SIGNAL_1 : 1|3@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 14|6@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 30|6@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 38|6@0+ (1,0) [0|7] "" XXX + +BO_ 64 MOB2: 8 XXX + SG_ NEW_SIGNAL_1 : 7|2@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 10|3@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 16|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 35|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_7 : 13|3@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_8 : 15|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_9 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_10 : 31|6@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_11 : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 1171 MOB3: 8 XXX + +BO_ 1248 MOB4: 8 XXX + +BO_ 1177 RADAR_499_STATIC: 8 XXX + + + + +CM_ SG_ 357 GEAR "13P, 26R, 13N, 24D"; +CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake"; +CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision"; +CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset"; +CM_ SG_ 863 SPEED_SIGN "speed limit in MPH"; +CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available"; +CM_ SG_ 863 STOP_SIGN "value 9 when stop sign is active"; +CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near"; +CM_ SG_ 1157 SBS_SCBC "1 off, 2 on"; +CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before"; +CM_ SG_ 1157 LKAS_SENSETIVITY "0 low, 1 high"; +CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on"; +CM_ SG_ 1157 WARNING "1 Rare, 0 often"; +CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line"; +CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3"; +CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled TURN it OFF "; +CM_ SG_ 552 MORE_GEAR ""; +CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D"; +CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift"; +CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning"; +CM_ SG_ 540 DISTANCE_SETTING "Radar distance 0: disabled, 1: 4 bars, 2: 3 bars, 3: 2 bars, 4: 1 bar"; +CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert"; +VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ; diff --git a/opendbc/mazda_3_2019.dbc b/opendbc/mazda_3_2019.dbc new file mode 100644 index 000000000..b23e7196b --- /dev/null +++ b/opendbc/mazda_3_2019.dbc @@ -0,0 +1,408 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 256 CAM_Start: 8 XXX + SG_ NEW_SIGNAL_7 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_8 : 61|2@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_10 : 44|12@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 24|12@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 2|2@0+ (1,0) [0|1] "" XXX + SG_ ACTIVE_TARGET : 4|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 20|12@0+ (1,0) [0|7] "" XXX + SG_ DISTANCE_LEAD_CAR : 0|12@0+ (1,0) [0|255] "" XXX + +BO_ 358 CAM_End: 8 XXX + SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 1216 CAM_69: 8 XXX + SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_5 : 55|12@0+ (1,0) [0|7] "" XXX + +BO_ 1120 CAM_KEEP_ALIVE_2: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 1436 CAM_71: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 18 STEER: 8 XXX + SG_ NEW_SIGNAL_3 : 55|2@0+ (1,0) [0|15] "" XXX + SG_ CTR : 41|2@0+ (1,0) [0|3] "" XXX + SG_ STEER_LEFT_BIT : 26|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_ANGLE : 25|14@0- (1,375) [0|65536] "" XXX + SG_ ENGINE_OFF : 43|2@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 53|6@0+ (1,0) [0|15] "" XXX + +BO_ 257 LKAS: 8 XXX + SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX + SG_ CTR_ACT : 61|2@0+ (1,0) [0|3] "" XXX + SG_ SET_0 : 48|1@1+ (1,0) [0|3] "" XXX + SG_ SET_0_1 : 63|2@0+ (1,0) [0|3] "" XXX + SG_ SET_19 : 2|2@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DIST : 0|12@0+ (1,0) [0|255] "" XXX + SG_ ANGLE_TARGET : 20|12@0+ (1,0) [0|4095] "" XXX + SG_ UNKNOWN : 24|12@0+ (1,0) [0|4095] "" XXX + SG_ MAX_TORQUE__ : 44|12@0- (1,0) [0|4095] "" XXX + +BO_ 258 NEW_MSG_3: 8 XXX + SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 44|10@0- (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 1|2@1+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_4 : 39|10@0- (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 13|10@0- (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 18|10@0- (1,0) [0|255] "" XXX + +BO_ 28 WHEEL_SPEEDS: 8 XXX + SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX + SG_ RL : 39|16@0+ (0.01,-102) [0|65535] "" XXX + SG_ FL : 7|16@0+ (0.01,-100) [0|65535] "" XXX + SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX + +BO_ 259 NEW_MSG_5: 8 XXX + SG_ NEW_SIGNAL_3 : 39|10@0- (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 44|10@0- (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 0|12@0- (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 19|11@0- (1,0) [0|10000000] "" XXX + +BO_ 260 NEW_MSG_6: 8 XXX + SG_ NEW_SIGNAL_1 : 0|12@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 24|12@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 20|12@0- (1,0) [0|1] "" XXX + +BO_ 261 NEW_MSG_7: 8 XXX + SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX + +BO_ 262 NEW_MSG_8: 8 XXX + SG_ NEW_SIGNAL_1 : 15|8@0- (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 263 NEW_MSG_9: 8 XXX + SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX + +BO_ 310 NEW_MSG_10: 8 XXX + SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 308 ACC_POSSIBLY: 8 XXX + SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 4|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 54|7@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 0|7@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_7 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 18|7@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 36|7@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 55|1@0+ (1,0) [0|1] "" XXX + +BO_ 304 CAM_LANES: 8 XXX + SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 61|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LANE_DETECTED : 7|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_DETECTED : 4|1@0+ (1,0) [0|255] "" XXX + SG_ DISTANCE_TO_LEFT_LANE_LOW_RES : 29|8@0+ (1,0) [0|4095] "" XXX + SG_ DISTANCE_TO_RIGHT_LANE_LOW_RES : 37|8@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_TO_RIGHT_LANE : 23|10@0- (1,0) [0|2047] "" XXX + SG_ DISTANCE_TO_LEFT_LANE : 1|10@0- (1,0) [0|1] "" XXX + +BO_ 305 CAM_LANES_2_MAYBE: 8 XXX + SG_ NEW_SIGNAL_1 : 1|10@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 37|8@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_6 : 61|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_4 : 29|8@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_8 : 4|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 23|10@0+ (1,0) [0|4095] "" XXX + +BO_ 352 NEW_MSG_14: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 355 NEW_MSG_15: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|127] "" XXX + +BO_ 356 NEW_MSG_16: 8 XXX + SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 357 NEW_MSG_17: 8 XXX + SG_ NEW_SIGNAL_1 : 61|2@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|15] "" XXX + +BO_ 59 STEER_RATE: 8 XXX + SG_ NEW_SIGNAL_2 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ STEER_ANGLE_RATE : 55|8@0+ (0.05,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [-500|500] "" XXX + SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX + +BO_ 24 BRAKE_PEDAL: 8 XXX + SG_ BRAKE_PEDAL_PRESSED_AND_ENGINE_ON : 0|1@0+ (1,0) [0|3] "" XXX + SG_ NOT_BRAKE_PEDAL_PRESSED : 6|1@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_PEDAL_PRESSED : 7|1@0+ (1,0) [0|65535] "" XXX + SG_ NOT_BRAKE_PEDAL_PRESSED_AND_ENGINE_ON : 15|1@0+ (1,0) [0|7] "" XXX + +BO_ 26 ENGINE_DATA: 8 XXX + SG_ PEDAL_GAS : 39|10@0+ (1,0) [0|15] "" XXX + SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX + SG_ RPM : 7|13@0+ (1,0) [0|15] "" XXX + SG_ ENGINE_ON : 52|1@0+ (1,0) [0|15] "" XXX + +BO_ 145 BLINK_INFO: 8 XXX + SG_ RIGHT_BLINK : 12|1@0+ (1,0) [0|3] "" XXX + SG_ LEFT_BLINK : 13|1@0+ (1,0) [0|3] "" XXX + SG_ Speed : 27|12@0+ (1,0) [0|255] "" XXX + SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX + +BO_ 16 STEER_TORQUE: 8 XXX + SG_ NEW_SIGNAL_12 : 7|2@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_3 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ STEER_TORQUE_SENSOR : 5|13@0+ (1,-4000) [0|15] "" XXX + SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX + SG_ STEER_TORQUE_MOTOR : 8|13@0+ (0.05,-205) [0|15] "" XXX + SG_ BRAKE_PREASURE : 27|12@0+ (1,0) [0|15] "" XXX + +BO_ 17 STEER_TORQUE_2: 8 XXX + SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_TORQUE_MOTOR : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 27|14@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 45|6@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_3 : 23|12@0+ (1,0) [0|255] "" XXX + +BO_ 29 WHEEL: 8 XXX + SG_ STANDSTILL : 52|1@0+ (1,0) [0|15] "" XXX + SG_ SPEED : 39|16@0+ (1,0) [0|127] "" XXX + SG_ ENCODER_1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ ENCODER_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_6 : 55|3@0+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 31 GEAR: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + SG_ GEAR : 36|4@0+ (1,0) [0|65535] "" XXX + +BO_ 96 STEER2: 8 XXX + SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ CTR : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ TURN_ON : 34|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_OFF : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ENGINE_ON : 33|1@0+ (1,0) [0|1] "" XXX + SG_ CAR_MOVING_FORWARD : 21|1@0+ (1,0) [0|15] "" XXX + SG_ CAR_REVERSING : 22|1@0+ (1,0) [0|1] "" XXX + SG_ ENGINE_OFF : 23|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 45|1@0+ (1,0) [0|15] "" XXX + SG_ SPEED : 18|16@0- (0.00621371,-62.1371) [-65635|65635] "MPH" XXX + SG_ STEER__ : 7|16@0+ (1,0) [0|65535] "" XXX + +BO_ 1209 KEEP_ALIVE_1: 8 XXX + SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_6 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_7 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_8 : 4|5@0+ (1,0) [0|127] "" XXX + +BO_ 37 BLANK_1: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 44 BLANK_2: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|16777215] "" XXX + SG_ NEW_SIGNAL_3 : 55|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|16777215] "" XXX + +BO_ 128 RADARS: 8 XXX + SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 15|1@0+ (1,0) [0|255] "" XXX + SG_ FRONT_LEFT : 19|1@0+ (1,0) [0|255] "" XXX + SG_ FRONT : 21|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RIGHT : 18|1@0+ (1,0) [0|1] "" XXX + SG_ REAR_RIGHT : 20|1@0+ (1,0) [0|15] "" XXX + SG_ REAR_LEFT : 17|1@0+ (1,0) [0|1] "" XXX + +BO_ 129 NEW_MSG_19: 8 XXX + SG_ NEW_SIGNAL_2 : 15|1@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 31|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 47|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_5 : 56|8@1+ (1,0) [0|15] "" XXX + +BO_ 1034 KEEP_ALIVE_2: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 55|16@0+ (1,0) [0|255] "" XXX + +BO_ 1200 KEEP_ALIVE_3: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX + +BO_ 354 CAM_KEEP_ALIVE_1: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 55|30@0+ (1,0) [0|65535] "" XXX + +BO_ 336 NEW_MSG_20: 8 XXX + SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|4095] "" XXX + SG_ NEW_SIGNAL_1 : 11|12@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 342 NEW_MSG_21: 8 XXX + SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_5 : 39|16@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_3 : 48|4@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_7 : 7|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_8 : 23|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_6 : 40|4@1+ (1,0) [0|15] "" XXX + +BO_ 264 NEW_MSG_2: 8 XXX + SG_ NEW_SIGNAL_1 : 56|8@1+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 49|3@1+ (1,0) [0|7] "" XXX + SG_ CRZ_CTRL_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX + +BO_ 22 CRZ_CTRL_BTNS: 8 XXX + SG_ CRZ_CTRL_BTN_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 51|3@0+ (1,0) [0|7] "" XXX + SG_ SIGNAL : 45|1@0+ (1,0) [0|15] "" XXX + SG_ NOT_SIGNAL : 46|1@0+ (1,0) [0|3] "" XXX + +BO_ 306 CAM_LANE_3_MAYBE: 8 XXX + SG_ NEW_SIGNAL_1 : 19|10@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 13|10@0+ (1,0) [0|255] "" XXX + SG_ LANE_DETECTED_1 : 44|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_DETECTED_2 : 45|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 25|10@0+ (1,0) [0|1] "" XXX + SG_ STEER : 7|10@0+ (1,0) [0|1] "" XXX + +BO_ 307 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_2 : 13|10@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 61|6@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 25|10@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_4 : 7|10@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 19|10@0+ (1,0) [0|1] "" XXX + +BO_ 320 NEW_MSG_4: 8 XXX + SG_ NEW_SIGNAL_4 : 16|1@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 43|6@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 36|9@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 27|7@0+ (1,0) [0|1] "" XXX + +BO_ 321 NEW_MSG_11: 8 XXX + SG_ NEW_SIGNAL_1 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 32|1@0+ (1,0) [0|1] "" XXX + +BO_ 293 NEW_MSG_12: 8 XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 19|4@0+ (1,0) [0|1] "" XXX + +BO_ 294 NEW_MSG_13: 8 XXX + SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 7|16@0+ (1,0) [0|1] "" XXX + +BO_ 292 NEW_MSG_18: 8 XXX + SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 291 NEW_MSG_22: 8 XXX + SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 290 NEW_MSG_23: 8 XXX + SG_ NEW_SIGNAL_1 : 31|5@0+ (1,0) [0|255] "" XXX + +BO_ 277 NEW_MSG_24: 8 XXX + SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|1] "" XXX + +BO_ 278 NEW_MSG_25: 8 XXX + +BO_ 273 NEW_MSG_26: 8 XXX + SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|3] "" XXX + +BO_ 274 NEW_MSG_27: 8 XXX + SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|1] "" XXX + +BO_ 289 NEW_MSG_28: 8 XXX + SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 20 NEW_MSG_29: 8 XXX + SG_ RIGHT_BLINK_CLOCK : 23|8@0+ (1,0) [0|1] "" XXX + +BO_ 288 NEW_MSG_30: 8 XXX + + + + +CM_ SG_ 31 GEAR "13-P, 12-R, 11-N, 1-6-D"; +CM_ SG_ 96 SPEED ""; +VAL_ 31 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D"; diff --git a/opendbc/mazda_radar.dbc b/opendbc/mazda_radar.dbc new file mode 100644 index 000000000..a4fe3b4b9 --- /dev/null +++ b/opendbc/mazda_radar.dbc @@ -0,0 +1,73 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 540 CRZ_CTRL: 8 XXX + +BO_ 539 CRZ_INFO: 8 XXX + +BO_ 865 RADAR_TRACK_361: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 866 RADAR_TRACK_362: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 867 RADAR_TRACK_363: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 868 RADAR_TRACK_364: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 869 RADAR_TRACK_365: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 870 RADAR_TRACK_366: 8 XXX + SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX + SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX + SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX + +BO_ 1177 RADAR_499: 8 XXX \ No newline at end of file diff --git a/opendbc/mercedes_benz_e350_2010.dbc b/opendbc/mercedes_benz_e350_2010.dbc new file mode 100644 index 000000000..da6ae4c15 --- /dev/null +++ b/opendbc/mercedes_benz_e350_2010.dbc @@ -0,0 +1,176 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 3 STEER_SENSOR: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_RATE : 19|12@0- (0.5,0) [0|255] "" XXX + SG_ STEER_DIRECTION : 4|1@0+ (1,2) [0|1] "" XXX + SG_ STEER_ANGLE : 3|12@0- (-0.5,0) [-500|500] "degrees" XXX + +BO_ 5 BRAKE_MODULE: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_HOLD : 2|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_POSITION : 17|10@0+ (1,0) [0|65535] "" XXX + SG_ DRIVER_BRAKE : 4|1@0+ (1,0) [0|1] "" XXX + SG_ COMPUTER_BRAKE : 10|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_PRESSED : 0|1@1+ (1,0) [0|1] "" XXX + +BO_ 69 DRIVER_CONTROLS: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ STEERING_WHEEL_BUTTONS : 32|16@1+ (1,0) [0|255] "4 directional, 2 volume control & 2 phone buttons" XXX + SG_ LEFT_BLINKER : 16|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM_TOGGLE : 18|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM_MOMENTARY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_CANCEL : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_RESUME : 1|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_ACCEL_HIGH : 2|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_DECEL_HIGH : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_ACCEL_LOW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_DECEL_LOW : 5|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_XFF : 15|8@0+ (1,0) [0|255] "" XXX + +BO_ 513 WHEEL_ENCODERS: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ WHEEL_ENCODER_2 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ WHEEL_ENCODER_3 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ WHEEL_ENCODER_4 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX + SG_ WHEEL_ENCODER_1 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 261 GAS_PEDAL: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ ENGINE_RPM : 4|5@0+ (1,0) [0|255] "" XXX + SG_ GAS_PEDAL : 39|8@0+ (1,0) [0|255] "" XXX + SG_ COMBINED_GAS : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 DOOR_SENSORS: 8 XXX + SG_ BRAKE_PRESSED : 27|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 3|1@1+ (1,0) [0|3] "" XXX + SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|3] "" XXX + SG_ DOOR_OPEN_RR : 7|1@0+ (1,0) [0|3] "" XXX + SG_ DOOR_OPEN_FL : 1|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FL : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FR : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_RL : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_RR : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 885 SEATBELT_SENSORS: 8 XXX + SG_ SEATBELT_DRIVER_LATCHED : 16|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_PASSENGER_LATCHED : 18|1@0+ (1,0) [0|1] "" XXX + +BO_ 257 CRUISE_CONTROL: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|255] "" XXX + SG_ CRUISE_DISABLED : 23|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X002 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_1 : 5|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACCELERATING : 22|1@0+ (1,0) [0|1] "" XXX + SG_ LONGITUDINAL_ACCEL_REQUEST : 15|8@0- (1,0) [0|127] "" XXX + +BO_ 260 CRUISE_CONTROL2: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_XFF : 31|8@0+ (1,0) [0|65535] "" XXX + SG_ SET_ME_X02 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_XFF2 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX + +BO_ 14 STEER_TORQUE: 8 XXX + SG_ STEER_TORQUE : 15|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 888 CRUISE_CONTROL3: 8 XXX + SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_DISABLED : 36|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ENABLED : 34|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X004 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X002 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ CRUISE_SET_SPEED : 15|8@0+ (1,0) [0|63] "mph" XXX + SG_ CRUISE_SPEED_CHANGE : 55|1@0+ (1,0) [0|1] "" XXX + +BO_ 307 POWER_SEATS: 8 XXX + SG_ DRIVER_FORWARD : 0|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_BACK : 1|1@0+ (1,0) [0|1] "" XXX + +BO_ 109 GEAR_LEVER: 8 XXX + SG_ PARK_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ NEUTRAL_UP : 9|1@0+ (1,0) [0|1] "" XXX + SG_ NEUTRAL_DOWN : 10|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE : 11|1@0+ (1,0) [0|1] "" XXX + SG_ REVERSE : 8|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 23|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 115 GEAR_PACKET: 8 XXX + SG_ GEAR : 0|4@1+ (1,0) [0|15] "" XXX + +BO_ 581 IGNITION: 8 XXX + +BO_ 515 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_MOVING_FR : 22|1@1+ (1,0) [0|15] "" XXX + SG_ WHEEL_MOVING_RL : 38|1@0+ (1,0) [0|1] "" XXX + SG_ WHEEL_MOVING_FL : 6|1@0+ (1,0) [0|1] "" XXX + SG_ WHEEL_MOVING_RR : 54|1@0+ (1,0) [0|1] "" XXX + SG_ WHEEL_SPEED_FL : 2|11@0+ (0.0375,0) [0|255] "mph" XXX + SG_ WHEEL_SPEED_FR : 18|11@0+ (0.0375,0) [0|255] "mph" XXX + SG_ WHEEL_SPEED_RL : 34|11@0+ (0.0375,0) [0|255] "mph" XXX + SG_ WHEEL_SPEED_RR : 50|11@0+ (0.0375,0) [0|255] "mph" XXX + + + + +CM_ SG_ 3 STEER_DIRECTION "0 = left, 1 = right"; +CM_ SG_ 5 BRAKE_POSITION "computer and driver"; +CM_ SG_ 5 BRAKE_PRESSED "computer and driver"; +CM_ SG_ 261 GAS_PEDAL "user gas input"; +CM_ SG_ 261 COMBINED_GAS "computer and driver gas"; +CM_ SG_ 257 CRUISE_ACCELERATING ""; \ No newline at end of file diff --git a/opendbc/nissan_leaf_2018.dbc b/opendbc/nissan_leaf_2018.dbc new file mode 100644 index 000000000..6483d9cbf --- /dev/null +++ b/opendbc/nissan_leaf_2018.dbc @@ -0,0 +1,211 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 2 STEER_ANGLE_SENSOR: 5 XXX + SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX + SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX + +BO_ 42 SEATBELT: 8 XXX + SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX + SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX + SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX + SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX + SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX + +BO_ 361 LKAS: 8 XXX + SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX + SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX + SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 389 STEER_TORQUE_SENSOR: 8 XXX + SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX + SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX + SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX + +BO_ 460 BRAKE_PEDAL: 8 XXX + SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX + +BO_ 569 CRUISE_THROTTLE: 8 XXX + SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX + SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX + SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX + SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX + SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX + SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX + SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 640 CANCEL_MSG: 8 XXX + SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX + +BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX + SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 689 PROPILOT_HUD: 8 XXX + SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX + SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX + SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX + SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX + SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX + SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX + SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX + SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX + SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 783 CRUISE_STATE: 3 XXX + SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 852 ESP: 8 XXX + SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 853 HUD_SETTINGS: 8 XXX + SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 856 LIGHTS: 8 XXX + SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX + +BO_ 1057 GEARBOX: 3 XXX + SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX + +BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX + SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX + SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX + SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX + SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX + SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX + SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX + SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX + SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX + SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX + SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX + SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX + SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX + SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX + +BO_ 1549 DOORS_LIGHTS: 8 XXX + SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX + +BO_ 1227 LKAS_SETTINGS: 8 XXX + SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ; +VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ; +VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ; +VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ; +VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ; +VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ; diff --git a/opendbc/nissan_x_trail_2017.dbc b/opendbc/nissan_x_trail_2017.dbc new file mode 100644 index 000000000..ea27445d3 --- /dev/null +++ b/opendbc/nissan_x_trail_2017.dbc @@ -0,0 +1,218 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 2 STEER_ANGLE_SENSOR: 5 XXX + SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX + SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX + +BO_ 348 GAS_PEDAL: 8 XXX + SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX + SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX + +BO_ 361 LKAS: 8 XXX + SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX + SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX + SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 389 STEER_TORQUE_SENSOR: 8 XXX + SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX + SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX + SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX + SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX + +BO_ 438 PRO_PILOT: 8 XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX + SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX + SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX + +BO_ 523 CRUISE_THROTTLE: 6 XXX + SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX + SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX + SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX + SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX + SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX + SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX + SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX + SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX + +BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX + SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 665 ESP: 8 XXX + SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX + +BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX + +BO_ 689 PROPILOT_HUD: 8 XXX + SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX + SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX + SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX + SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX + SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX + SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX + SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX + SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX + SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX + SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX + SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX + SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX + SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX + SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX + SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX + SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX + +BO_ 783 CRUISE_STATE: 3 XXX + SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX + +BO_ 1055 GEARBOX: 2 XXX + SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX + +BO_ 1107 LIGHTS: 8 XXX + SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX + SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 1108 DOORS_LIGHTS: 8 XXX + SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX + SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX + SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX + SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX + SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX + SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX + SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX + SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX + SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX + SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX + SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX + SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX + SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX + SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX + SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX + SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX + SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX + SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX + SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX + SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX + SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX + SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX + SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX + SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX + +BO_ 1227 LKAS_SETTINGS: 8 XXX + SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX + +BO_ 1273 HUD: 7 XXX + SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX + SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX + +VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ; +VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ; +VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ; +VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ; +VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ; +VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ; +VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ; diff --git a/opendbc/nissan_xterra_2011.dbc b/opendbc/nissan_xterra_2011.dbc new file mode 100644 index 000000000..5dfcdfe97 --- /dev/null +++ b/opendbc/nissan_xterra_2011.dbc @@ -0,0 +1,53 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 505 ENGINE_2: 8 XXX + SG_ RPM : 16|16@1+ (0.125,0) [0|45000] "R/min" XXX + SG_ FAN_REQ : 6|2@1+ (1,0) [0|3] "" XXX + SG_ AC_REQ : 3|1@1+ (1,0) [0|1] "" XXX + +BO_ 573 ENGINE_1: 8 XXX + SG_ Pedal_position : 8|8@1+ (0.392,0) [0|255] "%" XXX + SG_ RPM : 24|16@1+ (3.15,0) [0|45000] "R/min" XXX + +BO_ 640 SPEED: 8 XXX + SG_ SPEED : 32|16@1+ (0.01,0) [0|45000] "" XXX + +BO_ 1361 ENGINE_3: 8 XXX + SG_ CLT : 0|8@1+ (1,-45) [-45|150] "" XXX + +BO_ 1477 MILEAGE: 8 XXX \ No newline at end of file diff --git a/opendbc/requirements.txt b/opendbc/requirements.txt new file mode 100644 index 000000000..e275253ea --- /dev/null +++ b/opendbc/requirements.txt @@ -0,0 +1,8 @@ +Cython==0.29.14 +flake8==3.7.9 +Jinja2==3.0.3 +numpy==1.21.0 +pycapnp==1.0.0 +pylint==2.4.3 +pyyaml==5.4 +scons==3.1.1 diff --git a/opendbc/site_scons/site_tools/cython.py b/opendbc/site_scons/site_tools/cython.py new file mode 100644 index 000000000..c29147553 --- /dev/null +++ b/opendbc/site_scons/site_tools/cython.py @@ -0,0 +1,72 @@ +import re +import SCons +from SCons.Action import Action +from SCons.Scanner import Scanner + +pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M) +pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M) +cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M) + + +def pyx_scan(node, env, path, arg=None): + contents = node.get_text_contents() + + # from cimport ... + matches = pyx_from_import_re.findall(contents) + # cimport + matches += pyx_import_re.findall(contents) + + # Modules can be either .pxd or .pyx files + files = [m.replace('.', '/') + '.pxd' for m in matches] + files += [m.replace('.', '/') + '.pyx' for m in matches] + + # cdef extern from + files += cdef_import_re.findall(contents) + + # Handle relative imports + cur_dir = str(node.get_dir()) + files = [cur_dir + f if f.startswith('/') else f for f in files] + + # Filter out non-existing files (probably system imports) + files = [f for f in files if env.File(f).exists()] + return env.File(files) + + +pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True) +cythonAction = Action("$CYTHONCOM") + + +def create_builder(env): + try: + cython = env['BUILDERS']['Cython'] + except KeyError: + cython = SCons.Builder.Builder( + action=cythonAction, + emitter={}, + suffix=cython_suffix_emitter, + single_source=1 + ) + env.Append(SCANNERS=pyxscanner) + env['BUILDERS']['Cython'] = cython + return cython + +def cython_suffix_emitter(env, source): + return "$CYTHONCFILESUFFIX" + +def generate(env): + env["CYTHON"] = "cythonize" + env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE" + env["CYTHONCFILESUFFIX"] = ".cpp" + + c_file, _ = SCons.Tool.createCFileBuilders(env) + + c_file.suffix['.pyx'] = cython_suffix_emitter + c_file.add_action('.pyx', cythonAction) + + c_file.suffix['.py'] = cython_suffix_emitter + c_file.add_action('.py', cythonAction) + + create_builder(env) + +def exists(env): + return True diff --git a/opendbc/subaru_forester_2017_generated.dbc b/opendbc/subaru_forester_2017_generated.dbc new file mode 100644 index 000000000..c28d8c25e --- /dev/null +++ b/opendbc/subaru_forester_2017_generated.dbc @@ -0,0 +1,267 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _subaru_preglobal_2015.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX + SG_ COUNTER : 27|3@0+ (1,0) [0|7] "" XXX + SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 208 G_Sensor: 8 XXX + SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX + SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX + SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX + +BO_ 209 Brake_Pedal: 8 XXX + SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX + SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 210 Brake_2: 8 XXX + SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 211 Brake_Type: 8 XXX + SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 212 Wheel_Speeds: 8 XXX + SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX + +BO_ 320 Throttle: 8 XXX + SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX + SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX + SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX + +BO_ 321 Engine: 8 XXX + SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX + SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX + +BO_ 324 CruiseControl: 8 XXX + SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX + SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX + +BO_ 328 Transmission: 8 XXX + SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX + SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX + SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX + +BO_ 329 CVT_Ratio: 8 XXX + +BO_ 336 Brake_Pressure: 8 XXX + SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX + +BO_ 338 Stalk: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX + SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX + SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX + +BO_ 352 ES_Brake: 8 XXX + SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX + SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 353 ES_Distance: 8 XXX + SG_ Cruise_Throttle : 0|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX + SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX + SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX + SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 44|3@1+ (1,0) [0|7] "" XXX + SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 354 ES_RPM: 8 XXX + SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX + SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + +BO_ 356 ES_LKAS: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX + SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 359 ES_LDW: 8 XXX + SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX + +BO_ 604 BSD_RCTA: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ State : 5|1@1+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX + SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX + SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX + +BO_ 642 Dashlights: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX + +BO_ 880 Steering_Torque_2: 8 XXX + SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" XXX + +BO_ 884 BodyInfo: 8 XXX + SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX + +BO_ 864 Engine_Temp: 8 XXX + SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX + SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX + SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX + SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 866 Fuel: 8 XXX + +BO_ 977 Dash_State2: 8 XXX + SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX + +BO_ 1745 Dash_State: 8 XXX + SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX + +CM_ SG_ 320 Off_Throttle_2 "Less sensitive"; +CM_ SG_ 320 Throttle_Body "Throttle related"; +CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep"; +CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission"; +CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage"; +CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering"; +CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; +CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; +CM_ SG_ 359 Sig1All_Depart "Left and right depart"; +CM_ SG_ 359 Sig2All_Depart "Left and right depart"; +CM_ SG_ 359 All_depart_2015 "always 1 on 2017"; +CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane"; +CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane"; +CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 642 COUNTER "Affected by signals"; +CM_ SG_ 642 SEATBELT_FL "Driver seatbelt"; +CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371"; +CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial"; + +VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P"; + +CM_ "subaru_forester_2017.dbc starts here"; + +BO_ 355 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 40|3@1+ (1,0) [0|7] "" XXX + SG_ Brake : 43|1@1+ (1,0) [0|1] "" XXX + SG_ Car_Follow : 54|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 56|4@1+ (1,0) [0|1] "" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX diff --git a/opendbc/subaru_global_2017_generated.dbc b/opendbc/subaru_global_2017_generated.dbc new file mode 100644 index 000000000..4e01922b9 --- /dev/null +++ b/opendbc/subaru_global_2017_generated.dbc @@ -0,0 +1,322 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _subaru_global.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX + SG_ COUNTER : 25|3@1+ (1,0) [0|7] "" XXX + SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 64 Throttle: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX + SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 316 Brake_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX + SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX + SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 326 Cruise_Buttons: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX + SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX + SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX + +BO_ 315 G_Sensor: 8 XXX + SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX + SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX + +BO_ 314 Wheel_Speeds: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX + +BO_ 280 STOP_START: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ State : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 281 Steering_Torque: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX + SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X + SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX + +BO_ 312 Brake_Pressure_L_R: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 313 Brake_Pedal: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX + SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX + SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX + +BO_ 372 Engine_Stop_Start: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 290 ES_LKAS: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX + SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX + +BO_ 544 ES_Brake: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX + +BO_ 577 Cruise_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Active : 57|4@1+ (1,0) [0|15] "" XXX + +BO_ 552 BSD_RCTA: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX + +BO_ 912 Dashlights: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX + SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX + SG_ STOP_START : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 940 BodyInfo: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX + SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX + SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX + SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX + SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX + +BO_ 801 ES_DashStatus: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX + SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX + SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 802 ES_LKAS_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX + SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX + SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX + SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX + +BO_ 722 AC_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX + SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX + +BO_ 1677 Dash_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX + +CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal"; +CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on"; +CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights"; +CM_ SG_ 801 PCB_Off "Pre-Collision Braking off"; +CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on"; +CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold"; +CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+"; +CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast"; +CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope"; +CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)"; +CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual"; +CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display"; +CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off"; +CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep"; +CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active"; +CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial"; +CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF"; + +CM_ "subaru_global_2017.dbc starts here"; + +BO_ 72 Transmission: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX + SG_ RPM : 40|16@1+ (1,0) [0|65535] "" XXX + +BO_ 73 CVT: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ CVT_Gear : 24|8@1+ (1,0) [0|255] "" XXX + +BO_ 545 ES_Distance: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX + +BO_ 546 ES_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX + SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" XXX + +BO_ 576 CruiseControl: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|28@1+ (1,0) [0|268435455] "" XXX + SG_ Cruise_On : 40|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX + +CM_ SG_ 545 Cruise_Throttle "RPM-like output signal"; +CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set"; +CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance"; +CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM"; +CM_ SG_ 546 Signal3 "0 when cruise_activated = 1"; +VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6"; diff --git a/opendbc/subaru_global_2020_hybrid_generated.dbc b/opendbc/subaru_global_2020_hybrid_generated.dbc new file mode 100644 index 000000000..760d6c874 --- /dev/null +++ b/opendbc/subaru_global_2020_hybrid_generated.dbc @@ -0,0 +1,281 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _subaru_global.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX + SG_ COUNTER : 25|3@1+ (1,0) [0|7] "" XXX + SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 64 Throttle: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX + SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 316 Brake_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX + SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX + SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 326 Cruise_Buttons: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX + SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX + SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX + +BO_ 315 G_Sensor: 8 XXX + SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX + SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX + +BO_ 314 Wheel_Speeds: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX + SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX + +BO_ 280 STOP_START: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ State : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 281 Steering_Torque: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX + SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X + SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX + +BO_ 312 Brake_Pressure_L_R: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 313 Brake_Pedal: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX + SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX + SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX + +BO_ 372 Engine_Stop_Start: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 290 ES_LKAS: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX + SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX + +BO_ 544 ES_Brake: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX + +BO_ 577 Cruise_Status: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Active : 57|4@1+ (1,0) [0|15] "" XXX + +BO_ 552 BSD_RCTA: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX + +BO_ 912 Dashlights: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX + SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX + SG_ STOP_START : 54|1@0+ (1,0) [0|1] "" XXX + +BO_ 940 BodyInfo: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX + SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX + SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX + SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX + SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX + SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX + +BO_ 801 ES_DashStatus: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX + SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX + SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 802 ES_LKAS_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX + SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX + SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX + SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX + SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX + SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX + +BO_ 722 AC_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX + SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX + +BO_ 1677 Dash_State: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX + +CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal"; +CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on"; +CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights"; +CM_ SG_ 801 PCB_Off "Pre-Collision Braking off"; +CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on"; +CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold"; +CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+"; +CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast"; +CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope"; +CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)"; +CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual"; +CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display"; +CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off"; +CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep"; +CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active"; +CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; +CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial"; +CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF"; + +CM_ "subaru_global_2020_hybrid.dbc starts here"; + +BO_ 39 Cruise_Status_2: 8 XXX + SG_ Cruise_Activated : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 295 Transmission: 8 XXX + SG_ Gear : 44|4@1+ (1,0) [0|15] "" XXX + +BO_ 360 Throttle_Hybrid: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX + +BO_ 550 Brake_Hybrid: 8 XXX + SG_ Brake_Pedal : 24|8@1+ (1,0) [0|1] "" XXX + SG_ Brake : 37|1@1+ (1,0) [0|1] "" XXX + +VAL_ 295 Gear 0 "P" 1 "R" 3 "D"; diff --git a/opendbc/subaru_outback_2015_generated.dbc b/opendbc/subaru_outback_2015_generated.dbc new file mode 100644 index 000000000..bf5271ffb --- /dev/null +++ b/opendbc/subaru_outback_2015_generated.dbc @@ -0,0 +1,279 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _subaru_preglobal_2015.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX + SG_ COUNTER : 27|3@0+ (1,0) [0|7] "" XXX + SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 208 G_Sensor: 8 XXX + SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX + SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX + SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX + +BO_ 209 Brake_Pedal: 8 XXX + SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX + SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 210 Brake_2: 8 XXX + SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 211 Brake_Type: 8 XXX + SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 212 Wheel_Speeds: 8 XXX + SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX + +BO_ 320 Throttle: 8 XXX + SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX + SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX + SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX + +BO_ 321 Engine: 8 XXX + SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX + SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX + +BO_ 324 CruiseControl: 8 XXX + SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX + SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX + +BO_ 328 Transmission: 8 XXX + SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX + SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX + SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX + +BO_ 329 CVT_Ratio: 8 XXX + +BO_ 336 Brake_Pressure: 8 XXX + SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX + +BO_ 338 Stalk: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX + SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX + SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX + +BO_ 352 ES_Brake: 8 XXX + SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX + SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 353 ES_Distance: 8 XXX + SG_ Cruise_Throttle : 0|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX + SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX + SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX + SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 44|3@1+ (1,0) [0|7] "" XXX + SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 354 ES_RPM: 8 XXX + SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX + SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + +BO_ 356 ES_LKAS: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX + SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 359 ES_LDW: 8 XXX + SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX + +BO_ 604 BSD_RCTA: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ State : 5|1@1+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX + SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX + SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX + +BO_ 642 Dashlights: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX + +BO_ 880 Steering_Torque_2: 8 XXX + SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" XXX + +BO_ 884 BodyInfo: 8 XXX + SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX + +BO_ 864 Engine_Temp: 8 XXX + SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX + SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX + SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX + SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 866 Fuel: 8 XXX + +BO_ 977 Dash_State2: 8 XXX + SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX + +BO_ 1745 Dash_State: 8 XXX + SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX + +CM_ SG_ 320 Off_Throttle_2 "Less sensitive"; +CM_ SG_ 320 Throttle_Body "Throttle related"; +CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep"; +CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission"; +CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage"; +CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering"; +CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; +CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; +CM_ SG_ 359 Sig1All_Depart "Left and right depart"; +CM_ SG_ 359 Sig2All_Depart "Left and right depart"; +CM_ SG_ 359 All_depart_2015 "always 1 on 2017"; +CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane"; +CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane"; +CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 642 COUNTER "Affected by signals"; +CM_ SG_ 642 SEATBELT_FL "Driver seatbelt"; +CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371"; +CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial"; + +VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P"; + +CM_ "subaru_outback_2015.dbc starts here"; + +BO_ 358 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX + SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX + SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX + SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX + SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX + SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX + SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX + +CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; +CM_ SG_ 358 Cruise_Fault "No engagement until restart"; +CM_ SG_ 358 Car_Follow "lead car detected"; diff --git a/opendbc/subaru_outback_2019_generated.dbc b/opendbc/subaru_outback_2019_generated.dbc new file mode 100644 index 000000000..1acf898b0 --- /dev/null +++ b/opendbc/subaru_outback_2019_generated.dbc @@ -0,0 +1,279 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _subaru_preglobal_2015.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX X + + +BO_ 2 Steering: 8 XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX + SG_ COUNTER : 27|3@0+ (1,0) [0|7] "" XXX + SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 208 G_Sensor: 8 XXX + SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX + SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX + SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX + +BO_ 209 Brake_Pedal: 8 XXX + SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX + SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX + +BO_ 210 Brake_2: 8 XXX + SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 211 Brake_Type: 8 XXX + SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 212 Wheel_Speeds: 8 XXX + SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX + SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX + +BO_ 320 Throttle: 8 XXX + SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX + SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX + SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX + SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX + SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX + +BO_ 321 Engine: 8 XXX + SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX + SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX + SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX + SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX + +BO_ 324 CruiseControl: 8 XXX + SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX + SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX + SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX + SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX + +BO_ 328 Transmission: 8 XXX + SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX + SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX + SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX + +BO_ 329 CVT_Ratio: 8 XXX + +BO_ 336 Brake_Pressure: 8 XXX + SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX + +BO_ 338 Stalk: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX + SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX + SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX + SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX + SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX + +BO_ 352 ES_Brake: 8 XXX + SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX + SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 353 ES_Distance: 8 XXX + SG_ Cruise_Throttle : 0|12@1+ (1,0) [0|4095] "" XXX + SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX + SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX + SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX + SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX + SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX + SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX + SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 44|3@1+ (1,0) [0|7] "" XXX + SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX + SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 354 ES_RPM: 8 XXX + SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX + SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX + SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX + +BO_ 356 ES_LKAS: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX + SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 359 ES_LDW: 8 XXX + SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX + SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX + SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX + SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX + +BO_ 604 BSD_RCTA: 8 XXX + SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX + SG_ State : 5|1@1+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX + SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX + SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX + SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX + +BO_ 642 Dashlights: 8 XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX + SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX + SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX + +BO_ 880 Steering_Torque_2: 8 XXX + SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" XXX + +BO_ 884 BodyInfo: 8 XXX + SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX + +BO_ 864 Engine_Temp: 8 XXX + SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX + SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX + SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX + SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 866 Fuel: 8 XXX + +BO_ 977 Dash_State2: 8 XXX + SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX + +BO_ 1745 Dash_State: 8 XXX + SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX + +CM_ SG_ 320 Off_Throttle_2 "Less sensitive"; +CM_ SG_ 320 Throttle_Body "Throttle related"; +CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear"; +CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep"; +CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission"; +CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage"; +CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering"; +CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; +CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; +CM_ SG_ 359 Sig1All_Depart "Left and right depart"; +CM_ SG_ 359 Sig2All_Depart "Left and right depart"; +CM_ SG_ 359 All_depart_2015 "always 1 on 2017"; +CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane"; +CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane"; +CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear"; +CM_ SG_ 642 COUNTER "Affected by signals"; +CM_ SG_ 642 SEATBELT_FL "Driver seatbelt"; +CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371"; +CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial"; + +VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P"; + +CM_ "subaru_outback_2019.dbc starts here"; + +BO_ 358 ES_DashStatus: 8 XXX + SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX + SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX + SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX + SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX + SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX + SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX + SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX + SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX + SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX + SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX + SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX + +BO_ 881 Steering_Torque: 8 XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX + SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX + +CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; +CM_ SG_ 358 Cruise_Fault "No engagement until restart"; +CM_ SG_ 358 Car_Follow "lead car detected"; diff --git a/opendbc/tesla_can.dbc b/opendbc/tesla_can.dbc new file mode 100644 index 000000000..db8d67e0b --- /dev/null +++ b/opendbc/tesla_can.dbc @@ -0,0 +1,882 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: + NEO + MCU + GTW + EPAS + DI + ESP + SBW + STW + APP + DAS + XXX + +VAL_TABLE_ StW_AnglHP_Spd 16383 "SNA" ; +VAL_TABLE_ DI_aebFaultReason 15 "DI_AEB_FAULT_DAS_REQ_DI_UNAVAIL" 14 "DI_AEB_FAULT_ACCEL_REQ_INVALID" 13 "DI_AEB_FAULT_MIN_TIME_BTWN_EVENTS" 12 "DI_AEB_FAULT_ESP_MIA" 11 "DI_AEB_FAULT_ESP_FAULT" 10 "DI_AEB_FAULT_EPB_NOT_PARKED" 9 "DI_AEB_FAULT_ACCEL_OUT_OF_BOUNDS" 8 "DI_AEB_FAULT_PM_REQUEST" 7 "DI_AEB_FAULT_VEL_EST_ABNORMAL" 6 "DI_AEB_FAULT_DAS_SNA" 5 "DI_AEB_FAULT_DAS_CONTROL_MIA" 4 "DI_AEB_FAULT_SPEED_DELTA" 3 "DI_AEB_FAULT_EBR_FAULT" 2 "DI_AEB_FAULT_PM_MIA" 1 "DI_AEB_FAULT_EPB_MIA" 0 "DI_AEB_FAULT_NONE" ; +VAL_TABLE_ DI_aebLockState 3 "AEB_LOCK_STATE_SNA" 2 "AEB_LOCK_STATE_UNUSED" 1 "AEB_LOCK_STATE_UNLOCKED" 0 "AEB_LOCK_STATE_LOCKED" ; +VAL_TABLE_ DI_aebSmState 7 "DI_AEB_STATE_FAULT" 6 "DI_AEB_STATE_EXIT" 5 "DI_AEB_STATE_STANDSTILL" 4 "DI_AEB_STATE_STOPPING" 3 "DI_AEB_STATE_ENABLE" 2 "DI_AEB_STATE_ENABLE_INIT" 1 "DI_AEB_STATE_STANDBY" 0 "DI_AEB_STATE_UNAVAILABLE" ; +VAL_TABLE_ DI_aebState 7 "AEB_CAN_STATE_SNA" 4 "AEB_CAN_STATE_FAULT" 3 "AEB_CAN_STATE_STANDSTILL" 2 "AEB_CAN_STATE_ENABLED" 1 "AEB_CAN_STATE_STANDBY" 0 "AEB_CAN_STATE_UNAVAILABLE" ; +VAL_TABLE_ DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ; +VAL_TABLE_ DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ; +VAL_TABLE_ DI_gpoReason 8 "DI_GPO_NUMREASONS" 7 "DI_GPO_CAPACITOR_OVERTEMP" 6 "DI_GPO_NOT_ENOUGH_12V" 5 "DI_GPO_NO_BATTERY_POWER" 4 "DI_GPO_AMBIENT_OVERTEMP" 3 "DI_GPO_FLUID_DELTAT" 2 "DI_GPO_STATOR_OVERTEMP" 1 "DI_GPO_HEATSINK_OVERTEMP" 0 "DI_GPO_OUTLET_OVERTEMP" ; +VAL_TABLE_ DI_immobilizerCondition 1 "DI_IMM_CONDITION_LEARNED" 0 "DI_IMM_CONDITION_VIRGIN_SNA" ; +VAL_TABLE_ DI_immobilizerState 7 "DI_IMM_STATE_FAULT" 6 "DI_IMM_STATE_FAULTRETRY" 5 "DI_IMM_STATE_RESET" 4 "DI_IMM_STATE_LEARN" 3 "DI_IMM_STATE_DISARMED" 2 "DI_IMM_STATE_AUTHENTICATING" 1 "DI_IMM_STATE_REQUEST" 0 "DI_IMM_STATE_INIT_SNA" ; +VAL_TABLE_ DI_limpReason 24 "DI_LIMP_NUMREASONS" 23 "DI_LIMP_CAPACITOR_OVERTEMP" 22 "DI_LIMP_GTW_MIA" 21 "DI_LIMP_TRQCMD_VALIDITY_UNKNOWN" 20 "DI_LIMP_DI_MIA" 19 "DI_LIMP_CONFIG_MISMATCH" 18 "DI_LIMP_HEATSINK_TEMP" 17 "DI_LIMP_PMREQUEST" 16 "DI_LIMP_PMHEARTBEAT" 15 "DI_LIMP_TRQ_CROSS_CHECK" 14 "DI_LIMP_EXTERNAL_COMMAND" 13 "DI_LIMP_WRONG_CS_CALIBRATION" 12 "DI_LIMP_STATOR_TEMP" 11 "DI_LIMP_DELTAT_TOO_NEGATIVE" 10 "DI_LIMP_DELTAT_TOO_POSITIVE" 9 "DI_LIMP_AMBIENT_TEMP" 8 "DI_LIMP_OUTLET_TEMP" 7 "DI_LIMP_LOW_FLOW" 6 "DI_LIMP_BMS_MIA" 5 "DI_LIMP_12V_SUPPLY_UNDERVOLTAGE" 4 "DI_LIMP_NO_FLUID" 3 "DI_LIMP_NO_FUNC_HEATSINK_SENSOR" 2 "DI_LIMP_NO_FUNC_STATORT_SENSOR" 1 "DI_LIMP_BUSV_SENSOR_IRRATIONAL" 0 "DI_LIMP_PHASE_IMBALANCE" ; +VAL_TABLE_ DI_mode 2 "DI_MODE_DYNO" 1 "DI_MODE_DRIVE" 0 "DI_MODE_UNDEF" ; +VAL_TABLE_ DI_motorType 14 "DI_MOTOR_F2AE" 13 "DI_MOTOR_F2AD" 12 "DI_MOTOR_F2AC" 11 "DI_MOTOR_F2AB" 10 "DI_MOTOR_F1AC" 9 "DI_MOTOR_SSR1A" 8 "DI_MOTOR_F1A" 7 "DI_MOTOR_M7M6" 6 "DI_MOTOR_M8A" 5 "DI_MOTOR_M7M5" 4 "DI_MOTOR_M7M4" 3 "DI_MOTOR_M7M3" 2 "DI_MOTOR_ROADSTER_SPORT" 1 "DI_MOTOR_ROADSTER_BASE" 0 "DI_MOTOR_SNA" ; +VAL_TABLE_ DI_speedUnits 1 "DI_SPEED_KPH" 0 "DI_SPEED_MPH" ; +VAL_TABLE_ DI_state 4 "DI_STATE_ENABLE" 3 "DI_STATE_FAULT" 2 "DI_STATE_CLEAR_FAULT" 1 "DI_STATE_STANDBY" 0 "DI_STATE_PREAUTH" ; +VAL_TABLE_ DI_velocityEstimatorState 4 "VE_STATE_BACKUP_MOTOR" 3 "VE_STATE_BACKUP_WHEELS_B" 2 "VE_STATE_BACKUP_WHEELS_A" 1 "VE_STATE_WHEELS_NORMAL" 0 "VE_STATE_NOT_INITIALIZED" ; + + +BO_ 1160 DAS_steeringControl: 4 NEO + SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|0] "" EPAS + SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|0] "" EPAS + SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|0] "" EPAS + SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" EPAS + SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|0] "" EPAS + +BO_ 697 DAS_control: 8 NEO + SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" NEO + SG_ DAS_accState : 12|4@1+ (1,0) [0|0] "" NEO + SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" NEO + SG_ DAS_jerkMin : 18|9@1+ (0.03,-15.232) [-15.232|0.098] "m/s^3" NEO + SG_ DAS_jerkMax : 27|8@1+ (0.059,0) [0|15.045] "m/s^3" NEO + SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO + SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO + SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" NEO + SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 521 DAS_longControl: 8 NEO + SG_ DAS_locMode : 0|2@1+ (1,0) [0|0] "" NEO + SG_ DAS_locState : 2|3@1+ (1,0) [0|0] "" NEO + SG_ DAS_locRequest : 5|3@1+ (1,0) [0|0] "" NEO + SG_ DAS_locJerkMin : 8|8@1+ (0.034,-8.67) [-8.67|0] "m/s^3" NEO + SG_ DAS_locJerkMax : 16|8@1+ (0.034,0) [0|8.67] "m/s^3" NEO + SG_ DAS_locSpeed : 24|11@1+ (0.1,0) [0|204.7] "kph" NEO + SG_ DAS_locAccelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO + SG_ DAS_locAccelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO + SG_ DAS_longControlCounter : 53|3@1+ (1,0) [0|0] "" NEO + SG_ DAS_longControlChecksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 569 DAS_lanes: 8 NEO + SG_ DAS_leftLaneExists : 0|1@1+ (1,0) [0|0] "" NEO + SG_ DAS_rightLaneExists : 1|1@1+ (1,0) [0|0] "" NEO + SG_ DAS_virtualLaneWidth : 4|4@1+ (0.3125,2) [2|7] "m" NEO + SG_ DAS_virtualLaneViewRange : 8|8@1+ (1,0) [0|160] "m" NEO + SG_ DAS_virtualLaneC0 : 16|8@1+ (0.035,-3.5) [-3.5|3.5] "m" NEO + SG_ DAS_virtualLaneC1 : 24|8@1+ (0.0016,-0.2) [-0.2|0.2] "rad" NEO + SG_ DAS_virtualLaneC2 : 32|8@1+ (2E-05,-0.0025) [-0.0025|0.0025] "m-1" NEO + SG_ DAS_virtualLaneC3 : 40|8@1+ (2.4E-07,-3E-05) [-3E-05|3E-05] "m-2" NEO + SG_ DAS_leftLineUsage : 48|2@1+ (1,0) [0|3] "" NEO + SG_ DAS_rightLineUsage : 50|2@1+ (1,0) [0|3] "" NEO + SG_ DAS_leftFork : 52|2@1+ (1,0) [0|3] "" NEO + SG_ DAS_rightFork : 54|2@1+ (1,0) [0|3] "" NEO + SG_ DAS_lanesCounter : 60|4@1+ (1,0) [0|0] "" NEO + +BO_ 257 GTW_epasControl: 3 NEO + SG_ GTW_epasControlChecksum : 23|8@0+ (1,0) [0|255] "" NEO + SG_ GTW_epasControlCounter : 11|4@0+ (1,0) [0|15] "" NEO + SG_ GTW_epasControlType : 15|2@0+ (1,0) [-1|4] "" NEO + SG_ GTW_epasEmergencyOn : 7|1@0+ (1,0) [-1|2] "" NEO + SG_ GTW_epasLDWEnabled : 12|1@0+ (1,0) [-1|2] "" NEO + SG_ GTW_epasPowerMode : 6|4@0+ (1,0) [4|14] "" NEO + SG_ GTW_epasTuneRequest : 2|3@0+ (1,0) [-1|8] "" NEO + +BO_ 880 EPAS_sysStatus: 8 EPAS + SG_ EPAS_currentTuneMode : 7|4@0+ (1,0) [8|15] "" NEO + SG_ EPAS_eacErrorCode : 23|4@0+ (1,0) [-1|16] "" NEO + SG_ EPAS_eacStatus : 55|3@0+ (1,0) [5|7] "" NEO + SG_ EPAS_handsOnLevel : 39|2@0+ (1,0) [-1|4] "" NEO + SG_ EPAS_internalSAS : 37|14@0+ (0.1,-819.200012) [0|0] "deg" NEO + SG_ EPAS_steeringFault : 2|1@0+ (1,0) [-1|2] "" NEO + SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [0|0] "N" NEO + SG_ EPAS_steeringReduced : 3|1@0+ (1,0) [-1|2] "" NEO + SG_ EPAS_sysStatusChecksum : 63|8@0+ (1,0) [0|255] "" NEO + SG_ EPAS_sysStatusCounter : 51|4@0+ (1,0) [0|15] "" NEO + SG_ EPAS_torsionBarTorque : 19|12@0+ (0.01,-20.5) [0|0] "Nm" NEO + +BO_ 3 STW_ANGL_STAT: 8 STW + SG_ StW_Angl : 5|14@0+ (0.5,-2048) [0|0] "deg" NEO + SG_ StW_AnglSpd : 21|14@0+ (0.5,-2048) [0|0] "/s" NEO + SG_ StW_AnglSens_Stat : 33|2@0+ (1,0) [-1|4] "" NEO + SG_ StW_AnglSens_Id : 35|2@0+ (1,0) [3|3] "" NEO + SG_ MC_STW_ANGL_STAT : 55|4@0+ (1,0) [0|15] "" NEO + SG_ CRC_STW_ANGL_STAT : 63|8@0+ (1,0) [0|255] "" NEO + +BO_ 14 STW_ANGLHP_STAT: 8 STW + SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg" NEO + SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s" NEO + SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] "" NEO + SG_ StW_AnglHP_Sens_Id : 35|2@0+ (1,0) [0|0] "" NEO + SG_ MC_STW_ANGLHP_STAT : 55|4@0+ (1,0) [0|15] "" NEO + SG_ CRC_STW_ANGLHP_STAT : 63|8@0+ (1,0) [0|0] "" NEO + +BO_ 264 DI_torque1: 8 DI + SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO + SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO + SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO + SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO + SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO + SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO + SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 280 DI_torque2: 6 DI + SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO + SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO + SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO + SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO + SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO + SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO + SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO + SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO + SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO + SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO + SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO + +BO_ 309 ESP_135h: 5 ESP + SG_ ESP_135hChecksum : 23|8@0+ (1,0) [0|255] "" NEO + SG_ ESP_135hCounter : 11|4@0+ (1,0) [0|15] "" NEO + SG_ ESP_absBrakeEvent : 2|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_brakeDiscWipingActive : 4|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_brakeLamp : 3|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_espFaultLamp : 6|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_espLampFlash : 7|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_hillStartAssistActive : 1|2@0+ (1,0) [-1|4] "" NEO + SG_ ESP_messagePumpService : 24|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_messagePumpFailure : 25|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_messageEBDFailure : 26|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_absFaultLamp : 27|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_tcDisabledByFault : 28|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_messageDynoModeActive : 29|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_hydraulicBoostEnabled : 30|1@0+ (1,0) [0|1] "" NEO + SG_ ESP_espOffLamp : 31|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_stabilityControlSts : 14|3@0+ (1,0) [6|7] "" NEO + SG_ ESP_tcLampFlash : 5|1@0+ (1,0) [-1|2] "" NEO + SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] "" NEO + +BO_ 341 ESP_B: 8 ESP + SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] "" NEO,EPAS + SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] "" NEO,EPAS + SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph" NEO,EPAS + SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] "" NEO,EPAS + SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] "" NEO,EPAS + SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] "" NEO,EPAS + SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] "" NEO,EPAS + SG_ ESP_wheelPulseCountReR : 31|8@0+ (1,0) [0|254] "" NEO,EPAS + +BO_ 513 SDM1: 5 GTW + SG_ SDM_bcklPassStatus : 3|2@0+ (1,0) [0|3] "" NEO + SG_ SDM_bcklDrivStatus : 5|2@0+ (1,0) [0|3] "" NEO + +BO_ 532 EPB_epasControl: 3 EPB + SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] "" NEO,EPAS + SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] "" NEO,EPAS + SG_ EPB_epasEACAllow : 2|3@0+ (1,0) [4|7] "" NEO,EPAS + +BO_ 792 GTW_carState: 8 GTW + SG_ YEAR : 0|7@1+ (1,2000) [2000|2127] "Year" NEO + SG_ CERRD : 7|1@1+ (1,0) [0|1] "" NEO + SG_ MONTH : 8|4@1+ (1,0) [1|12] "Month" NEO + SG_ DOOR_STATE_FL : 12|2@1+ (1,0) [0|3] "" NEO + SG_ DOOR_STATE_FR : 14|2@1+ (1,0) [0|3] "" NEO + SG_ SECOND : 16|6@1+ (1,0) [0|59] "s" NEO + SG_ DOOR_STATE_RL : 22|2@1+ (1,0) [0|3] "" NEO + SG_ Hour : 24|5@1+ (1,0) [0|23] "h" NEO + SG_ DOOR_STATE_RR : 29|2@1+ (1,0) [0|3] "" NEO + SG_ DAY : 32|5@1+ (1,0) [0|31] "" NEO + SG_ MINUTE : 40|6@1+ (1,0) [0|59] "min" NEO + SG_ BOOT_STATE : 46|2@1+ (1,0) [0|3] "" NEO + SG_ GTW_updateInProgress : 48|2@1+ (1,0) [0|3] "" NEO + SG_ DOOR_STATE_FrontTrunk : 50|2@1+ (1,0) [0|3] "" NEO + SG_ MCU_factoryMode : 52|1@1+ (1,0) [0|1] "" NEO + SG_ MCU_transportModeOn : 53|1@0+ (1,0) [0|1] "" NEO + SG_ BC_headLightLStatus : 55|2@0+ (1,0) [0|3] "" NEO + SG_ BC_headLightRStatus : 57|2@0+ (1,0) [0|3] "" NEO + SG_ BC_indicatorLStatus : 59|2@0+ (1,0) [0|3] "" NEO + SG_ BC_indicatorRStatus : 61|2@0+ (1,0) [0|3] "" NEO + +BO_ 872 DI_state: 8 DI + SG_ DI_systemState : 0|3@1+ (1,0) [0|0] "" NEO + SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] "" NEO + SG_ DI_proximity : 6|1@1+ (1,0) [0|0] "" NEO + SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] "" NEO + SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] "" NEO + SG_ DI_state : 9|3@1+ (1,0) [0|0] "" NEO + SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] "" NEO + SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed" NEO + SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] "" NEO + SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] "" NEO + SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed" NEO + SG_ DI_aebState : 41|3@1+ (1,0) [0|0] "" NEO + SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] "" NEO + SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] "" NEO + SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 109 SBW_RQ_SCCM: 4 STW + SG_ StW_Sw_Stat3 : 0|3@1+ (1,0) [0|0] "" NEO + SG_ MsgTxmtId : 6|2@1+ (1,0) [0|0] "" NEO + SG_ TSL_RND_Posn_StW : 8|4@1+ (1,0) [0|0] "" NEO + SG_ TSL_P_Psd_StW : 12|2@1+ (1,0) [0|0] "" NEO + SG_ MC_SBW_RQ_SCCM : 20|4@1+ (1,0) [0|15] "" NEO + SG_ CRC_SBW_RQ_SCCM : 24|8@1+ (1,0) [0|0] "" NEO + +BO_ 69 STW_ACTN_RQ: 8 STW + SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO + SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO + SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO + SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO + SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO + SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO + SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO + SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO + SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO + SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO + SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO + SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO + SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO + SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 643 BODY_R1: 8 GTW + SG_ AirTemp_Insd : 47|8@0+ (0.25,0) [0|63.5] "C" NEO + SG_ AirTemp_Outsd : 63|8@0+ (0.5,-40) [-40|86.5] "C" NEO + SG_ Bckl_Sw_RL_Stat_SAM_R : 49|2@0+ (1,0) [-1|4] "" NEO + SG_ Bckl_Sw_RM_Stat_SAM_R : 53|2@0+ (1,0) [-1|4] "" NEO + SG_ Bckl_Sw_RR_Stat_SAM_R : 51|2@0+ (1,0) [-1|4] "" NEO + SG_ DL_RLtch_Stat : 9|2@0+ (1,0) [-1|4] "" NEO + SG_ DrRLtch_FL_Stat : 1|2@0+ (1,0) [-1|4] "" NEO + SG_ DrRLtch_FR_Stat : 3|2@0+ (1,0) [-1|4] "" NEO + SG_ DrRLtch_RL_Stat : 5|2@0+ (1,0) [-1|4] "" NEO + SG_ DrRLtch_RR_Stat : 7|2@0+ (1,0) [-1|4] "" NEO + SG_ EngHd_Stat : 11|2@0+ (1,0) [-1|4] "" NEO + SG_ LoBm_On_Rq : 32|1@0+ (1,0) [0|1] "" NEO + SG_ HiBm_On : 33|1@0+ (1,0) [0|1] "" NEO + SG_ Hrn_On : 26|1@0+ (1,0) [0|1] "" NEO + SG_ IrLmp_D_Lt_Flt : 34|1@0+ (1,0) [0|1] "" NEO + SG_ IrLmp_P_Rt_Flt : 35|1@0+ (1,0) [0|1] "" NEO + SG_ LgtSens_Twlgt : 18|3@0+ (1,0) [0|7] "Steps" NEO + SG_ LgtSens_SNA : 19|1@0+ (1,0) [0|1] "" NEO + SG_ LgtSens_Tunnel : 20|1@0+ (1,0) [0|1] "" NEO + SG_ LgtSens_Flt : 21|1@0+ (1,0) [0|1] "" NEO + SG_ LgtSens_Night : 22|1@0+ (1,0) [-1|2] "" NEO + SG_ ADL_LoBm_On_Rq : 23|1@0+ (1,0) [0|1] "" NEO + SG_ LoBm_D_Lt_Flt : 36|1@0+ (1,0) [0|1] "" NEO + SG_ LoBm_P_Rt_Flt : 37|1@0+ (1,0) [0|1] "" NEO + SG_ MPkBrk_Stat : 28|1@0+ (1,0) [-1|2] "" NEO + SG_ RevGr_Engg : 39|2@0+ (1,0) [-1|4] "" NEO + SG_ StW_Cond_Stat : 55|2@0+ (1,0) [-1|4] "" NEO + SG_ Term54_Actv : 27|1@0+ (1,0) [0|1] "" NEO + SG_ Trlr_Stat : 25|2@0+ (1,0) [-1|4] "" NEO + SG_ VTA_Alm_Actv : 13|1@0+ (1,0) [0|1] "" NEO + SG_ WprOutsdPkPosn : 29|1@0+ (1,0) [0|1] "" NEO + +BO_ 760 UI_gpsVehicleSpeed: 8 GTW + SG_ UI_gpsHDOP : 0|8@1+ (0.1,0) [0|25.5] "1" DAS + SG_ UI_gpsVehicleHeading : 8|16@1+ (0.0078125,0) [0|511.9921875] "deg" DAS + SG_ UI_gpsVehicleSpeed : 24|16@1+ (0.00390625,0) [0|250.996] "km/hr" Vector__XXX + SG_ UI_userSpeedOffset : 40|6@1+ (1,-30) [-30|33] "kph/mph" DAS + SG_ UI_mapSpeedLimitUnits : 46|1@1+ (1,0) [0|1] "" DAS + SG_ UI_userSpeedOffsetUnits : 47|1@1+ (1,0) [0|1] "" DAS + SG_ UI_mppSpeedLimit : 48|5@1+ (5,0) [0|155] "kph/mph" DAS + SG_ UI_gpsNmeaMIA : 53|1@1+ (1,0) [0|0] "" DAS + +BO_ 536 MCU_chassisControl: 8 GTW + SG_ MCU_dasDebugEnable : 0|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_parkBrakeRequest : 1|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_trailerModeCH : 3|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_fcwSensitivity : 4|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_fcwEnable : 6|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_latControlEnable : 8|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_accOvertakeEnable : 10|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_ldwEnable : 12|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_aebEnable : 14|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_bsdEnable : 16|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_ahlbEnable : 18|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_parkSetting : 20|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_pedalSafetyEnable : 22|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_frontDefrostReq_das : 24|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_autoParkRequest : 26|4@1+ (1,0) [0|0] "" NEO + SG_ MCU_redLightStopSignEnable : 30|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_enableCreepTorqueCH : 32|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_narrowGarages : 33|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_rebootAutopilot : 34|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_enableAutowipers : 35|1@1+ (1,0) [0|0] "" NEO + SG_ MCU_overPaintedUSS : 38|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_selfParkTune : 40|4@1+ (1,0) [0|15] "" NEO + SG_ MCU_towModeEnable : 44|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_zeroSpeedConfirmed : 46|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_aesEnable : 48|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_autoLaneChangeEnable : 50|2@1+ (1,0) [0|0] "" NEO + SG_ MCU_chassisControlCounter : 52|4@1+ (1,0) [0|0] "" NEO + SG_ MCU_chassisControlChecksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 904 MCU_clusterBacklightRequest: 3 NEO + SG_ MCU_clusterBacklightOn : 7|1@1+ (1,0) [0|1] "" NEO + SG_ MCU_clusterBrightnessLevel : 8|8@1+ (0.5,0) [0|127.5] "%" NEO + SG_ MCU_clusterReadyForDrive : 6|1@1+ (1,0) [-1|2] "" NEO + SG_ MCU_clusterReadyForPowerOff : 5|1@1+ (1,0) [0|1] "" NEO + +BO_ 984 MCU_locationStatus: 8 MCU + SG_ MCU_gpsAccuracy : 57|7@1+ (0.2,0) [0|0] "m" NEO + SG_ MCU_latitude : 0|28@1- (1E-06,0) [0|0] "deg" NEO + SG_ MCU_longitude : 28|29@1- (1E-06,0) [0|0] "deg" NEO + +BO_ 104 MCU_locationStatus2: 8 MCU + SG_ MCU_elevation : 0|32@1- (0.1,0) [0|0] "m" GTW + SG_ MCU_navigonExpectedSpeed : 32|7@1+ (1,0) [0|126] "mph" GTW + +BO_ 840 GTW_status: 8 GTW + SG_ GTW_accGoingDown : 6|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_accRailReq : 8|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_brakePressed : 1|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_driveGoingDown : 7|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_driveRailReq : 0|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_driverIsLeaving : 5|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_driverPresent : 2|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_hvacGoingDown : 11|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_hvacRailReq : 9|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_icPowerOff : 4|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_notEnough12VForDrive : 3|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_preconditionRequest : 10|1@0+ (1,0) [0|1] "" NEO + SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] "" NEO + SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] "" NEO + +BO_ 920 GTW_carConfig: 8 GTW + SG_ GTW_performanceConfig : 2|3@0+ (1,0) [0|0] "" NEO + SG_ GTW_fourWheelDrive : 4|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_unknown1 : 5|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_dasHw : 7|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_parkAssistInstalled : 9|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_forwardRadarHw : 11|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_airSuspensionInstalled : 14|3@0+ (1,0) [0|0] "" NEO + SG_ GTW_unknown2 : 15|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_country : 23|16@0+ (1,0) [0|0] "" NEO + SG_ GTW_parkSensorGeometryType : 33|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_rhd : 34|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_bodyControlsType : 35|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_radarPosition : 39|4@0+ (1,0) [0|0] "" NEO + SG_ GTW_rearCornerRadarHw : 41|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_frontCornerRadarHw : 43|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_epasType : 45|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_chassisType : 47|2@0+ (1,0) [0|2] "" NEO + SG_ GTW_wheelType : 52|5@0+ (1,0) [0|0] "" NEO + SG_ GTW_rearSeatControllerMask : 55|3@0+ (1,0) [0|7] "" NEO + SG_ GTW_euVehicle : 56|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_foldingMirrorsInstalled : 57|1@0+ (1,0) [0|0] "" NEO + SG_ GTW_brakeHwType : 59|2@0+ (1,0) [0|2] "" NEO + SG_ GTW_autopilot : 61|2@0+ (1,0) [0|0] "" NEO + SG_ GTW_unknown3 : 63|2@0+ (1,0) [0|0] "" NEO + +BO_ 1006 UI_autopilotControl: 8 GTW + SG_ UI_autopilotControlIndex M : 0|3@1+ (1,0) [0|7] "" APP,APS + SG_ UI_hovEnabled m0 : 3|1@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donDisableAutoWiperDuration m0 : 4|3@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donDisableOnAutoWiperSpeed m0 : 7|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_blindspotMinSpeed m0 : 11|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_blindspotDistance m0 : 15|3@1+ (1,0) [0|0] "" APP,APS + SG_ UI_blindspotTTC m0 : 18|3@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donStopEndOfRampBuffer m0 : 21|3@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donDisableCutin m0 : 24|1@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donMinGoreWidthForAbortMap m0 : 25|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donAlcProgGoreAbortThres m0 : 29|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_donMinGoreWidthForAbortNotMap m0 : 33|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcDisableUltrasonicCheck m0 : 37|1@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcUltrasonicDistance m0 : 38|4@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcUltrasonicWaitTime m0 : 42|3@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcEgoLeadingReactionAccel m0 : 48|2@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcMergIntervalRearDHyst m0 : 50|2@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcMergingIntervalHeadwayHyst m0 : 52|2@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcAssertivenessRate m0 : 54|2@1+ (1,0) [0|0] "" APP,APS + SG_ UI_alcViewRangeSensitivity m0 : 56|2@1+ (1,0) [0|0] "" APP,APS + SG_ UI_camBlockLaneCheckDisable m1 : 3|1@1+ (1,0) [0|0] "" APP,APS + SG_ UI_camBlockLaneCheckThreshold m1 : 4|6@1+ (0.01587,0) [0|1] "%" APP,APS + SG_ UI_camBlockBlurDisable m1 : 10|1@1+ (1,0) [0|0] "" APP,APS + SG_ UI_camBlockBlurThreshold m1 : 11|6@1+ (0.01587,0) [0|1] "%" APP,APS + +BO_ 728 UI_csaOfframpCurvature: 8 GTW + SG_ UI_csaOfframpCurvC2 : 0|16@1- (1E-06,0) [-0.032768|0.032767] "1/m" DAS + SG_ UI_csaOfframpCurvC3 : 16|16@1- (4E-09,0) [-0.000131072|0.000131068] "1/m2" DAS + SG_ UI_csaOfframpCurvRange : 32|8@1+ (2,0) [0|510] "m" DAS + SG_ UI_csaOfframpCurvCounter : 40|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ UI_csaOfframpCurvUsingTspline : 48|1@1+ (1,0) [0|1] "" DAS + SG_ UI_csaOfframpCurvReserved : 49|7@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_csaOfframpCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 744 UI_csaRoadCurvature: 8 GTW + SG_ UI_csaRoadCurvC2 : 0|16@1- (1E-06,0) [-0.032768|0.032767] "1/m" DAS + SG_ UI_csaRoadCurvC3 : 16|16@1- (4E-09,0) [-0.000131072|0.000131068] "1/m2" DAS + SG_ UI_csaRoadCurvRange : 32|8@1+ (2,0) [0|510] "m" DAS + SG_ UI_csaRoadCurvCounter : 40|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ UI_csaRoadCurvUsingTspline : 48|1@1+ (1,0) [0|1] "" DAS + SG_ UI_csaRoadCurvReserved : 49|7@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_csaRoadCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 1080 UI_driverAssistAnonDebugParams: 8 GTW + SG_ UI_anonDebugParam1 : 0|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugFlag1 : 7|1@1+ (1,0) [0|0] "" DAS + SG_ UI_anonDebugParam2 : 8|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugFlag2 : 15|1@1+ (1,0) [0|0] "" DAS + SG_ UI_anonDebugParam3 : 16|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugFlag3 : 23|1@1+ (1,0) [0|0] "" DAS + SG_ UI_anonDebugParam4 : 24|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugFlag4 : 31|1@1+ (1,0) [0|0] "" DAS + SG_ UI_anonDebugParam5 : 32|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugParam6 : 40|7@1+ (1,0) [0|100] "" DAS + SG_ UI_anonDebugParam7 : 48|7@1+ (1,0) [0|100] "" DAS + SG_ UI_visionSpeedSlider : 56|7@1+ (1,0) [0|100] "" DAS + +BO_ 1000 UI_driverAssistControl: 8 GTW + SG_ UI_autopilotControlRequest : 0|1@1+ (1,0) [1|0] "" DAS + SG_ UI_ulcStalkConfirm : 1|1@1+ (1,0) [1|0] "" DAS + SG_ UI_summonHeartbeat : 2|2@1+ (1,0) [0|0] "" DAS + SG_ UI_curvSpeedAdaptDisable : 4|1@1+ (1,0) [0|0] "" DAS + SG_ UI_dasDeveloper : 5|1@1+ (1,0) [0|0] "" DAS + SG_ UI_enableVinAssociation : 6|1@1+ (1,0) [0|0] "" DAS + SG_ UI_lssLkaEnabled : 7|1@1+ (1,0) [0|0] "" DAS + SG_ UI_lssLdwEnabled : 8|1@1+ (1,0) [0|0] "" DAS + SG_ UI_autoSummonEnable : 10|1@1+ (1,0) [0|1] "" DAS + SG_ UI_exceptionListEnable : 11|1@1+ (1,0) [0|1] "" APP + SG_ UI_roadCheckDisable : 12|1@1+ (1,0) [0|0] "" DAS + SG_ UI_driveOnMapsEnable : 13|1@1+ (1,0) [0|0] "" DAS + SG_ UI_handsOnRequirementDisable : 14|1@1+ (1,0) [0|0] "" DAS + SG_ UI_forksEnable : 15|1@1+ (1,0) [0|0] "" DAS + SG_ UI_fuseLanesDisable : 16|1@1+ (1,0) [0|0] "" DAS + SG_ UI_fuseHPPDisable : 17|1@1+ (1,0) [0|0] "" DAS + SG_ UI_fuseVehiclesDisable : 18|1@1+ (1,0) [0|0] "" DAS + SG_ UI_enableNextGenACC : 19|1@1+ (1,0) [0|1] "" APP + SG_ UI_visionSpeedType : 20|2@1+ (1,0) [0|0] "" APP + SG_ UI_curvatureDatabaseOnly : 22|1@1+ (1,0) [0|0] "" DAS + SG_ UI_lssElkEnabled : 23|1@1+ (1,0) [0|0] "" DAS + SG_ UI_summonExitType : 24|2@1+ (1,0) [0|3] "" DAS + SG_ UI_summonEntryType : 26|2@1+ (1,0) [0|3] "" DAS + SG_ UI_selfParkRequest : 28|4@1+ (1,0) [0|15] "" DAS,PARK + SG_ UI_summonReverseDist : 32|6@1+ (1,0) [0|63] "" DAS + SG_ UI_undertakeAssistEnable : 38|1@1+ (1,0) [0|0] "" DAS + SG_ UI_adaptiveSetSpeedEnable : 39|1@1+ (1,0) [0|0] "" DAS + SG_ UI_drivingSide : 40|2@1+ (1,0) [0|3] "" DAS + SG_ UI_enableClipTelemetry : 42|1@1+ (1,0) [0|0] "" APP + SG_ UI_enableTripTelemetry : 43|1@1+ (1,0) [0|0] "" APP + SG_ UI_enableRoadSegmentTelemetry : 44|1@1+ (1,0) [0|0] "" APP + SG_ UI_followNavRouteEnable : 46|1@1+ (1,0) [0|0] "" APP + SG_ UI_ulcSpeedConfig : 48|2@1+ (1,0) [0|3] "" APP + SG_ UI_ulcBlindSpotConfig : 50|2@1+ (1,0) [0|3] "" APP + SG_ UI_autopilotAlwaysOn : 52|1@1+ (1,0) [0|1] "" APP + SG_ UI_accFromZero : 53|1@1+ (1,0) [0|1] "" APP + SG_ UI_alcOffHighwayEnable : 54|1@1+ (1,0) [0|1] "" APP + SG_ UI_validationLoop : 55|1@1+ (1,0) [0|1] "" APP + SG_ UI_ulcOffHighway : 56|1@1+ (1,0) [0|1] "" APP + SG_ UI_enableNavRouteCSA : 57|1@1+ (1,0) [0|1] "" APP + SG_ UI_enableCutinExperiments : 58|1@1+ (1,0) [0|1] "" APP + SG_ UI_source3D : 60|3@1+ (1,0) [0|7] "" APP + SG_ UI_enableVisionOnlyStops : 63|1@1+ (1,0) [0|1] "" APP + +BO_ 968 UI_driverAssistMapData: 8 GTW + SG_ UI_mapSpeedLimitDependency : 0|3@1+ (1,0) [0|0] "" DAS + SG_ UI_roadClass : 3|3@1+ (1,0) [0|0] "" DAS + SG_ UI_inSuperchargerGeofence : 6|1@1+ (1,0) [0|0] "" DAS + SG_ UI_mapSpeedUnits : 7|1@1+ (1,0) [0|0] "" DAS + SG_ UI_mapSpeedLimit : 8|5@1+ (1,0) [0|0] "" DAS + SG_ UI_mapSpeedLimitType : 13|3@1+ (1,0) [0|0] "" DAS + SG_ UI_countryCode : 16|10@1+ (1,0) [0|0] "" DAS + SG_ UI_streetCount : 26|2@1+ (1,0) [0|0] "" DAS + SG_ UI_gpsRoadMatch : 28|1@1+ (1,0) [0|0] "" DAS + SG_ UI_navRouteActive : 29|1@1+ (1,0) [0|0] "" DAS + SG_ UI_parallelAutoparkEnabled : 30|1@1+ (1,0) [0|1] "" DAS + SG_ UI_perpendicularAutoparkEnabled : 31|1@1+ (1,0) [0|1] "" DAS + SG_ UI_nextBranchDist : 32|5@1+ (10,0) [0|300] "m" DAS + SG_ UI_controlledAccess : 37|1@1+ (1,0) [0|0] "" DAS + SG_ UI_nextBranchLeftOffRamp : 38|1@1+ (1,0) [0|0] "" DAS + SG_ UI_nextBranchRightOffRamp : 39|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectLeftLane : 40|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectRightLane : 41|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectHPP : 42|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectNav : 43|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectLeftFreeSpace : 44|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectRightFreeSpace : 45|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectAutosteer : 46|1@1+ (1,0) [0|0] "" DAS + SG_ UI_rejectHandsOn : 47|1@1+ (1,0) [0|0] "" DAS + SG_ UI_acceptBottsDots : 48|1@1+ (1,0) [0|0] "" DAS + SG_ UI_autosteerRestricted : 49|1@1+ (1,0) [0|0] "" DAS + SG_ UI_pmmEnabled : 50|1@1+ (1,0) [0|0] "" DAS + SG_ UI_scaEnabled : 51|1@1+ (1,0) [0|0] "" DAS + SG_ UI_mapDataCounter : 52|4@1+ (1,0) [0|0] "" DAS + SG_ UI_mapDataChecksum : 56|8@1+ (1,0) [0|0] "" DAS + +BO_ 568 UI_driverAssistRoadSign: 8 GTW + SG_ UI_roadSign M : 0|8@1+ (1,0) [0|0] "" DAS + SG_ UI_splineLocConfidence : 40|7@1+ (1,0) [0|100] "" DAS + SG_ UI_splineID : 48|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ UI_roadSignCounter : 52|4@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_roadSignChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_dummyData m0 : 8|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_stopSignStopLineDist m1 : 8|10@1+ (0.25,-8) [-8|247.5] "m" Vector__XXX + SG_ UI_stopSignStopLineConf m1 : 18|7@1+ (1,0) [0|100] "" Vector__XXX + SG_ UI_trafficLightStopLineDist m2 : 8|10@1+ (0.25,-8) [-8|247.5] "m" Vector__XXX + SG_ UI_trafficLightStopLineConf m2 : 18|7@1+ (1,0) [0|100] "" Vector__XXX + SG_ UI_baseMapSpeedLimitMPS m3 : 8|8@1+ (0.25,0) [0|63.75] "m/s" DAS + SG_ UI_bottomQrtlFleetSpeedMPS m3 : 16|8@1+ (0.25,0) [0|63.75] "m/s" DAS + SG_ UI_topQrtlFleetSpeedMPS m3 : 24|8@1+ (0.25,0) [0|63.75] "m/s" DAS + SG_ UI_meanFleetSplineSpeedMPS m4 : 8|8@1+ (0.25,0) [0|63.75] "m/s" DAS + SG_ UI_medianFleetSpeedMPS m4 : 16|8@1+ (0.25,0) [0|63.75] "m/s" DAS + SG_ UI_meanFleetSplineAccelMPS2 m4 : 24|8@1+ (0.05,-6.35) [-6.35|6.4] "m/s^2" DAS + SG_ UI_rampType m4 : 32|3@1+ (1,0) [0|7] "" DAS + SG_ UI_currSplineIdFull m5 : 8|32@1+ (1,0) [0|1] "" APP + + +BO_ 696 UI_radarMapData: 8 GTW + SG_ UI_radarTargetDx : 0|8@1+ (1,-95) [-95|160] "m" DAS + SG_ UI_radarTargetDxEnd : 8|8@1+ (1,0) [0|255] "m" DAS + SG_ UI_radarTargetTrustMap : 16|1@1+ (1,0) [0|1] "" DAS + SG_ UI_radarEnableBraking : 17|1@1+ (1,0) [0|1] "" DAS + SG_ UI_radarMapDataCounter : 52|4@1+ (1,0) [0|0] "" DAS + SG_ UI_radarMapDataChecksum : 56|8@1+ (1,0) [0|0] "" DAS + +BO_ 712 UI_roadCurvature: 8 GTW + SG_ UI_roadCurvC0 : 0|11@1- (0.02,0) [-20.48|20.46] "m" DAS + SG_ UI_roadCurvC1 : 11|10@1- (0.00075,0) [-0.384|0.38325] "1" DAS + SG_ UI_roadCurvC2 : 21|14@1- (7.5E-06,0) [-0.03072|0.03071625] "1/m" DAS + SG_ UI_roadCurvC3 : 35|13@1- (3E-08,0) [-0.00012288|0.00012285] "1/m2" DAS + SG_ UI_roadCurvRange : 48|6@1+ (4,0) [0|252] "m" DAS + SG_ UI_roadCurvHealth : 54|2@1+ (1,0) [0|0] "" DAS + SG_ UI_roadCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX + +BO_ 582 UI_solarData: 5 GTW + SG_ UI_solarAzimuthAngle : 0|16@1- (1,0) [0|360] "deg" APP + SG_ UI_solarAzimuthAngleCarRef : 16|9@1- (1,0) [-180|180] "deg" APP + SG_ UI_isSunUp : 25|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_solarElevationAngle : 32|8@1- (1,0) [-90|90] "deg" APP + +BO_ 824 UI_status: 8 GTW + SG_ UI_touchActive : 0|1@1+ (1,0) [0|0] "" IC + SG_ UI_audioActive : 1|1@1+ (1,0) [0|0] "" IC + SG_ UI_bluetoothActive : 2|1@1+ (1,0) [0|0] "" IC + SG_ UI_cellActive : 3|1@1+ (1,0) [0|0] "" IC + SG_ UI_displayReady : 4|1@1+ (1,0) [0|0] "" IC + SG_ UI_gpsActive : 5|1@1+ (1,0) [0|0] "" IC + SG_ UI_wifiConnected : 6|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_systemActive : 7|1@1+ (1,0) [0|0] "" IC + SG_ UI_xmActive : 8|1@1+ (1,0) [0|0] "" IC + SG_ UI_displayOn : 9|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_readyForDrive : 10|1@1+ (1,0) [0|0] "" IC + SG_ UI_cellConnected : 11|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_vpnActive : 12|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_wifiActive : 13|1@1+ (1,0) [0|0] "" IC + SG_ UI_cameraActive : 14|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_usbActive : 15|1@1+ (1,0) [0|0] "" IC + SG_ UI_screenshotActive : 16|1@1+ (1,0) [0|0] "" IC,APP + SG_ UI_monitorModemPower : 17|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_factoryReset : 18|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ UI_cellNetworkTechnology : 20|4@1+ (1,0) [0|15] "" APP + SG_ UI_tegraCoreTemperature : 24|8@1+ (1,-64) [0|0] "deg C" IC + SG_ UI_tegraAmbientTemperature : 32|8@1+ (1,-64) [0|0] "deg C" IC + SG_ UI_googleWifiUsages : 40|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_autopilotTrial : 48|2@1+ (1,0) [0|0] "" APP + SG_ UI_cellSignalBars : 50|3@1+ (1,0) [0|7] "" APP + SG_ UI_hardwareType : 53|2@1+ (1,0) [0|3] "" APP + SG_ UI_developmentCar : 55|1@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_cellReceiverPower : 56|8@1+ (1,-128) [-128|127] "dB" APP + +BO_ 1064 UI_telemetryControl: 8 GTW + SG_ UI_TCR_enable : 0|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_moveStateStanding : 1|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_moveStateStopped : 2|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_moveStateMoving : 3|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_moveStateIndeterm : 4|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_classConstElem : 5|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_classMovingPed : 6|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_classMovingTwoWheel : 7|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_classMovingFourWheel : 8|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_classUnknown : 9|1@1+ (1,0) [0|0] "" DAS + SG_ UI_TCR_downSampleFactor : 16|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ UI_TCR_wExist : 24|5@1+ (1,0) [0|31] "" Vector__XXX + SG_ UI_TCR_vehSpeed : 32|8@1+ (1,0) [0|0] "" Vector__XXX + SG_ UI_TCR_minRCS : 40|8@1+ (0.25,-14) [-14|49.75] "dB" Vector__XXX + SG_ UI_TCR_maxDy : 48|5@1+ (0.5,0) [0|15.5] "m" Vector__XXX + SG_ UI_TCR_maxObjects : 56|5@1+ (1,0) [0|31] "" Vector__XXX + SG_ UI_TCR_maxRoadClass : 61|3@1+ (1,0) [0|7] "" Vector__XXX + +BO_ 522 BrakeMessage: 8 XXX + SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX + +BO_ 921 AutopilotStatus: 8 XXX + SG_ autopilotStatus : 0|4@1+ (1,0) [0|0] "" XXX + SG_ DAS_blindSpotRearLeft : 4|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_blindSpotRearRight : 6|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_fusedSpeedLimit : 8|5@1+ (5,0) [0|150] "kph/mph" XXX + SG_ DAS_suppressSpeedWarning : 13|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_summonObstacle : 14|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_summonClearedGate : 15|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_visionOnlySpeedLimit : 16|5@1+ (5,0) [0|150] "kph/mph" XXX + SG_ DAS_heaterState : 21|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_forwardCollisionWarning : 22|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_autoparkReady : 24|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_autoParked : 25|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_autoparkWaitingForBrake : 26|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_summonFwdLeashReached : 28|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_summonRvsLeashReached : 29|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_sideCollisionAvoid : 30|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_sideCollisionWarning : 32|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_sideCollisionInhibit : 34|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_csaState : 35|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_laneDepartureWarning : 37|3@1+ (1,0) [0|0] "" XXX + SG_ DAS_fleetSpeedState : 40|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_autopilotHandsOnState : 42|4@1+ (1,0) [0|0] "" XXX + SG_ DAS_autoLaneChangeState : 46|5@1+ (1,0) [0|0] "" XXX + SG_ DAS_summonAvailable : 51|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_statusCounter : 52|4@1+ (1,0) [0|0] "" XXX + SG_ DAS_statusChecksum : 56|8@1+ (1,0) [0|0] "" XXX + +BO_ 905 DAS_status2: 8 XXX + SG_ DAS_accSpeedLimit : 0|10@1+ (0.2,0) [0|204.6] "mph" XXX + SG_ DAS_pmmObstacleSeverity : 10|3@1+ (1,0) [0|7] "" XXX + SG_ DAS_pmmLoggingRequest : 13|1@1+ (1,0) [0|1] "" XXX + SG_ DAS_activationFailureStatus : 14|2@1+ (1,0) [0|1] "" XXX + SG_ DAS_pmmUltrasonicsFaultReason : 16|3@1+ (1,0) [0|7] "" XXX + SG_ DAS_pmmRadarFaultReason : 19|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_pmmSysFaultReason : 21|3@1+ (1,0) [0|7] "" XXX + SG_ DAS_pmmCameraFaultReason : 24|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_ACC_report : 26|5@1+ (1,0) [0|0] "" XXX + SG_ DAS_lssState : 31|3@1+ (1,0) [0|0] "" XXX + SG_ DAS_radarTelemetry : 34|2@1+ (1,0) [0|0] "" XXX + SG_ DAS_robState : 36|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_driverInteractionLevel : 38|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_ppOffsetDesiredRamp : 40|8@1+ (0.01,-1.28) [-1.28|1.27] "m" XXX + SG_ DAS_longCollisionWarning : 48|4@1+ (1,0) [0|15] "" XXX + SG_ DAS_status2Counter : 52|4@1+ (1,0) [0|0] "" XXX + SG_ DAS_status2Checksum : 56|8@1+ (1,0) [0|0] "" XXX + +BO_ 1001 DAS_bodyControls: 8 XXX + SG_ DAS_headlightRequest : 0|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_hazardLightRequest : 2|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_wiperSpeed : 4|4@1+ (1,0) [0|15] "" XXX + SG_ DAS_turnIndicatorRequest : 8|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_highLowBeamDecision : 10|2@1+ (1,0) [0|3] "" XXX + SG_ DAS_highLowBeamOffReason : 12|3@1+ (1,0) [0|4] "" XXX + SG_ DAS_turnIndicatorRequestReason : 16|4@1+ (1,0) [0|15] "" XXX + SG_ DAS_bodyControlsCounter : 52|4@1+ (1,0) [0|15] "" XXX + SG_ DAS_bodyControlsChecksum : 56|8@1+ (1,0) [0|255] "" XXX + +VAL_ 3 StW_Angl 16383 "SNA" ; +VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ; +VAL_ 3 StW_AnglSens_Stat 2 "ERR" 3 "ERR_INI" 1 "INI" 0 "OK" ; +VAL_ 3 StW_AnglSpd 16383 "SNA" ; +VAL_ 14 StW_AnglHP 16383 "SNA" ; +VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ; +VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ; +VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ; +VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ; +VAL_ 69 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ; +VAL_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ; +VAL_ 69 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ; +VAL_ 69 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ; +VAL_ 69 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ; +VAL_ 69 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ; +VAL_ 69 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ; +VAL_ 69 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ; +VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 69 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 69 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 69 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 69 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ; +VAL_ 257 GTW_epasControlType 0 "WITHOUT" 1 "WITH_ANGLE" 3 "WITH_BOTH" 2 "WITH_TORQUE" ; +VAL_ 109 StW_Sw_Stat3 7 "SNA" 6 "NDEF6" 5 "NDEF5" 4 "NDEF4" 3 "PLUS_MINUS" 2 "MINUS" 1 "PLUS" 0 "NPSD" ; +VAL_ 109 MsgTxmtId 3 "NDEF3" 2 "NDEF2" 1 "SCCM" 0 "EWM" ; +VAL_ 109 TSL_RND_Posn_StW 15 "SNA" 8 "D" 6 "INI" 4 "N_DOWN" 2 "N_UP" 1 "R" 0 "IDLE" ; +VAL_ 109 TSL_P_Psd_StW 3 "SNA" 2 "INI" 1 "PSD" 0 "IDLE" ; +VAL_ 257 GTW_epasEmergencyOn 1 "EMERGENCY_POWER" 0 "NONE" ; +VAL_ 257 GTW_epasLDWEnabled 1 "ALLOWED" 0 "INHIBITED" ; +VAL_ 257 GTW_epasPowerMode 0 "DRIVE_OFF" 1 "DRIVE_ON" 3 "LOAD_SHED" 2 "SHUTTING_DOWN" 15 "SNA" ; +VAL_ 257 GTW_epasTuneRequest 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "SNA" ; +VAL_ 264 DI_torqueDriver -4096 "SNA" ; +VAL_ 264 DI_torqueMotor -4096 "SNA" ; +VAL_ 264 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ; +VAL_ 264 DI_motorRPM -32768 "SNA" ; +VAL_ 264 DI_pedalPos 255 "SNA" ; +VAL_ 280 DI_torqueEstimate -2048 "SNA" ; +VAL_ 280 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ; +VAL_ 280 DI_brakePedal 1 "Applied" 0 "Not_applied" ; +VAL_ 280 DI_vehicleSpeed 4095 "SNA" ; +VAL_ 280 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ; +VAL_ 280 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ; +VAL_ 280 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ; +VAL_ 280 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ; +VAL_ 280 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ; +VAL_ 309 ESP_absBrakeEvent 1 "ACTIVE" 0 "NOT_ACTIVE" ; +VAL_ 309 ESP_brakeDiscWipingActive 1 "ACTIVE" 0 "INACTIVE" ; +VAL_ 309 ESP_brakeLamp 0 "OFF" 1 "ON" ; +VAL_ 309 ESP_espFaultLamp 0 "OFF" 1 "ON" ; +VAL_ 309 ESP_espLampFlash 1 "FLASH" 0 "OFF" ; +VAL_ 309 ESP_hillStartAssistActive 1 "ACTIVE" 0 "INACTIVE" 2 "NOT_AVAILABLE" 3 "SNA" ; +VAL_ 309 ESP_absFaultLamp 0 "OFF" 1 "ON" ; +VAL_ 309 ESP_espOffLamp 0 "OFF" 1 "ON" ; +VAL_ 309 ESP_stabilityControlSts 2 "ENGAGED" 3 "FAULTED" 5 "INIT" 4 "NOT_CONFIGURED" 0 "OFF" 1 "ON" ; +VAL_ 309 ESP_tcLampFlash 1 "FLASH" 0 "OFF" ; +VAL_ 568 UI_mapSpeedLimit 31 "SNA" 30 "UNLIMITED" 29 "LESS_OR_EQ_160" 28 "LESS_OR_EQ_150" 27 "LESS_OR_EQ_140" 26 "LESS_OR_EQ_130" 25 "LESS_OR_EQ_120" 24 "LESS_OR_EQ_115" 23 "LESS_OR_EQ_110" 22 "LESS_OR_EQ_105" 21 "LESS_OR_EQ_100" 20 "LESS_OR_EQ_95" 19 "LESS_OR_EQ_90" 18 "LESS_OR_EQ_85" 17 "LESS_OR_EQ_80" 16 "LESS_OR_EQ_75" 15 "LESS_OR_EQ_70" 14 "LESS_OR_EQ_65" 13 "LESS_OR_EQ_60" 12 "LESS_OR_EQ_55" 11 "LESS_OR_EQ_50" 10 "LESS_OR_EQ_45" 9 "LESS_OR_EQ_40" 8 "LESS_OR_EQ_35" 7 "LESS_OR_EQ_30" 6 "LESS_OR_EQ_25" 5 "LESS_OR_EQ_20" 4 "LESS_OR_EQ_15" 3 "LESS_OR_EQ_10" 2 "LESS_OR_EQ_7" 1 "LESS_OR_EQ_5" 0 "UNKNOWN" ; +VAL_ 569 DAS_leftLineUsage 3 "BLACKLISTED" 2 "FUSED" 1 "AVAILABLE" 0 "REJECTED_UNAVAILABLE" ; +VAL_ 569 DAS_rightLineUsage 3 "BLACKLISTED" 2 "FUSED" 1 "AVAILABLE" 0 "REJECTED_UNAVAILABLE" ; +VAL_ 569 DAS_leftFork 3 "LEFT_FORK_UNAVAILABLE" 2 "LEFT_FORK_SELECTED" 1 "LEFT_FORK_AVAILABLE" 0 "LEFT_FORK_NONE" ; +VAL_ 569 DAS_rightFork 3 "RIGHT_FORK_UNAVAILABLE" 2 "RIGHT_FORK_SELECTED" 1 "RIGHT_FORK_AVAILABLE" 0 "RIGHT_FORK_NONE" ; +VAL_ 521 DAS_locMode 3 "DAS_LOC_DRIVERLESS" 2 "DAS_LOC_RESTRICTED" 1 "DAS_LOC_NORMAL" 0 "DAS_LOC_OFF" ; +VAL_ 521 DAS_locState 7 "DAS_LOC_FAULT_SNA" 6 "DAS_LOC_AEB_ACTIVE" 2 "DAS_LOC_CANCEL_SILENT" 1 "DAS_LOC_CANCEL_GENERIC" 0 "DAS_LOC_HEALTHY" ; +VAL_ 521 DAS_locRequest 4 "DAS_RQ_PARK" 3 "DAS_RQ_HOLD" 2 "DAS_RQ_BACKWARD" 1 "DAS_RQ_FORWARD" 0 "DAS_RQ_IDLE" ; +VAL_ 521 DAS_locJerkMin 255 "SNA" ; +VAL_ 521 DAS_locJerkMax 255 "SNA" ; +VAL_ 521 DAS_locSpeed 2047 "SNA" ; +VAL_ 521 DAS_locAccelMin 511 "SNA" ; +VAL_ 521 DAS_locAccelMax 511 "SNA" ; +VAL_ 522 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ; +VAL_ 760 UI_mapSpeedLimitUnits 1 "KPH" 0 "MPH" ; +VAL_ 760 UI_userSpeedOffsetUnits 1 "KPH" 0 "MPH" ; +VAL_ 643 AirTemp_Insd 255 "SNA" ; +VAL_ 643 AirTemp_Outsd 254 "INIT" 255 "SNA" ; +VAL_ 643 Bckl_Sw_RL_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ; +VAL_ 643 Bckl_Sw_RM_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ; +VAL_ 643 Bckl_Sw_RR_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ; +VAL_ 643 DL_RLtch_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 DrRLtch_FL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 DrRLtch_FR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 DrRLtch_RL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 DrRLtch_RR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 EngHd_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ; +VAL_ 643 LgtSens_Night 0 "DAY" 1 "NIGHT" ; +VAL_ 643 MPkBrk_Stat 1 "ENGG" 0 "RELS" ; +VAL_ 643 RevGr_Engg 0 "DISENGG" 1 "ENGG" 2 "NDEF2" 3 "SNA" ; +VAL_ 643 StW_Cond_Stat 3 "BLINK" 1 "NDEF1" 0 "OFF" 2 "ON" ; +VAL_ 643 Trlr_Stat 2 "NDEF2" 0 "NONE" 1 "OK" 3 "SNA" ; +VAL_ 697 DAS_setSpeed 4095 "SNA" ; +VAL_ 697 DAS_accState 15 "FAULT_SNA" 13 "ACC_CANCEL_GENERIC_SILENT" 11 "APC_SELFPARK_START" 10 "APC_UNPARK_COMPLETE" 9 "APC_PAUSE" 8 "APC_ABORT" 7 "APC_COMPLETE" 6 "APC_FORWARD" 5 "APC_BACKWARD" 4 "ACC_ON" 3 "ACC_HOLD" 0 "ACC_CANCEL_GENERIC" ; +VAL_ 697 DAS_aebEvent 3 "AEB_SNA" 2 "AEB_FAULT" 1 "AEB_ACTIVE" 0 "AEB_NOT_ACTIVE" ; +VAL_ 697 DAS_jerkMin 511 "SNA" ; +VAL_ 697 DAS_jerkMax 255 "SNA" ; +VAL_ 697 DAS_accelMin 511 "SNA" ; +VAL_ 697 DAS_accelMax 511 "SNA" ; +VAL_ 792 BOOT_STATE 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 CERRD 1 "CAN error detect" 0 "no Can error detected" ; +VAL_ 792 DAY 1 "Init" 0 "SNA" ; +VAL_ 792 DOOR_STATE_FL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 DOOR_STATE_FR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 DOOR_STATE_FrontTrunk 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 DOOR_STATE_RL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 DOOR_STATE_RR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ; +VAL_ 792 GTW_updateInProgress 1 "IN_PROGRESS" 2 "IN_PROGRESS_NOT_USED" 3 "IN_PROGRESS_SNA" 0 "NOT_IN_PROGRESS" ; +VAL_ 792 Hour 30 "Init" 31 "SNA" ; +VAL_ 792 MCU_factoryMode 1 "FACTORY_MODE" 0 "NORMAL_MODE" ; +VAL_ 792 MCU_transportModeOn 0 "NORMAL_MODE" ; +VAL_ 792 MINUTE 62 "Init" 63 "SNA" ; +VAL_ 792 MONTH 1 "Init" 15 "SNA" ; +VAL_ 792 SECOND 62 "Init" 63 "SNA" ; +VAL_ 792 YEAR 126 "Init" 127 "SNA" ; +VAL_ 872 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ; +VAL_ 872 DI_analogSpeed 4095 "SNA" ; +VAL_ 872 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ; +VAL_ 872 DI_digitalSpeed 255 "SNA" ; +VAL_ 872 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ; +VAL_ 872 DI_speedUnits 1 "KPH" 0 "MPH" ; +VAL_ 872 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ; +VAL_ 872 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ; +VAL_ 872 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ; +VAL_ 880 EPAS_currentTuneMode 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "UNAVAILABLE" ; +VAL_ 880 EPAS_eacErrorCode 14 "EAC_ERROR_EPB_INHIBIT" 3 "EAC_ERROR_HANDS_ON" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 0 "EAC_ERROR_IDLE" 12 "EAC_ERROR_LOW_ASSIST" 2 "EAC_ERROR_MAX_SPEED" 1 "EAC_ERROR_MIN_SPEED" 13 "EAC_ERROR_PINION_VEL_DIFF" 4 "EAC_ERROR_TMP_FAULT" 5 "EAR_ERROR_MAX_STEER_DELTA" 15 "SNA" ; +VAL_ 880 EPAS_eacStatus 2 "EAC_ACTIVE" 1 "EAC_AVAILABLE" 3 "EAC_FAULT" 0 "EAC_INHIBITED" 4 "SNA" ; +VAL_ 880 EPAS_handsOnLevel 0 "0" 1 "1" 2 "2" 3 "3" ; +VAL_ 880 EPAS_steeringFault 1 "FAULT" 0 "NO_FAULT" ; +VAL_ 880 EPAS_steeringRackForce 1022 "NOT_IN_SPEC" 1023 "SNA" ; +VAL_ 880 EPAS_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ; +VAL_ 880 EPAS_torsionBarTorque 0 "SEE_SPECIFICATION" 4095 "SNA" 4094 "UNDEFINABLE_DATA" ; +VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ; +VAL_ 905 DAS_accSpeedLimit 1023 "SNA" 0 "NONE" ; +VAL_ 905 DAS_pmmObstacleSeverity 7 "PMM_SNA" 6 "PMM_ACCEL_LIMIT" 5 "PMM_CRASH_FRONT" 4 "PMM_CRASH_REAR" 3 "PMM_BRAKE_REQUEST" 2 "PMM_IMMINENT_FRONT" 1 "PMM_IMMINENT_REAR" 0 "PMM_NONE" ; +VAL_ 905 DAS_pmmLoggingRequest 1 "TRUE" 0 "FALSE" ; +VAL_ 905 DAS_activationFailureStatus 2 "LC_ACTIVATION_FAILED_2" 1 "LC_ACTIVATION_FAILED_1" 0 "LC_ACTIVATION_IDLE" ; +VAL_ 905 DAS_pmmUltrasonicsFaultReason 4 "PMM_ULTRASONICS_INVALID_MIA" 3 "PMM_ULTRASONICS_BLOCKED_BOTH" 2 "PMM_ULTRASONICS_BLOCKED_REAR" 1 "PMM_ULTRASONICS_BLOCKED_FRONT" 0 "PMM_ULTRASONICS_NO_FAULT" ; +VAL_ 905 DAS_pmmRadarFaultReason 2 "PMM_RADAR_INVALID_MIA" 1 "PMM_RADAR_BLOCKED_FRONT" 0 "PMM_RADAR_NO_FAULT" ; +VAL_ 905 DAS_pmmSysFaultReason 7 "PMM_FAULT_BRAKE_PEDAL_INHIBIT" 6 "PMM_FAULT_ROAD_TYPE" 5 "PMM_FAULT_DISABLED_BY_USER" 4 "PMM_FAULT_STEERING_ANGLE_RATE" 3 "PMM_FAULT_DI_FAULT" 2 "PMM_FAULT_SPEED" 1 "PMM_FAULT_DAS_DISABLED" 0 "PMM_FAULT_NONE" ; +VAL_ 905 DAS_pmmCameraFaultReason 2 "PMM_CAMERA_INVALID_MIA" 1 "PMM_CAMERA_BLOCKED_FRONT" 0 "PMM_CAMERA_NO_FAULT" ; +VAL_ 905 DAS_ACC_report 24 "ACC_REPORT_BEHAVIOR_REPORT" 23 "ACC_REPORT_CAMERA_ONLY" 22 "ACC_REPORT_RADAR_OBJ_FIVE" 21 "ACC_REPORT_CIPV_CUTTING_OUT" 20 "ACC_REPORT_MCVLR_IN_PATH" 19 "ACC_REPORT_MCVLR_DPP" 18 "ACC_REPORT_FLEET_SPEEDS" 17 "ACC_REPORT_TARGET_MCP" 16 "ACC_REPORT_RADAR_OBJ_TWO" 15 "ACC_REPORT_RADAR_OBJ_ONE" 14 "ACC_REPORT_LC_EXTERNAL_STATE_ACTIVE_RESTRICTED" 13 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTED" 12 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTING" 11 "ACC_REPORT_LC_HANDS_ON_REQD_STRUCK_OUT" 10 "ACC_REPORT_CSA" 9 "ACC_REPORT_TARGET_TYPE_FAULT" 8 "ACC_REPORT_TARGET_TYPE_IPSO" 7 "ACC_REPORT_TARGET_TYPE_TRAFFIC_LIGHT" 6 "ACC_REPORT_TARGET_TYPE_STOP_SIGN" 5 "ACC_REPORT_TARGET_CUTIN" 4 "ACC_REPORT_TARGET_MCVR" 3 "ACC_REPORT_TARGET_MCVL" 2 "ACC_REPORT_TARGET_IN_FRONT_OF_CIPV" 1 "ACC_REPORT_TARGET_CIPV" 0 "ACC_REPORT_TARGET_NONE" ; +VAL_ 905 DAS_lssState 7 "LSS_STATE_OFF" 6 "LSS_STATE_ABORT" 5 "LSS_STATE_BLINDSPOT" 4 "LSS_STATE_MONITOR" 3 "LSS_STATE_ELK" 2 "LSS_STATE_LKA" 1 "LSS_STATE_LDW" 0 "LSS_STATE_FAULT" ; +VAL_ 905 DAS_radarTelemetry 2 "RADAR_TELEMETRY_URGENT" 1 "RADAR_TELEMETRY_NORMAL" 0 "RADAR_TELEMETRY_IDLE" ; +VAL_ 905 DAS_robState 3 "ROB_STATE_MAPLESS" 2 "ROB_STATE_ACTIVE" 1 "ROB_STATE_MEASURE" 0 "ROB_STATE_INHIBITED" ; +VAL_ 905 DAS_driverInteractionLevel 2 "CONTINUED_DRIVER_NOT_INTERACTING" 1 "DRIVER_NOT_INTERACTING" 0 "DRIVER_INTERACTING" ; +VAL_ 905 DAS_ppOffsetDesiredRamp 128 "PP_NO_OFFSET" ; +VAL_ 905 DAS_longCollisionWarning 15 "FCM_LONG_COLLISION_WARNING_SNA" 12 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV2" 11 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR2" 10 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR" 9 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL2" 8 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL" 7 "FCM_LONG_COLLISION_WARNING_VEHICLE_CUTIN" 6 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV" 5 "FCM_LONG_COLLISION_WARNING_TFL_STOPLINE" 4 "FCM_LONG_COLLISION_WARNING_STOPSIGN_STOPLINE" 3 "FCM_LONG_COLLISION_WARNING_IPSO" 2 "FCM_LONG_COLLISION_WARNING_PEDESTRIAN" 1 "FCM_LONG_COLLISION_WARNING_VEHICLE_UNKNOWN" 0 "FCM_LONG_COLLISION_WARNING_NONE" ; +VAL_ 921 autopilotStatus 5 "ACTIVE_NAVIGATE_ON_AUTOPILOT" 4 "ACTIVE_2" 3 "ACTIVE_1" 2 "AVAILABLE" 1 "UNAVAILABLE" 0 "DISABLED" ; +VAL_ 921 DAS_blindSpotRearLeft 3 "SNA" 2 "WARNING_LEVEL_2" 1 "WARNING_LEVEL_1" 0 "NO_WARNING" ; +VAL_ 921 DAS_blindSpotRearRight 3 "SNA" 2 "WARNING_LEVEL_2" 1 "WARNING_LEVEL_1" 0 "NO_WARNING" ; +VAL_ 921 DAS_fusedSpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ; +VAL_ 921 DAS_suppressSpeedWarning 1 "Suppress_Speed_Warning" 0 "Do_Not_Suppress" ; +VAL_ 921 DAS_visionOnlySpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ; +VAL_ 921 DAS_heaterState 1 "HEATER_ON" 0 "HEATER_OFF_SNA" ; +VAL_ 921 DAS_forwardCollisionWarning 3 "SNA" 1 "FORWARD_COLLISION_WARNING" 0 "NONE" ; +VAL_ 921 DAS_autoparkReady 1 "AUTOPARK_READY" 0 "AUTOPARK_UNAVAILABLE" ; +VAL_ 921 DAS_sideCollisionAvoid 3 "SNA" 2 "AVOID_RIGHT" 1 "AVOID_LEFT" 0 "NONE" ; +VAL_ 921 DAS_sideCollisionWarning 3 "WARN_LEFT_RIGHT" 2 "WARN_RIGHT" 1 "WARN_LEFT" 0 "NONE" ; +VAL_ 921 DAS_sideCollisionInhibit 1 "INHIBIT" 0 "NO_INHIBIT" ; +VAL_ 921 DAS_csaState 3 "CSA_EXTERNAL_STATE_HOLD" 2 "CSA_EXTERNAL_STATE_ENABLE" 1 "CSA_EXTERNAL_STATE_AVAILABLE" 0 "CSA_EXTERNAL_STATE_UNAVAILABLE" ; +VAL_ 921 DAS_laneDepartureWarning 5 "SNA" 4 "RIGHT_WARNING_SEVERE" 3 "LEFT_WARNING_SEVERE" 2 "RIGHT_WARNING" 1 "LEFT_WARNING" 0 "NONE" ; +VAL_ 921 DAS_fleetSpeedState 3 "FLEETSPEED_HOLD" 2 "FLEETSPEED_ACTIVE" 1 "FLEETSPEED_AVAILABLE" 0 "FLEETSPEED_UNAVAILABLE" ; +VAL_ 921 DAS_autopilotHandsOnState 15 "LC_HANDS_ON_SNA" 8 "LC_HANDS_ON_SUSPENDED" 7 "LC_HANDS_ON_REQD_STRUCK_OUT" 5 "LC_HANDS_ON_REQD_CHIME_2" 4 "LC_HANDS_ON_REQD_CHIME_1" 3 "LC_HANDS_ON_REQD_VISUAL" 2 "LC_HANDS_ON_REQD_NOT_DETECTED" 1 "LC_HANDS_ON_REQD_DETECTED" 0 "LC_HANDS_ON_NOT_REQD" ; +VAL_ 921 DAS_autoLaneChangeState 31 "ALC_SNA" 30 "ALC_ABORT_MISSION_PLAN_INVALID" 29 "ALC_ABORT_TIMEOUT" 28 "ALC_WAITING_HANDS_ON" 27 "ALC_BLOCKED_LANE_TYPE_R" 26 "ALC_BLOCKED_LANE_TYPE_L" 25 "ALC_BLOCKED_VEH_TTC_AND_USS_R" 24 "ALC_BLOCKED_VEH_TTC_R" 23 "ALC_BLOCKED_VEH_TTC_AND_USS_L" 22 "ALC_BLOCKED_VEH_TTC_L" 21 "ALC_UNAVAILABLE_SOLID_LANE_LINE" 20 "ALC_ABORT_OTHER_REASON" 19 "ALC_ABORT_BLINKER_TURNED_OFF" 18 "ALC_ABORT_LC_HEALTH_BAD" 17 "ALC_ABORT_POOR_VIEW_RANGE" 16 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_R" 15 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_L" 14 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_R" 13 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_L" 12 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_R" 11 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_L" 10 "ALC_IN_PROGRESS_R" 9 "ALC_IN_PROGRESS_L" 8 "ALC_AVAILABLE_BOTH" 7 "ALC_AVAILABLE_ONLY_R" 6 "ALC_AVAILABLE_ONLY_L" 5 "ALC_UNAVAILABLE_VEHICLE_SPEED" 4 "ALC_UNAVAILABLE_EXITING_HIGHWAY" 3 "ALC_UNAVAILABLE_TP_FOLLOW" 2 "ALC_UNAVAILABLE_SONICS_INVALID" 1 "ALC_UNAVAILABLE_NO_LANES" 0 "ALC_UNAVAILABLE_DISABLED" ; +VAL_ 1001 DAS_headlightRequest 3 "DAS_HEADLIGHT_REQUEST_INVALID" 1 "DAS_HEADLIGHT_REQUEST_ON" 0 "DAS_HEADLIGHT_REQUEST_OFF" ; +VAL_ 1001 DAS_hazardLightRequest 3 "DAS_REQUEST_HAZARDS_SNA" 2 "DAS_REQUEST_HAZARDS_UNUSED" 1 "DAS_REQUEST_HAZARDS_ON" 0 "DAS_REQUEST_HAZARDS_OFF" ; +VAL_ 1001 DAS_wiperSpeed 15 "DAS_WIPER_SPEED_INVALID" 14 "DAS_WIPER_SPEED_14" 13 "DAS_WIPER_SPEED_13" 12 "DAS_WIPER_SPEED_12" 11 "DAS_WIPER_SPEED_11" 10 "DAS_WIPER_SPEED_10" 9 "DAS_WIPER_SPEED_9" 8 "DAS_WIPER_SPEED_8" 7 "DAS_WIPER_SPEED_7" 6 "DAS_WIPER_SPEED_6" 5 "DAS_WIPER_SPEED_5" 4 "DAS_WIPER_SPEED_4" 3 "DAS_WIPER_SPEED_3" 2 "DAS_WIPER_SPEED_2" 1 "DAS_WIPER_SPEED_1" 0 "DAS_WIPER_SPEED_OFF" ; +VAL_ 1001 DAS_turnIndicatorRequest 3 "DAS_TURN_INDICATOR_CANCEL" 2 "DAS_TURN_INDICATOR_RIGHT" 1 "DAS_TURN_INDICATOR_LEFT" 0 "DAS_TURN_INDICATOR_NONE" ; +VAL_ 1001 DAS_highLowBeamDecision 3 "DAS_HIGH_BEAM_SNA" 2 "DAS_HIGH_BEAM_ON" 1 "DAS_HIGH_BEAM_OFF" 0 "DAS_HIGH_BEAM_UNDECIDED" ; +VAL_ 1001 DAS_highLowBeamOffReason 5 "HIGH_BEAM_OFF_REASON_SNA" 4 "HIGH_BEAM_OFF_REASON_HEAD_LIGHT" 3 "HIGH_BEAM_OFF_REASON_AMBIENT_LIGHT" 2 "HIGH_BEAM_OFF_REASON_MOVING_RADAR_TARGET" 1 "HIGH_BEAM_OFF_REASON_MOVING_VISION_TARGET" 0 "HIGH_BEAM_ON" ; +VAL_ 1001 DAS_turnIndicatorRequestReason 6 "DAS_ACTIVE_COMMANDED_LANE_CHANGE" 5 "DAS_CANCEL_FORK" 4 "DAS_CANCEL_LANE_CHANGE" 3 "DAS_ACTIVE_FORK" 2 "DAS_ACTIVE_SPEED_LANE_CHANGE" 1 "DAS_ACTIVE_NAV_LANE_CHANGE" 0 "DAS_NONE" ; +VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ; +VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ; +VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ; + + diff --git a/opendbc/tesla_powertrain.dbc b/opendbc/tesla_powertrain.dbc new file mode 100644 index 000000000..8572ee20f --- /dev/null +++ b/opendbc/tesla_powertrain.dbc @@ -0,0 +1,179 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: + NEO + MCU + GTW + EPAS + DI + ESP + SBW + STW + APP + DAS + XXX + +BO_ 262 DI_torque1: 8 DI + SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO + SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO + SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO + SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO + SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO + SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO + SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 278 DI_torque2: 6 DI + SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO + SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO + SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO + SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO + SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO + SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO + SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO + SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO + SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO + SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO + SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO + +BO_ 504 BrakeMessage: 8 XXX + SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX + +BO_ 568 STW_ACTN_RQ: 8 STW + SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO + SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO + SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO + SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO + SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO + SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO + SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO + SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO + SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO + SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO + SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO + SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO + SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO + SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO + SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 598 DI_state: 8 DI + SG_ DI_systemState : 0|3@1+ (1,0) [0|0] "" NEO + SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] "" NEO + SG_ DI_proximity : 6|1@1+ (1,0) [0|0] "" NEO + SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] "" NEO + SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] "" NEO + SG_ DI_state : 9|3@1+ (1,0) [0|0] "" NEO + SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] "" NEO + SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed" NEO + SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] "" NEO + SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] "" NEO + SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed" NEO + SG_ DI_aebState : 41|3@1+ (1,0) [0|0] "" NEO + SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] "" NEO + SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] "" NEO + SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] "" NEO + +BO_ 703 DAS_control: 8 GTW + SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" DI,PM,APS + SG_ DAS_accState : 12|4@1+ (1,0) [0|0] "" DI,PM,APS + SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" DI,PM,APS + SG_ DAS_jerkMin : 18|9@1+ (0.03,-15.232) [-15.232|0.098] "m/s^3" DI,PM,APS + SG_ DAS_jerkMax : 27|8@1+ (0.059,0) [0|15.045] "m/s^3" DI,PM,APS + SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS + SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS + SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" DI,PM,APS + SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" DI,PM,APS + +VAL_ 262 DI_torqueDriver -4096 "SNA" ; +VAL_ 262 DI_torqueMotor -4096 "SNA" ; +VAL_ 262 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ; +VAL_ 262 DI_motorRPM -32768 "SNA" ; +VAL_ 262 DI_pedalPos 255 "SNA" ; +VAL_ 278 DI_torqueEstimate -2048 "SNA" ; +VAL_ 278 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ; +VAL_ 278 DI_brakePedal 1 "Applied" 0 "Not_applied" ; +VAL_ 278 DI_vehicleSpeed 4095 "SNA" ; +VAL_ 278 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ; +VAL_ 278 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ; +VAL_ 278 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ; +VAL_ 278 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ; +VAL_ 278 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ; +VAL_ 504 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ; +VAL_ 568 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ; +VAL_ 568 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ; +VAL_ 568 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ; +VAL_ 568 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ; +VAL_ 568 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ; +VAL_ 568 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ; +VAL_ 568 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ; +VAL_ 568 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ; +VAL_ 568 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ; +VAL_ 568 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; +VAL_ 568 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ; +VAL_ 598 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ; +VAL_ 598 DI_analogSpeed 4095 "SNA" ; +VAL_ 598 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ; +VAL_ 598 DI_digitalSpeed 255 "SNA" ; +VAL_ 598 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ; +VAL_ 598 DI_speedUnits 1 "KPH" 0 "MPH" ; +VAL_ 598 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ; +VAL_ 598 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ; +VAL_ 598 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ; +VAL_ 703 DAS_setSpeed 4095 "SNA" ; +VAL_ 703 DAS_accState 15 "FAULT_SNA" 13 "ACC_CANCEL_GENERIC_SILENT" 11 "APC_SELFPARK_START" 10 "APC_UNPARK_COMPLETE" 9 "APC_PAUSE" 8 "APC_ABORT" 7 "APC_COMPLETE" 6 "APC_FORWARD" 5 "APC_BACKWARD" 4 "ACC_ON" 3 "ACC_HOLD" 0 "ACC_CANCEL_GENERIC" ; +VAL_ 703 DAS_aebEvent 3 "AEB_SNA" 2 "AEB_FAULT" 1 "AEB_ACTIVE" 0 "AEB_NOT_ACTIVE" ; +VAL_ 703 DAS_jerkMin 511 "SNA" ; +VAL_ 703 DAS_jerkMax 255 "SNA" ; +VAL_ 703 DAS_accelMin 511 "SNA" ; +VAL_ 703 DAS_accelMax 511 "SNA" ; \ No newline at end of file diff --git a/opendbc/tesla_radar.dbc b/opendbc/tesla_radar.dbc new file mode 100644 index 000000000..e7b9cbc05 --- /dev/null +++ b/opendbc/tesla_radar.dbc @@ -0,0 +1,1371 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: FrontCamera Radar + + +BO_ 769 TeslaRadarSguInfo: 8 Radar + SG_ RADC_VerticalMisalignment : 0|8@1+ (1,0) [0|255] "" FrontCamera + SG_ RADC_SCUTemperature : 8|8@1+ (1,-128) [-128|127] "" FrontCamera + SG_ RADC_VMA_Plaus : 16|8@1+ (1,0) [0|255] "" FrontCamera + SG_ RADC_SGU_ITC : 24|8@1+ (1,0) [0|255] "" FrontCamera + SG_ RADC_HorizontMisalignment : 32|12@1+ (1,0) [0|4096] "" FrontCamera + SG_ RADC_SensorDirty : 44|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_HWFail : 45|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_SGUFail : 46|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_SGUInfoConsistBit : 47|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 770 TeslaRadarTguInfo: 8 Radar + SG_ RADC_ACCTargObj1_sguIndex : 0|6@1+ (1,0) [0|63] "" FrontCamera + SG_ RADC_ACCTargObj2_sguIndex : 6|6@1+ (1,0) [0|63] "" FrontCamera + SG_ RADC_ACCTargObj3_sguIndex : 12|6@1+ (1,0) [0|63] "" FrontCamera + SG_ RADC_ACCTargObj4_sguIndex : 18|6@1+ (1,0) [0|63] "" FrontCamera + SG_ RADC_ACCTargObj5_sguIndex : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ unused30 : 30|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_TGUInfoConsistBit : 31|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_ACCTargObj1_dBPower : 32|16@1+ (1,0) [0|65535] "" FrontCamera + SG_ RADC_ACCTargObj5_dBPower : 48|16@1+ (1,0) [0|65535] "" FrontCamera + +BO_ 1281 TeslaRadarAlertMatrix: 8 Radar + SG_ RADC_a001_ecuInternalPerf : 0|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a002_flashPerformance : 1|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a003_vBatHigh : 2|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a004_adjustmentNotDone : 3|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a005_adjustmentReq : 4|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a006_adjustmentNotOk : 5|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a007_sensorBlinded : 6|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a008_plantModeActive : 7|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a009_configMismatch : 8|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a010_canBusOff : 9|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a011_bdyMIA : 10|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a012_espMIA : 11|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a013_gtwMIA : 12|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a014_sccmMIA : 13|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a015_adasMIA : 14|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a016_bdyInvalidCount : 15|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a017_adasInvalidCount : 16|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a018_espInvalidCount : 17|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a019_sccmInvalidCount : 18|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a020_bdyInvalidChkSm : 19|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a021_espInvalidChkSm : 20|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a022_sccmInvalidChkSm : 21|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a023_sccmInvalidChkSm : 22|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a024_absValidity : 23|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a025_ambTValidity : 24|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a026_brakeValidity : 25|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a027_CntryCdValidity : 26|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a028_espValidity : 27|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a029_longAccOffValidity : 28|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a030_longAccValidity : 29|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a031_odoValidity : 30|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a032_gearValidity : 31|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a033_steerAngValidity : 32|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a034_steerAngSpdValidity : 33|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a035_indctrValidity : 34|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a036_vehStandStillValidity : 35|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a037_vinValidity : 36|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a038_whlRotValidity : 37|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a039_whlSpdValidity : 38|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a040_whlStandStillValidity : 39|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a041_wiperValidity : 40|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a042_xwdValidity : 41|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a043_yawOffValidity : 42|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a044_yawValidity : 43|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a045_bsdSanity : 44|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a046_rctaSanity : 45|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a047_lcwSanity : 46|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a048_steerAngOffSanity : 47|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a049_tireSizeSanity : 48|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a050_velocitySanity : 49|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a051_yawSanity : 50|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a052_radomeHtrInop : 51|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a053_espmodValidity : 52|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a054_gtwmodValidity : 53|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a055_stwmodValidity : 54|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a056_bcmodValidity : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a057_dimodValidity : 56|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a058_opmodValidity : 57|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a059_drmiInvalidChkSm : 58|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a060_drmiInvalidCount : 59|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a061_radPositionMismatch : 60|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a062_strRackMismatch : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ unused62 : 62|2@1+ (1,0) [0|3] "" FrontCamera + +BO_ 784 M_310hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 785 M_310hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 787 M_313hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 788 M_313hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 790 M_316hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 791 M_316hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 793 M_319hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 794 M_319hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 796 M_31Chex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 797 M_31Chex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 799 M_31Fhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 800 M_31Fhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 802 M_322hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 803 M_322hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 805 M_325hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 806 M_325hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 808 M_328hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 809 M_328hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 811 M_32Bhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 812 M_32Bhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 814 M_32Ehex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 815 M_32Ehex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 817 M_331hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 818 M_331hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 820 M_334hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 821 M_334hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 823 M_337hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 824 M_337hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 826 M_33Ahex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 827 M_33Ahex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 829 M_33Dhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 830 M_33Dhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 832 M_340hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 833 M_340hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 835 M_343hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 836 M_343hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 838 M_346hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 839 M_346hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 841 M_349hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 842 M_349hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 844 M_34Chex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 845 M_34Chex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 847 M_34Fhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 848 M_34Fhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 850 M_352hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 851 M_352hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 853 M_355hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 854 M_355hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 856 M_358hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 857 M_358hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 859 M_35Bhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 860 M_35Bhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 862 M_35Ehex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 863 M_35Ehex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 865 M_361hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 866 M_361hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 868 M_364hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 869 M_364hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 871 M_367hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 872 M_367hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 874 M_36Ahex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 875 M_36Ahex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 877 M_36Dhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 878 M_36Dhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 881 L_1_371hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 882 L_1_371hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 884 L_2_374hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 885 L_2_375hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 887 L_3_377hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 888 L_3_378hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 890 L_4_37ahex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 891 L_4_37ahex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 893 L_5_37dhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 894 L_5_37dhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 697 VIN_VIP_405HS: 8 FrontCamera + SG_ VIN_MuxID M : 0|8@1+ (1,0) [0|0] "" Radar + SG_ VIN_Part1 m16 : 47|24@0+ (1,0) [0|16777215] "" Radar + SG_ VIN_Part2 m17 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar + SG_ VIN_Part3 m18 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar + +BO_ 681 Msg2A9_GTW_carConfig: 8 FrontCamera + SG_ Msg2A9_Always0x02 : 48|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x10 : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x16 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x41 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Value1_0x02 : 0|3@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_FourWheelDrive : 3|2@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Value2_0x02 : 5|3@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x43 : 16|8@1+ (1,0) [0|0] "" Radar + +BO_ 409 Msg199_STW_ANGLHP_STAT: 8 FrontCamera + SG_ Msg199Always0x04 : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x20 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x2F : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x67 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0xFF : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 361 Msg169_ESP_wheelSpeeds: 8 FrontCamera + SG_ ESP_wheelSpeedFrL_HS : 0|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedFrR_HS : 13|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedReL_HS : 26|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedReR_HS : 39|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ Msg169Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg169Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 345 Msg159_ESP_C: 8 FrontCamera + SG_ Msg159Always0x3A : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xA5 : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xCF : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xF4 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Counter : 44|4@1+ (1,0) [0|0] "" Radar + SG_ Msg159Checksum : 24|8@1+ (1,0) [0|0] "" Radar + +BO_ 329 Msg149_ESP_145h: 8 FrontCamera + SG_ Msg149Always0x02 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x04 : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x26 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x6A : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0xAA : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0xF : 48|4@1+ (1,0) [0|0] "" Radar + SG_ Msg149Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 297 Msg129_ESP_115h: 6 FrontCamera + SG_ Msg129Always0x20 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg129Checksum : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg129Counter : 36|4@1+ (1,0) [0|0] "" Radar + +BO_ 281 Msg119_DI_torque2: 6 FrontCamera + SG_ Msg119Always0x11 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0x1F : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0x8 : 36|4@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0xF4 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0xFF : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Checksum : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Counter : 32|4@1+ (1,0) [0|0] "" Radar + +BO_ 265 Msg109_DI_torque1: 8 FrontCamera + SG_ Msg109Always0x80 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg109Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg109Counter : 13|3@1+ (1,0) [0|0] "" Radar + +BO_ 521 Msg209_GTW_odo: 8 FrontCamera + SG_ Msg209Always0x61 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x94 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x52 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x13 : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x03 : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x80 : 48|8@1+ (1,0) [0|0] "" Radar + +BO_ 537 Msg219_STW_ACTN_RQ: 8 FrontCamera + SG_ Msg219Counter : 52|4@1+ (1,0) [0|15] "" Radar + SG_ Msg219CRC : 56|8@1+ (1,0) [0|0] "" Radar + +BO_ 425 Msg1A9_DI_espControl: 5 FrontCamera + SG_ Msg1A9Always0x0C : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg1A9Counter : 28|4@1+ (1,0) [0|0] "" Radar + SG_ Msg1A9Checksum : 32|8@1+ (1,0) [0|0] "" Radar + +BO_ 729 Msg2D9_BC_status : 8 FrontCamera + SG_ Msg2D9Always0x80 : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2D9Always0x40 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2D9Always0x83 : 16|8@1+ (1,0) [0|0] "" Radar + +BO_ 1601 UDS_radarRequest: 8 FrontCamera + SG_ UDS_radarRequestData : 7|64@0+ (1,0) [0|0] "" Radar + +BO_ 1617 Radar_udsResponse: 8 Radar + SG_ Radar_udsResponseData : 7|64@0+ (1,0) [0|0] "" FrontCamera + +CM_ BO_ 697 "Start with MuxID 0x12, then 0x11 and finally 0x10 (VIN is then transmitted in the reverse order)"; +CM_ BO_ 681 "Message sent every 1000 ms. All fixed bytes, no checksum, the byte for RWD or AWD needs to match VIN config"; +CM_ BO_ 409 "Message sent every 10ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo"; +CM_ BO_ 361 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x76"; +CM_ BO_ 345 "Message sent every 20ms. Checksum : Sum of all first bytes + 0xc; place checksum in 4th octet"; +CM_ BO_ 329 "Message sent every 20ms. Checksum : Sum of all first 7 bytes + 0x46"; +CM_ BO_ 297 "Message sent every 20ms. Checksum : Sum of all first 5 bytes + 0x16"; +CM_ BO_ 281 "Message sent every 10ms. Checksum : Sum of all first 5 bytes + 0x17"; +CM_ BO_ 265 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x7"; +CM_ BO_ 521 "Message sent every 100ms. All fixed bytes, no checksum."; +CM_ BO_ 537 "Message sent every 100ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo"; +CM_ BO_ 425 "Message sent every 20ms. Checksum : Sum of all first 4 bytes + 0x38"; +CM_ BO_ 729 "Message sent every 1000ms. All fixed bytes, no checksum."; + +BA_DEF_ "BusType" STRING ; +BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0; +BA_DEF_ SG_ "FieldType" STRING ; + +BA_DEF_DEF_ "BusType" "CAN"; +BA_DEF_DEF_ "FieldType" ""; +BA_DEF_DEF_ "GenMsgCycleTime" 0; + +BA_ "GenMsgCycleTime" BO_ 697 250; +BA_ "GenMsgCycleTime" BO_ 681 1000; +BA_ "GenMsgCycleTime" BO_ 409 10; +BA_ "GenMsgCycleTime" BO_ 361 10; +BA_ "GenMsgCycleTime" BO_ 345 20; +BA_ "GenMsgCycleTime" BO_ 329 20; +BA_ "GenMsgCycleTime" BO_ 297 20; +BA_ "GenMsgCycleTime" BO_ 281 10; +BA_ "GenMsgCycleTime" BO_ 265 10; +BA_ "GenMsgCycleTime" BO_ 521 100; +BA_ "GenMsgCycleTime" BO_ 537 100; +BA_ "GenMsgCycleTime" BO_ 425 20; +BA_ "GenMsgCycleTime" BO_ 729 1000; + +VAL_ 681 Msg2A9_FourWheelDrive 3 "SNA" 2 "UNUSED" 1 "4WD" 0 "2WD" ; +VAL_ 785 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 785 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 788 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 788 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 791 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 791 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 794 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 794 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 797 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 797 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 800 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 800 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 803 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 803 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 806 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 806 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 809 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 809 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 812 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 812 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 815 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 815 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 818 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 818 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 821 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 821 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 824 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 824 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 827 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 827 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 830 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 830 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 833 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 833 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 836 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 836 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 839 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 839 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 842 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 842 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 845 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 845 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 848 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 848 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 851 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 851 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 854 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 854 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 857 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 857 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 860 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 860 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 863 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 863 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 866 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 866 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 869 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 869 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 872 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 872 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 875 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 875 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 878 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 878 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 882 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 882 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 885 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 885 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 888 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 888 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 891 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 891 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 894 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 894 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; + diff --git a/opendbc/toyota_2017_ref_pt.dbc b/opendbc/toyota_2017_ref_pt.dbc new file mode 100644 index 000000000..17cd8f1b3 --- /dev/null +++ b/opendbc/toyota_2017_ref_pt.dbc @@ -0,0 +1,1638 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: AFS BSR CGW CSR DS1 FCM FRD KSS MAV SCS Vector__XXX + + +BO_ 1196 ABG1D50: 8 CGW + SG_ DRABG01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1212 ABG1D51: 8 CGW + SG_ DRABG09 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG10 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG13 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG14 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG15 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRABG16 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 945 ABG1S01: 8 CGW + SG_ CDT : 22|3@0+ (1,0) [0|0] "" DS1 + SG_ AB : 19|2@0+ (1,0) [0|0] "" DS1 + SG_ DBKLAB : 17|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PODT : 27|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBKLAB : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ EDRTRG : 44|2@0+ (1,0) [0|0] "" DS1 + +BO_ 836 ACC1F01: 8 DS1 + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS + SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCF01SM : 63|8@0+ (1,0) [0|0] "" FCM + +BO_ 1227 ACC1N01: 8 DS1 + SG_ ACCNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ ACCSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ ACCSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ ACCREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 835 ACC1S03: 8 DS1 + SG_ ATACC2 : 7|16@0- (0.001,0) [0|0] "m/s^2" Vector__XXX + SG_ ACCTYPE : 23|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ XTRGT2 : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XLTMD2 : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LCDT2 : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LCNG : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SMC : 17|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ STOKJD : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PMTBRKG : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LVSTP : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LCCWOK : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LCBW2 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACC : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ AT_RAW : 47|8@0- (0.05,0) [0|0] "m/s^2" Vector__XXX + SG_ ACC03SUM : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 896 ACN1S01: 8 CGW + SG_ R_AC2 : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_HTR : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECOSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_EGON : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BLWON : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SCAC : 13|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CGIH : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FAN_AC : 22|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACHI : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACMAX : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_VSCUS : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_SHTR : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_PTC : 29|2@0+ (1,0) [0|0] "piece" Vector__XXX + SG_ GNRTIH : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_COL_TM : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_HET_TM : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TAMOUT : 55|8@0- (0.625,0) [0|0] "" Vector__XXX + +BO_ 897 ACN1S04: 8 CGW + SG_ R_ACCALL : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_AC_WNG : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_SW_CON : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_BEEP : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RA_AUT : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RA_AC : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RA_LO : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RA_HI : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_AUTO_D : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_AUTO_P : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_DEF : 13|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RRDEF : 12|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_RFAUT : 11|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_REC : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_FRS : 9|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_AC : 8|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_MHTR : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_WIPD : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_DUSY : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_SWNG : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_BLW_F : 19|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_OAUT_D : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_OLET_D : 30|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_OAUT_P : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_OLET_P : 26|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ST_BMN_F : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_AIRPR : 47|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_O2 : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_PLSM : 45|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_KAFUN : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_SAFS : 42|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_ACOFF : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_ONSCRN : 40|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 944 ACN1S07: 6 CGW + SG_ RDEF : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MHTR : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TR_TEMP : 15|8@0+ (0.25,-6.5) [0|0] "" Vector__XXX + SG_ ACN_AMB : 31|8@0+ (1,0) [0|0] "" CSR,DS1,FCM + SG_ AC_AMB05 : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AC_MODE : 43|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1250 AFS1N01: 8 AFS + SG_ AFSNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ AFSSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ AFSSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ AFSREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 913 AFS1S01: 8 AFS + SG_ HLLI : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AZB_ADV : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ HEDH_AZB : 3|1@0+ (1,0) [0|0] "" FCM + SG_ AZB_IND : 13|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ AZB_HIND : 11|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AZB_PRE : 10|1@0+ (1,0) [0|0] "" FCM + SG_ LED_HLI : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LPECU_PR : 24|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 845 AFS1S02: 5 AFS + SG_ AHRR : 17|10@0+ (0.0048828125,0) [0|0] "V" Vector__XXX + SG_ AHVLD : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AHFAIL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1044 AHB1S01: 8 FCM + SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX + SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 900 AVN1S01: 6 CGW + SG_ RDC : 7|4@0+ (1,0) [0|0] "" SCS + SG_ CONFID01 : 3|2@0+ (1,0) [0|0] "" SCS + SG_ CONF : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LYT : 15|4@0+ (1,0) [0|0] "" SCS + SG_ DRVW : 9|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MWMP : 8|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GRAD : 23|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ HARSHID : 19|4@0+ (1,0) [0|0] "" SCS + SG_ BRANCH : 27|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ HARSH : 35|2@0+ (1,0) [0|0] "" SCS + SG_ TOLLGATE : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TUNL : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LEAVEOUT : 47|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MRGLANE : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LVLANE : 45|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 902 AVN1S03: 6 CGW + SG_ ANS : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRS1 : 15|1@0+ (1,0) [0|0] "" SCS + SG_ RQAC : 14|7@0+ (0.02,0) [0|0] "G" Vector__XXX + SG_ GUID : 23|1@0+ (1,0) [0|0] "" SCS + SG_ GYRO : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ NCRN : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRN6 : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRN5 : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRN3 : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRN2 : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CRN1 : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CONFID03 : 31|2@0+ (1,0) [0|0] "" SCS + SG_ CURV : 29|2@0+ (1,0) [0|0] "" SCS + SG_ CVST : 27|1@0+ (1,0) [0|0] "" SCS + SG_ NAVI_STR : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MIND : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ONOFF : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HWPB : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RAD : 38|7@0+ (5,0) [0|0] "m" SCS + SG_ AFS_SW : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVS_SW : 40|1@0+ (1,0) [0|0] "" SCS + +BO_ 911 AVN1S07: 8 CGW + SG_ TOFC_RST : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SL_CSTM : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SL_RMDG : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ST_RTCOM : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVN07VLD : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ST_UCST : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM51 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM52 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM53 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM54 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM55 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSCOM56 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 905 AVN1S08: 8 CGW + SG_ VVSW : 7|3@0+ (1,0) [0|0] "" CSR + SG_ BZV : 4|3@0+ (1,0) [0|0] "" CSR + SG_ DFS : 1|2@0+ (1,0) [0|0] "" CSR + SG_ BZ_M_SW : 15|1@0+ (1,0) [0|0] "" CSR + SG_ VOL_SW : 14|1@0+ (1,0) [0|0] "" CSR + SG_ BM : 13|1@0+ (1,0) [0|0] "" CSR + SG_ DOFR : 12|1@0+ (1,0) [0|0] "" CSR + SG_ RDSW : 11|1@0+ (1,0) [0|0] "" CSR + SG_ FDSW : 10|1@0+ (1,0) [0|0] "" CSR + SG_ RBSW : 9|1@0+ (1,0) [0|0] "" CSR + SG_ FBSW : 8|1@0+ (1,0) [0|0] "" CSR + SG_ NVDP_OK : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DEVICE : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DISPSIZE : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HPTCSW_L : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HPTCSW_R : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HPTCSW_E : 28|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_MODE : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VARBGM : 26|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ WBGM : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ X_LL : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ Y_LL : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ X_RH : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ Y_RH : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 998 AVN1S11: 5 CGW + SG_ SENSPFM : 7|3@0+ (1,0) [0|0] "" SCS + SG_ SENSFAIL : 4|3@0+ (1,0) [0|0] "" SCS + SG_ CONFID11 : 1|2@0+ (1,0) [0|0] "" SCS + SG_ CONFMMC : 15|8@0+ (1,0) [0|0] "" SCS + SG_ DISTERR : 23|8@0+ (1,0) [0|0] "" SCS + SG_ CONFLANE : 31|8@0+ (1,0) [0|0] "" SCS + SG_ CONFDIR : 39|8@0+ (1,0) [0|0] "" SCS + +BO_ 933 AVN1S13: 8 CGW + SG_ HUD_DISP : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRVSIDE : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DT_GP : 5|6@0+ (1,0) [0|0] "" Vector__XXX + SG_ DT_UNIT : 15|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DIR_TURN : 12|5@0+ (11.25,0) [0|0] "degree" Vector__XXX + SG_ ROTARY : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ROAD_TP1 : 22|15@0+ (1,0) [0|0] "" Vector__XXX + SG_ ROAD_TP2 : 39|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ N_H_UP : 55|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ COMPASS : 54|6@0+ (11.25,0) [0|0] "degree" Vector__XXX + SG_ DIR : 63|6@0+ (11.25,0) [0|0] "degree" Vector__XXX + +BO_ 936 AVN1S16: 5 CGW + SG_ NDADVSRY : 7|5@0+ (1,0) [0|0] "" Vector__XXX + SG_ NDCAUTON : 15|5@0+ (1,0) [0|0] "" Vector__XXX + SG_ NDSSLCT : 23|5@0+ (1,0) [0|0] "" Vector__XXX + SG_ NDCNFDID : 18|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ NDINDST : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVN16SUM : 39|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 999 AVN1S17: 7 CGW + SG_ AVN17VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANEID17 : 6|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRVLANE : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRV_SIDE : 12|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE_NS : 11|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE1FLG : 23|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE2FLG : 19|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE1DIR : 31|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE2DIR : 47|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1000 AVN1S18: 8 CGW + SG_ AVN18VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANEID18 : 6|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE3FLG : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE4FLG : 15|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE5FLG : 11|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE3DIR : 23|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE4DIR : 39|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE5DIR : 55|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1001 AVN1S19: 8 CGW + SG_ AVN19VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANEID19 : 6|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE6FLG : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE7FLG : 15|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE8FLG : 11|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE6DIR : 23|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE7DIR : 39|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ LANE8DIR : 55|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1076 AVN1S20: 8 CGW + SG_ A_LNG_ST : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LANG : 5|6@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB1 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB2 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB3 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB5 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_LNGCHG : 56|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1077 AVN1S21: 8 CGW + SG_ A_OPEN_S : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OPENCHG : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CAPSW_S : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_CLR_S : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ DISP_BRT : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DISP_CNT : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MM_CLOCK : 31|11@0+ (1,0) [0|0] "" Vector__XXX + SG_ CLK_OFST : 36|4@0- (5,0) [0|0] "min" Vector__XXX + SG_ DST : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CLK_TYP : 47|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_UNTTMP : 45|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_UNTSP : 43|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_UNTDST : 41|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_UNTCSP : 55|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_CLRCHG : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_TMPCHG : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_SPCHG : 50|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_DSTCHG : 49|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_CSPCHG : 48|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ A_SPLM : 63|6@0+ (5,0) [0|0] "" Vector__XXX + SG_ A_UTSPLM : 57|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1043 AVN1S31: 8 CGW + SG_ GPSTM_Y : 7|8@0+ (1,0) [0|0] "year" Vector__XXX + SG_ GPSTM_MO : 15|8@0+ (1,0) [0|0] "month" Vector__XXX + SG_ GPSTM_D : 23|8@0+ (1,0) [0|0] "day" Vector__XXX + SG_ GPSTM_H : 31|8@0+ (1,0) [0|0] "hour" Vector__XXX + SG_ GPSTM_MI : 39|8@0+ (1,0) [0|0] "minute" Vector__XXX + SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GMTDIF_H : 54|4@0+ (1,0) [0|0] "hour" Vector__XXX + SG_ GMTDIF_M : 50|6@0+ (1,0) [0|0] "minute" Vector__XXX + SG_ SUMMERTM : 60|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075054137 BDB1F01_14: 8 CGW + SG_ BDBF01ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDBF01IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ SALR : 23|6@0+ (1,0) [0|0] "" Vector__XXX + SG_ HDCY_BDB : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AARE_B : 31|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ I_SEN_B : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ INTSET_B : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ INCSET_B : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ISSD_BDB : 39|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SEID : 37|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ WS_ID : 44|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ WS_SWON : 41|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ WS_DATA : 55|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075185211 BDB1F03_16: 8 CGW + SG_ BDBF03ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ BDBF03IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ TRIP_CNT : 23|16@0+ (1,0) [0|0] "trip" AFS,BSR,CSR,DS1,FCM,MAV + SG_ TIME_CNT : 39|32@0+ (100,0) [0|0] "ms" AFS,BSR,CSR,DS1,FCM,MAV + +BO_ 1074791968 BDB1S01_10: 8 CGW + SG_ BDB01_ID : 7|8@0+ (1,0) [0|0] "" FCM,MAV + SG_ BDB01_IF : 15|8@0+ (1,0) [0|0] "" FCM + SG_ LX : 23|16@0+ (0.2,0) [0|0] "ms" FCM + SG_ ADIM : 39|2@0+ (1,0) [0|0] "" AFS,BSR,CSR + SG_ IG_BDB : 37|1@0+ (1,0) [0|0] "" AFS,MAV + SG_ ACC_BDB : 36|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SKSW : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DCTY : 45|1@0+ (1,0) [0|0] "" FCM,MAV,SCS + SG_ PCTY : 44|1@0+ (1,0) [0|0] "" MAV,SCS + SG_ RRCY : 43|1@0+ (1,0) [0|0] "" MAV,SCS + SG_ RLCY : 42|1@0+ (1,0) [0|0] "" MAV,SCS + SG_ BCTY : 41|1@0+ (1,0) [0|0] "" MAV,SCS + SG_ PSW : 51|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SRBZ : 49|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DBKL : 63|2@0+ (1,0) [0|0] "" FCM + SG_ PKB_BDB : 60|1@0+ (1,0) [0|0] "" CSR + SG_ SREXIST : 59|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SRPOS : 58|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1074857505 BDB1S02_11: 8 CGW + SG_ BDB02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ LUD : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRNKOPN : 45|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1074923042 BDB1S03_12: 8 CGW + SG_ BDB03_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ BDB03_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ LTS : 23|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ PANL : 19|1@0+ (1,0) [0|0] "" BSR,CSR + SG_ UDRL : 31|1@0+ (1,0) [0|0] "" AFS + SG_ HEDH : 30|1@0+ (1,0) [0|0] "" AFS,DS1,FCM + SG_ HEDL : 29|1@0+ (1,0) [0|0] "" AFS,DS1 + SG_ TAIL : 28|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1 + SG_ FFOG : 27|1@0+ (1,0) [0|0] "" DS1 + SG_ RFOG : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SB_IND : 39|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SB_OK : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RTRRQ : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SRWARN : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PWWARN : 50|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ WEL_REQ : 48|1@0+ (1,0) [0|0] "" AFS + SG_ DRPBZ_R : 62|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075381795 BDB1S04_19: 8 CGW + SG_ BDB04_ID : 7|8@0+ (1,0) [0|0] "" MAV + SG_ BDB04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MRMV_R : 23|2@0+ (1,0) [0|0] "" MAV + SG_ RSEL : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSEL : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MHR : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MHL : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MVU : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MVD : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GHSW : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GCTY : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GHOPN : 42|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ABIF : 55|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ FLSHRQ : 63|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SB_ADV : 60|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1074988600 BDB1S05_13: 8 CGW + SG_ BDB05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ PARK : 23|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSWB : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSWD : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSWP : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSWR : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSWL : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LSWB : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRVKS_R : 31|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PWDRD : 39|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PWDRP : 37|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PWDRR : 35|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PWDRL : 33|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ DKLS : 43|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BKLS : 54|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ KIDSCN_R : 51|7@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075250736 BDB1S06_17: 8 CGW + SG_ BDB06_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB06_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TBSW : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ WBZF : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ WVOL : 42|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075316273 BDB1S07_18: 8 CGW + SG_ BDB07_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB07_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ WCD : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ W1D : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ W2D : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ W3D : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB7SUM1 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB7SUM2 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075447332 BDB1S08_1A: 8 CGW + SG_ BDB08_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ BDB08_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ DEST_BDB : 23|8@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV + SG_ DS_PACK1 : 31|8@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV + SG_ DS_PACK2 : 39|8@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV + SG_ STRG_WHL : 47|2@0+ (1,0) [0|0] "" AFS,CSR,DS1,FCM,MAV + SG_ DEICER : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ KEYPLATE : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DBLLCK : 62|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ U2OP_CST : 61|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ U2OP_DFT : 60|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075643943 BDB1S11_1D: 8 CGW + SG_ BDB11_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB11_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDBREQ11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDBREQ12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1083704892 BDB1S17_98: 8 CGW + SG_ BDB17_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB17_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ CHABASE1 : 23|8@0+ (1,0) [0|0] "" AFS + SG_ CHABASE2 : 31|8@0+ (1,0) [0|0] "" AFS + SG_ CHABASE3 : 39|8@0+ (1,0) [0|0] "" AFS + SG_ CHA_NO1 : 47|4@0+ (1,0) [0|0] "" AFS + SG_ CHA_NO2 : 43|4@0+ (1,0) [0|0] "" AFS + SG_ CHA_NO3 : 55|4@0+ (1,0) [0|0] "" AFS + SG_ SP_BODY : 63|5@0+ (1,0) [0|0] "" AFS + +BO_ 1083770429 BDB1S18_99: 8 CGW + SG_ BDB18_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB18_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ POP_NAME : 23|8@0+ (1,0) [0|0] "" AFS + SG_ BODY : 31|8@0+ (1,0) [0|0] "" AFS + SG_ GEAR : 39|8@0+ (1,0) [0|0] "" AFS + SG_ GRADE : 47|8@0+ (1,0) [0|0] "" AFS + SG_ ENGINE : 55|8@0+ (1,0) [0|0] "" AFS + +BO_ 1020 BDB1S19: 8 CGW + SG_ SOLAR_R : 23|9@0+ (100,0) [0|0] "" Vector__XXX + SG_ SOLAR_L : 39|9@0+ (100,0) [0|0] "" Vector__XXX + SG_ N_LX : 55|13@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1083835966 BDB1S20_9A: 8 CGW + SG_ BDB20_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB20_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RNBDYC : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RNBDYD : 39|32@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1083901503 BDB1S21_9B: 8 CGW + SG_ BDB21_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BDB21_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ RFOG_SW : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FFOG_SW : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HF_SW : 20|1@0+ (1,0) [0|0] "" AFS + SG_ HU_SW : 19|1@0+ (1,0) [0|0] "" AFS + SG_ AUTO_SW : 18|1@0+ (1,0) [0|0] "" AFS + SG_ HEAD_SW : 17|1@0+ (1,0) [0|0] "" AFS + SG_ TAIL_SW : 16|1@0+ (1,0) [0|0] "" AFS + SG_ DRL_OFF : 24|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1005 BGM1S01: 2 CGW + SG_ WCAA : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ R_DISP : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BGM_BEEP : 11|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BGM_MODE : 9|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1237 BSR1N01: 8 BSR + SG_ BSRNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ BSRSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ BSRSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ BSRREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 1014 BSR1S01: 8 BSR + SG_ BSD_STAT : 7|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ BSD_SW : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BSD_BUZ : 23|1@0+ (1,0) [0|0] "" CSR + +BO_ 1114 CGW1N02: 8 CGW + SG_ CGW2REV : 7|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1228 CSR1N01: 8 CSR + SG_ CSRNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ CSRSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ CSRSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ CSRREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 918 CSR1S01: 7 CSR + SG_ CSV : 7|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ CSSR : 4|2@0+ (1,0) [0|0] "" MAV + SG_ CSD : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CSME : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CSIN : 0|1@0+ (1,0) [0|0] "" MAV + SG_ FL_INFO : 15|4@0+ (1,0) [0|0] "" MAV + SG_ FR_INFO : 11|4@0+ (1,0) [0|0] "" MAV + SG_ RB_INFO : 23|4@0+ (1,0) [0|0] "" MAV + SG_ FC_INFO : 19|4@0+ (1,0) [0|0] "" MAV + SG_ RL_INFO : 31|4@0+ (1,0) [0|0] "" MAV + SG_ RR_INFO : 27|4@0+ (1,0) [0|0] "" MAV + SG_ CZV : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ VOT : 47|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ FCZD : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RCZD : 42|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FCDD : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RCDD : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VOL : 55|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ CDG : 52|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ MUTE : 49|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BZ_OFF : 48|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1087768273 DMS1S02_D6: 8 CGW + SG_ SS_MODE : 25|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 869 DS11D70: 7 DS1 + SG_ D_TRGJDG : 7|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_RESSW : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_SETSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_CANSW : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_MAINSW : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_VMCC : 15|8@0+ (1,0) [0|0] "km/h" Vector__XXX + SG_ D_VNCC : 23|8@0+ (1,0) [0|0] "km/h" Vector__XXX + SG_ D_CCREQ : 31|8@0+ (100,-12800) [0|0] "N" Vector__XXX + SG_ D_TGTDST : 39|8@0+ (1,0) [0|0] "m" Vector__XXX + SG_ D_VRCC : 47|8@0- (1,0) [0|0] "km/h" Vector__XXX + SG_ D_WSTL : 55|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_DSW : 54|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_FDJDG : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ D_DSSJDG : 51|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 870 DS11D71: 7 DS1 + SG_ XREQALM : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XREQABK : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TGT_DIST : 5|14@0+ (0.01,0) [0|0] "m" Vector__XXX + SG_ XREQPBA : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XREQFPB : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XREQPB : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XREQEXT : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XREQPSB : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TGT_VGAP : 18|11@0+ (0.025,-51.175) [0|0] "m/s" Vector__XXX + SG_ PCSDISP : 39|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ XPCSRDY : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TGT_NUMB : 34|3@0+ (1,1) [0|0] "" Vector__XXX + SG_ TGT_POSX : 47|8@0- (0.04,0) [0|0] "m" Vector__XXX + +BO_ 871 DS11D72: 2 FCM + SG_ LKADRTRG : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRSHR : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRSLK : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRSLD : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRCC : 2|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRTUR : 15|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKADRINV : 13|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 643 DS11F01: 7 DS1 + SG_ DSCOUNT : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSLCCW1 : 15|1@0+ (1,0) [0|0] "" FCM + SG_ DSSTPBZ : 14|1@0+ (1,0) [0|0] "" FCM + SG_ PBRTRGR2 : 12|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSSFTRQD : 11|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSS1FDRV : 23|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ DSS1STBK : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSS1STAT : 36|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSBHOK : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PPTRGR2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DSRQBH : 47|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ IBTRGR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSABK2 : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSNOCHG : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ DS1F01SM : 55|8@0+ (1,0) [0|0] "" FCM + +BO_ 1041 DS12F02: 8 DS1 + SG_ PCSINDI : 7|2@0+ (1,0) [0|0] "" FCM + SG_ PCSWM : 5|2@0+ (1,0) [0|0] "" FCM + SG_ PCSFCT : 3|1@0+ (1,0) [0|0] "" FCM + SG_ PCSTUCT : 2|1@0+ (1,0) [0|0] "" FCM + SG_ DS1LCCK : 1|2@0+ (1,0) [0|0] "" FCM + SG_ PBTUCT : 14|1@0+ (1,0) [0|0] "" FCM + SG_ PCSEXIST : 13|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWDUCT : 11|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWD : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDW : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDSRF : 36|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSTEMP : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDUST : 34|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSLCCK : 33|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSPEDW : 47|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSPVSN : 44|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCTEMP2 : 42|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSDUST2 : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSOFFS : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSWDS : 55|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ FRDADJ : 53|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1042 DS12F03: 8 FCM + SG_ LKAINDI : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKAWLSL : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKAWLSR : 3|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKAFCT : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKATUCT : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKACAMT : 13|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LDWEXIST : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKASPCND : 23|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKAWTCS : 18|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKASAUT : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LDWBZ : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LDAFCVB : 47|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LDARDA : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWSSENSD : 45|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWSSWD : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWSRAD : 55|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWSFLD : 53|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWSBUZ : 50|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1207 ECO1D50: 8 CGW + SG_ DRECO01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECO08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 355 ECO1S01: 5 CGW + SG_ ECOSTAON : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECOMODE : 18|3@0+ (1,0) [0|0] "" KSS,SCS + SG_ FCREQ : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SSVMREQ : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ E2MRXMK : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BPHLDRQ : 36|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BPHLDRQ2 : 35|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECOEGSTP : 33|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 922 ECO1S90: 8 CGW + SG_ ECOBZR : 23|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECOLMP : 21|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ TESTECO : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OPLMPMSK : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MSTART : 28|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECOMODE3 : 27|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ INFSSCOP : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ INFSSSTL : 36|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECLMP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ AUTOSTA : 47|1@0+ (1,0) [0|0] "" SCS + SG_ INFSSFAL : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ INFSSINH : 45|6@0+ (1,0) [0|0] "" Vector__XXX + SG_ SSACMODE : 52|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ INFSSADV : 50|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1182 ECT1D50: 8 CGW + SG_ DRECT01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1183 ECT1D51: 8 CGW + SG_ DRECT11 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT12 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT13 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT14 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT15 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT16 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT17 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT18 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1200 ECT1D52: 8 CGW + SG_ DRECT21 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT22 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT23 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT24 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT25 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT26 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT27 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT28 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1201 ECT1D53: 8 CGW + SG_ DRECT31 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT32 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT33 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT34 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT35 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT36 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT37 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT38 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1202 ECT1D54: 8 CGW + SG_ DRECT41 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT42 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT43 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT44 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT45 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT46 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT47 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT48 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1203 ECT1D55: 8 CGW + SG_ DRECT51 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT52 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT53 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT54 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT55 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT56 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT57 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRECT58 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 464 ECT1F03: 8 CGW + SG_ NT : 7|16@0- (0.390625,0) [0|0] "rpm" Vector__XXX + SG_ ACT : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XDMET : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XNTSW : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XNMET : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XRMET : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XPMET : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SFTOUT_S : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ X3MET : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ X2MET : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XLOMET : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ L4SW : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SNOW : 36|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFSFT : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SFTOUT : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ HSSLWN : 55|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HSINH : 54|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CLTMODBK : 53|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ LUOUT : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LUKG : 50|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ FBCOA : 48|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ECTF03SM : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 725 ECT1S10: 2 CGW + SG_ VTORATIO : 7|16@0+ (0.0009765625,0) [0|0] "" Vector__XXX + +BO_ 956 ECT1S92: 8 CGW + SG_ B_OILW : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_OILMD : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ISNW : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_RJTB : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_WNDL : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LMULRJ : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_P : 13|1@0+ (1,0) [0|0] "" AFS,CSR,MAV + SG_ B_R : 12|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV + SG_ B_N : 11|1@0+ (1,0) [0|0] "" AFS,CSR,MAV + SG_ B_ISPTM : 10|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ BV_THOCL : 23|16@0+ (0.625,-50) [0|0] "" Vector__XXX + SG_ B_GEAR : 39|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_SMDE : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_D : 47|1@0+ (1,0) [0|0] "" AFS,CSR,DS1,MAV + SG_ B_ECOMI : 40|1@0+ (1,0) [0|0] "" DS1 + SG_ B_SPTMI : 55|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_PWRM : 54|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_OILWM : 51|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_SPTMS : 49|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_DMODE : 61|3@0+ (1,0) [0|0] "" SCS + +BO_ 1176 ENG1D50: 8 CGW + SG_ DRENG01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1177 ENG1D51: 8 CGW + SG_ DRENG11 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG12 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG13 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG14 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG15 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG16 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG17 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG18 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1178 ENG1D52: 8 CGW + SG_ DRENG21 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG22 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG23 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG24 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG25 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG26 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG27 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG28 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1179 ENG1D53: 8 CGW + SG_ DRENG31 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG32 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG33 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG34 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG35 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG36 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG37 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG38 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1180 ENG1D54: 8 CGW + SG_ DRENG41 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG42 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG43 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG44 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG45 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG46 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG47 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG48 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1181 ENG1D55: 8 CGW + SG_ DRENG51 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG52 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG53 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG54 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG55 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG56 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG57 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG58 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1192 ENG1D56: 8 CGW + SG_ DRENG61 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG62 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG63 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG64 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG65 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG66 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG67 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG68 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1191 ENG1D57: 8 CGW + SG_ DRENG71 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG72 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG73 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG74 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG75 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG76 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG77 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG78 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1197 ENG1D58: 8 CGW + SG_ DRENG81 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG82 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG83 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG84 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG85 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG86 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG87 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG88 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1198 ENG1D59: 8 CGW + SG_ DRENG91 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG92 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG93 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG94 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG95 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG96 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG97 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG98 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1199 ENG1D60: 8 CGW + SG_ DRENG101 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG102 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG103 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG104 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG105 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG106 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG107 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRENG108 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1017 ENG1F03: 8 CGW + SG_ VARENG1 : 7|4@0+ (1,0) [0|0] "" AFS,SCS + SG_ VARENG2 : 3|4@0+ (1,0) [0|0] "" AFS,SCS + SG_ VARENG3 : 15|4@0+ (1,0) [0|0] "" AFS,SCS + SG_ VARENG4 : 11|1@0+ (1,0) [0|0] "" AFS,SCS + SG_ HVFLAG : 10|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,SCS + SG_ VARTRM1 : 23|4@0+ (1,0) [0|0] "" AFS,CSR,FCM,MAV,SCS + SG_ GEARINF : 19|4@0+ (1,0) [0|0] "" SCS + SG_ DVINF : 31|2@0+ (1,0) [0|0] "" AFS,DS1,FCM,SCS + SG_ OBDINF : 27|4@0+ (1,0) [0|0] "" BSR,DS1,FCM,SCS + SG_ ECOFLAG : 39|1@0+ (1,0) [0|0] "" FCM + SG_ CDYMD : 38|2@0+ (1,0) [0|0] "" DS1,FCM + SG_ ENGF03SM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + +BO_ 452 ENG1F07: 8 CGW + SG_ NE1 : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + SG_ THA1 : 23|8@0+ (2.5,-40) [0|0] "" Vector__XXX + SG_ THWX : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ EGF : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ T2ERXF : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ T2ERXMK : 28|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ASTEFI : 27|1@0+ (1,0) [0|0] "" AFS + SG_ B2ERXMK : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PDLF : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENTCAL2 : 39|8@0+ (12.5,0) [0|0] "rpm" Vector__XXX + SG_ EGFB : 46|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ PTFB : 45|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MILREQ : 43|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ECOL : 55|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_IECOCR : 53|6@0+ (2,0) [0|0] "" Vector__XXX + SG_ ENGF07SM : 63|8@0+ (1,0) [0|0] "" AFS,DS1,FCM + +BO_ 114 ENG1F43: 5 CGW + SG_ FAVLMCHL : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FAVLMONL : 23|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ ENGF43SM : 39|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 705 ENG1S01: 8 CGW + SG_ ETCSFB : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ETCSF : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSCTH : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ THF : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ IDL1 : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XCCACT2 : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ STPSWF : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ WTC : 0|1@0+ (1,0) [0|0] "" KSS,SCS + SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" Vector__XXX + SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS + SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" Vector__XXX + SG_ EACCP : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM + SG_ ENG01SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + +BO_ 961 ENG1S23: 3 CGW + SG_ EKLSM : 7|8@0+ (0.625,0) [0|0] "%" Vector__XXX + SG_ GATHW : 15|16@0- (0.625,0) [0|0] "" Vector__XXX + +BO_ 979 ENG1S28: 2 CGW + SG_ B_FC : 7|16@0+ (0.0005,0) [0|0] "ml" Vector__XXX + +BO_ 1408 ENG1S51: 8 CGW + SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1409 ENG1S52: 8 CGW + SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1410 ENG1S54: 8 CGW + SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ VC : 52|5@0+ (1,0) [0|0] "" Vector__XXX + SG_ TES : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 955 ENG1S92: 8 CGW + SG_ B_ST : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_TC : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_GLOW : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_STPE : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_OMWI : 15|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_SILUP : 13|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_SILDN : 12|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_WSTP : 11|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LOUT : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_OILPL : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_TMP : 23|8@0+ (0.5,0) [0|0] "" Vector__XXX + SG_ OGENETCS : 30|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_DPFW : 28|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ BOSLAMP : 37|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ BOSMINF : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GOSLAMP : 45|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GOSMINF : 42|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 921 ENG1S95: 8 CGW + SG_ B_LLSP2 : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TLSTBZ : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ASLBZ2 : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_SPU2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACASID1 : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACASID2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LSP2 : 31|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX + SG_ B_ASLSP2 : 39|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX + SG_ CACCTRN : 47|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCINF : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCFR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCFR1 : 44|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCFLD : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCCM3 : 42|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCCM2 : 41|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CACCCM1 : 40|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 238 ENG2F01: 4 CGW + SG_ STOFOK : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GROWIND : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_TMP3 : 15|8@0+ (0.5,0) [0|0] "" Vector__XXX + SG_ IMMINJST : 23|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 466 ENG2F04: 8 CGW + SG_ XLDR : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ XACCACTV : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XACCACT : 5|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ XPAIDLV : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ XPAIDL : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ BHOK : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RQBH : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCSTAT : 15|3@0+ (1,0) [0|0] "" DS1 + SG_ ACCSTBK : 12|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ STPBZ : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ PLOCKF : 8|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ACCREQ : 23|16@0- (0.0009765625,0) [0|0] "m/s^2" DS1 + SG_ ACCAVL : 39|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ SPDSTAT : 55|4@0+ (1,0) [0|0] "" DS1 + SG_ SSTOK : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CANREQ : 49|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FCACT : 48|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SM1D2 : 63|8@0+ (1,0) [0|0] "" DS1,FCM + +BO_ 467 ENG2F05: 8 CGW + SG_ LCCW2 : 4|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ WSTL2 : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ LCCHK : 2|3@0+ (1,0) [0|0] "" DS1 + SG_ XCCOK2 : 15|1@0+ (1,0) [0|0] "" DS1 + SG_ SLTACC : 14|2@0+ (1,0) [0|0] "" DS1 + SG_ LTME2 : 12|2@0+ (1,0) [0|0] "" DS1 + SG_ STPSWF2 : 10|1@0+ (1,0) [0|0] "" DS1 + SG_ CCSF : 9|1@0+ (1,0) [0|0] "" DS1 + SG_ CCSNG : 8|1@0+ (1,0) [0|0] "" DS1 + SG_ VM : 23|16@0+ (0.00390625,0) [0|0] "km/h" DS1 + SG_ INTG : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ D2PRXMK : 47|1@0+ (1,0) [0|0] "" DS1 + SG_ SM1D3 : 63|8@0+ (1,0) [0|0] "" DS1,FCM + +BO_ 119 ENG2F41: 6 CGW + SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX + SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 120 ENG2F42: 4 CGW + SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 916 EPS1S90: 1 CGW + SG_ B_WPS0 : 1|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1235 FCM1N01: 8 FCM + SG_ FCMNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ FCMSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ FCMSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ FCMREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 1161 FCM1S10: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1162 FCM1S11: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1163 FCM1S12: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" Vector__XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" Vector__XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" Vector__XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1279 FRD1N01: 8 FRD + SG_ FRDNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ FRDSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ FRDSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ FRDREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 737 FWM1S01: 2 CGW + SG_ ACTHLF : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MOT4WD : 6|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CCANCEL : 5|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AI4WD : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LOW4 : 3|1@0+ (1,0) [0|0] "" MAV,SCS + SG_ DLOCK : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RDLOCK : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HLN : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ F_SP4WD : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RQ_SP4WD : 14|7@0+ (1,73) [0|0] "km/h" Vector__XXX + +BO_ 1082263092 IDT1S03_82: 8 CGW + SG_ IDT03_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ IDT03_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ CO_IDT : 23|16@0+ (1,0) [0|0] "" Vector__XXX + SG_ UACK : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ WRT : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RSTP : 37|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1082328629 IDT1S04_83: 8 CGW + SG_ IDT04_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ IDT04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ OSID : 47|16@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1257 KSS1N01: 8 KSS + SG_ KSSNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ KSSSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ KSSSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ KSSREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 927 KSS1S90: 1 KSS + SG_ LKSS0 : 1|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1263 MAV1N01: 8 MAV + SG_ MAVNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ MAVSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ MAVSPF : 23|16@0+ (1,0) [0|0] "" CGW + +BO_ 1075840528 MET1S01_20: 8 CGW + SG_ MET01_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET01_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET_SPD : 23|8@0+ (1,0) [0|0] "km/h" CSR + SG_ RHEOSTAT : 30|7@0+ (1,0) [0|0] "%" Vector__XXX + SG_ TAIL_CN : 39|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ILL_OF : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ UNIT_TMP : 33|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ IN_FC : 47|16@0+ (0.1,0) [0|0] "Note" Vector__XXX + SG_ UNIT_0 : 63|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SP_TL : 60|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET_TC : 56|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075906065 MET1S02_21: 8 CGW + SG_ MET02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET_DEST : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ ODO_UNIT : 29|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ OMRS : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ UNIT_CH : 26|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ ODO : 39|32@0+ (1,0) [0|0] "km/mile" Vector__XXX + +BO_ 1076037145 MET1S04_23: 8 CGW + SG_ MET04_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ AF_FC : 23|16@0+ (0.1,0) [0|0] "Note" Vector__XXX + SG_ UNIT_3 : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ RANGE : 47|16@0+ (1,0) [0|0] "Note" Vector__XXX + SG_ UNIT_4 : 63|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1076102682 MET1S05_24: 8 CGW + SG_ MET05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TO_SP : 23|16@0+ (0.1,0) [0|0] "km/h,MPH" Vector__XXX + SG_ UNIT_5 : 39|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ TO_FC : 47|16@0+ (0.1,0) [0|0] "MPG Ekm/l El/100km Ekm/gallon" Vector__XXX + SG_ UNIT_6 : 63|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1076299282 MET1S08_27: 8 CGW + SG_ MET08_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET08_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ TO_DT : 23|16@0+ (1,0) [0|0] "km,mile" Vector__XXX + SG_ UNIT_10 : 39|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1076364819 MET1S09_28: 8 CGW + SG_ MET09_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET09_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ WASH : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BLVW : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_CW : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENGW : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ABSW : 28|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSCW : 27|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OPW : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OLW : 36|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LW : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FSRS : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ HALW : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRW : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TIRW : 42|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FWW : 40|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SUSW : 53|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LKAW : 61|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET_PCSW : 59|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ WTPW : 57|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1076430356 MET1S10_29: 8 CGW + SG_ MET10_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ MET10_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ OM_MLG : 23|7@0+ (100,0) [0|0] "miles" Vector__XXX + SG_ PR_OM_FL : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TNS : 29|2@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM + SG_ HZS : 27|1@0+ (1,0) [0|0] "" AFS,FCM + +BO_ 1076495893 MET1S11_2A: 8 CGW + SG_ MET11_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET11_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ UNIT_CH2 : 23|2@0+ (1,0) [0|0] "" FCM + SG_ TOLER_A : 21|6@0+ (0.002,0.94) [0|0] "" FCM + SG_ CDISP_EX : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TOLER_B : 29|6@0- (0.2,0) [0|0] "km/h" FCM + SG_ TRIP_B : 39|32@0+ (0.1,0) [0|0] "km/MILE" Vector__XXX + +BO_ 1076561430 MET1S12_2B: 8 CGW + SG_ MET12_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ MET12_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ ESLW : 19|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CSOW : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LHLW : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SMBW : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ KDSW : 32|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ OMRW : 46|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BSDW : 54|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ MTSW : 48|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ATSW : 63|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 992 MET1S18: 8 CGW + SG_ M_LANG : 7|6@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNG_ST : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB1 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB2 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB3 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB5 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ M_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1075840755 MET1S22_20: 8 CGW + SG_ ID6F320 : 7|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ IF6F320 : 15|8@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSR_OSM : 22|2@0+ (1,0) [0|0] "" FCM + SG_ TSR_OSL : 20|2@0+ (1,0) [0|0] "" FCM + SG_ TSR_SNM : 18|2@0+ (1,0) [0|0] "" FCM + SG_ TSR_MAIN : 16|1@0+ (1,0) [0|0] "" FCM + SG_ LDAMCUS : 31|2@0+ (1,0) [0|0] "" FCM + SG_ LDAMSW : 29|2@0+ (1,0) [0|0] "" FCM + SG_ FCMUSER : 27|1@0+ (1,0) [0|0] "" FCM + SG_ FCMMCUS : 26|2@0+ (1,0) [0|0] "" FCM + SG_ FCMMSW : 24|1@0+ (1,0) [0|0] "" FCM + SG_ BSMMSW : 37|1@0+ (1,0) [0|0] "" BSR + SG_ CSRMSW : 34|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSMCUS : 41|1@0+ (1,0) [0|0] "" DS1 + SG_ PCSMSW : 40|1@0+ (1,0) [0|0] "" DS1 + SG_ LKACTCSW : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ LDA_SFB : 50|3@0+ (1,0) [0|0] "" FCM + +BO_ 1088685760 PMN1F03_E4: 8 CGW + SG_ PMNF03ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ PMNF03IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSSW_PMN : 17|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSW_PMN : 31|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ KCC_PMN : 29|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PMOD_PMN : 27|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ MOD_EIG : 39|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SWBZ_EIG : 36|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1193 SCS1D50: 8 SCS + SG_ DRSCS01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ DRSCS08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1226 SCS1N01: 8 SCS + SG_ SCSNID : 7|8@0+ (1,0) [0|0] "" CGW + SG_ SCSSNG : 15|1@0+ (1,0) [0|0] "" CGW + SG_ SCSSPF : 23|16@0+ (1,0) [0|0] "" CGW + SG_ SCSREV : 39|32@0+ (1,0) [0|0] "" CGW + +BO_ 744 SCS1S01: 8 SCS + SG_ SELECTOR : 3|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVS_MD : 63|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 815 SCS1S06: 5 SCS + SG_ RRVH : 23|8@0- (1,0) [0|0] "mm" AFS + SG_ RLVH : 31|8@0- (1,0) [0|0] "mm" AFS + SG_ SCECOINH : 35|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 917 SCS1S90: 4 SCS + SG_ B_LSUS6 : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LSUS4 : 5|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LSUS2 : 3|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_LSUS8 : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ DLR_HSID : 23|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LAR_HS : 18|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSNI : 16|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 37 STR1S01: 8 CGW + SG_ STS3 : 7|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV + SG_ STS2 : 6|1@0+ (1,0) [0|0] "" AFS,DS1,FCM,KSS,MAV,SCS + SG_ STS1 : 5|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,KSS,MAV,SCS + SG_ STS0 : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ SSA : 3|12@0- (1.5,0) [0|0] "deg" AFS,BSR,DS1,FCM,KSS,MAV,SCS + SG_ SAZS : 23|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM + SG_ SFRZ : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ SSAZ : 19|12@0- (1.5,0) [0|0] "deg" AFS,BSR,DS1,FCM + SG_ SSAS : 39|4@0- (0.1,0) [0|0] "deg" FCM,KSS,SCS + SG_ SSAV : 35|12@0- (1,0) [0|0] "deg/s" FCM,KSS,SCS + SG_ STDID : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ STR01SUM : 63|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV + +BO_ 1059 STR1S02: 1 CGW + SG_ SFR : 5|1@0+ (1,0) [0|0] "" MAV + SG_ STRWVG : 4|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM + +BO_ 170 VSC1F01: 8 CGW + SG_ VXFREF : 7|1@0+ (1,0) [0|0] "" AFS,FCM,MAV + SG_ VXFR : 6|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS + SG_ VXFLEF : 23|1@0+ (1,0) [0|0] "" AFS,FCM,MAV + SG_ VXFL : 22|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS + SG_ VXRREF : 39|1@0+ (1,0) [0|0] "" AFS,FCM,MAV + SG_ VXRR : 38|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS + SG_ VXRLEF : 55|1@0+ (1,0) [0|0] "" AFS,FCM,MAV + SG_ VXRL : 54|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS + +BO_ 426 VSC1F02: 6 CGW + SG_ VXFRF : 7|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV + SG_ VXFRIGS : 6|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV + SG_ VXFRHDS : 5|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS + SG_ VXFLF : 2|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV + SG_ VXFLIGS : 1|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV + SG_ VXFLHDS : 0|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS + SG_ VXRRF : 13|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV + SG_ VXRRIGS : 12|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV + SG_ VXRRHDS : 11|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS + SG_ VXRLF : 8|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV + SG_ VXRLIGS : 23|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV + SG_ VXRLHDS : 22|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS + SG_ VSCF02SM : 47|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV + +BO_ 550 VSC1F06: 8 CGW + SG_ VSCF01FG : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ AHCURQ : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PMCF : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ PMCS : 2|1@0+ (1,0) [0|0] "" DS1 + SG_ PMC : 1|10@0+ (0.02,0) [0|0] "Mpa" DS1 + SG_ ECOEN : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ CCS : 22|1@0+ (1,0) [0|0] "" DS1 + SG_ FBA : 21|1@0+ (1,0) [0|0] "" DS1 + SG_ TRBRKSYS : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TS : 38|1@0+ (1,0) [0|0] "" KSS,SCS + SG_ WSTP : 37|1@0+ (1,0) [0|0] "" DS1,KSS,SCS + SG_ VSCACT : 36|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BAEX : 35|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TEM : 34|3@0+ (1,0) [0|0] "" SCS + SG_ FSTP : 60|1@0+ (1,0) [0|0] "" DS1 + SG_ ABSACT : 59|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + +BO_ 180 VSC1S03: 8 CGW + SG_ SP1P : 39|6@0+ (1,0) [0|0] "" DS1,FCM + SG_ SP1S : 33|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV + SG_ SP1 : 47|16@0- (0.01,0) [0|0] "km/h" BSR,DS1,FCM,MAV + SG_ VSC03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + +BO_ 800 VSC1S07: 8 CGW + SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 + SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 + SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 + SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 + SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 + SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 + SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 + SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 + SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + +BO_ 1056 VSC1S08: 8 CGW + SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + +BO_ 186 VSC1S12: 4 CGW + SG_ HAC2ESRQ : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FHACHOLD : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSC12SUM : 31|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 562 VSC1S14: 6 CGW + SG_ VWPSUMFR : 7|8@0+ (1,0) [0|0] "" MAV + SG_ VWPSUMFL : 15|8@0+ (1,0) [0|0] "" MAV + SG_ VWPFRPM : 23|1@0+ (1,0) [0|0] "" MAV + SG_ VWPFLPM : 22|1@0+ (1,0) [0|0] "" MAV + SG_ S14CNT : 21|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ VWPFRPMS : 18|1@0+ (1,0) [0|0] "" MAV + SG_ VWPFLPMS : 17|1@0+ (1,0) [0|0] "" MAV + SG_ VWPSUMRR : 31|8@0+ (1,0) [0|0] "" MAV + SG_ VWPSUMRL : 39|8@0+ (1,0) [0|0] "" MAV + SG_ VSC14SUM : 47|8@0+ (1,0) [0|0] "" MAV + +BO_ 552 VSC1S29: 4 CGW + SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 + SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 + +BO_ 1168 VSC1S92: 1 CGW + SG_ C_DCMOD1 : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_DCMOD2 : 6|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ C_DCMOD3 : 3|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 951 VSC1S95: 8 CGW + SG_ B_BRKW : 7|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ABS : 5|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_BRLV : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCOFF : 13|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ VSCOFF : 12|2@0+ (1,0) [0|0] "" DS1,FCM + SG_ SLP_WL : 10|3@0+ (1,0) [0|0] "" MAV + SG_ B_MCST : 19|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_BUZZER : 31|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ALSD : 27|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_DACIND : 25|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ OGENVSC : 37|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_ATRC : 47|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_STRC : 46|3@0+ (1,0) [0|0] "" MAV + SG_ B_HZD : 43|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSCSWIH : 51|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ STRCDISP : 50|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ STRCDSP2 : 60|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSCEXIST : 59|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1063 VSC1S96: 8 CGW + SG_ MTS_DISP : 5|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ B_MTS : 1|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCCONRL : 11|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCCONRR : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCCONFL : 9|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCCONFR : 8|1@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 545 VSC2F05: 5 CGW + SG_ TQER : 7|16@0- (0.03125,0) [0|0] "Nm" Vector__XXX + SG_ REQC : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ REQ2 : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ REQ1 : 21|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AIDWI : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ RTD : 19|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ LOMUSFT : 31|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSC2F05S : 39|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 544 VSC2F07: 4 CGW + SG_ FSROT : 7|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRK2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRK1 : 3|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FCNG : 1|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TSLP : 0|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ TRCACT : 15|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ABSSLP : 14|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ VDMACT : 13|1@0+ (1,0) [0|0] "" FCM + SG_ DAC_CND : 9|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ VSC2F07S : 31|8@0+ (1,0) [0|0] "" DS1,FCM + +BO_ 36 YGS1S03: 8 CGW + SG_ YRS11S : 7|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRS14S : 6|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRS21S : 5|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRS24S : 4|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YGS1 : 3|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YGS0 : 2|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR : 1|10@0+ (0.244,-125) [0|0] "deg/sec" DS1,FCM,MAV + SG_ YR_CPUMN : 23|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ GS4S : 19|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ GS1S : 18|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ GL1X : 17|10@0+ (0.03589,-18.375) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YG_ID : 39|4@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GS5S : 35|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ GS2S : 34|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ GL2Y : 33|10@0+ (0.03589,-18.375) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YR_DIF : 55|8@0+ (0.244,-31) [0|0] "deg/sec" DS1,FCM,MAV + SG_ YGS03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + +BO_ 1073743490 YGW1S01_0: 8 CGW + SG_ YGW01_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YGW01_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_STSW : 22|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_EGST : 20|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_DRLK : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_KLEG : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_HZRD : 26|3@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1073743491 YGW1S02_0: 8 CGW + SG_ YGW02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YGW02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_DEFOG : 19|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ YR_ARCON : 17|2@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1073743494 YGW1S05_0: 8 CGW + SG_ YGW05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YGW05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX + SG_ YI_IMO_E : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YI_UREQ : 16|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ YI_RE : 47|16@0+ (1,0) [0|0] "" Vector__XXX diff --git a/opendbc/toyota_adas.dbc b/opendbc/toyota_adas.dbc new file mode 100644 index 000000000..4aae65aa4 --- /dev/null +++ b/opendbc/toyota_adas.dbc @@ -0,0 +1,276 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 528 TRACK_A_0: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 529 TRACK_A_1: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 530 TRACK_A_2: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 531 TRACK_A_3: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 532 TRACK_A_4: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 533 TRACK_A_5: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 534 TRACK_A_6: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 535 TRACK_A_7: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 536 TRACK_A_8: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 537 TRACK_A_9: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 538 TRACK_A_10: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 539 TRACK_A_11: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 540 TRACK_A_12: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 541 TRACK_A_13: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 542 TRACK_A_14: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 543 TRACK_A_15: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 544 TRACK_B_0: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 545 TRACK_B_1: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 546 TRACK_B_2: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 547 TRACK_B_3: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 548 TRACK_B_4: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 549 TRACK_B_5: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 550 TRACK_B_6: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 551 TRACK_B_7: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 TRACK_B_8: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 553 TRACK_B_9: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 554 TRACK_B_10: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 555 TRACK_B_11: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 556 TRACK_B_12: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 557 TRACK_B_13: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 558 TRACK_B_14: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 559 TRACK_B_15: 6 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX diff --git a/opendbc/toyota_iQ_2009_can.dbc b/opendbc/toyota_iQ_2009_can.dbc new file mode 100644 index 000000000..2213e1ade --- /dev/null +++ b/opendbc/toyota_iQ_2009_can.dbc @@ -0,0 +1,196 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + +BO_ 1552 CONTAINS_LRES_SPEED: 8 XXX + SG_ SPEED_LOWRES : 16|8@1+ (1,0) [0|255] "km/h?" XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 452 ENGINE: 8 XXX + SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ DIFFERENT_EACH_RIDE : 23|8@0+ (1,0) [0|255] "" XXX + SG_ A_DECREASING_VALUE : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 37 STEERING: 8 XXX + SG_ STEER_DIRECTION : 3|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 42|2@0- (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_2 : 44|2@0- (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 46|2@0- (1,0) [0|3] "" XXX + SG_ STEER_ANGLE : 2|11@0- (1,0) [-350|350] "" XXX + +BO_ 36 ACCELERATIONS: 8 XXX + SG_ ACC_LAT_CLEAN : 2|11@0- (1,0) [0|255] "" XXX + SG_ ACC_LATERAL : 63|8@0- (1,0) [0|255] "" XXX + SG_ ACC_FRONT_BACK_1 : 31|8@0- (1,0) [0|255] "" XXX + SG_ ACC_FRONT_BACK_2 : 47|8@0- (1,0) [0|255] "" XXX + +BO_ 947 LOW_RES_INDICATORS: 8 XXX + SG_ LOW_RES_ACC_PEDAL : 23|7@0+ (1,0) [0|63] "" XXX + SG_ LOW_RES_RPM : 7|16@0+ (1,0) [0|255] "rpm" XXX + +BO_ 955 BRAKING_PLUS_OTHER: 8 XXX + SG_ IS_BRAKING_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ ENGINE_TEMPERATURE : 23|8@0+ (1,0) [0|255] "" XXX + SG_ MAYBE_CLUTCH : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 1595 CONTAINS_TIME: 8 XXX + SG_ TIME_ON : 55|16@0+ (0.1,0) [0|65535] "s" XXX + SG_ BETWEEN_RIDES : 7|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 170 WHEELS_SPEEDS: 8 XXX + SG_ FRONT_LEFT_WHEEL_SPEED : 23|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX + SG_ REAR_RIGHT_WHEEL_SPEED : 39|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX + SG_ REAR_LEFT_WHEEL_SPEED : 55|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX + SG_ FRONT_RIGHT_WHEEL_SPEED : 7|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX + +BO_ 180 VEHICLE_DYNAMICS: 8 XXX + SG_ WIERD_STUFF : 8|2@1+ (1,0) [0|3] "" XXX + SG_ VEHICLE_SPEED : 47|16@0+ (0.01,0) [0|255] "km/h" XXX + SG_ SPEED_MOD_256 : 63|8@0- (1,0) [0|255] "" XXX + SG_ MAYBE_DISTANCE_MOD_256 : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 186 NEW_MSG_9: 8 XXX + SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 426 NEW_MSG_5: 8 XXX + SG_ CONSTANT : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 906 BOOLS: 8 XXX + SG_ MAY_CONTAIN_LIGHTS : 7|4@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_1 : 3|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 2|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX + SG_ MOVEMENT_START_TRIGGER : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 979 LOW_RES_ACCELERATOR: 8 XXX + SG_ VERY_LRES_ACC : 7|16@0+ (1,0) [0|65535] "" XXX + +BO_ 1600 SLOW_VARIABLE_INFOS: 8 XXX + SG_ CHANGES_EACH_RIDE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ INCREASING_VALUE_FUEL : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 1568 DOORS: 8 XXX + SG_ KEY_ACC : 36|1@0+ (1,0) [0|1] "" XXX + SG_ KEY_ON : 37|1@0+ (1,0) [0|1] "" XXX + SG_ KEY_INSERT : 46|1@0+ (1,0) [0|1] "" XXX + SG_ NOT_ON : 63|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_RIGHT : 44|1@0+ (1,0) [0|3] "" XXX + SG_ DOOR_TRUNK : 41|1@1+ (1,0) [0|3] "" XXX + SG_ DOOR_LEFT : 45|1@0+ (1,0) [0|255] "" XXX + SG_ HANDBRAKE : 60|1@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_1 : 4|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVER_SEATBELT : 62|1@0+ (1,0) [0|1] "" XXX + SG_ TRIGGER_BOOL : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 705 COMMAND: 8 XXX + SG_ NOT_ACCELERATING_PEDAL : 3|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_PEDAL_SENSOR : 55|16@0+ (1,0) [0|65535] "" XXX + SG_ ACC_COMMAND : 31|16@0- (1,0) [0|7] "" XXX + SG_ ACC_PEDAL_MEAN : 15|16@0- (1,0) [0|255] "" XXX + SG_ NEGATIVE_COMMAND_OFFSET : 47|8@0- (1,0) [0|255] "" XXX + +BO_ 928 STEER2_MAYBE: 8 XXX + SG_ NEW_SIGNAL_1 : 13|6@0+ (1,0) [0|63] "" XXX + SG_ NEW_SIGNAL_2 : 60|5@0+ (1,0) [0|31] "" XXX + SG_ NEW_SIGNAL_4 : 5|6@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 46|7@0+ (1,0) [0|15] "" XXX + +BO_ 896 LONG_TERM_2: 8 XXX + SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 944 LONG_TERM_MSG: 8 XXX + SG_ LONG_TERM_SIGN : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 1553 TOTAL_DIST: 8 XXX + SG_ TOTAL_DISTANCE : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 1572 WHY_THESE_VALUES: 8 XXX + +BO_ 1555 BETWEEN_RIDES_CHANGE_1: 8 XXX + SG_ BETWEEN_RIDES : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 1090 ASYNC_MSG_ACK: 8 XXX + SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX + +BO_ 1592 NEW_MSG_14: 8 XXX + SG_ DOORS_LOCKED2 : 20|1@0+ (1,0) [0|1] "" XXX + SG_ DOORS_LOCKED1 : 16|1@0+ (1,0) [0|1] "" XXX + +BO_ 608 NEW_MSG_6: 8 XXX + SG_ VERY_SMALL_SIGNAL2 : 56|1@0+ (1,0) [0|255] "" XXX + SG_ VERY_SMALL_SIGNAL1 : 0|1@0+ (1,0) [0|1] "" XXX + +BO_ 945 BETWEEN_RIDES_CHANGES_2: 8 XXX + SG_ BETWEEN_RIDES : 24|1@0+ (1,0) [0|65535] "" XXX + + + + +CM_ SG_ 1552 SPEED_LOWRES "Negative values to check"; +CM_ SG_ 452 CHECKSUM "Follows path of RPMs but more precise & 1 byte only"; +CM_ SG_ 452 A_DECREASING_VALUE "stabilizes to 62 after ~10 mins"; +CM_ SG_ 37 STEER_DIRECTION "Could be intended as 12 bit steering angle"; +CM_ SG_ 37 STEER_ANGLE "can convert to degrees (imprecise) or percentage of max amplitude"; +CM_ SG_ 36 ACC_FRONT_BACK_1 "more likely up-down"; +CM_ SG_ 36 ACC_FRONT_BACK_2 "more likely front-back"; +CM_ SG_ 947 LOW_RES_ACC_PEDAL "Follows rather closely other acceleration commands"; +CM_ SG_ 947 LOW_RES_RPM "Maybe used for onboard display?"; +CM_ SG_ 955 MAYBE_CLUTCH "might be related to shifting gears"; +CM_ SG_ 1595 TIME_ON "Time since last ignition, tenth of seconds"; +CM_ SG_ 1595 BETWEEN_RIDES "the fourth byte (at least) changes between rides"; +CM_ SG_ 180 WIERD_STUFF "Might be a signed value on the whole two bytes (sometimes all set)"; +CM_ SG_ 180 VEHICLE_SPEED "Roughly 2 seconds before wheel speeds"; +CM_ SG_ 180 SPEED_MOD_256 "One byte speed, a bit before vehicle speed"; +CM_ SG_ 180 MAYBE_DISTANCE_MOD_256 "Looks like measure for distance or wheel angle"; +CM_ SG_ 906 MOVEMENT_START_TRIGGER "trigger of when speed becomes != 0"; +CM_ SG_ 979 VERY_LRES_ACC "Power used by engine? moves alongside speed, very low res, goes from 0 to 9 max?"; +CM_ SG_ 1600 CHANGES_EACH_RIDE "Small decrementation during some rides, possibly long term fuel"; +CM_ SG_ 1600 INCREASING_VALUE_FUEL "Fuel/distance? Average fuel consumption?"; +CM_ SG_ 705 NOT_ACCELERATING_PEDAL "Looks like opposite of accelerating bit"; +CM_ SG_ 705 ACC_PEDAL_SENSOR "similar to pedal sensor maybe checksum."; +CM_ SG_ 705 ACC_COMMAND "Similar to other pedal indicator., cleaner, must be sent back to engine"; +CM_ SG_ 705 ACC_PEDAL_MEAN "Actual sensor for pedal (works when engine off)"; +CM_ SG_ 705 NEGATIVE_COMMAND_OFFSET "Mysterious for now"; +CM_ SG_ 928 NEW_SIGNAL_1 "Very slow changing noisy value, 45-49 in 10 min"; +CM_ SG_ 928 NEW_SIGNAL_2 "Other very slow changing 24-26 in 10 min"; +CM_ SG_ 928 NEW_SIGNAL_4 "Inconsistent across rides"; +CM_ SG_ 896 NEW_SIGNAL_1 "there is a difference at the beginning of 2017-10-31--12-04-05"; +CM_ SG_ 1553 TOTAL_DISTANCE "Probably also contains the previous/two previous bytes but can't confirm"; +CM_ SG_ 945 BETWEEN_RIDES "Might be others in the same message. at least this one"; + diff --git a/opendbc/toyota_new_mc_pt_generated.dbc b/opendbc/toyota_new_mc_pt_generated.dbc new file mode 100644 index 000000000..adb419896 --- /dev/null +++ b/opendbc/toyota_new_mc_pt_generated.dbc @@ -0,0 +1,540 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 359 STEERING_IPAS_COMMA: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; + +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX + SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX + +CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss"; + +BO_ 767 SDSU: 8 XXX + SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX + +CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu"; +CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; + + +CM_ "Imported file _toyota_2017.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS CGW BGM + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX + SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + +BO_ 180 SPEED: 8 XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 295 GEAR_PACKET_HYBRID: 8 XXX + SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + +BO_ 353 DSU_SPEED: 7 XXX + SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX + +BO_ 452 ENGINE_RPM: 8 CGW + SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX + +BO_ 560 BRAKE_2: 7 XXX + SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL_HYBRID: 8 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX + SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 7 DSU + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX + SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX + SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 705 GAS_PEDAL: 8 XXX + SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 740 STEERING_LKA: 5 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU + SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX + SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX + SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU + SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU + SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU + SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU + SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX + SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 869 DSU_CRUISE : 7 DSU + SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX + SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX + SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX + SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX + +BO_ 956 GEAR_PACKET: 8 XXX + SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX + SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX + SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX + +BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM + SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX + +BO_ 1009 PCM_CRUISE_ALT: 8 XXX + SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + +BO_ 1020 SOLAR_SENSOR: 8 XXX + SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX + +BO_ 1041 ACC_HUD: 8 DSU + SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 DSU + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX + SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX + SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX + SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX + SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 1043 TIME : 8 CGW + SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX + SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX + SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX + SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX + SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX + SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX + SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX + SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX + SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX + +BO_ 1083 AUTOPARK_STATUS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 1161 RSA1: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1162 RSA2: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1163 RSA3: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 1408 VIN_PART_1: 8 CGW + SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1409 VIN_PART_2: 8 CGW + SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1410 VIN_PART_3: 8 CGW + SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX + SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX + SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX + SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX + SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 1553 UI_SETTING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX + +BO_ 1556 BLINKERS_STATE: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 1568 BODY_CONTROL_STATE: 8 XXX + SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 1570 LIGHT_STALK: 8 SCM + SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 1571 CERTIFICATION_ECU: 8 CGW + SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX + +BO_ 1592 DOOR_LOCKS: 8 XXX + SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX + SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; +CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; +CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; +CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; +CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1"; +CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1"; +CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"; +CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars"; +CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG."; +CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; +CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; +CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to"; +CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; +CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; +CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; +CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; +CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message"; +CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning"; +CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1"; +CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1"; +CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1"; +CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning"; +CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch"; +CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered"; +CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled"; +CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS"; +CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations"; +CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations"; +CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero"; +CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; +CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"; +CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; +CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1163 TSREQPD "always 1"; +CM_ SG_ 1163 TSRMSW "always 1"; +CM_ SG_ 1163 OTSGNNTM "always 3"; +CM_ SG_ 1163 NTLVLSPD "always 3"; +CM_ SG_ 1163 OVSPNTM "always 3"; +CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; +CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; +CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; +CM_ SG_ 1163 TSRSPU "always 1"; +CM_ SG_ 1552 UI_SPEED "Vehicle's speedometer's display speed after Toyota's offset was applied, uses vehicle's unit"; +CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting"; +CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal"; +CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking"; +CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal."; +CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch"; + +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B"; +VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off"; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; +VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 614 STATE 3 "enabled" 1 "disabled"; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; +VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking"; +VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok"; +VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok"; +VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear"; +VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press"; +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; +VAL_ 956 SPORT_ON 0 "off" 1 "on"; +VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; +VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on"; +VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6"; +VAL_ 956 ECON_ON 0 "off" 1 "on"; +VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on"; +VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on"; +VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines"; +VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled"; +VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off"; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; +VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none"; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LKAS_STATUS 1 "on" 0 "off"; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear"; +VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on"; +VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined"; +VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok"; +VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok"; +VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok"; +VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok"; +VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok"; +VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; +VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on"; +VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; +VAL_ 1553 UNITS 1 "km" 2 "miles"; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; + +CM_ "toyota_new_mc_pt.dbc starts here"; + +BO_ 548 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX + SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; + +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc new file mode 100644 index 000000000..5776d0db5 --- /dev/null +++ b/opendbc/toyota_nodsu_pt_generated.dbc @@ -0,0 +1,579 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 359 STEERING_IPAS_COMMA: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; + +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX + SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX + +CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss"; + +BO_ 767 SDSU: 8 XXX + SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX + +CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu"; +CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; + + +CM_ "Imported file _toyota_2017.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS CGW BGM + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX + SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + +BO_ 180 SPEED: 8 XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 295 GEAR_PACKET_HYBRID: 8 XXX + SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + +BO_ 353 DSU_SPEED: 7 XXX + SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX + +BO_ 452 ENGINE_RPM: 8 CGW + SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX + +BO_ 560 BRAKE_2: 7 XXX + SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL_HYBRID: 8 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX + SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 7 DSU + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX + SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX + SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 705 GAS_PEDAL: 8 XXX + SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 740 STEERING_LKA: 5 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU + SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX + SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX + SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU + SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU + SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU + SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU + SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX + SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 869 DSU_CRUISE : 7 DSU + SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX + SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX + SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX + SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX + +BO_ 956 GEAR_PACKET: 8 XXX + SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX + SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX + SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX + +BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM + SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX + +BO_ 1009 PCM_CRUISE_ALT: 8 XXX + SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + +BO_ 1020 SOLAR_SENSOR: 8 XXX + SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX + +BO_ 1041 ACC_HUD: 8 DSU + SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 DSU + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX + SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX + SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX + SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX + SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 1043 TIME : 8 CGW + SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX + SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX + SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX + SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX + SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX + SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX + SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX + SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX + SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX + +BO_ 1083 AUTOPARK_STATUS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 1161 RSA1: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1162 RSA2: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1163 RSA3: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 1408 VIN_PART_1: 8 CGW + SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1409 VIN_PART_2: 8 CGW + SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1410 VIN_PART_3: 8 CGW + SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX + SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX + SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX + SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX + SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 1553 UI_SETTING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX + +BO_ 1556 BLINKERS_STATE: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 1568 BODY_CONTROL_STATE: 8 XXX + SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 1570 LIGHT_STALK: 8 SCM + SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 1571 CERTIFICATION_ECU: 8 CGW + SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX + +BO_ 1592 DOOR_LOCKS: 8 XXX + SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX + SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; +CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; +CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; +CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; +CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1"; +CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1"; +CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"; +CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars"; +CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG."; +CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; +CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; +CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to"; +CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; +CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; +CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; +CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; +CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message"; +CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning"; +CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1"; +CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1"; +CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1"; +CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning"; +CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch"; +CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered"; +CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled"; +CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS"; +CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations"; +CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations"; +CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero"; +CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; +CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"; +CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; +CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1163 TSREQPD "always 1"; +CM_ SG_ 1163 TSRMSW "always 1"; +CM_ SG_ 1163 OTSGNNTM "always 3"; +CM_ SG_ 1163 NTLVLSPD "always 3"; +CM_ SG_ 1163 OVSPNTM "always 3"; +CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; +CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; +CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; +CM_ SG_ 1163 TSRSPU "always 1"; +CM_ SG_ 1552 UI_SPEED "Vehicle's speedometer's display speed after Toyota's offset was applied, uses vehicle's unit"; +CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting"; +CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal"; +CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking"; +CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal."; +CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch"; + +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B"; +VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off"; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; +VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 614 STATE 3 "enabled" 1 "disabled"; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; +VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking"; +VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok"; +VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok"; +VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear"; +VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press"; +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; +VAL_ 956 SPORT_ON 0 "off" 1 "on"; +VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; +VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on"; +VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6"; +VAL_ 956 ECON_ON 0 "off" 1 "on"; +VAL_ 956 SPORT_ON_2 0 "off" 1 "on"; +VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on"; +VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on"; +VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines"; +VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled"; +VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off"; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; +VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none"; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LKAS_STATUS 1 "on" 0 "off"; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear"; +VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on"; +VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined"; +VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok"; +VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok"; +VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok"; +VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok"; +VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok"; +VAL_ 1161 TSGN1 36 "speed sign mph" 1 "speed sign kph" 0 "none"; +VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 6 "snow" 5 "rain" 4 "wet road" 5 "rain" 3 "left" 2 "right" 1 "time" 0 "none"; +VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on"; +VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; +VAL_ 1553 UNITS 1 "km" 2 "miles"; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; + +CM_ "toyota_nodsu_pt.dbc starts here"; + +BO_ 401 STEERING_LTA: 8 XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX + SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX + SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX + SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX + SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 8 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ LTA_STATE : 15|5@0+ (1,0) [0|31] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1014 BSM: 8 XXX + SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX + SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX + SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP"; +CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1"; +CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera"; +CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out"; +CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 401 BIT "has correlation to STEER_REQUEST"; +CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; +CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility"; +CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility"; + +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; +VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc/toyota_prius_2010_pt.dbc b/opendbc/toyota_prius_2010_pt.dbc new file mode 100644 index 000000000..5c7df7d18 --- /dev/null +++ b/opendbc/toyota_prius_2010_pt.dbc @@ -0,0 +1,203 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS + + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX + SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX + SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.0062,-67.67) [0|250] "mph" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.0062,-67.67) [0|250] "mph" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.0062,-67.67) [0|250] "mph" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.0062,-67.67) [0|250] "mph" XXX + +BO_ 180 SPEED: 8 XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.0062,0) [0|115] "mph" XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 295 GEAR_PACKET: 8 XXX + SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX + +BO_ 560 BRAKE_MODULE2: 8 XXX + SG_ BRAKE_LIGHTS : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL: 8 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 8 XXX + +BO_ 740 STEERING_LKA: 8 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU + +BO_ 1556 STEERING_LEVERS: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 XXX + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 1553 UI_SEETING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + +BO_ 1568 SEATS_DOORS: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 452 POWERTRAIN: 8 XXX + SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + + + + +CM_ SG_ 36 ACCEL_Y "unit is tbd"; +CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 560 BRAKE_LIGHTS "double check"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect"; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit"; +CM_ SG_ 1042 SET_ME_1 "unclear what this is, nut it's always 1 in drive traces"; +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B" ; +VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "setspeeddown" 9 "setspeedup" 8 "active" 7 "standstill" 1 "off" 0 "off"; +VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled" ; +VAL_ 610 LKA_STATE 50 "temporary_fault" ; +VAL_ 614 STATE 3 "enabled" 1 "disabled" ; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left" ; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ; +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted" ; +VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none" ; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none" ; +VAL_ 1553 UNITS 1 "km" 2 "miles" ; diff --git a/opendbc/toyota_tnga_k_pt_generated.dbc b/opendbc/toyota_tnga_k_pt_generated.dbc new file mode 100644 index 000000000..955a116ea --- /dev/null +++ b/opendbc/toyota_tnga_k_pt_generated.dbc @@ -0,0 +1,541 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _comma.dbc starts here"; +BO_ 359 STEERING_IPAS_COMMA: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; + +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX + SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX + +CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss"; + +BO_ 767 SDSU: 8 XXX + SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX + +CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu"; +CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; + + +CM_ "Imported file _toyota_2017.dbc starts here"; +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS CGW BGM + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX + SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX + SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + +BO_ 180 SPEED: 8 XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 295 GEAR_PACKET_HYBRID: 8 XXX + SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX + SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + +BO_ 353 DSU_SPEED: 7 XXX + SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX + +BO_ 452 ENGINE_RPM: 8 CGW + SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX + +BO_ 560 BRAKE_2: 7 XXX + SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL_HYBRID: 8 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX + SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 7 DSU + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX + SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX + SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX + SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 705 GAS_PEDAL: 8 XXX + SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 740 STEERING_LKA: 5 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU + SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX + SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX + SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU + SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU + SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU + SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU + SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX + SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 869 DSU_CRUISE : 7 DSU + SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX + SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX + SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX + SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX + SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX + SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX + +BO_ 956 GEAR_PACKET: 8 XXX + SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX + SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX + SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX + SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX + SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX + +BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM + SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX + +BO_ 1009 PCM_CRUISE_ALT: 8 XXX + SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX + SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + +BO_ 1020 SOLAR_SENSOR: 8 XXX + SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX + +BO_ 1041 ACC_HUD: 8 DSU + SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 DSU + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX + SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX + SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX + SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX + SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 1043 TIME : 8 CGW + SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX + SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX + SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX + SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX + SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX + SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX + SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX + SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX + SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX + +BO_ 1083 AUTOPARK_STATUS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + +BO_ 1161 RSA1: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1162 RSA2: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1163 RSA3: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 1408 VIN_PART_1: 8 CGW + SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1409 VIN_PART_2: 8 CGW + SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX + +BO_ 1410 VIN_PART_3: 8 CGW + SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX + +BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX + SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX + SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX + SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX + SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + +BO_ 1553 UI_SETTING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX + +BO_ 1556 BLINKERS_STATE: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + +BO_ 1568 BODY_CONTROL_STATE: 8 XXX + SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 1570 LIGHT_STALK: 8 SCM + SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX + SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX + +BO_ 1571 CERTIFICATION_ECU: 8 CGW + SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX + +BO_ 1592 DOOR_LOCKS: 8 XXX + SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX + SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; +CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; +CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; +CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; +CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; +CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1"; +CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1"; +CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"; +CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars"; +CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG."; +CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; +CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; +CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to"; +CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; +CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; +CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; +CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; +CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message"; +CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning"; +CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1"; +CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1"; +CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1"; +CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning"; +CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch"; +CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered"; +CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled"; +CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS"; +CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations"; +CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations"; +CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero"; +CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; +CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"; +CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; +CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1163 TSREQPD "always 1"; +CM_ SG_ 1163 TSRMSW "always 1"; +CM_ SG_ 1163 OTSGNNTM "always 3"; +CM_ SG_ 1163 NTLVLSPD "always 3"; +CM_ SG_ 1163 OVSPNTM "always 3"; +CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; +CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; +CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; +CM_ SG_ 1163 TSRSPU "always 1"; +CM_ SG_ 1552 UI_SPEED "Vehicle's speedometer's display speed after Toyota's offset was applied, uses vehicle's unit"; +CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting"; +CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal"; +CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking"; +CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal."; +CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch"; + +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B"; +VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off"; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; +VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 614 STATE 3 "enabled" 1 "disabled"; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; +VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking"; +VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok"; +VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok"; +VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear"; +VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press"; +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; +VAL_ 956 SPORT_ON 0 "off" 1 "on"; +VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; +VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on"; +VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6"; +VAL_ 956 ECON_ON 0 "off" 1 "on"; +VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on"; +VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on"; +VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines"; +VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled"; +VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off"; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; +VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none"; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LKAS_STATUS 1 "on" 0 "off"; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear"; +VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on"; +VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined"; +VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok"; +VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok"; +VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok"; +VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok"; +VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok"; +VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; +VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on"; +VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; +VAL_ 1553 UNITS 1 "km" 2 "miles"; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; + +CM_ "toyota_tnga_k_pt.dbc starts here"; + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; + +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc/toyota_tss2_adas.dbc b/opendbc/toyota_tss2_adas.dbc new file mode 100644 index 000000000..d472debd6 --- /dev/null +++ b/opendbc/toyota_tss2_adas.dbc @@ -0,0 +1,285 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 384 TRACK_A_0: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 385 TRACK_A_1: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 386 TRACK_A_2: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 387 TRACK_A_3: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 388 TRACK_A_4: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 389 TRACK_A_5: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 390 TRACK_A_6: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 391 TRACK_A_7: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 392 TRACK_A_8: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 393 TRACK_A_9: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 394 TRACK_A_10: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 395 TRACK_A_11: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 396 TRACK_A_12: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 397 TRACK_A_13: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 398 TRACK_A_14: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 399 TRACK_A_15: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 400 TRACK_B_0: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 401 TRACK_B_1: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 402 TRACK_B_2: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 403 TRACK_B_3: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 404 TRACK_B_4: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 405 TRACK_B_5: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 406 TRACK_B_6: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 407 TRACK_B_7: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 408 TRACK_B_8: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 409 TRACK_B_9: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 410 TRACK_B_10: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 411 TRACK_B_11: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 412 TRACK_B_12: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 413 TRACK_B_13: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 414 TRACK_B_14: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 415 TRACK_B_15: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 576 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_1 : 15|7@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 577 NEW_MSG_2: 8 XXX + SG_ NEW_SIGNAL_1 : 15|7@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX diff --git a/opendbc/volvo_v40_2017_pt.dbc b/opendbc/volvo_v40_2017_pt.dbc new file mode 100644 index 000000000..3c0433164 --- /dev/null +++ b/opendbc/volvo_v40_2017_pt.dbc @@ -0,0 +1,363 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX BCM CEM CVM DIM ECM FSM PSCM SAS SRS TCM + +BO_ 8 SAS0: 8 SAS + SG_ SteeringDirection : 42|1@0+ (1,0) [0|1] "" XXX + SG_ RelativeTurnDirection : 43|1@0+ (1,0) [0|1] "" XXX + SG_ SteeringAngle : 53|14@0+ (0.04395,0) [0|65535] "degrees" XXX + SG_ NEW_SIGNAL_1 : 47|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_2 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ AngleRate : 21|14@0+ (0.075,0) [0|1500] "deg/S" XXX + +BO_ 16 CCButtons: 8 CEM + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|5@0+ (1,0) [0|31] "" XXX + SG_ B7b0 : 56|1@0+ (1,0) [0|1] "" XXX + SG_ B7b1 : 57|1@0+ (1,0) [0|1] "" XXX + SG_ B7b6 : 62|1@0+ (1,0) [0|1] "" XXX + SG_ ACCOnOffBtn : 58|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSetBtn : 63|1@0+ (1,0) [0|1] "" XXX + SG_ ACCStopBtn : 60|1@0+ (1,0) [0|1] "" XXX + SG_ ACCResumeBtn : 61|1@0+ (1,0) [0|1] "" XXX + SG_ ACCMinusBtn : 48|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapIncreaseBtn : 49|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapDecreaseBtn : 50|1@0+ (1,0) [0|1] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ B7b3 : 59|1@0+ (1,0) [0|1] "" XXX + +BO_ 48 FSM0: 8 FSM + SG_ ACCStatusTracking : 56|1@0+ (1,0) [0|1] "" XXX + SG_ ACCStatusOnOff : 57|1@0+ (1,0) [0|1] "" XXX + SG_ ACCStatusActive : 58|1@0+ (1,0) [0|1] "" XXX + SG_ FCWSomething : 25|3@0+ (1,0) [0|3] "" XXX + SG_ StatusSomething : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 64 TCM0: 8 TCM + SG_ RPMSomething : 42|11@0+ (1,0) [0|2047] "" XXX + SG_ GearShifter : 46|2@0+ (1,0) [0|3] "" XXX + +BO_ 85 PedalandBrake: 8 ECM + SG_ AccPedal : 9|10@0+ (0.1,0) [0|1023] "%" XXX + SG_ BrakePedalActive2 : 24|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 35|12@0+ (1,0) [0|4095] "" XXX + SG_ BrakePedalActive : 38|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 101 EngineInfo: 8 XXX + SG_ NEW_SIGNAL_1 : 17|10@0+ (1,-512) [0|1023] "" XXX + SG_ EngineSpeed : 52|13@0+ (1,0) [0|1023] "" XXX + +BO_ 112 NEW_MSG_4: 8 XXX + SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 114 ECM1: 8 ECM1 + SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ECM_ACC_ONOFF_INV : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ECM_ACC_RESUME_INV : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ECM_ACC_SET_INV : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ECM_ACC_TIMEGAP_INC_INV : 33|1@0+ (1,0) [0|1] "" XXX + SG_ ECM_ACC_DEC_INV : 32|1@0+ (1,0) [0|1] "" XXX + SG_ ECM_ACC_TIMEGAP_DEC_INV : 34|1@0+ (1,0) [0|1] "" XXX + +BO_ 117 ECM1_2: 8 ECM + +BO_ 128 NEW_MSG_5: 8 XXX + SG_ NEW_SIGNAL_2 : 26|11@0+ (1,0) [0|2047] "" XXX + SG_ NEW_SIGNAL_1 : 52|13@0+ (1,0) [0|8191] "" XXX + +BO_ 176 ECM2: 8 ECM + SG_ NEW_SIGNAL_1 : 50|11@0+ (1,0) [0|2047] "" XXX + SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|63] "" XXX + +BO_ 192 Gear: 8 XXX + SG_ TransmissionGear : 36|3@0+ (1,1) [0|7] "" XXX + +BO_ 208 FSM1: 8 FSM + SG_ SET_X_E3 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ SET_X_B4 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_X_08 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ TrqLim : 31|8@0+ (1,-128) [0|255] "" XXX + SG_ Checksum : 55|8@0+ (1,0) [0|255] "" XXX + SG_ LKASteerDirection : 57|2@0+ (1,0) [0|2] "" XXX + SG_ SET_X_25 : 63|6@0+ (1,0) [0|63] "" XXX + SG_ LKAAngleReq : 37|14@0+ (0.04395,-360.0384) [-360.0384|359.99445] "degrees" XXX + SG_ SET_X_02 : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 224 PSCM0: 8 PSCM + SG_ NEW_SIGNAL_2 : 12|5@0+ (1,0) [0|31] "" XXX + SG_ counter_07 : 15|3@0+ (1,0) [0|7] "" XXX + SG_ counter2_07 : 37|3@0+ (1,0) [0|16383] "" XXX + SG_ rate_of_something : 46|7@0+ (1,0) [0|62] "" XXX + SG_ OneDuringDriving : 49|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_1 : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 245 wheelspeed0: 8 BCM + SG_ counter1 : 21|6@0+ (1,0) [0|65535] "" XXX + SG_ counter0 : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ WhlSpdLF : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ WhlSpdRF : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 272 SpeedSignal0: 8 XXX + SG_ VehicleSpeedSignal : 55|16@0+ (0.01,0) [0|65535] "" XXX + +BO_ 288 wheel_speed1: 8 BCM + SG_ WhlSpdLR : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ WhlSpdRR : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 293 PSCM1: 8 PSCM + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ LKATorque : 11|12@0+ (1,-2000) [0|4095] "" XXX + SG_ SteeringAngleServo : 47|16@0+ (0.04395,-1440.1536) [0|65535] "deg" XXX + SG_ LKAActive : 15|4@0+ (1,0) [0|15] "" XXX + +BO_ 304 VehicleSpeed0: 8 BCM + SG_ NEW_SIGNAL_2 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ VehicleSpeed : 31|16@0+ (0.01,0) [0|65535] "km/h" XXX + SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 325 ECM3: 8 ECM + +BO_ 336 VehicleSpeed1: 8 BCM + SG_ NEW_SIGNAL_2 : 31|16@0+ (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_1 : 15|16@0+ (1,0) [0|65535] "" XXX + SG_ VehicleSpeed : 55|16@0+ (0.01,0) [0|65535] "" XXX + +BO_ 352 FSM2: 8 FSM + SG_ LkaDimLine : 51|2@1+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_2 : 56|7@1+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 55|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_3 : 7|24@0+ (1,0) [0|16777215] "" XXX + SG_ NEW_SIGNAL_4 : 36|5@0+ (1,0) [0|31] "" XXX + +BO_ 432 BrakeMessages: 8 BCM + SG_ BrakePress0 : 1|10@0+ (1,0) [0|1023] "" XXX + SG_ BrakePress1 : 33|10@0+ (1,0) [0|1023] "" XXX + SG_ BrakeStatus : 18|3@0+ (1,0) [0|7] "" XXX + +BO_ 464 DIM0: 8 DIM + +BO_ 480 BCM0: 8 BCM + +BO_ 528 CEM0: 8 CEM + +BO_ 608 CVM0: 8 CVM + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 15|5@0+ (1,0) [0|32] "" XXX + SG_ Distance : 10|11@0+ (1,0) [0|2048] "" XXX + +BO_ 624 FSM3: 8 FSM + SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 640 FSM4: 8 FSM + SG_ SpeedTarget : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_1 : 49|10@0+ (1,0) [0|255] "" XXX + +BO_ 648 SRS0: 8 SRS + +BO_ 652 ECM4: 8 ECM + +BO_ 656 ECM5: 8 ECM + +BO_ 657 ECM6: 8 ECM + +BO_ 681 MiscCarInfo: 8 CEM + SG_ TurnSignal : 1|2@0+ (1,0) [0|3] "" XXX + SG_ HighBeamOn : 52|1@0+ (1,0) [0|1] "" XX + +BO_ 693 ECM7: 8 ECM + +BO_ 709 ACC: 8 ECM + SG_ SpeedTargetACC : 0|9@0+ (0.5,0) [0|511] "" XXX + +BO_ 853 FSM5: 8 FSM + SG_ TargetSpeedOdo : 23|8@0+ (1,0) [0|63] "kph" XXX + SG_ SpeedSign : 36|5@0+ (5,0) [0|32] "" XXX + SG_ TextUnderSign : 37|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 39|3@0+ (1,0) [0|3] "" XXX + SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LaneMarkingsOdo : 15|4@0+ (1,0) [0|7] "" XXX + SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|15] "" XXX + SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX + +BO_ 864 CEM1: 8 CEM + +BO_ 912 DIM1: 8 DIM + +BO_ 968 SRS1: 8 SRS + SG_ PassengerSeatBelt : 22|1@0+ (1,0) [0|1] "" XXX + SG_ DriverSeatBelt : 19|1@0+ (1,0) [0|1] "" XXX + +BO_ 1029 CEMBCM0: 8 CEM + +BO_ 1344 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_1 : 4|13@0+ (1,0) [0|8191] "" XXX + +BO_ 1830 diagCEMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1838 diagCEMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1840 diagPSCMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1848 diagPSCMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1892 diagFSMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1900 diagFSMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1939 diagCVMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1947 diagCVMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2015 diagGlobalReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + + + + +CM_ SG_ 85 BrakePedalActive2 "Active during braking"; +CM_ SG_ 85 NEW_SIGNAL_1 "Not yet figured out."; +CM_ SG_ 85 BrakePedalActive "Brake pedal pushed"; +CM_ SG_ 8 SteeringDirection "1=Right turn, 0=Left turn. Steering wheel pointing left or right from center (0 deg)."; +CM_ SG_ 8 RelativeTurnDirection "1=Right turn, 0=Left turn. Steering wheel currently turning the way."; +CM_ SG_ 101 NEW_SIGNAL_1 "Rate of something?"; +CM_ SG_ 192 TransmissionGear "0 = 1st gear, 1= 2nd gear..."; +CM_ SG_ 681 TurnSignal "0 = Nothing, 1= Left, 3=Right"; +CM_ SG_ 681 HighBeamOn "1=HighBeam On, 0=HighBeam Off"; +CM_ SG_ 48 ACCStatusTracking "ACC Tracking vehicle, distance control."; +CM_ SG_ 48 ACCStatusOnOff "Turns one after pressing on/off button on steering wheeel"; +CM_ SG_ 48 ACCStatusActive "ACC Active"; +CM_ SG_ 48 FCWSomething "All bit set during fcw"; +CM_ SG_ 48 StatusSomething "Some status changes when zeroing DTCs"; +CM_ SG_ 208 TrqLim "Used in checksum calculation, Limit directional torque based on the number."; +CM_ SG_ 208 Checksum "Checksum calculated as a one-complement addition of LKAAngleRequest+LKADirection+Unkown, Zeros used to pad missing bits."; +CM_ SG_ 208 SET_X_02 "Bit 0 = Vibrate steering wheel., Bit 1 = Heartbeat"; +CM_ SG_ 352 LkaDimLine "Not true, but follows lka steer direction."; +CM_ SG_ 352 NEW_SIGNAL_1 "Turned one. Got LKA service needed can this be the one?"; +CM_ SG_ 640 SpeedTarget "SpeedTarget ACC (noisy bf starting acc Jumps from 0->252->0)"; +CM_ SG_ 853 TargetSpeedOdo "Probably target speed odo"; +CM_ SG_ 853 LaneMarkingsOdo "Bit 3=Left lane, Bit 2=Right lane, Bit 1=LKA on?, Bit 0=?"; +CM_ SG_ 709 SpeedTargetACC "SpeedTargetACC"; +CM_ SG_ 224 rate_of_something "Seems to be some kind of torque rather than rate."; +CM_ SG_ 224 OneDuringDriving "Set to 1 when vehicle is rolling."; +CM_ SG_ 293 byte7 "Bit0=0 when gearshift in park, else 1"; +CM_ SG_ 293 LKAActive "Bit0=0 when gear in park otherwise =1, Bit1=1 when LKA Active, 0 when not active. Bit2=? Bit3=?"; +CM_ SG_ 16 ACCOnOffBtn "Cruise control on/off button pressed"; +CM_ SG_ 16 ACCSetBtn "Acc Set button (+) pressed"; +CM_ SG_ 16 ACCStopBtn "ACC Stop button pressed"; +CM_ SG_ 16 ACCResumeBtn "ACC Resume button pressed"; +CM_ SG_ 16 ACCMinusBtn "ACC Minus (-) button pressed"; +CM_ SG_ 16 TimeGapIncreaseBtn "Increase the time gap on ACC"; +CM_ SG_ 16 TimeGapDecreaseBtn "Decrease the time gap on ACC"; +CM_ SG_ 245 counter0 "Speed based counter"; +CM_ SG_ 245 WhlSpdLF "Wheel speed left front"; +CM_ SG_ 245 WhlSpdRF "Wheel speed right front"; +CM_ SG_ 288 WhlSpdLR "Wheel speed left rear"; +CM_ SG_ 288 WhlSpdRR "Wheel speed right rear"; +CM_ SG_ 64 RPMSomething "TransmissionOutput?"; +CM_ SG_ 64 GearShifter "P=0, R=1, N=2, D=3"; +CM_ SG_ 272 VehicleSpeedSignal "km/h"; +CM_ SG_ 432 BrakePress0 "Brake being pressed"; +CM_ SG_ 432 BrakePress1 "Brake being pressed"; +CM_ SG_ 432 BrakeStatus "ACC brake?"; +CM_ SG_ 437 Counter0 "Related to braking? Maybe one per wheel?"; +CM_ SG_ 437 Counter1 "Related to braking? Maybe one per wheel?"; +CM_ SG_ 437 Counter2 "Related to braking? Maybe one per wheel?"; +CM_ SG_ 437 Counter3 "Related to braking? Maybe one per wheel?"; +CM_ SG_ 114 NEW_SIGNAL_1 "Jumped from 0 -> 120 during start. Makes triangle from time to time"; +CM_ SG_ 608 NEW_SIGNAL_1 "Status?"; +CM_ SG_ 608 NEW_SIGNAL_2 "Classification of object?"; +CM_ SG_ 608 Distance "Distance to object in front."; +CM_ SG_ 968 PassengerSeatBelt "1 = Seatbalt latched"; +CM_ SG_ 968 DriverSeatBelt "1=Seatbelt latched"; +VAL_ 64 GearShifter 0 "P" 1 "R" 2 "N" 3 "D" ; diff --git a/opendbc/volvo_v60_2015_pt.dbc b/opendbc/volvo_v60_2015_pt.dbc new file mode 100644 index 000000000..f95eff00c --- /dev/null +++ b/opendbc/volvo_v60_2015_pt.dbc @@ -0,0 +1,230 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX BCM CEM FSM PSCM SAS + +BO_ 16 SAS0: 8 SAS + SG_ Counter0 : 3|8@0+ (1,0) [0|511] "" XXX + SG_ RateOfChangeOrTorque : 39|16@0+ (1,-32768) [0|65535] "" XXX + SG_ NEW_SIGNAL_1 : 22|15@0+ (1,0) [0|65535] "" XXX + SG_ SteeringDirection : 6|1@0+ (1,0) [0|1] "" XXX + SG_ SteeringAngle : 53|14@0+ (0.0445,0) [0|65535] "degrees" XXX + +BO_ 32 AccPedal: 8 XXX + SG_ AccPedal : 17|10@0+ (0.1,0) [0|1023] "%" XXX + +BO_ 81 FSM0: 8 FSM + SG_ ACCStatus : 18|3@0+ (1,0) [0|7] "" XXX + +BO_ 277 NEW_MSG_7: 8 XXX + SG_ NEW_SIGNAL_1 : 39|16@0+ (1,0) [0|65535] "" XXX + +BO_ 295 CCButtons: 8 CEM + SG_ ACCMinusBtn : 48|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSetBtn : 63|1@0+ (1,0) [0|1] "" XXX + SG_ ACCOnOffBtn : 59|1@0+ (1,0) [0|1] "" XXX + SG_ ACCResumeBtn : 61|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapDecreaseBtnInv : 34|1@0+ (1,0) [0|1] "" XXX + SG_ ACCOnOffBtnInv : 43|1@0+ (1,0) [0|1] "" XXX + SG_ ACCResumeBtnInv : 45|1@0+ (1,0) [0|1] "" XXX + SG_ ACCSetBtnInv : 47|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapIncreaseBtn : 49|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapDecreaseBtn : 50|1@0+ (1,0) [0|1] "" XXX + SG_ ACCMinusBtnInv : 32|1@0+ (1,0) [0|1] "" XXX + SG_ TimeGapIncreaseBtnInv : 33|1@0+ (1,0) [0|1] "" XXX + +BO_ 298 NEW_MSG_5: 8 XXX + SG_ EngineRpm : 52|13@0+ (1,0) [0|8000] "" XXX + +BO_ 336 NEW_MSG_8: 8 XXX + +BO_ 328 VehicleSpeed1: 8 XXX + SG_ VehicleSpeed : 55|16@0+ (0.01,0) [0|65535] "" XXX + +BO_ 465 NEW_MSG_4: 8 XXX + SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|4095] "" XXX + +BO_ 544 wheelspeed1: 8 BCM + SG_ WhlSpdRR : 39|16@0+ (0.01,-327.68) [0|65535] "" XXX + SG_ WhlSpdLR : 55|16@0+ (0.01,-327.68) [0|65535] "" XXX + +BO_ 565 wheelspeed0: 8 BCM + SG_ WhlSpdLF : 55|16@0+ (0.01,-327.68) [0|65535] "" XXX + SG_ WhlSpdRF : 39|16@0+ (0.01,-327.68) [0|65535] "" XXX + +BO_ 582 PSCM1: 8 PSCM + SG_ byte4 : 39|4@0+ (1,0) [0|15] "" XXX + SG_ LKATorque : 35|12@0+ (1,-2000) [0|65535] "" XXX + SG_ SteeringAngleServo : 23|16@0+ (0.0447,-1468) [0|65535] "deg" XXX + SG_ SteeringWheelRateOfChange : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LKAActive : 55|8@0+ (1,0) [0|255] "" XXX + +BO_ 608 FSM1: 8 FSM + SG_ ACC_Tracking : 7|8@0+ (1,0) [0|255] "" XXX + +BO_ 609 fromWhere: 8 XXX + SG_ SteeringAngle : 21|14@0+ (0.1,-1021) [0|65535] "deg" XXX + +BO_ 610 FSM2: 8 FSM + SG_ TrqLim : 23|8@0+ (1,-128) [0|255] "" PSCM + SG_ Checksum : 55|8@0+ (1,0) [0|255] "" PSCM + SG_ LKAAngleReq : 29|14@0+ (0.04,-327.68) [0|16383] "" PSCM + SG_ SET_X_02 : 31|2@0+ (1,0) [0|3] "" XXX + SG_ SET_X_10 : 47|6@0+ (1,0) [0|63] "" XXX + SG_ SET_X_A4 : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SET_X_22 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ LKASteerDirection : 41|2@0+ (1,0) [0|3] "" PSCM + +BO_ 624 FSM3: 8 FSM + SG_ ACC_SOMETHING : 15|8@0+ (1,0) [0|255] "" XXX + SG_ ACC_Some : 17|10@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX + +BO_ 648 BrakePedal: 8 XXX + SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX + SG_ BrakePedal : 24|8@1+ (1,4) [0|255] "" XXX + +BO_ 794 FSM4: 8 FSM + SG_ NEW_SIGNAL_1 : 47|16@0+ (1,-46090) [0|16383] "" XXX + SG_ NEW_SIGNAL_2 : 32|4@1+ (1,0) [0|15] "" XXX + +BO_ 819 PSCM0: 8 PSCM + +BO_ 923 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_1 : 15|16@0+ (1,0) [0|65535] "" XXX + +BO_ 1021 FSM5: 8 FSM + +BO_ 1039 MiscCarInfo: 8 XXX + SG_ TurnSignal : 33|2@0+ (1,0) [0|3] "" XXX + +BO_ 1279 PSCM3: 8 PSCM + +BO_ 1830 diagCEMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1838 diagCEMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1840 diagPSCMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1848 diagPSCMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1892 diagFSMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1900 diagFSMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 1939 diagCVMReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 1947 diagCVMResp: 8 XXX + SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX + SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX + +BO_ 2015 diagGlobalReq: 8 XXX + SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX + SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX + SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX + + + + +CM_ SG_ 16 RateOfChangeOrTorque "Rate of change? Torque?"; +CM_ SG_ 16 SteeringDirection "0 = CCW, 1=CW (turning left or right of center)"; +CM_ SG_ 298 EngineRpm "Might be engine rpm. But behaves abit weird."; +CM_ SG_ 582 byte4 "High nibble"; +CM_ SG_ 582 SteeringWheelRateOfChange "Some rate of change for steering wheel? Torque?"; +CM_ SG_ 582 byte0 "0=CCW, 1=CW, bit 2,"; +CM_ SG_ 582 LKAActive "Bit 1, 1 When LKA Active, Bit 3, 1 When denying?"; +CM_ SG_ 81 ACCStatus "0=Acc Unavailable, 1=???, 2=Acc Ready, 3,4=???, 6= Acc Active, 7=Acc active tracking object (probably) "; +CM_ SG_ 608 ACC_Tracking "Seems to track distance, or speed of vehicle in front."; +CM_ SG_ 610 SET_X_22 "0x20 Heartbeat, VEgo <58kph = 0x03, VEgo >65kph = 0x04, 0x05"; +CM_ SG_ 624 ACC_SOMETHING "Might be some acc speed, moved abit after activating acc"; +CM_ SG_ 624 ACC_Some "Jumps to life after activating ACC, 0 when not active"; +CM_ SG_ 295 ACCMinusBtn "ACC Minus (-) button pressed"; +CM_ SG_ 295 ACCSetBtn "Acc Set button (+) pressed"; +CM_ SG_ 295 ACCOnOffBtn "Cruise control on/off button pressed"; +CM_ SG_ 295 ACCResumeBtn "ACC Resume button pressed"; +CM_ SG_ 295 TimeGapDecreaseBtnInv "Active zero when button pressed."; +CM_ SG_ 295 ACCOnOffBtnInv "Active zero when button pressed."; +CM_ SG_ 295 ACCResumeBtnInv "Active zero when button pressed."; +CM_ SG_ 295 ACCSetBtnInv "Active zero when button pressed."; +CM_ SG_ 295 TimeGapIncreaseBtn "Increase the time gap on ACC"; +CM_ SG_ 295 TimeGapDecreaseBtn "Decrease the time gap on ACC"; +CM_ SG_ 295 ACCMinusBtnInv "Active zero when button pressed."; +CM_ SG_ 295 TimeGapIncreaseBtnInv "Active zero when button pressed."; +CM_ SG_ 1039 TurnSignal "0 = Nothing, 1= Left, 3=Right"; diff --git a/opendbc/vw_golf_mk4.dbc b/opendbc/vw_golf_mk4.dbc new file mode 100644 index 000000000..66681dbd5 --- /dev/null +++ b/opendbc/vw_golf_mk4.dbc @@ -0,0 +1,1505 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + +BS_: + +BU_: XXX + + +BO_ 1394 ZAS_1: 2 XXX + SG_ Fehlerspeichereintrag__ZAS_ : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_ZAS_1_3 : 8|7@1+ (1,0) [0|0] "" XXX + SG_ Frei_ZAS_1_2 : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_15_SV : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_ZAS_1_1 : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_P__Parklichtstellung_ : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_50__Starten_ : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_X__Startvorgang_ : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_15__Z_ndung_ein_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ S_Kontakt__Schl_ssel_steckt_ : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1336 Wischer_1: 2 XXX + SG_ Blockierung_Heckwischer_erkannt : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Wischer_1_2 : 12|3@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeichereintrag__Wischer_ : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Scheibenwischer_Hec : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Wascher_Heck : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Scheibenwischer_Heck_eingeschal : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Blockierung_Frontwischer_erkann : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Wischer_1_1 : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Waschduesenheizung : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Parklage_Frontwischer : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Frontwischer_Schnel : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Frontwischer_Normal : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Wascher_Front : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Frontwischer__eingeschaltet : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1464 WFS_1: 2 XXX + SG_ WFS_Textbits : 8|8@1+ (1,0) [0|0] "" XXX + SG_ Frei_WFS_1_1 : 1|7@1+ (1,0) [0|0] "" XXX + SG_ WFS_LED : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1096 Waehlhebel_1: 4 XXX + SG_ Frei_Waehlhebel_1_1 : 29|3@1+ (1,0) [0|0] "" XXX + SG_ Test_aktiv_Flag : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Waehlhebel_1 : 24|4@1+ (1,0) [0|15] "" XXX + SG_ Waehlhebel_Testergebnis : 16|8@1+ (1,0) [0|255] "" XXX + SG_ Fehler_Waehlhebel : 8|8@1+ (1,0) [0|0] "" XXX + SG_ Waehlhebelposition : 4|4@1+ (1,0) [0|0] "" XXX + SG_ Waehlhebel_Initialisierung : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Shiftlock_Position : 0|3@1+ (1,0) [0|0] "" XXX + +BO_ 1496 Verbauliste_1: 8 XXX + SG_ TV_Tuner : 63|1@1+ (1,0) [0|0] "" XXX + SG_ DSP : 62|1@1+ (1,0) [0|0] "" XXX + SG_ CD_Wechsler : 61|1@1+ (1,0) [0|0] "" XXX + SG_ Spracheingabe : 60|1@1+ (1,0) [0|0] "" XXX + SG_ Telematik : 59|1@1+ (1,0) [0|0] "" XXX + SG_ Navigation : 58|1@1+ (1,0) [0|0] "" XXX + SG_ Telefon : 57|1@1+ (1,0) [0|0] "" XXX + SG_ Radio : 56|1@1+ (1,0) [0|0] "" XXX + SG_ MMI_vorne : 55|1@1+ (1,0) [0|0] "" XXX + SG_ MMI_hinten : 54|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Verbauliste_1_11 : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Klimabedienteil_HL : 52|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Verbauliste_1_10 : 50|2@1+ (1,0) [0|0] "" XXX + SG_ Tankgeber : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Assistenzfahrlicht : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Memory_hinter_Fahrer : 47|1@1+ (1,0) [0|0] "" XXX + SG_ Sitzmemory_hinten : 46|1@1+ (1,0) [0|0] "" XXX + SG_ Sitzmemory_Beifahrer : 45|1@1+ (1,0) [0|0] "" XXX + SG_ Anh_ngersteuergeraet : 44|1@1+ (1,0) [0|0] "" XXX + SG_ Energiemanagement : 43|1@1+ (1,0) [0|0] "" XXX + SG_ Wischermodul : 42|1@1+ (1,0) [0|0] "" XXX + SG_ EZS___Kessy__Komfort_ : 41|1@1+ (1,0) [0|0] "" XXX + SG_ Verdecksteuergeraet : 40|1@1+ (1,0) [0|0] "" XXX + SG_ Standheizung : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Verbauliste_1_9 : 38|1@1+ (1,0) [0|0] "" XXX + SG_ Einparkhilfe : 37|1@1+ (1,0) [0|0] "" XXX + SG_ Klimasteuergeraet_Komfort : 36|1@1+ (1,0) [0|0] "" XXX + SG_ Gateway : 35|1@1+ (1,0) [0|0] "" XXX + SG_ Lenksaeulenmodul : 34|1@1+ (1,0) [0|0] "" XXX + SG_ Reifendruck : 33|1@1+ (1,0) [0|0] "" XXX + SG_ Kombiinstrument_Komfort : 32|1@1+ (1,0) [0|0] "" XXX + SG_ Dachmodul : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Memory : 30|1@1+ (1,0) [0|0] "" XXX + SG_ TSG_HR : 29|1@1+ (1,0) [0|0] "" XXX + SG_ TSG_HL : 28|1@1+ (1,0) [0|0] "" XXX + SG_ TSG_BT : 27|1@1+ (1,0) [0|0] "" XXX + SG_ TSG_FT : 26|1@1+ (1,0) [0|0] "" XXX + SG_ ZKE : 25|1@1+ (1,0) [0|0] "" XXX + SG_ BSG_Komfort : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Verbauliste_1_8 : 19|5@1+ (1,0) [0|0] "" XXX + SG_ Stabi_Entkopplung : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Waehlhebel : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Batteriemanager : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Daempfer_SG : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Niveauregulierung : 14|1@1+ (1,0) [0|0] "" XXX + SG_ EZS___Kessy__Antrieb_ : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsbooster : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Antrieb : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Einspritzpumpe : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkwinkel : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Allrad : 7|1@1+ (1,0) [0|0] "" XXX + SG_ BSG_Antrieb : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ADR : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Climatronic_Antrieb : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ABS : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Getriebesteuergeraet : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Motorsteuergeraet : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1488 Systeminfo_1: 6 XXX + SG_ CAN_Stand_4_1_Antrieb_Daten_Hau : 44|4@1+ (1,0) [0|15] "" XXX + SG_ CAN_Stand_4_1_Antrieb_Daten_Neb : 40|4@1+ (1,0) [0|15] "" XXX + SG_ CAN_Stand_4_1_Komfort_Daten_Hau : 36|4@1+ (1,0) [0|15] "" XXX + SG_ CAN_Stand_4_1_Komfort_Daten_Neb : 32|4@1+ (1,0) [0|15] "" XXX + SG_ Frei_Systeminfo_1_6 : 30|1@1+ (1,0) [0|0] "" XXX + SG_ Viertuerer : 29|1@1+ (1,0) [0|0] "" XXX + SG_ Rechtslenker : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrzeug_Index : 24|4@1+ (1,0) [0|0] "" XXX + SG_ Fahrzeug_Generation : 20|4@1+ (1,0) [0|15] "" XXX + SG_ Fahrzeug_Derivat : 16|4@1+ (1,0) [0|15] "" XXX + SG_ Fahrzeug_Marke_2 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Fahrzeug_Klasse : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Verbauinformation_gueltig : 7|1@1+ (1,0) [0|0] "" XXX + SG_ CAN_Infotainment_verbaut : 6|1@1+ (1,0) [0|0] "" XXX + SG_ CAN_Infotainment_in_Diagnose : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Sleep_CAN_Infotainment : 4|1@1+ (1,0) [0|0] "" XXX + SG_ CAN_Komfort_in_Diagnose : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Sleep_CAN_Komfort : 2|1@1+ (1,0) [0|0] "" XXX + SG_ CAN_Antrieb_in_Diagnose : 1|1@1+ (1,0) [0|0] "" XXX + SG_ CAN_Extern_zugeschaltet : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 268 Slave_1: 8 XXX + SG_ Delta_reduziertes_Sollmoment : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Delta_Drosselklappenwinkel : 32|16@1+ (1,0) [0|0] "" XXX + SG_ Frei_Slave_1_1 : 25|7@1+ (1,0) [0|0] "" XXX + SG_ Delta_Zuendwinkelausgabe : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Ubat_Freigabe_DVE__Slave_ : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Drosselklappe_Sollwertbegrenzun : 22|1@1+ (1,0) [0|0] "" XXX + SG_ Einspritzverbot_lernen__Slave_ : 21|1@1+ (1,0) [0|0] "" XXX + SG_ Master_erkannt__Slave_ : 20|1@1+ (1,0) [0|0] "" XXX + SG_ Fehler_Momentenausgabe : 19|1@1+ (1,0) [0|0] "" XXX + SG_ Fehler_Getriebe_Moment : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Fehler_Bremsenbotschaft : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Indiziertes_Istmoment__Slave_ : 0|16@1+ (0.0015259,0) [0|99.998] "%" XXX + SG_ Timeout_Bremsenbotschaft : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1332 Sitz_info: 2 XXX + SG_ Positionserkennung_Beifahrersit : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Beifahrersitz_im_vorderen_Dritt : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Positionserkennung_Fahrersitz_u : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrersitz_im_vorderen_Drittel : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Sitzinfo : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Checksumme_Sitzinfo : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1810 PSG_3: 2 XXX + SG_ Selbsttestergebnis : 0|16@1+ (1,0) [0|0] "" XXX + +BO_ 1298 PSG_2: 8 XXX + SG_ RAM_Inhalt_4 : 48|16@1+ (1,0) [0|0] "" XXX + SG_ RAM_Inhalt_3 : 32|16@1+ (1,0) [0|0] "" XXX + SG_ RAM_Inhalt_2 : 16|16@1+ (1,0) [0|0] "" XXX + SG_ RAM_Inhalt_1 : 0|16@1+ (1,0) [0|0] "" XXX + +BO_ 274 PSG_1: 8 XXX + SG_ Pumpentemperatur__2_1_ : 48|16@1+ (0.0625,0) [0|4096] "K" XXX + SG_ Pumpentemperatur__3_2_2_ : 44|12@1+ (1,0) [0|0] "" XXX + SG_ Zylinderzaehler__3_2_2_ : 43|3@1+ (1,0) [1|8] "Zaehler" XXX + SG_ Ansteuerdauer__3_2_2_ : 32|11@1+ (0.0469,0) [0|96] "NW" XXX + SG_ Nockenwellendrehzahl__3_2_2_ : 20|12@1+ (4,0) [0|16380] "upm" XXX + SG_ Pumpen_Statuswort__3_2_2_ : 0|20@1+ (1,0) [0|0] "" XXX + +BO_ 1300 NOX_1: 8 XXX + SG_ OBD_fuer_NOX : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Frei_NOX1_4 : 53|3@1+ (1,0) [0|0] "" XXX + SG_ IP2 : 52|1@1+ (1,0) [0|0] "" XXX + SG_ IP1 : 51|1@1+ (1,0) [0|0] "" XXX + SG_ IP0 : 50|1@1+ (1,0) [0|0] "" XXX + SG_ Sondenheizung_NOX : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Offsetkorrektur_NOX : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_NOX1_3 : 43|5@1+ (1,0) [0|0] "" XXX + SG_ Sauerstoff_binaer : 32|11@1+ (1,-200) [-200|1847] "mV" XXX + SG_ Frei_NOX1_2 : 27|5@1+ (1,0) [0|0] "" XXX + SG_ Sauerstoff_linear : 16|11@1+ (1,0) [0|2047] "1000/Lambd" XXX + SG_ Frei_NOX1_1 : 11|5@1+ (1,0) [0|0] "" XXX + SG_ NOX_Signal : 0|11@1+ (1,0) [0|2047] "ppm" XXX + +BO_ 1424 Niveau_1: 6 XXX + SG_ Beladungszustand : 40|8@1+ (1,0) [0|253] "Zuladung" XXX + SG_ Fehlerspeichereintrag__Niveau_1 : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Systemstatus__Niveau_1_ : 38|1@1+ (1,0) [0|0] "" XXX + SG_ Reserve_Fahrzeugart : 37|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrzeugart_Niveau : 36|1@1+ (1,0) [0|0] "" XXX + SG_ Textbits__Niveau_1_ : 32|4@1+ (1,0) [0|0] "" XXX + SG_ Verstellung_HL : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Verstellung_HR : 30|1@1+ (1,0) [0|0] "" XXX + SG_ Verstellung_VL : 29|1@1+ (1,0) [0|0] "" XXX + SG_ Verstellung_VR : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Absenkung_Fahrzeug : 27|1@1+ (1,0) [0|0] "" XXX + SG_ Anhebung_Fahrzeug : 26|1@1+ (1,0) [0|0] "" XXX + SG_ Verstellung_aktiv : 25|1@1+ (1,0) [0|0] "" XXX + SG_ Kompressorlauf_in_Kuerze : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Niveau_1_5 : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Taster_Niveau : 22|1@1+ (1,0) [0|0] "" XXX + SG_ Parkniveau : 21|1@1+ (1,0) [0|0] "" XXX + SG_ Zwischenniveau : 20|1@1+ (1,0) [0|0] "" XXX + SG_ Niveaustati : 16|4@1+ (1,0) [0|0] "" XXX + SG_ MSG_Einschraenkung : 15|1@1+ (1,0) [0|0] "" XXX + SG_ ESP_Beeinflussung : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Warnlampe_Niveau_1 : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Niveau_1_1 : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Niveau_1 : 8|4@1+ (1,0) [0|15] "Zaehler" XXX + SG_ Checksumme_Niveau_1 : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1328 Navigation_1: 7 XXX + SG_ Kreuzungstyp : 54|2@1+ (1,0) [0|3] "" XXX + SG_ Entfernung_bis_Kreuzung : 48|6@1+ (5,0) [0|315] "m" XXX + SG_ Entfernung_bis_Kurvenanfang : 40|8@1+ (1,0) [0|255] "m" XXX + SG_ Voarusliegende_Kurvenrichtung : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Vorausliegender_Kurvenverlauf : 32|7@1+ (50,0) [0|6350] "m" XXX + SG_ Fehler_Navigation : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Anzahl_Fahrbahnen__0_ist_unguel : 28|3@1+ (1,0) [1|7] "" XXX + SG_ Strassentyp : 24|4@1+ (1,0) [0|15] "" XXX + SG_ Laenderkennung : 16|8@1+ (1,0) [0|0] "" XXX + SG_ Vorzeichen_Gierrate______ : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Gierratenfehler : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Gierrate : 0|14@1+ (0.01,0) [0|100] "deg/sek" XXX + +BO_ 1792 MSG_3: 3 XXX + SG_ MSG_Konfiguration : 16|8@1+ (1,0) [0|0] "" XXX + SG_ Lage_des_OT_Impuls : 0|16@1+ (0.01172,-384) [-384|384] "KW" XXX + +BO_ 1280 MSG_2: 8 XXX + SG_ RAM_Adresse_4 : 48|16@1+ (1,0) [0|0] "" XXX + SG_ RAM_Adresse_3 : 32|16@1+ (1,0) [0|0] "" XXX + SG_ RAM_Adresse_2 : 16|16@1+ (1,0) [0|0] "" XXX + SG_ Ram_Adresse_1 : 0|16@1+ (1,0) [0|0] "" XXX + +BO_ 256 MSG_1: 8 XXX + SG_ Kurbelwellendrehzahl__3_2_2_ : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Soll_Foerderbeginn_KW__3_2_2_ : 40|16@1+ (0.01172,-384) [-384|384] "KW" XXX + SG_ Soll_Foerderbeginn_NW__3_2_2_ : 28|12@1+ (0.01172,0) [0|768] "degNW" XXX + SG_ Soll_Voreinspritzung : 16|12@1+ (1,0) [0|0] "" XXX + SG_ Soll_Einspritzmenge : 0|16@1+ (0.03125,0) [0|2047] "mg/H" XXX + +BO_ 1796 Motor_NOX: 8 XXX + SG_ Frei_Motor_NOX_1_2 : 24|40@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_NOX_1_1 : 19|5@1+ (1,0) [0|0] "" XXX + SG_ Heizleistungsanforderung : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Offsetkorrektur_moeglich : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Betriebsbereich : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Abgastemperatur_NOX : 8|8@1+ (5,-40) [-40|1230] "C" XXX + SG_ Abgasdruck_NOX : 0|8@1+ (5,600) [600|1870] "mbar" XXX + +BO_ 900 Motor_Momente: 8 XXX + SG_ Momentenangaben_ungenau__Moment : 35|2@1+ (1,0) [0|0] "" XXX + +BO_ 1408 Motor_Flexia: 8 XXX + SG_ Ansaugsystem m0 : 63|1@1+ (1,0) [0|0] "" XXX + SG_ Hubraum m0 : 56|7@1+ (0.1,0) [0|12.7] "l" XXX + SG_ Steigung_der_Befuellungskennlin m1 : 56|8@1+ (0.001,0) [0|0.255] "l/mm" XXX + SG_ Anzahl_Zylinder m0 : 52|4@1+ (1,0) [0|15] "Vent./Zyl." XXX + SG_ Bewertungsfaktor_Russindex_Turb m1 : 50|6@1+ (0.1,0) [0|6.3] "" XXX + SG_ Anzahl_Ventile m0 : 49|3@1+ (1,0) [0|7] "Vent./Zyl." XXX + SG_ Bewertungsfaktor_Verschleissind m1 : 44|6@1+ (0.1,0) [0|6.3] "" XXX + SG_ Hersteller_Code m1 : 40|4@1+ (1,0) [0|15] "" XXX + SG_ Motorleistung m0 : 40|9@1+ (1,0) [0|512] "KW" XXX + SG_ Max_Drehmoment m0 : 32|8@1+ (10,0) [0|2550] "Nm" XXX + SG_ Normierter_Verbrauch m1 : 32|8@1+ (10,0) [0|2550] "l/Zyl." XXX + SG_ Oelniveauschwelle m1 : 24|8@1+ (0.25,0) [0|63.75] "cm" XXX + SG_ Drehzahl_MaxNorm m0 : 24|8@1+ (100,0) [0|25500] "U/min" XXX + SG_ Verschleissindex : 16|8@1+ (1,0) [0|254] "" XXX + SG_ Russindex : 8|8@1+ (1,0) [0|254] "" XXX + SG_ Verbrennungsart : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_Flexia_1 : 4|3@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Motor_Flexia : 1|3@1+ (1,0) [0|15] "" XXX + SG_ Multiplex_Schalter_Motor_Flexia M : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1416 Motor_7: 8 XXX + SG_ Frei_Motor_7_3 : 40|24@1+ (1,0) [0|0] "" XXX + SG_ Ladedruck : 32|8@1+ (0.01,0) [0|2.54] "bar" XXX + SG_ Vorzeichen_Motordrehzahlgradien : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Motordrehzahlgradient : 24|7@1+ (1,0) [0|126] "U/min" XXX + SG_ Hoeheninfo__Motor_7_ : 16|8@1+ (0.00787,0) [0|2] "" XXX + SG_ Klemme_DFM : 8|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ PTC___Gluehstifte_ausgeschaltet : 5|3@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_7_1 : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeichereintrag__Motor_7_ : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Statusbit_Geschwindikeitsbegren : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Geschwindigkegrenzung_aktivierb : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Leerlauf_Solldrehzahl_auf_Max_W : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1160 Motor_6: 8 XXX + SG_ Zaehler_Motor_6 : 60|4@1+ (1,0) [0|15] "" XXX + SG_ Frei_Motor_6_4 : 58|2@1+ (1,0) [0|0] "" XXX + SG_ ltemperaturschutz : 57|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_Bremseingriff_Freigabe : 56|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_6_3 : 40|16@1+ (1,0) [0|0] "" XXX + SG_ GRA_Sollbeschleunigung : 32|8@1+ (0.024,-3.984) [-3.984|2.112] "m/s2" XXX + SG_ Hoeheninfo__Motor_6_ : 24|8@1+ (0.00787,0) [0|2] "" XXX + SG_ Istmoment_f_r_Getriebe : 16|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Sollmoment_f_r_Getriebe : 8|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Checksumme_Motor_6 : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1152 Motor_5: 8 XXX + SG_ CHECKSUM : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Motortext_Bits__4_1_ : 52|4@1+ (1,0) [0|0] "" XXX + SG_ Doppelte_Momente : 51|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_Hauptschalter : 50|1@1+ (1,0) [0|0] "" XXX + SG_ Anlasser_Ausspuren : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Anlasser_Freigabe : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Klimadrucksignal__Motor_5_ : 40|8@1+ (0.2,0) [0|50.8] "bar" XXX + SG_ K_hlerluefteransteuerung : 32|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ Verbrauch_Ueberlauf : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Kraftstoffverbrauchssignal : 16|15@1+ (1,0) [0|32767] "ul" XXX + SG_ Klimakompressor_Leistungsreduzi : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Kennfeldkuehlung : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Klimakompressor_aus__Motor_5_ : 13|1@1+ (1,0) [0|0] "" XXX + SG_ CAT_Warnung : 12|1@1+ (1,0) [0|0] "" XXX + SG_ OBD_2_Lampe : 11|1@1+ (1,0) [0|0] "" XXX + SG_ E_Gas_Lampe : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Vorgluehlampe__Motor_5_ : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Ladekontroll_Lampe : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Code M : 6|2@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Info_norm__Verbrauch m3 : 0|6@1+ (20,0) [0|1260] "l/Zyl" XXX + SG_ Multiplex_Info_Motortyp m2 : 0|6@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Info_Drehzahl_MD_Max m1 : 0|6@1+ (100,0) [0|6300] "U/min" XXX + SG_ Multiplex_Info_Max_Drehmoment m0 : 0|6@1+ (10,0) [0|630] "Nm" XXX + +BO_ 896 Motor_3: 8 XXX + SG_ Drosselklappenpoti : 56|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ Motor_Wunschdrehzahl : 48|8@1+ (25,0) [0|6350] "U/min" XXX + SG_ Motordrehzahlbeeinflussung : 40|8@1+ (0.392,0) [0|100] "%" XXX + SG_ Kein_Start_Stop : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Kein_E_Gas : 38|1@1+ (1,0) [0|0] "" XXX + SG_ Reserviert_Motor_3_1 : 37|1@1+ (1,0) [0|0] "" XXX + SG_ Vorzeichen_Rad_Wunschmoment : 36|1@1+ (1,0) [0|0] "" XXX + SG_ Rad_Wunschmoment : 24|12@1+ (0.39,0) [0|1597] "MDI" XXX + SG_ Fahrpedal_Rohsignal : 16|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX + SG_ Fehlerstatus_Ansauglufttemperat : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Motorsteuerger_t_gesperrt : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Drosselklappenwinkel_ungenau : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrpedalwert_ungenau__Motor_3_ : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Motor_3_1 : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Motor_Wunschdrehzahl_Priorit_t : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Uebertemperaturschutz__Motor_3_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Vorgluehmeldung : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 648 Motor_2: 8 XXX + SG_ Minimales_Motormoment_bei_Zuend : 56|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Begrenzungsmoment : 48|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Leerlaufsolldrehzahl__Motor_2_ : 40|8@1+ (10,0) [0|2540] "U/min" XXX + SG_ Soll_Geschwindigkeit_bei_GRA_Be : 32|8@1+ (1.28,0) [0|325] "km/h" XXX + SG_ Fahrzeuggeschwindigkeit : 24|8@1+ (1.28,0) [0|325] "km/h" XXX + SG_ GRA_Status : 22|2@1+ (1,0) [0|0] "" XXX + SG_ OBD_2_freeze_frame : 21|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Normalbetrieb : 20|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Klima__4_1_ : 19|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Kuhlmitteltempera : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Bremstestschalter : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Bremslichtschalter : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Kuehlmitteltemperatur__Motor_2_ : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX + SG_ Multiplex_Code_Motor_2 M : 6|2@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Info_Motorcode__4_x_ m1 : 0|6@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Info_Getriebecode m2 : 0|6@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Info_Max_Moment__Norm m3 : 0|6@1+ (10,0) [0|630] "Nm" XXX + SG_ Multiplex_Info_CAN_Stand m0 : 0|6@1+ (1,0) [0|0] "" XXX + +BO_ 640 Motor_1: 8 XXX + SG_ Fahrerwunschmoment : 56|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ mechanisches_Motor_Verlustmomen : 48|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Fahrpedalwert_oder_Drosselklapp : 40|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ inneres_Motor_Moment_ohne_exter : 32|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Motordrehzahl : 16|16@1+ (0.25,0) [0|16256] "U/min" XXX + SG_ inneres_Motor_Moment : 8|8@1+ (0.39,0) [0|99] "MDI" XXX + SG_ Momentenangaben_ungenau : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Getriebe_Momentene : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Brems_Momenteneing : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Time_Out_Bremsen_Botschaft : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Kupplungsschalter : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Kickdownschalter : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrpedalwert_ungenau__Motor_1_ M : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Leergasinformation : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 262 Master_3: 8 XXX + SG_ Frei_Master_3_1 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Motortemperatur_linearisiert : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX + SG_ Indiziertes_Sollmoment_f_r_Vmax : 32|16@1+ (0.0015259,0) [0|100] "%" XXX + SG_ Relative_Momentenanforderung_de : 16|16@1+ (0.003052,0) [0|200] "%" XXX + SG_ Delta_Motormoment_aus_Verlustmo : 0|16@1+ (0.003052,-100) [-100|100] "%" XXX + +BO_ 260 Master_2: 8 XXX + SG_ Ubat_Freigabe_DVE : 45|1@1+ (1,0) [0|0] "" XXX + SG_ DK_Sollwertbegrenzung : 44|1@1+ (1,0) [0|0] "" XXX + SG_ Einspritzverbot_DV_E_lernen : 43|1@1+ (1,0) [0|0] "" XXX + SG_ Master_erkannt : 42|1@1+ (1,0) [0|0] "" XXX + SG_ Vmax_Begrenzung_aktiv : 41|1@1+ (1,0) [0|0] "" XXX + SG_ SA_Verbot_von_FGR : 40|1@1+ (1,0) [0|0] "" XXX + SG_ Pedalwert_Komplement : 24|16@1+ (1,0) [0|0] "" XXX + SG_ Zaehler__Master_2_ : 16|8@1+ (1,0) [0|255] "" XXX + SG_ Normierter_Fahrpedalwinkel : 0|16@1+ (0.001526,0) [0|100] "%" XXX + +BO_ 258 Master_1: 8 XXX + SG_ Stationaere_Solldrehzahl : 56|8@1+ (10,0) [0|2550] "Umin" XXX + SG_ Drehmoment_LLR__I_Anteil_ : 40|16@1+ (0.003052,-100) [-100|100] "%" XXX + SG_ Drehmoment_LLR__PD_Anteil_ : 24|16@1+ (0.003052,-100) [-100|100] "%" XXX + SG_ Drehmoment_LLR__Luftpfad_ : 8|16@1+ (0.003052,-100) [-100|100] "%" XXX + SG_ Frei_Master_1_1 : 4|4@1+ (1,0) [0|0] "" XXX + SG_ LLR_ist_aktiv : 3|1@1+ (1,0) [0|0] "" XXX + SG_ I_Anteil_der_LLR_aktiv : 2|1@1+ (1,0) [0|0] "" XXX + SG_ PD_Anteil_der_LLR_aktiv : 1|1@1+ (1,0) [0|0] "" XXX + SG_ LLR_Freigabe_nach_Start : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1984 LWS_Kalibrierung: 2 XXX + SG_ Frei_LWS_Kalibrierung_1_1 : 15|1@1+ (1,0) [0|0] "" XXX + SG_ LWS_Identifier : 8|7@1+ (1,0) [0|0] "" XXX + SG_ Frei_LWS_Kalibrierung_1_2 : 4|4@1+ (1,0) [0|0] "" XXX + SG_ Command_Dode_Word : 0|4@1+ (1,0) [0|0] "" XXX + +BO_ 1986 Lenkwinkel_Init: 4 XXX + SG_ Kodierbytes : 8|24@1+ (1,0) [0|0] "" XXX + SG_ Identiifier_f_r_LWS_Init : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 192 Lenkwinkel_1__RB_: 2 XXX + SG_ Vorzeichen__RB_ : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkwinkel__RB_ : 5|10@1+ (2.5,-720) [-720|720] "" XXX + SG_ LWS_OK__RB_ : 4|1@1+ (1,0) [0|0] "" XXX + SG_ LWS_Abgleich__RB_ : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkwinkel_1_1__RB_ : 2|1@1+ (1,0) [0|0] "" XXX + SG_ FINE_CHECK__RB_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ COARSE_CHECK__RB_ : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 196 Lenkwinkel_1__ITT_: 2 XXX + SG_ Vorzeichen__ITT_ : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkwinkel__ITT_ : 5|10@1+ (1.5,-768) [-768|766.5] "" XXX + SG_ LWS_OK : 4|1@1+ (1,0) [0|0] "" XXX + SG_ LWS_Abgleich__ITT_ : 3|1@1+ (1,0) [0|0] "" XXX + SG_ LWS_Initialisierung__ITT_ : 2|1@1+ (1,0) [0|0] "" XXX + SG_ FINE_CHECK__ITT_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ COARSE_CHECK__ITT_ : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 194 Lenkwinkel_1: 8 XXX + SG_ Checksumme_Lenkwinkel_1 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Kodierdaten : 48|8@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Lenkwinkel_1 : 44|4@1+ (1,0) [0|15] "" XXX + SG_ Status_KL30_Ausfall__z_Zt__nur : 43|1@1+ (1,0) [0|0] "" XXX + SG_ Interner_Status : 41|2@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkwinkel_1_1 : 40|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkwinkel_ID : 32|8@1+ (1,0) [0|0] "" XXX + SG_ Lenkradwinkel_Geschwindigkeit_S : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkradwinkel_Geschwindigkeit : 16|15@1+ (0.04375,0) [0|1433.6] "Grad/Sek" XXX + SG_ Lenkradwinkel_Sign : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkradwinkel : 0|15@1+ (0.04375,0) [0|1433.6] "Grad" XXX + +BO_ 1502 Lenkhilfe_Fehler: 7 XXX + SG_ Werkstattcode : 48|8@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Signal : 45|3@1+ (1,0) [0|7] "" XXX + SG_ Sensorcodierung_Lenkhilfe : 44|1@1+ (1,0) [0|0] "" XXX + SG_ Kennliniencodierung_Lenkhilfe : 40|4@1+ (1,0) [0|15] "Kennlinie" XXX + SG_ Geber_f__Lenkw__Speicher_ausles : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Kombiinstr__Speicher_auslesen : 38|1@1+ (1,0) [0|0] "" XXX + SG_ Steuerger__Speicher_auslesen : 37|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Steuergeraet_defekt : 36|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkhilfe_1_3 : 32|4@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkhilfe_1_4 : 30|2@1+ (1,0) [0|0] "" XXX + SG_ Geber_f__Lenkwi__k__CAN_Komm_sp : 29|1@1+ (1,0) [0|0] "" XXX + SG_ Geber_f__Lenkwinkel_k__CAN_Komm : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Kombiinstr__k__CAN_Kommunik__sp : 27|1@1+ (1,0) [0|0] "" XXX + SG_ Kombiinstrument_k__CAN_Kommunik : 26|1@1+ (1,0) [0|0] "" XXX + SG_ Steuergeraet_k__CAN_Kommunik__S : 25|1@1+ (1,0) [0|0] "" XXX + SG_ Steuergeraet_keine_CAN_Kommunik : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Spannung_Ks__nach_Mas : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Spannung_Ks_nach_Mass : 22|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Spannung_Ks__nach___s : 21|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Spannung_Ks__nach__ : 20|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Temperaturschutz_sp_ : 19|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Temperaturschutz : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Betrieb_unpl__Sig__sp : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfe_Betrieb_unpl__Signal : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_k__Kommunik__sp : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_keine_Kommunik_ : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_defekt_sp_ : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_defekt : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_Unterbrechung_s : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_Unterbrechung : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhilfesensor_Ks_nach_Masse_s : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkhifesensor_Ks_nach_Masse : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_15_zu_klein_sp_ : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_15_zu_klein : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkhilfe_1_5 : 4|2@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_30_zu_klein_sp_ : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_30_zu_klein : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_30_zu_gro__sp_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Spannung_Kl_30_zu_gro_ : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 976 Lenkhilfe_1: 2 XXX + SG_ Fehlerspeichereintrag__Lenkhilf : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Lenkhilfe_1_2 : 9|6@1+ (1,0) [0|0] "" XXX + SG_ Fehlerlampe_Lenkhilfe : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Lastinformation : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Lastinformation : 0|7@1+ (1,0) [0|127] "A" XXX + +BO_ 1312 Kombi_3: 8 XXX + SG_ Frei_Kombi_3_2 : 60|4@1+ (1,0) [0|0] "" XXX + SG_ Kilometerstand : 40|20@1+ (1,0) [0|1000000] "km" XXX + SG_ Fehlerstatus_Standzeit : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Standzeit : 24|15@1+ (4,0) [0|131068] "sec" XXX + SG_ Frei_Kombi_3_1 : 20|4@1+ (1,0) [0|0] "" XXX + SG_ Schluesselinfo : 16|4@1+ (1,0) [0|15] "" XXX + SG_ Kombi_Multiplex_Code M : 14|2@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Niveauregulie m3 : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Marke m1 : 11|3@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Lenkhilfe m3 : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Dieselpumpe m3 : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Lenkwinkel m3 : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Baureihe m1 : 8|3@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Laendervariante m0 : 8|6@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Allrad m3 : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Bordnetz m3 : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_ACC m3 : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Airbag m3 : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Generation m1 : 4|4@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Klima m3 : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_ABS m3 : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Verbauliste_Motor m3 : 0|1@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Derivat m1 : 0|4@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Sprachvariante m0 : 0|8@1+ (1,0) [0|0] "" XXX + SG_ Kombi_Multiplex_Reifenumfang m2 : 0|12@1+ (1,0) [0|4095] "mm" XXX + +BO_ 1056 Kombi_2: 8 XXX + SG_ Frei_Kombi_2_2 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Kl__58_s : 55|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_58s__Kombi_2_ : 48|7@1+ (1,0) [0|100] "%" XXX + SG_ Fehlerstatus_Kl__58_d : 47|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_58d__Kombi_2_ : 40|7@1+ (1,0) [0|100] "%" XXX + SG_ Kuehlmitteltemp__4_1__Kombi_2_ : 32|8@1+ (0.75,-48) [-48|142.5] "C" XXX + SG_ Oeltemperatur_4_1 : 24|8@1+ (1,-60) [-60|194] "C" XXX + SG_ Aussentemp__ungefiltert_4_1__Ko : 16|8@1+ (0.5,-50) [-50|77] "C" XXX + SG_ Aussentemperatur_gefiltert : 8|8@1+ (0.5,-50) [-50|77] "C" XXX + SG_ Fehlerspeichereintrag__Kombi_ : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Kombi_2_1 : 4|3@1+ (1,0) [0|0] "" XXX + SG_ Anhaenger_erkannt : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerst__Kuehlmitteltemp__4_1 : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Oeltemperatur_4_1 : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Aussentemp__4_1 : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 800 Kombi_1: 8 XXX + SG_ Frei_Kombi_1_3 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Angezeigte_Geschwindigkeit : 46|10@1+ (0.32,0) [0|325] "km/h" XXX + SG_ Blinker_rechts_4_1 : 45|1@1+ (1,0) [0|0] "" XXX + SG_ Blinker_links_4_1 : 44|1@1+ (1,0) [0|0] "" XXX + SG_ Gesetzte_Zeitluecke__Kombi_1_ : 43|1@1+ (1,0) [0|0] "" XXX + SG_ ADR_Summer_abgeschaltet : 42|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Kombi_1_2 : 40|2@1+ (1,0) [0|0] "" XXX + SG_ Geschwindigkeit__Kombi_1_ : 25|15@1+ (0.01,0) [0|326] "km/h" XXX + SG_ Signalquelle_Geschwindigkeit_4_ : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Tankwarnung : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Tankinhalt : 16|7@1+ (1,0) [0|126] "l" XXX + SG_ Tankstop : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Kombi_1_7 : 12|3@1+ (1,0) [0|0] "" XXX + SG_ Kombi_im_Stellgliedtest : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Ladekontroll_Lampe__Kombi_ : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsinfo : 8|2@1+ (1,0) [0|0] "" XXX + SG_ Vorgluehlampe__Kombi_1_ : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Tankwarnlampe : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Heissleuchten_Vorwarnung : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Kuehlmittelmangel : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Dynamische_Oeldruckwarnung : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Oeldruck : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Tank : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrertuer_4_1 : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1504 Klima_1: 8 XXX + SG_ Aussentemp__ungef__Sto_f__4_1 : 56|8@1+ (0.5,-50) [-50|77] "C" XXX + SG_ Fehlerspeichereintrag__Klima_ : 55|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Klima_1_5 : 50|5@1+ (1,0) [0|0] "" XXX + SG_ AC_Schalter : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Temperatureinheit : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Kuehlerluefteransteuerung__Klim : 40|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ Geblaeselast_4_1 : 32|8@1+ (0.4,0) [0|101.6] "%" XXX + SG_ Kompressorlast : 24|8@1+ (0.25,0) [0|63.5] "Nm" XXX + SG_ Klimadrucksignal__Klima_1_ : 16|8@1+ (0.2,0) [0|50.8] "bar" XXX + SG_ Aussentemp__ungef__4_1__Klima_1 : 8|8@1+ (0.5,-50) [-50|77] "C" XXX + SG_ Kaeltemitteldruck_veraltet : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Kompressormoment_veraltet_4_1 : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Keine_Heizleistg_gewuenscht_4_1 : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Kompressorzustand__4_1_ : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Frontscheibe : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Heckscheibe : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrerwunsch_Zuheizer : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Drehzahlanhebung : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 906 GRA_Neu: 4 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ GRA_Hauptschalt : 8|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Abbrechen : 9|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Down_kurz : 10|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Up_kurz : 11|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Down_lang : 12|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Up_lang : 13|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Fehler_Bed : 14|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Kodierinfo : 15|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Neu_Setzen : 16|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Recall : 17|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Sender : 18|2@1+ (1,0) [0|3] "" XXX + SG_ COUNTER : 20|4@1+ (1,0) [0|15] "" XXX + SG_ GRA_Tip_Down : 24|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Tip_Up : 25|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Zeitluecke : 26|2@1+ (1,0) [0|3] "" XXX + SG_ GRA_Sta_Limiter : 28|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Typ_Hauptschalt : 29|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Sportschalter : 30|1@1+ (1,0) [0|1] "" XXX + SG_ GRA_Fehler_Tip : 31|1@1+ (1,0) [0|1] "" XXX + +BO_ 904 GRA: 3 XXX + SG_ Checksumme_GRA_alt : 16|8@1+ (1,0) [0|0] "" XXX + SG_ Frei_GRA_alt : 15|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR_Bedienteil_Fehler : 14|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR_beschleunigen : 13|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR_verzoegern : 12|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR___Tipschalter__Wie : 11|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR___Tipschalter__Set : 10|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR___Tipschalter__Aus : 9|1@1+ (1,0) [0|0] "" XXX + SG_ GRA_alt__ADR___Hauptschalter : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_GRA_alt : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 1352 Getriebe_4: 3 XXX + SG_ Testparameter_2 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ Testparameter_1 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ Waehlhebelausleuchtung : 4|4@1+ (1,0) [0|0] "" XXX + SG_ Frei_Getriebe_4_1 : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Testfreigabeflag : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Handbremserinnerung_s_Lampe : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Shiftlock_Getriebe_4 : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1344 Getriebe_2: 8 XXX + SG_ eingelegte_Fahrstufe : 60|4@1+ (1,0) [0|0] "" XXX + SG_ Ganganzeige_Kombi___Getriebe_Va : 56|4@1+ (1,0) [0|15] "" XXX + SG_ Fehlerlampe_f_r_Kupplung_bei_VL : 55|1@1+ (1,0) [0|0] "" XXX + SG_ Anforderung_Kriechadaption : 54|1@1+ (1,0) [0|0] "" XXX + SG_ ECO_Anzeige__4_1_ : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Shift_Lock_Lampe : 52|1@1+ (1,0) [0|0] "" XXX + SG_ Unterdrueckung_von_Warnungen : 51|1@1+ (1,0) [0|0] "" XXX + SG_ Gong : 50|1@1+ (1,0) [0|0] "" XXX + SG_ Starter_wird_angesteuert : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Hochschaltlampe : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Synchronisationszeit : 40|8@1+ (20,0) [0|5080] "ms" XXX + SG_ invertierte_Synchronisations_Wu : 32|8@1+ (25,0) [0|6350] "U/min" XXX + SG_ Synchronisations_Wunschdrehzahl : 24|8@1+ (25,0) [0|6350] "U/min" XXX + SG_ Gradientenbegrenzung : 16|8@1+ (10,0) [0|2540] "Nm/s" XXX + SG_ Leerlaufsolldrehzahl__Getriebe : 8|8@1+ (10,0) [0|2540] "U/min" XXX + SG_ Zahler_Getriebe_2 : 4|4@1+ (1,0) [0|15] "" XXX + SG_ Zwischengasflag : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Ecomatic__4_1_ : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Schubabschaltunterstuetzung : 1|1@1+ (1,0) [0|0] "" XXX + SG_ LFR_Adaption_Freigabeflag : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1088 Getriebe_1: 8 XXX + SG_ Wandlerverlustmoment : 56|8@1+ (0.39,0) [0|99.06] "MDI" XXX + SG_ Fehlerspeichereintrag__Getriebe : 55|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 51|4@1+ (1,0) [0|15] "" XXX + SG_ Gang_eingelegt : 50|1@1+ (1,0) [0|0] "" XXX + SG_ Schaltabsicht : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Motor_aus : 48|1@1+ (1,0) [0|0] "" XXX + SG_ OBD_Status__Getriebe_1___4_1_ : 46|2@1+ (1,0) [0|0] "" XXX + SG_ Kuehlleistung : 44|2@1+ (1,0) [0|0] "" XXX + SG_ Getriebe_Notlauf : 40|4@1+ (1,0) [0|0] "" XXX + SG_ Fahrwiderstandsindex : 32|8@1+ (0.249,-31.6) [-31.6|31.6] "" XXX + SG_ inneres_Soll_Motormoment : 24|8@1+ (0.39,0) [0|99.06] "MDI" XXX + SG_ Uebertragungsfunktion : 16|8@1+ (0.1,0) [0|25.4] "" XXX + SG_ Waehlhebelposition__Getriebe_1_ : 12|4@1+ (1,0) [0|0] "" XXX + SG_ Zielgang_oder_eingelegter_Gang : 8|4@1+ (1,0) [0|0] "" XXX + SG_ EGS_Anforderung : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Kodierung_im_MSG : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Leerlaufsolldrehzahlanhebung : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Wandlerkupplung : 3|2@1+ (1,0) [0|0] "" XXX + SG_ Klimakompressor_aus__Getriebe_1 : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Getriebe_und_Wandlerschu : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Schaltung_aktiv__Getriebe_1_ : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 912 Gate_Komf_1: 8 XXX + SG_ GK1_Sta_RDK_Warn : 0|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Anhaen : 1|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Licht1 : 2|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Licht3 : 3|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Tuerkont : 4|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Li_vorn : 5|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_SleepAckn : 7|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_CharismaModus m1 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ GK1_SamFktNr M : 12|4@1+ (1,0) [0|15] "" XXX + SG_ GK1_Fa_Tuerkont : 16|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_RueckfahrSch : 17|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_ELV_verrieg : 18|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Kessy_2 : 19|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Stdhzg : 20|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_SH_Verbau : 21|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_ParkFrontWi : 22|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_KW_Warm : 23|1@1+ (1,0) [0|1] "" XXX + SG_ BCM_Remotestart_Betrieb : 24|1@1+ (1,0) [0|1] "" XXX + SG_ BSK_HL_geoeffnet : 26|1@1+ (1,0) [0|1] "" XXX + SG_ BSK_HR_geoeffnet : 27|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Rueckfahr : 28|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BrLi_links : 29|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BrLi_rechts : 30|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BrLi_mitte : 31|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BLS_ILM : 32|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_EDC_ILM : 33|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Blinker_li : 34|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Blinker_re : 35|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_def_P_verr : 36|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_LS1_Fernlicht : 37|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_Licht2 : 38|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_LSM : 39|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Count_Anhaen : 40|4@1+ (1,0) [0|15] "" XXX + SG_ BSK_BT_geoeffnet : 41|1@1+ (1,0) [0|1] "" XXX + SG_ BSK_HD_Hauptraste : 43|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BLS_AAG : 44|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_EDC_AAG : 45|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Anhaenger : 46|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_BrLi_Anhaen : 47|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Abblendlicht : 48|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Fernlicht : 49|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Wischer_vorn : 50|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Sta_ILM_F_1 : 51|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Abbl_VL_def : 52|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Abbl_VR_def : 53|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Blink_Autob : 54|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Warnblk_Status : 55|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_SH_laeuft : 56|1@1+ (1,0) [0|1] "" XXX + SG_ SH1_ein_Wasserpumpe : 57|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Nebel_ein : 58|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Bremslicht : 59|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_Anh_abgesteckt : 60|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_AnhKonLamp : 61|1@1+ (1,0) [0|1] "" XXX + SG_ LDS_Stellung_AFL : 62|1@1+ (1,0) [0|1] "" XXX + SG_ GK1_SH_Zusatzfkt : 63|1@1+ (1,0) [0|1] "" XXX + + +BO_ 1340 Fahrwerk_1: 1 XXX + SG_ Frei_Fahrwerk_1_2 : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Fahrwerk_1_1 : 6|2@1+ (1,0) [0|0] "" XXX + SG_ Einstellung_Fahrwerkdaempfung_4 : 4|3@1+ (1,0) [0|7] "" XXX + SG_ Ansteuererung_Fahrzeugniveau : 0|4@1+ (1,0) [0|15] "" XXX + +BO_ 1472 EPB_1: 8 XXX + SG_ Textmeldungen_EPB : 52|4@1+ (1,0) [0|0] "" XXX + SG_ Aufmerksamkeits_Gtong_EPB : 51|1@1+ (1,0) [0|0] "" XXX + SG_ Fehler_Gong_EBP : 50|1@1+ (1,0) [0|0] "" XXX + SG_ Warnton_EPB : 49|1@1+ (1,0) [0|0] "" XXX + SG_ Funktionslampe_EPB : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_EPB_1_1 : 33|15@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeichereintrag_EPB : 32|1@1+ (1,0) [0|0] "" XXX + SG_ Neigungswinkel : 24|8@1+ (1,-128) [-128|127] "g" XXX + SG_ Verzoegerungsanforderung__EPB_ : 24|8@1+ (0.5,0) [0|255] "g" XXX + SG_ Status_Neigungswinkelgeber : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Schalterinfo_Parkbremse : 13|2@1+ (1,0) [0|0] "" XXX + SG_ Erreichte_Spannkraft : 8|5@1+ (1,0) [0|30] "kN" XXX + SG_ Checksumme_Parkbremse : 8|8@1+ (1,0) [0|255] "" XXX + SG_ Schalterstatus_Parkbremse : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Parkbremse : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Parkbremse : 4|2@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Parkbremse : 0|4@1+ (1,0) [0|0] "" XXX + +BO_ 1326 Diag_Lenkhilfe: 3 XXX + SG_ Werkstattcode__Diag_ : 16|8@1+ (1,0) [0|0] "" XXX + SG_ Multiplex_Signal__Diag_ : 13|3@1+ (1,0) [0|7] "" XXX + SG_ Befehl_Sensorcodierung_Lenkhilf : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Befehl_Kennliniencodierung_Lenk : 8|4@1+ (1,0) [0|0] "" XXX + SG_ Befehl_Fehlerspeicher_loeschen : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1432 Daempfer_1: 2 XXX + SG_ Frei_Daempfer_1_4 : 12|4@1+ (1,0) [0|0] "" XXX + SG_ Textbits_Daempfer : 8|4@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeicherbit__Daempfer_1_ : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Systemstatus__Daempfer_1_ : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Daempfer_1_3 : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Status_CDC_Taster : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Daempfer_1_2 : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Daempferregelung_4_1 : 0|3@1+ (1,0) [0|7] "" XXX + +BO_ 1392 BSG_Last: 4 XXX + SG_ Klimaanlage_abschalten : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Sitzbelueftung_abschalten : 30|1@1+ (1,0) [0|0] "" XXX + SG_ Wischwasserheizung_abschalten : 29|1@1+ (1,0) [0|0] "" XXX + SG_ Lenkradheizung_abschalten : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Sitze_abschalten : 27|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Aussenspiegel_abschalt : 26|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Frontscheibe_abschalte : 25|1@1+ (1,0) [0|0] "" XXX + SG_ Heizbare_Heckscheibe_abschalten : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Batteriespannung_Bordnetzbatter : 16|8@1+ (0.05,5) [5|17.7] "V" XXX + SG_ Motorhaubenkontakt : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Leuchtweitenregulierung : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeichereintrag__BSG_Last : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Zustand_der_Starterbatterie : 11|2@1+ (1,0) [0|0] "" XXX + SG_ Zustand_der_Bordnetzbatterie : 9|2@1+ (1,0) [0|0] "" XXX + SG_ LL_Drehzahlanhebung : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_L : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_BSG_Last_1_1 : 4|3@1+ (1,0) [0|0] "" XXX + SG_ ZAS_Klemme_50 : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ZAS_Klemme_X : 2|1@1+ (1,0) [0|0] "" XXX + SG_ ZAS_Klemme_15 : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ZAS_Klemme_S : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1136 BSG_Kombi: 5 XXX + SG_ Frei_BSG_Kombi_1_3 : 36|4@1+ (1,0) [0|0] "" XXX + SG_ Ruecksitzlehne_HR_verr__4_1 : 35|1@1+ (1,0) [0|0] "" XXX + SG_ Ruecksitzlehne_HL_verr__4_1 : 34|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerlampe_Lenkhilfe_veraltet : 33|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerlampe_Lenkhilfe__BSG_Komb : 32|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Kl__58s : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_58s__BSG_Kombi_ : 24|7@1+ (1,0) [0|100] "%" XXX + SG_ Fehlerstatus_Kl__58d : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Klemme_58d__BSG_Kombi_ : 16|7@1+ (1,0) [0|100] "%" XXX + SG_ Unterspannung : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_BSG_Kombi_1_2 : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Heckdeckel_geoeffnet : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Motorhaube_geoeffnet : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Tuer_hinten_rechts_geoeffnet : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Tuer_hinten_links_geoeffnet : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Beifahrertuer_geoeffnet : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrertuer_geoeffnet : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Lade_Kontrollampe : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_BSG_Kombi_1_1 : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Rueckfahrlicht : 5|1@1+ (1,0) [0|0] "" XXX + SG_ DWA_Akku : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Warnblink_Mode : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Anhaenger_Kontrollampe : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Blinker_rechts_Kontrollampe : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Blinker_links_Kontrollampe : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 424 Bremse_6: 3 XXX + SG_ Checksumme_Bremse_6 : 16|8@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Bremse_6 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Status_Bremsdruck__Bremse_6__du : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Bremse_6_1 : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsdruck__Bremse_6_ : 0|10@1+ (0.3255,-40) [-40|293] "bar" XXX + +BO_ 1192 Bremse_5: 8 XXX + SG_ CHECKSUM : 56|8@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX + SG_ Bremslicht_ECD : 51|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsentemperatur_vorn : 48|3@1+ (125,125) [125|1000] "C" XXX + SG_ Frei_Bremse_5_5 : 40|8@1+ (1,0) [0|0] "" XXX + SG_ Offset_Gierrate : 32|8@1+ (0.05,-6.375) [-6.375|6.375] "deg/s" XXX + SG_ Vorzeichen_Bremsdruck : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Bremsdruck_durch_ESP_Sys : 30|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsdruck_ungueltig : 29|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Bremse_5_3 : 28|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsdruck : 16|12@1+ (0.1,0) [0|250] "bar" XXX + SG_ Vorzeichen_der_Giergeschwindigk : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Gierrate_ungueltig : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Giergeschwindigkeit : 0|14@1+ (0.01,0) [0|100] "Grad/sec" XXX + +BO_ 672 Bremse_4: 3 XXX + SG_ Frei_Bremse_4_1 : 17|7@1+ (1,0) [0|0] "" XXX + SG_ Einheit_Kupplungssteifigkeit : 16|1@1+ (1,0) [0|0] "" XXX + SG_ ABS_Vorgabewert_hinten_Kupplung : 8|8@1+ (0.7874,0) [0|100] "%" XXX + SG_ ABS_Vorgabewert_mitte_Kupplungs : 0|8@1+ (3,-381) [-381|378] "Nm/min" XXX + +BO_ 1184 Bremse_3: 8 XXX + SG_ Radgeschw__HR_4_1 : 49|15@1+ (0.01,0) [0|326] "km/h" XXX + SG_ Frei_Bremse_3_4 : 48|1@1+ (1,0) [0|0] "" XXX + SG_ Radgeschw__HL_4_1 : 33|15@1+ (0.01,0) [0|326] "km/h" XXX + SG_ Frei_Bremse_3_3 : 32|1@1+ (1,0) [0|0] "" XXX + SG_ Radgeschw__VR_4_1 : 17|15@1+ (0.01,0) [0|326] "km/h" XXX + SG_ Frei_Bremse_3_2 : 16|1@1+ (0.01,0) [0|325] "km/h" XXX + SG_ Radgeschw__VL_4_1 : 1|15@1+ (0.01,0) [0|326] "km/h" XXX + SG_ Frei_Bremse_3_1 : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1440 Bremse_2: 8 XXX + SG_ gemessene_Querbeschleunigung : 63|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Bremse_2_2 : 62|1@1+ (1,0) [0|0] "" XXX + SG_ Impulszahl : 56|6@1+ (1,0) [0|63] "" XXX + SG_ Fehlerstatus_Wegimpulse_4_1 : 55|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Bremse_2_5 : 54|1@1+ (1,0) [0|0] "" XXX + SG_ Warnlampe_DDS : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerspeichereintrag_Bremse : 52|1@1+ (1,0) [0|0] "" XXX + SG_ Wegimpulszaehlerstatus : 51|1@1+ (1,0) [0|0] "" XXX + SG_ Wegimpulse_Vorderachse : 40|11@1+ (1,0) [0|2047] "" XXX + SG_ Zeitstempel : 24|16@1+ (1,0) [0|65535] "tics" XXX + SG_ mittlere_Raddrehzahl__Bremse_2 : 9|15@1+ (0.002,0) [0|65.278] "U/sec" XXX + SG_ Querbeschl__TimerTic M : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Timer m1 : 0|8@1+ (0.04,0) [0|10.2] "usec" XXX + SG_ Querbeschleunigung m0 : 0|8@1+ (0.01,-1.27) [-1.27|1.27] "g" XXX + +BO_ 416 Bremse_1: 8 XXX + SG_ Geschwindigkeitsersatzwert : 63|1@1+ (1,0) [0|0] "" XXX + SG_ ESP_Systemstatus_4_1 : 62|1@1+ (1,0) [0|0] "" XXX + SG_ ESP_Passiv_getastet : 61|1@1+ (1,0) [0|0] "" XXX + SG_ ASR_Steuerger_t : 60|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX + SG_ MSR_Eingriffsmoment : 48|8@1+ (0.39,0) [0|99.06] "MDI" XXX + SG_ ASR_Eingriffsmoment_schnell : 40|8@1+ (0.39,0) [0|99.06] "MDI" XXX + SG_ ASR_Eingriffsmoment_langsam : 32|8@1+ (0.39,0) [0|99.06] "MDI" XXX + SG_ Geschwindigkeit_neu__Bremse_1_ : 17|15@1+ (0.01,0) [0|326.39] "km/h" XXX + SG_ Aktiver_Bremskraftverstaerker : 16|1@1+ (1,0) [0|0] "" XXX + SG_ ABS_in_Diagnose : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Schlechtwegausblen : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Schlechtwegausblendung : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Fahrer_bremst__Bremse_1___4_1_ : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Bremskontroll_Lampe : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Lampe_ASR___ESP : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Lampe_ABS : 8|1@1+ (1,0) [0|0] "" XXX + SG_ EBV_Eingriff : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ASR_Schaltbeeinflussung : 5|2@1+ (1,0) [0|0] "" XXX + SG_ ESP_Eingriff : 4|1@1+ (1,0) [0|0] "" XXX + SG_ EDS_Eingriff : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ABS_Bremsung__4_1_ : 2|1@1+ (1,0) [0|0] "" XXX + SG_ MSR_Anforderung : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ASR_Anforderung : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 680 Bremsbooster_1: 3 XXX + SG_ Fehlerspeichereintrag_Booster : 23|1@1+ (1,0) [0|0] "" XXX + SG_ Loseschalter_unplausibel_Boost : 22|1@1+ (1,0) [0|0] "" XXX + SG_ Position_Standby : 21|1@1+ (1,0) [0|0] "" XXX + SG_ ADR_Relais_ge_ffnet : 20|1@1+ (1,0) [0|0] "" XXX + SG_ Status_Bremsbooster_Steuerung : 19|1@1+ (1,0) [0|0] "" XXX + SG_ Bremsbooster_verf_gbar : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Eingriff_Bremsbooster : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Bremseingriff_Fahrer : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Bremsbooster_1_1 : 12|4@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_Booster_1 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Checksumme_Booster_1 : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1400 BatMan_1: 1 XXX + SG_ Fehlerspeichereintrag__BatMan_ : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Leistungsrelais : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Messung_Starterleitung : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Zustand_Starterleitung : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Umschaltrelais_Bordnetzbatterie : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Ladung_Starterbatterie : 1|2@1+ (1,0) [0|0] "" XXX + SG_ Startmodus : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 704 Allrad_1: 5 XXX + SG_ Kupplungssteifigkeit_Hinten__Is : 32|8@1+ (0.7874,0) [0|100] "%" XXX + SG_ Fehlerspeichereintrag_Allrad_1 : 31|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Allrad_1_1 : 26|5@1+ (1,0) [0|0] "" XXX + SG_ Schaltung_Vorwarnung : 25|1@1+ (1,0) [0|0] "" XXX + SG_ Schaltung_aktiv__Allrad_1_ : 24|1@1+ (1,0) [0|0] "" XXX + SG_ Ganginfo__PNG_ : 20|4@1+ (1,0) [0|0] "" XXX + SG_ PNG_Anzeige_blinkend : 19|1@1+ (1,0) [0|0] "" XXX + SG_ PNG_Status_4_1 : 16|3@1+ (1,0) [0|0] "" XXX + SG_ Kupplungssteifigkeit_Mitte__Ist : 8|8@1+ (3,-381) [-381|378] "Nm/min" XXX + SG_ Einheit_der_Kupplungssteifigkei : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Geschwindigkeitsbegrenzung : 6|1@1+ (1,0) [0|0] "" XXX + SG_ Allrad_Warnlampe : 5|1@1+ (1,0) [0|0] "" XXX + SG_ Notlauf : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Kupplung_komplett_offen : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Fehlerstatus_Kupplungssteifigke : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Ubertemperaturschutz__Allrad_1_ : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Fehler_Allrad_Kupplung : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 1360 Airbag_2: 2 XXX + SG_ OOP_Beifahrer : 14|2@1+ (1,0) [0|0] "" XXX + SG_ OOP_Fahrer : 12|2@1+ (1,0) [0|0] "" XXX + SG_ Belegungserkennung_hinten_mitte : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Belegungserkennung_hinten_recht : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Belegungserkennung_hinten_links : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Belegungserkennung_Beifahrersit : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Checksumme_Airbag_2__reserviert : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 80 Airbag_1: 4 XXX + SG_ CHECKSUM : 24|8@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 20|4@1+ (1,0) [0|15] "" XXX + SG_ Fehlerspeichereintrag : 19|1@1+ (1,0) [0|0] "" XXX + SG_ Frei_Airbag_1_2 : 18|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag_im_Stellgliedtest : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag_in_Diagnose : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Gurtwarnung_Beifahrer : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Gurtschalter_Beifahrer : 14|1@1+ (1,0) [0|0] "" XXX + SG_ Gurtwarnung_Fahrer : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Gurtschalter_Fahrer : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag_Systemfehler : 11|1@1+ (1,0) [0|0] "" XXX + SG_ Kindersitzerkennung : 10|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag_deaktiviert : 9|1@1+ (1,0) [0|0] "" XXX + SG_ Airbag_Lampe : 8|1@1+ (1,0) [0|0] "" XXX + SG_ Crash_Intensitaet : 5|3@1+ (1,0) [0|111] "B" XXX + SG_ Rollover : 4|1@1+ (1,0) [0|0] "" XXX + SG_ Seiten_Crash_Beifahrer : 3|1@1+ (1,0) [0|0] "" XXX + SG_ Seiten_Crash_Fahrer : 2|1@1+ (1,0) [0|0] "" XXX + SG_ Heck_Crash : 1|1@1+ (1,0) [0|0] "" XXX + SG_ Front_Crash : 0|1@1+ (1,0) [0|0] "" XXX + +BO_ 864 ADR_System: 8 XXX + SG_ S_Checksumme_ADR_1 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ S_Frei_ADR_1_1 : 52|4@1+ (1,0) [0|0] "" XXX + SG_ S_Zeitluecke_gemessen : 48|4@1+ (1,0) [0|15] "" XXX + SG_ S_Fehlerspeichereintrag_ADR : 47|1@1+ (1,0) [0|0] "" XXX + SG_ S_Fehlerspeichereintrag_Bremsbo : 46|1@1+ (1,0) [0|0] "" XXX + SG_ S_ADR_Relais_geoeffnet : 45|1@1+ (1,0) [0|0] "" XXX + SG_ S_Bremsbooster_Status : 43|2@1+ (1,0) [0|0] "" XXX + SG_ S_Eingriff_Bremsbooster : 42|1@1+ (1,0) [0|0] "" XXX + SG_ S_Loeseschalter_unplausibel : 41|1@1+ (1,0) [0|0] "" XXX + SG_ S_Bremseingriff_Fahrer : 40|1@1+ (1,0) [0|0] "" XXX + SG_ S_Anzeige_Sensor_blind : 39|1@1+ (1,0) [0|0] "" XXX + SG_ S_Ansteuerung_optischer_Fahrerh : 38|1@1+ (1,0) [0|0] "" XXX + SG_ S_Ansteuerung_Gong_2 : 37|1@1+ (1,0) [0|0] "" XXX + SG_ S_Ansteuerung_Gong_1 : 36|1@1+ (1,0) [0|0] "" XXX + SG_ S_Schaltaufforderung : 34|2@1+ (1,0) [0|0] "" XXX + SG_ S_Anzeige_Prioritaet : 33|1@1+ (1,0) [0|0] "" XXX + SG_ S_Anzeige_Zeitluecke : 32|1@1+ (1,0) [0|0] "" XXX + SG_ S_Wunschgeschwindigkeit : 24|8@1+ (1,0) [0|254] "km/h" XXX + SG_ S_Objekt_erfasst : 22|2@1+ (1,0) [0|0] "" XXX + SG_ S_Gesetzte_Zeitluecke__ADR_1_ : 18|4@1+ (1,0) [0|15] "" XXX + SG_ S_Synchronisation_Bremsbooster : 17|1@1+ (1,0) [0|0] "" XXX + SG_ S_Momentenanforderung_Freigabe : 16|1@1+ (1,0) [0|0] "" XXX + SG_ S_Verhinderung_Schubabschaltung : 15|1@1+ (1,0) [0|0] "" XXX + SG_ S_Status_ADR_1__S_ : 13|2@1+ (1,0) [0|0] "" XXX + SG_ S_Fehler_ADR_1__S_ : 12|1@1+ (1,0) [0|0] "" XXX + SG_ S_Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ S_Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX + +BO_ 608 ADR_2: 4 XXX + SG_ Frei_ADR_2_2 : 27|5@1+ (1,0) [0|0] "" XXX + SG_ Anforderung_Bremsdruck : 16|11@1+ (0.0625,0) [0|127.9375] "bar" XXX + SG_ Frei_ADR_2_1 : 14|2@1+ (1,0) [0|0] "" XXX + SG_ Relais_Test_Fehler : 13|1@1+ (1,0) [0|0] "" XXX + SG_ Standby : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_ADR_2 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Checksumme_ADR_2 : 0|8@1+ (1,0) [0|0] "" XXX + +BO_ 1324 ADR_1: 8 XXX + SG_ Checksumme_ADR_1 : 56|8@1+ (1,0) [0|0] "" XXX + SG_ Frei_ADR_1_5 : 52|4@1+ (1,0) [0|0] "" XXX + SG_ Zeitluecke_gemessen : 48|4@1+ (1,0) [0|15] "" XXX + SG_ Fehlerspeichereintrag_ADR : 47|1@1+ (1,0) [0|0] "" XXX + SG_ Reserviert_ADR_1_1 : 40|7@1+ (1,0) [0|0] "" XXX + SG_ Anzeige_Sensor_blind : 39|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_optischer_Fahrerhin : 38|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Gong_2 : 37|1@1+ (1,0) [0|0] "" XXX + SG_ Ansteuerung_Gong_1 : 36|1@1+ (1,0) [0|0] "" XXX + SG_ Schaltaufforderung : 34|2@1+ (1,0) [0|0] "" XXX + SG_ Anzeige_Prioritaet : 33|1@1+ (1,0) [0|0] "" XXX + SG_ Anzeige_Zeitluecke : 32|1@1+ (1,0) [0|0] "" XXX + SG_ Wunschgeschwindigkeit : 24|8@1+ (1,0) [0|254] "km/h" XXX + SG_ Objekt_erfasst : 22|2@1+ (1,0) [0|0] "" XXX + SG_ Gesetzte_Zeitluecke__ADR_1_ : 18|4@1+ (1,0) [0|15] "" XXX + SG_ Synchronisation_Bremsbooster : 17|1@1+ (1,0) [0|0] "" XXX + SG_ Momentenanforderung_Freigabe : 16|1@1+ (1,0) [0|0] "" XXX + SG_ Verhinderung_Schubabschaltung : 15|1@1+ (1,0) [0|0] "" XXX + SG_ Status_ADR_1 : 13|2@1+ (1,0) [0|0] "" XXX + SG_ Fehler_ADR_1 : 12|1@1+ (1,0) [0|0] "" XXX + SG_ Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX + +BO_ 1550 Einheiten_1: 2 XXX + SG_ MFA_v_Einheit_02 : 0|1@1+ (1,0) [0|1] "" XXX + +BO_ 872 ACC_System: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ACS_Sta_ADR : 12|2@1+ (1,0) [0|3] "" XXX + SG_ ACS_ADR_Schub : 14|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_Schubabsch : 15|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_StSt_Info : 16|2@1+ (1,0) [0|3] "" XXX + SG_ ACS_MomEingriff : 18|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_Typ_ACC : 19|2@1+ (1,0) [0|3] "" XXX + SG_ ACS_FreigSollB : 23|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_Sollbeschl : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX + SG_ ACS_Anhaltewunsch : 38|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_Fehler : 39|1@1+ (1,0) [0|1] "" XXX + SG_ ACS_zul_Regelabw : 40|8@1+ (1,0.005) [0|1.265] "Unit_MeterPerSeconSquar" XXX + SG_ ACS_max_AendGrad : 48|8@1+ (1,0.02) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX + +BO_ 1386 ACC_GRA_Anziege: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ ACA_StaACC : 8|3@1+ (1,0) [0|7] "" XXX + SG_ ACA_ID_StaACC : 11|5@1+ (1,0) [0|31] "" XXX + SG_ ACA_Fahrerhinw : 16|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_AnzDisplay : 17|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_Zeitluecke : 18|4@1+ (1,0) [0|15] "" XXX + SG_ ACA_V_Wunsch : 24|8@1+ (1,0) [0|255] "Unit_KiloMeterPerHour" XXX + SG_ ACA_kmh_mph : 32|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_Akustik1 : 33|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_Akustik2 : 34|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_PrioDisp : 35|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_gemZeitl : 40|4@1+ (1,0) [0|15] "" XXX + SG_ ACA_ACC_Verz : 44|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_StaGRA : 48|3@1+ (1,0) [0|7] "" XXX + SG_ ACA_ID_StaGRA : 51|5@1+ (1,0) [0|31] "" XXX + SG_ ACA_Codierung : 56|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_Tachokranz : 57|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_Aend_Zeitluecke : 58|1@1+ (1,0) [0|1] "" XXX + SG_ COUNTER : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 208 Lenkhilfe_3: 6 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ LH3_BS_Spiegel : 8|4@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX + SG_ LH3_LM : 16|10@1+ (1,0) [0|1023] "" XXX + SG_ LH3_LMSign : 26|1@1+ (1,0) [0|1] "" XXX + SG_ LH3_LMValid : 27|1@1+ (1,0) [0|1] "" XXX + SG_ LH3_Sta_DSR : 28|4@1+ (1,0) [0|15] "" XXX + SG_ LH3_BLW : 32|12@1+ (0.15,0) [0|615] "" XXX + SG_ LH3_BLWSign : 44|1@1+ (1,0) [0|1] "" XXX + SG_ LH3_BLWValid : 45|1@1+ (1,0) [0|1] "" XXX + SG_ LH3_Lenkungstyp : 46|2@1+ (1,0) [0|3] "" XXX + +BO_ 978 Lenkhilfe_2: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LH2_Geradeaus : 12|1@1+ (1,0) [0|1] "" XXX + SG_ LH2_Sta_Charisma : 13|3@1+ (1,0) [0|7] "" XXX + SG_ LH2_Sta_HCA : 16|4@1+ (1,0) [0|15] "" XXX + SG_ LH2_Ausg_LW1 : 20|1@1+ (1,0) [0|1] "" XXX + SG_ LH2_Ausg_LW1_gue : 21|1@1+ (1,0) [0|1] "" XXX + SG_ LH2_StatEPS_PLA : 24|4@1+ (1,0) [0|15] "" XXX + SG_ LH2_aktLenkeingriff : 32|8@1+ (1,0) [0|255] "" XXX + SG_ LH2_PLA_Err : 48|4@1+ (1,0) [0|15] "" XXX + SG_ LH2_PLA_Abbr : 52|4@1+ (1,0) [0|15] "" XXX + +BO_ 210 HCA_1: 5 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|15] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ HCA_Status : 12|4@1+ (1,0) [0|15] "" XXX + SG_ LM_Offset : 16|15@1+ (0.03125,0) [0|300] "cNm" XXX + SG_ LM_OffSign : 31|1@1+ (1,0) [0|1] "" XXX + SG_ Vib_Freq : 32|4@1+ (4,0) [0|60] "Hz" XXX + SG_ Vib_Amp : 36|4@1+ (0.5,0) [0|7.5] "Nm" XXX + +BO_ 644 Motor_Bremse: 6 XXX + SG_ MOB_Standby : 12|1@1+ (1,0) [0|1] "" XXX + SG_ MOB_Freigabe : 14|1@1+ (1,0) [0|1] "" BCM_Gateway,Bremse_MK25AESP,Gateway_separat + SG_ MOB_Anhaltewunsch : 13|1@1+ (1,0) [0|1] "" Bremse_MK25AESP,Getriebe_DQ + SG_ MOB_CHECKSUM : 0|8@1+ (1,0) [0|255] "" Bremse_MK25AESP + SG_ MOB_COUNTER : 8|4@1+ (1,0) [0|15] "" Bremse_MK25AESP + SG_ TSK_v_Begrenzung_aktiv : 15|1@0+ (1,0) [0|1] "" XXX + SG_ TSK_ax_Getriebe_01 : 40|8@1+ (0.048,0) [0|255] "m/s2" XXX + SG_ MOB_Bremsstgr : 16|11@1+ (0.76,0) [0|100] "Unit_PerCent" Vector__XXX + SG_ MOB_Bremsmom : 27|13@1+ (1,0) [0|8190] "Unit_NewtoMeter" Bremse_MK25AESP + +BO_ 870 AWV: 5 XXX + SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] "" Bremsbooster + SG_ AWV_Infoton : 38|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster + SG_ AWV_2_Warnsymbol : 37|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster + SG_ AWV_2_Warnton : 36|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster + SG_ AWV_2_Ruckprofil : 33|3@1+ (1,0) [0|7] "" Bremsbooster + SG_ AWV_2_Freigabe : 32|1@1+ (1,0) [0|1] "" Bremsbooster + SG_ AWV_2_Umfeldwarn : 31|1@1+ (1,0) [0|1] "" Bremsbooster + SG_ AWV_2_SU_Lampe : 30|1@1+ (1,0) [0|1] "" Bremsbooster + SG_ AWV_2_SU_Gong : 29|1@1+ (1,0) [0|1] "" Bremsbooster + SG_ AWV_2_SU_Bremsruck : 28|1@1+ (1,0) [0|1] "" Bremsbooster + SG_ AWV_2_SU_Warnzeit : 26|2@1+ (1,0) [0|3] "" Bremsbooster + SG_ AWV_2_Fehler : 25|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster + SG_ AWV_2_Status : 24|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster + SG_ AWV_res_20 : 20|4@1+ (1,0) [0|0] "" Bremsbooster + SG_ AWV_1_Parameter : 18|2@1+ (1,0) [0|3] "" Bremsbooster + SG_ AWV_1_Prefill : 17|1@1+ (1,0) [0|1] "" Bremsbooster + SG_ AWV_1_Freigabe : 16|1@1+ (1,0) [0|1] "" Bremsbooster + SG_ AWV_Text : 12|4@1+ (1,0) [0|15] "" Gateway_Kbi_VW_A,Bremsbooster + SG_ AWV_Zaehler : 8|4@1+ (1,0) [0|15] "" Bremsbooster + SG_ AWV_Checksumme : 0|8@1+ (1,0) [0|255] "" Bremsbooster + +BO_ 1470 LDW_Status: 8 XXX + SG_ LDW_Lernmodus_rechts : 0|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_Lernmodus_links : 2|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_Lernmodus : 9|3@1+ (1,0) [0|3] "" XXX + SG_ LDW_Textbits : 12|4@1+ (1,0) [0|15] "" XXX + SG_ LDW_Gong : 16|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_Kameratyp : 18|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Lampe_gelb : 19|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Lampe_gruen : 20|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_SW_Warnung_links : 21|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_SW_Warnung_rechts : 22|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_KD_Fehler : 23|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_DLC : 24|8@1+ (0.01,-1.25) [-1.25|1.25] "" XXX + SG_ LDW_TLC : 32|5@1+ (0.1,0) [0|3] "" XXX + SG_ LDW_Seite_DLCTLC : 37|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Frueh_Spaet : 38|2@1+ (1,0) [0|3] "" XXX + +BO_ 428 Bremse_8: 8 XXX + SG_ BR8_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX + SG_ BR8_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX + SG_ BR8_Sta_ACC_Anf : 12|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Verz_EPB_akt : 13|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Sta_Br_temp : 14|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Sta_Br_Druck : 15|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_TolAbgl_HL : 16|8@1+ (0.048828125,-6.201171875) [-6.201171875|6.15234375] "Unit_PerCent" XXX + SG_ BR8_TolAbgl_HR : 24|8@1+ (0.048828125,-6.201171875) [-6.201171875|6.15234375] "Unit_PerCent" XXX + SG_ BR8_Istbeschl : 32|9@1+ (0.02,-7.22) [-7.22|2.98] "Unit_MeterPerSeconSquar" XXX + SG_ BR8_Sta_HW_BLS : 41|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_QB_LBeschl : 42|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_ESC_Mode : 43|2@1+ (1,0) [0|3] "" XXX + SG_ BR8_aktBrSyst : 45|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Fa_bremst : 46|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_StaBrSyst : 47|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Laengsbeschl : 48|10@1+ (0.03125,-16) [-15.96875|15.9375] "Unit_MeterPerSeconSquar" XXX + SG_ BR8_Sta_ADR_BR : 58|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Quattro : 59|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Sta_VerzReg : 60|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Sta_BLS : 61|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Verz_EPB : 62|1@1+ (1,0) [0|1] "" XXX + SG_ BR8_Check_EPB : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 928 Bremse_10: 8 XXX + SG_ B10_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX + SG_ B10_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX + SG_ B10_QB_Wegimp_VL : 12|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Wegimp_VR : 13|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Wegimp_HL : 14|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Wegimp_HR : 15|1@1+ (1,0) [0|1] "" XXX + SG_ B10_Wegimp_VL : 16|10@1+ (1,0) [0|1000] "" XXX + SG_ B10_Wegimp_VR : 26|10@1+ (1,0) [0|1000] "" XXX + SG_ B10_Wegimp_HL : 36|10@1+ (1,0) [0|1000] "" XXX + SG_ B10_Wegimp_HR : 46|10@1+ (1,0) [0|1000] "" XXX + SG_ B10_QB_Fahrtr_VL : 56|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Fahrtr_VR : 57|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Fahrtr_HL : 58|1@1+ (1,0) [0|1] "" XXX + SG_ B10_QB_Fahrtr_HR : 59|1@1+ (1,0) [0|1] "" XXX + SG_ B10_Fahrtr_VL : 60|1@1+ (1,0) [0|1] "" XXX + SG_ B10_Fahrtr_VR : 61|1@1+ (1,0) [0|1] "" XXX + SG_ B10_Fahrtr_HL : 62|1@1+ (1,0) [0|1] "" XXX + SG_ B10_Fahrtr_HR : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 835 RDK_Status: 3 XXX + SG_ RKS_Reifen_VL : 0|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Reifen_VR : 1|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Reifen_HL : 2|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Reifen_HR : 3|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Reifen_RR : 4|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Warnung_2 : 5|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Warnung_1 : 6|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Systemfehler : 7|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Kalibrier_abgew : 8|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Druckdiff_Vorn : 9|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Druckdiff_Hinten : 10|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Befuellung_RR_low : 11|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Funkstoerung : 12|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_System_Aus : 13|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_KD_Fehler : 15|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Lampe : 16|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Ton : 17|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Gong : 18|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_RDK_Blinkbit : 19|1@1+ (1,0) [0|1] "" XXX + SG_ RKS_Teillast : 20|1@1+ (1,0) [0|1] "" XXX + +BO_ 914 Gate_Komf_2: 8 XXX + SG_ GK2_Sta_LSM : 0|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Lichtsensor : 1|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Licht1 : 2|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_VSG : 3|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Schluessel : 4|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Profil : 5|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Clima2 : 6|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_BSG4 : 7|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Sta_Kessy_4 : 8|1@1+ (1,0) [0|1] "" XXX + SG_ BS4_Gleitende_Leuchtw_Anf : 9|1@1+ (1,0) [0|1] "" XXX + SG_ BS4_GLW_Fernlicht_Anf : 10|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Blk_L_Kontrolle : 11|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Blk_R_Kontrolle : 12|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_LS_KomFehler : 14|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_LS_def : 15|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Helligkeit : 16|3@1+ (714.286,0) [0|5000.002] "Unit_Lux" XXX + SG_ GK2_VD_zu_ver : 19|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_VD_entriegelt : 20|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_VD_offen_ver : 21|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Verdeck_Anf : 22|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_VDKD_auf : 23|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Schluessel : 24|4@1+ (1,0) [0|15] "" XXX + SG_ GK2_Hardtop : 28|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_AFL_Schalter : 29|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Nebelschluss : 30|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_EM_LIN_ungueltig : 31|1@1+ (1,0) [0|1] "" XXX + SG_ GK2_Profil : 32|4@1+ (1,0) [0|15] "" XXX + SG_ GK2_Kl_StSt_Info : 36|2@1+ (1,0) [0|3] "" XXX + SG_ GK2_BSG_StSt_Info : 38|2@1+ (1,0) [0|3] "" XXX + SG_ GK2_BEM_P_Generator : 40|8@1+ (50,0) [0|12700] "Unit_Watt" XXX + SG_ GK2_BEM_Abschaltstufen : 48|3@1+ (1,0) [0|7] "" XXX + SG_ GK2_BEM_DFM : 51|5@1+ (3.225,0.025) [0.025|100] "Unit_PerCent" XXX + SG_ GK2_Kessy_StSt_Info : 56|2@1+ (1,0) [0|3] "" XXX + SG_ GK2_BEM_StSt_Info : 58|2@1+ (1,0) [0|3] "" XXX + +BO_ 954 SWA_1: 8 SWA + SG_ SWA_Textbits : 12|4@1+ (1,0) [0|15] "" XXX + SG_ SWA_Gong : 16|2@1+ (1,0) [0|3] "" XXX + SG_ SWA_Sta_passiv : 19|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_Sta_aktiv : 20|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_Infostufe_SWA_li : 26|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_Warnung_SWA_li : 27|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_Infostufe_SWA_re : 42|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_Warnung_SWA_re : 43|1@1+ (1,0) [0|1] "" XXX + SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] "" XXX + +BO_ 1175 Parkhilfe_01: 8 XXX + SG_ PH_Abschaltursache : 13|3@1+ (1,0) [0|7] "" XXX + SG_ PH_Opt_Anzeige_V_ein : 16|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Opt_Anzeige_H_ein : 17|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Opt_Anz_V_Hindernis : 18|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Opt_Anz_H_Hindernis : 19|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Tongeber_V_aktiv : 20|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Tongeber_H_aktiv : 21|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Tongeber_mute : 22|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Anf_Audioabsenkung : 23|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Frequenz_hinten : 32|4@1+ (1,0) [0|15] "" XXX + SG_ PH_Lautstaerke_hinten : 36|4@1+ (1,0) [0|15] "" XXX + SG_ PH_Frequenz_vorn : 40|4@1+ (1,0) [0|15] "" XXX + SG_ PH_Lautstaerke_vorn : 44|4@1+ (1,0) [0|15] "" XXX + SG_ PH_Trigger_Bildaufschaltung : 48|1@1+ (1,0) [0|1] "" XXX + SG_ PH_StartStopp_Info : 49|2@1+ (1,0) [0|3] "" XXX + SG_ PH_Aufbauten_erk : 51|1@1+ (1,0) [0|1] "" XXX + SG_ PH_BerErk_vorn : 52|2@1+ (1,0) [0|3] "" XXX + SG_ PH_BerErk_hinten : 54|2@1+ (1,0) [0|3] "" XXX + SG_ PH_defekt : 56|1@1+ (1,0) [0|1] "" XXX + SG_ PH_gestoert : 57|1@1+ (1,0) [0|1] "" XXX + SG_ PH_Systemzustand : 58|3@1+ (1,0) [0|7] "" XXX + SG_ PH_Display_Kundenwunsch : 61|2@1+ (1,0) [0|3] "" XXX + SG_ PH_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 1463 Bremse_11: 8 XXX + SG_ B11_HydHalten : 13|1@1+ (1,0) [0|1] "" XXX + SG_ B11_Br_StSt_Info : 14|2@1+ (1,0) [0|3] "" XXX + SG_ B11_OBD_Nib_VL : 16|4@1+ (1,0) [0|15] "" XXX + SG_ B11_OBD_Nib_VR : 20|4@1+ (1,0) [0|15] "" XXX + SG_ B11_OBD_Nib_HL : 24|4@1+ (1,0) [0|15] "" XXX + SG_ B11_OBD_Nib_HR : 28|4@1+ (1,0) [0|15] "" XXX + SG_ B11_EPB_Steller_akt : 32|1@1+ (1,0) [0|1] "" XXX + SG_ B11_EPB_Steller_gue : 33|1@1+ (1,0) [0|1] "" XXX + +BO_ 1500 Soll_Verbauliste_neu: 8 XXX + SG_ VL1_Motor_SG : 0|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Getr_SG : 1|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_ABS : 2|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Kombi : 3|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_LSM : 4|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Airbag : 5|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Lenkhilfe : 6|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_dyn_LWR : 7|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_res_08 : 8|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Allrad : 9|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_ADR : 10|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_ADR_getrennt : 11|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_EPB : 12|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_res_13 : 13|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Daempfer : 14|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Quersperre : 15|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_MotorSlave : 16|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_SWA : 17|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_HCA : 18|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_RKA_Plus : 19|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_PLA : 20|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_WFS_KBI : 21|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Kombi_KBI : 22|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Soll_eq_Ist : 23|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_BSG_Komf : 24|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_ZKE : 25|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_TSG_FT : 26|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_TSG_BT : 27|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_TSG_HL : 28|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_TSG_HR : 29|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Memory : 30|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Dachmodul_K : 31|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Zentralelektrik_II : 32|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_RDK : 33|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Lenksaeule : 34|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Gateway : 35|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Clima_Komf : 36|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Einparkhilfe : 37|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_PTC_Heizung : 38|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Standheiz : 39|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Verdeck : 40|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_RSE_I : 41|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_res_42 : 42|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_MDI_I : 43|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Anhaenger : 44|1@1+ (1,0) [0|1] "" SWA + SG_ VL1_Memory_BF : 45|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Easy_Entry_VF : 46|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Easy_Entry_VB : 47|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Heckdeckel : 48|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Rearview : 49|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Sonderfzg_SG : 50|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Tastenmodul : 51|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Kompass : 52|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_WFS_K : 53|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_GSM_Pager : 54|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_InfoElektronik : 55|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_DSP : 56|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_DAB : 57|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Telematik : 58|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Navigation : 59|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_TV_Tuner : 60|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Neigungsmodul_I : 61|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Radio : 62|1@1+ (1,0) [0|1] "" XXX + SG_ VL1_Telefon : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 1490 Ident: 8 XXX + SG_ IDT_Mux M : 0|2@1+ (1,0) [0|2] "" XXX + SG_ IDT_Geheimnis_1 m0 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_4 m1 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_11 m2 : 8|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_Geheimnis_2 m0 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_5 m1 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_12 m2 : 16|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_Geheimnis_3 m0 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_6 m1 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_13 m2 : 24|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_Geheimnis_4 m0 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_7 m1 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_14 m2 : 32|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_1 m0 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_8 m1 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_15 m2 : 40|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_2 m0 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_9 m1 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_16 m2 : 48|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_3 m0 : 56|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_10 m1 : 56|8@1+ (1,0) [0|255] "" XXX + SG_ IDT_VIN_17 m2 : 56|8@1+ (1,0) [0|255] "" XXX + +BO_ 2000 Diagnose_1: 8 XXX + SG_ DI1_VerlernZaehl : 0|8@1+ (1,0) [0|254] "" XXX + SG_ DI1_km_Stand : 8|20@1+ (1,0) [0|1048575] "Unit_KiloMeter" XXX + SG_ DI1_Jahr : 28|7@1+ (1,2000) [2000|2127] "Unit_Year" XXX + SG_ DI1_Monat : 35|4@1+ (1,0) [1|12] "Unit_Month" XXX + SG_ DI1_Tag : 39|5@1+ (1,0) [0|31] "Unit_Day" XXX + SG_ DI1_Stunde : 44|5@1+ (1,0) [0|23] "Unit_Hours" XXX + SG_ DI1_Minute : 49|6@1+ (1,0) [0|59] "Unit_Minut" XXX + SG_ DI1_Sekunde : 55|6@1+ (1,0) [0|59] "Unit_Secon" XXX + SG_ DI1_KM_Stand_alt : 62|1@1+ (1,0) [0|1] "" XXX + SG_ DI1_Zeit_alt : 63|1@1+ (1,0) [0|1] "" XXX + +CM_ SG_ 80 Checksumme_Airbag_1 "Checksum Airbag_1"; +CM_ SG_ 80 Zaehler_Airbag_1 "Counter Airbag_1"; + +CM_ SG_ 210 LM_Offset "centiNewton-meters for ease of calculation without FP math in Panda"; +CM_ SG_ 210 Vib_Amp "Steering wheel haptic, amplitude"; +CM_ SG_ 210 Vib_Freq "Steering wheel haptic, frequency"; + +CM_ SG_ 416 Zaehler_Bremse_1 "Counter Bremse_1"; + +CM_ SG_ 640 inneres_Motor_Moment "Engine Indicated Torque"; +CM_ SG_ 640 Fahrerwunschmoment "Driver Requested Torque"; +CM_ SG_ 640 mechanisches_Motor_Verlustmomen "Mechanical Torque Loss"; +CM_ SG_ 640 Fahrpedalwert_oder_Drosselklapp "Accelerator Pedal or Throttle Position"; +CM_ SG_ 640 Motordrehzahl "Engine Speed"; + +CM_ SG_ 644 MOB_CHECKSUM "Checksum MOB"; +CM_ SG_ 644 MOB_COUNTER "Counter MOB"; + +CM_ SG_ 648 Bremstestschalter "Brake Test Switch"; +CM_ SG_ 648 Bremslichtschalter "Brake Light Switch"; +CM_ SG_ 648 Leerlaufsolldrehzahl__Motor_2_ "Target Idle Speed"; +CM_ SG_ 648 Fahrzeuggeschwindigkeit "Vehicle Speed"; +CM_ SG_ 648 Kuehlmitteltemperatur__Motor_2_ "Coolant Temperature"; + +CM_ SG_ 896 Drosselklappenpoti "Throttle Position"; +CM_ SG_ 896 Fahrpedal_Rohsignal "Accelerator Pedal Position"; +CM_ SG_ 896 Ansauglufttemperatur "Intake Air Temperature"; + +CM_ SG_ 912 GK1_Fa_Tuerkont "Status of the driver's door rotary latch"; +CM_ SG_ 912 BSK_HL_geoeffnet "Status of the rear left door rotary latch"; +CM_ SG_ 912 BSK_HR_geoeffnet "Status of the rear right door rotary latch"; +CM_ SG_ 912 BSK_BT_geoeffnet "Status of the passenger door rotary latch"; +CM_ SG_ 912 BSK_HD_Hauptraste "Status of trunk lid main detent"; + +CM_ SG_ 1088 Zaehler_Getriebe_1 "Counter Getriebe_1"; +CM_ SG_ 1088 Waehlhebelposition__Getriebe_1_ "Gear Selector Position"; + +CM_ SG_ 1152 Checksumme_Motor_5 "Checksum Motor_5"; + +CM_ SG_ 1160 Zaehler_Motor_6 "Counter Motor_6"; +CM_ SG_ 1160 Hoeheninfo__Motor_6_ "Altitude Correction"; +CM_ SG_ 1160 Istmoment_f_r_Getriebe "Actual Torque"; +CM_ SG_ 1160 Sollmoment_f_r_Getriebe "Target Torque"; +CM_ SG_ 1160 Checksumme_Motor_6 "Checksum Motor_6"; + +CM_ SG_ 1344 Zahler_Getriebe_2 "Counter Getriebe_2"; + +CM_ SG_ 1386 ACA_V_Wunsch "255=unset"; + +CM_ SG_ 1416 Ladedruck "Boost Pressure"; + +CM_ SG_ 1470 LDW_Direction "0=right,1=left"; +CM_ SG_ 1470 XX_DLCORTLC1 "Might be DLC or TLC"; +CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size"; + +CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph"; + + +VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active"; +VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T"; diff --git a/opendbc/vw_mqb_2010.dbc b/opendbc/vw_mqb_2010.dbc new file mode 100644 index 000000000..031f77e91 --- /dev/null +++ b/opendbc/vw_mqb_2010.dbc @@ -0,0 +1,1455 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: Airbag_MQB BAP_Tester_MQB BMS_MQB Datenlogger_MQB Gateway_MQB Getriebe_DQ_Hybrid_MQB Getriebe_DQ_MQB LEH_MQB Motor_Diesel_MQB Motor_Hybrid_MQB Motor_Otto_MQB SAK_MQB Waehlhebel_MQB Vector__XXX l c i XXX + + +BO_ 290 ACC_06: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_limitierte_Anfahrdyn : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_zul_Regelabw_unten : 16|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_StartStopp_Info : 22|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ ACC_Sollbeschleunigung_02 : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_zul_Regelabw_oben : 35|5@1+ (0.0625,0) [0|1.9375] "Unit_MeterPerSeconSquar" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_neg_Sollbeschl_Grad_02 : 40|8@1+ (0.05,0) [0|12.75] "Unit_MeterPerCubicSecon" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_pos_Sollbeschl_Grad_02 : 48|8@1+ (0.05,0) [0|12.75] "Unit_MeterPerCubicSecon" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_Anfahren : 56|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_Anhalten : 57|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_Typ : 58|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_Status_ACC : 60|3@1+ (1,0) [0|7] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ACC_Minimale_Bremsung : 63|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 279 ACC_10: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB + SG_ AWV1_Anf_Prefill : 16|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ANB_CM_Info : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV2_Freigabe : 18|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ AWV1_HBA_Param : 19|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ AWV2_Ruckprofil : 21|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ AWV2_Priowarnung : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_CM_Anforderung : 25|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ANB_Info_Teilbremsung : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_Notfallblinken : 27|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ANB_Teilbremsung_Freigabe : 28|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ANB_Zielbrems_Teilbrems_Verz_Anf : 29|10@1+ (0.024,-20.016) [-20.016|4.536] "Unit_MeterPerSeconSquar" Airbag_MQB + SG_ ANB_Zielbremsung_Freigabe : 39|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ AWV_Vorstufe : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AWV_Halten : 41|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 64 Airbag_01: 8 Airbag_MQB + SG_ Airbag_01_CRC : 0|8@1+ (1,0) [0|255] "" BMS_MQB,Gateway_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Airbag_01_BZ : 8|4@1+ (1,0) [0|15] "" BMS_MQB,Gateway_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AB_RGS_Anst : 12|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ AB_Front_Crash : 16|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Heck_Crash : 17|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_SF_Crash : 18|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_SB_Crash : 19|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Rollover_Crash : 20|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Crash_Int : 21|3@1+ (1,0) [0|7] "" BMS_MQB,Gateway_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AB_Lampe : 24|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Deaktiviert : 25|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_VB_deaktiviert : 26|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Systemfehler : 27|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,LEH_MQB + SG_ AB_Diagnose : 28|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Stellgliedtest : 29|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AB_Erh_Auf_VB : 30|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtwarn_VF : 32|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Gurtwarn_VB : 33|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Anzeige_Fussg : 34|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Texte_AKS : 36|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_PAO_Leuchte_Anf : 38|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_MKB_gueltig : 39|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_MKB_Anforderung : 40|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ AB_Versorgungsspannung : 41|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 1312 Airbag_02: 8 Airbag_MQB + SG_ AB_Belegung_VB : 26|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_FA : 40|2@1+ (1,0) [0|3] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Otto_MQB + SG_ AB_Gurtschloss_BF : 42|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe2_FA : 44|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe2_MI : 46|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe2_BF : 48|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe3_FA : 50|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe3_MI : 52|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Gurtschloss_Reihe3_BF : 54|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Sitzpos_Sens_FA : 56|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ AB_Sitzpos_Sens_BF : 58|2@1+ (1,0) [0|3] "" Gateway_MQB + +BO_ 65 Airbag_03: 8 Airbag_MQB + SG_ Airbag_03_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ Airbag_03_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ AB_MKB_Safing : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 1633 Anhaenger_01: 8 Gateway_MQB + SG_ AAG_BZ : 0|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AAG_Bremsl_durch_ECD : 5|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AAG_Anhaenger_abgesteckt : 6|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_NSL_aktiv : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_Anhaenger_erkannt : 8|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AAG_Blinker_H_aktiv : 9|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_Blinker_HL_def : 10|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_Blinker_HR_def : 11|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_Bremslicht_H_def : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AAG_Schlusslicht_HL_def : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_Schlusslicht_HR_def : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_AVS_Fehler_02 : 18|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ AAG_AVS_Stati : 20|4@1+ (1,0) [0|15] "" Vector__XXX + +BO_ 1626 BCM_01: 8 Gateway_MQB + SG_ BCM_Bremsbelag_Sensor : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Bremsfluessigkeit_Sensor : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_Licht_Warn : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Waschwasser_Sensor : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Kuehlmittel_Sensor : 16|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BCM1_Kl_15_HW_erkannt : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Eis_Offroad_Taste : 18|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Otto_MQB + SG_ ZZH_Endlage_oben : 19|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZZH_Endlage_unten : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZZH_Endlage_unplausibel : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM2_EZS_gedrueckt : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM2_SST_gedrueckt : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Hybrid_StartStopp_Taste : 24|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM1_Warnblink_Taster : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_Valet_Parking_Taster : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM_Remotestart_Betrieb : 27|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BCM1_HSK_Taster : 28|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_Heckrollo_Taster : 29|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_Rueckfahrlicht_Schalter : 30|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM1_MH_Schalter : 31|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BCM1_MH_WIV_Schalter : 32|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM_Eco_Charisma_Taste : 33|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ BCM_Thermomanagement : 34|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM_Thermomanagement_Fehler : 36|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM_Thermomanagement_gueltig : 37|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM1_Lichtwarn_Texte : 38|2@1+ (1,0) [0|3] "" Vector__XXX + +BO_ 869 BEM_05: 8 Gateway_MQB + SG_ BEM_P_Generator : 16|8@1+ (50,0) [0|12700] "Unit_Watt" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_n_LLA : 24|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_01_Abschaltstufen : 26|3@1+ (1,0) [0|7] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_Anf_KL : 29|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_StartStopp_Info : 30|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BEM_DFM : 32|5@1+ (3.225,0.025) [0.025|100] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_EMLIN_ungueltig : 37|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_Batt_Ab : 38|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_Segel_Info : 48|2@1+ (1,0) [0|3] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BEM_HYB_DC_uSollLV : 50|6@1+ (0.1,10.6) [10.6|16] "Unit_Volt" LEH_MQB + SG_ BEM_HYB_DC_uMinLV : 56|8@1+ (0.1,0) [0|25.3] "Unit_Volt" LEH_MQB + +BO_ 1628 BMS_Hybrid_01: 8 BMS_MQB + SG_ BMS_HYB_ASV_hinten_Status : 13|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ BMS_HYB_ASV_vorne_Status : 14|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ BMS_HYB_KD_Fehler : 15|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ BMS_HYB_BattFanSpd : 16|4@1+ (10,0) [0|100] "Unit_PerCent" Gateway_MQB + SG_ BMS_HYB_VentilationReq : 20|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ BMS_HYB_Spuelbetrieb_Status : 21|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ BMS_HYB_Kuehlung_Anf : 22|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ BMS_HYB_Temp_vor_Verd : 24|8@1+ (0.5,-40) [-40|86.5] "Unit_DegreCelsi" Gateway_MQB + SG_ BMS_HYB_Temp_nach_Verd : 32|8@1+ (0.5,-40) [-40|86.5] "Unit_DegreCelsi" Gateway_MQB + SG_ BMS_Temperatur : 40|8@1+ (0.5,-40) [-40|86.5] "Unit_DegreCelsi" Gateway_MQB + SG_ BMS_Temperatur_Ansaugluft : 48|8@1+ (0.5,-40) [-40|86.5] "Unit_DegreCelsi" Gateway_MQB + SG_ BMS_IstSpannung_HV : 56|8@1+ (1,100) [100|350] "Unit_Volt" Gateway_MQB + +BO_ 901 Charisma_01: 8 Gateway_MQB + SG_ CHA_Ziel_FahrPr_ALR : 0|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_ESP : 4|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_FL : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Fahrer_Umschaltung : 14|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ CHA_Ziel_FahrPr_MO : 16|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ CHA_Ziel_FahrPr_GE : 20|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ CHA_Ziel_FahrPr_ST : 24|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_SCU : 28|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_DR : 32|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_QS : 36|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_AFS : 40|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_RGS : 44|4@1+ (1,0) [0|15] "" Airbag_MQB + SG_ CHA_Ziel_FahrPr_EPS : 48|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_ACC : 52|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ CHA_Ziel_FahrPr_SAK : 56|4@1+ (1,0) [0|15] "" SAK_MQB + SG_ CHA_Ziel_FahrPr_MStSt : 60|4@1+ (1,0) [0|15] "" Vector__XXX + +BO_ 945 DC_Hybrid_01: 8 LEH_MQB + SG_ DC_HYB_iAktLV : 12|10@1+ (1,-511) [-511|510] "Unit_Amper" Gateway_MQB + SG_ DC_HYB_iAktReserveLV : 22|10@1+ (1,-511) [-511|510] "Unit_Amper" Gateway_MQB + SG_ DC_HYB_uAktLV : 32|8@1+ (0.1,0) [0|25.3] "Unit_Volt" Gateway_MQB + SG_ DC_HYB_LangsRegelung : 40|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ DC_HYB_Abregelung_Temperatur : 41|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ DC_HYB_Fehler_RedLeistung : 42|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ DC_HYB_Fehler_intern : 43|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ DC_HYB_Fehler_Spannung : 44|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ DC_HYB_Auslastungsgrad : 56|8@1+ (0.4,0) [0|100] "Unit_PerCent" Gateway_MQB + +BO_ 1714 Diagnose_01: 8 Gateway_MQB + SG_ DGN_Verlernzaehler : 0|8@1+ (1,0) [0|254] "" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,SAK_MQB + SG_ KBI_Kilometerstand : 8|20@1+ (1,0) [0|1048573] "Unit_KiloMeter" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Jahr : 28|7@1+ (1,2000) [2000|2127] "Unit_Year" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Monat : 35|4@1+ (1,0) [1|12] "Unit_Month" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Tag : 39|5@1+ (1,0) [1|31] "Unit_Day" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Stunde : 44|5@1+ (1,0) [0|23] "Unit_Hours" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Minute : 49|6@1+ (1,0) [0|59] "Unit_Minut" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ UH_Sekunde : 55|6@1+ (1,0) [0|59] "Unit_Secon" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ Kombi_02_alt : 62|1@1+ (1,0) [0|1] "" Airbag_MQB,BMS_MQB,LEH_MQB + SG_ Uhrzeit_01_alt : 63|1@1+ (1,0) [0|1] "" Airbag_MQB,BMS_MQB,LEH_MQB + +BO_ 1520 Dimmung_01: 8 Gateway_MQB + SG_ DI_KL_58xd : 0|8@1+ (1,0) [0|253] "" Airbag_MQB + SG_ DI_KL_58xs : 8|7@1+ (1,0) [0|100] "Unit_PerCent" Vector__XXX + SG_ DI_Display_Nachtdesign : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ DI_KL_58xt : 16|7@1+ (1,0) [0|100] "Unit_PerCent" Vector__XXX + SG_ DI_Fotosensor : 24|16@1+ (1,0) [0|65535] "" Vector__XXX + +BO_ 1603 Einheiten_01: 8 Gateway_MQB + SG_ KBI_Einheit_Datum : 0|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KBI_Einheit_Druck : 2|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KBI_Einheit_Streckenanz : 4|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB + SG_ KBI_MFA_v_Einheit_02 : 5|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Einheit_Temp : 6|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Einheit_Uhrzeit : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Einheit_Verbrauch : 8|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KBI_Einheit_Volumen : 10|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KBI_Einheit_Sprache : 16|8@1+ (1,0) [0|255] "" Vector__XXX + +BO_ 260 EPB_01: 8 Gateway_MQB + SG_ EPB_01_CRC : 0|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EPB_01_BZ : 8|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EPB_QBit_Laengsbeschleunigung : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EPB_QBit_Pedalweg_Kuppl : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EPB_BCM2_Motor_Wakeup : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EPB_Freig_Verzoeg_Anf : 15|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EPB_Verzoeg_Anf : 16|8@1+ (0.048,-7.968) [-7.968|4.224] "Unit_MeterPerSeconSquar" Vector__XXX + SG_ EPB_Laengsbeschleunigung : 24|8@1+ (1,-128) [-128|126] "Unit_PerCentOfForceOfGravi" Vector__XXX + SG_ EPB_Pedalweg_Kuppl : 32|8@1+ (0.4,0) [8|92] "Unit_PerCent" Vector__XXX + SG_ EPB_Anfahrwunsch_erkannt : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EPB_DAA_Randbed_erf : 49|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ EPB_Fehlerstatus : 50|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EPB_Schalterposition : 52|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EPB_QBit_Schalterpos : 54|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EPB_Konsistenz_ACC : 55|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EPB_Spannkraft : 56|5@1+ (1,0) [0|29] "Unit_KiloNewto" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ EPB_Status : 61|2@1+ (1,0) [0|3] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 257 ESP_02: 8 Gateway_MQB + SG_ ESP_02_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_02_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Gierrate : 12|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_QBit_Laengsbeschl : 13|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Querb : 14|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Stillstandsflag : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Querbeschleunigung : 16|8@1+ (0.01,-1.27) [-1.27|1.27] "Unit_ForceOfGravi" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Laengsbeschl : 24|10@1+ (0.03125,-16) [-16|15.90625] "Unit_MeterPerSeconSquar" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Verteil_Wankmom : 34|5@1+ (0.1,-1) [-1|1] "" Vector__XXX + SG_ ESP_QBit_Anf_Vert_Wank : 39|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Gierrate : 40|14@1+ (0.01,0) [0|163.82] "Unit_DegreOfArcPerSecon" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_VZ_Gierrate : 54|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_Notbremsanzeige : 55|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ESP_SpannungsAnf : 56|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_PLA_Abbruch : 57|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ ESP_Status_ESP_PLA : 60|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 262 ESP_05: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Bremsdruck : 12|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Fahrer_bremst : 13|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Schwelle_Unterdruck : 14|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Bremsdruck : 16|10@1+ (0.3,-30) [-30|276.6] "Unit_Bar" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Fahrer_bremst : 26|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Verz_TSK_aktiv : 27|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Lenkeingriff_ADS : 28|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Konsistenz_TSK : 29|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Bremsruck_AWV2 : 30|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Konsistenz_AWV2 : 31|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ECD_Fehler : 32|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ECD_nicht_verfuegbar : 33|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Status_Bremsentemp : 34|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Autohold_Standby : 35|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_HDC_Standby : 36|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_HBA_aktiv : 37|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Prefill_ausgeloest : 38|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Rueckwaertsfahrt_erkannt : 39|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Status_Anfahrhilfe : 40|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_HDC_aktiv : 41|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_StartStopp_Info : 42|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ ESP_Eingr_HL : 44|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Eingr_HR : 45|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Eingr_VL : 46|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Eingr_VR : 47|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_BKV_Unterdruck : 48|8@1+ (4,0) [0|1012] "Unit_MilliBar" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Autohold_aktiv : 56|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_FStatus_Anfahrhilfe : 57|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_Verz_EPB_aktiv : 58|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ECD_Bremslicht : 59|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Verzoeg_EPB_verf : 60|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Status_Bremsdruck : 61|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Anforderung_EPB : 62|2@1+ (1,0) [0|3] "" Vector__XXX + +BO_ 914 ESP_07: 8 Gateway_MQB + SG_ ESP_07_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_07_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_ACC_LDE : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Quattro_Antrieb : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Codierung_ADS : 14|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ ESP_RTA_HL : 16|8@1+ (0.048828125,-6.20117) [-6.20117|6.152345625] "Unit_PerCent" Vector__XXX + SG_ ESP_RTA_HR : 24|8@1+ (0.048828125,-6.20117) [-6.20117|6.152345625] "Unit_PerCent" Vector__XXX + SG_ ESP_RTA_VR : 32|8@1+ (0.048828125,-6.20117) [-6.20117|6.152345625] "Unit_PerCent" Vector__XXX + SG_ OBD_Fehler_Radsensor_HL : 40|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_Fehler_Radsensor_HR : 44|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_Fehler_Radsensor_VL : 48|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_Fehler_Radsensor_VR : 52|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Qualifizierung_Antriebsart : 56|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_Offroad_Modus : 57|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_MKB_ausloesbar : 58|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ESP_MKB_Status : 59|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ESP_CM_Variante : 60|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ESP_OBD_Status : 61|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 278 ESP_10: 8 Gateway_MQB + SG_ ESP_10_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_10_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Wegimpuls_VL : 12|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Wegimpuls_VR : 13|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Wegimpuls_HL : 14|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_Wegimpuls_HR : 15|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Wegimpuls_VL : 16|10@1+ (1,0) [0|1000] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Wegimpuls_VR : 26|10@1+ (1,0) [0|1000] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Wegimpuls_HL : 36|10@1+ (1,0) [0|1000] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Wegimpuls_HR : 46|10@1+ (1,0) [0|1000] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_VL_Fahrtrichtung : 56|2@1+ (1,0) [0|3] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_VR_Fahrtrichtung : 58|2@1+ (1,0) [0|3] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_HL_Fahrtrichtung : 60|2@1+ (1,0) [0|3] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_HR_Fahrtrichtung : 62|2@1+ (1,0) [0|3] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 178 ESP_19: 8 Gateway_MQB + SG_ ESP_HL_Radgeschw_02 : 0|16@1+ (0.0075,0) [0|491.49] "Unit_KiloMeterPerHour" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_HR_Radgeschw_02 : 16|16@1+ (0.0075,0) [0|491.49] "Unit_KiloMeterPerHour" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_VL_Radgeschw_02 : 32|16@1+ (0.0075,0) [0|491.49] "Unit_KiloMeterPerHour" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_VR_Radgeschw_02 : 48|16@1+ (0.0075,0) [0|491.49] "Unit_KiloMeterPerHour" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 1629 ESP_20: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ BR_Systemart : 12|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ ESP_Zaehnezahl : 16|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_Charisma_FahrPr : 24|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ ESP_Charisma_Status : 28|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ BR_QBit_Reifenumfang : 51|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ BR_Reifenumfang : 52|12@1+ (1,0) [0|4095] "Unit_MilliMeter" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 253 ESP_21: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BR_Eingriffsmoment : 12|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_v_Signal : 32|16@1+ (0.01,0) [0|655.32] "Unit_KiloMeterPerHour" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB + SG_ ASR_Tastung_passiv : 48|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Tastung_passiv : 49|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Systemstatus : 50|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ASR_Schalteingriff : 51|2@1+ (1,0) [0|3] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ ESP_Haltebestaetigung : 53|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_QBit_v_Signal : 55|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ABS_Bremsung : 56|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ASR_Anf : 57|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ MSR_Anf : 58|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EBV_Eingriff : 59|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ EDS_Eingriff : 60|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Eingriff : 61|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_ASP : 62|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ESP_Anhaltevorgang_ACC_aktiv : 63|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 987 Gateway_72: 8 Gateway_MQB + SG_ BCM_01_alt : 0|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ SMLS_01_alt : 1|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ ZV_02_alt : 2|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Wischer_01_alt : 3|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Anhaenger_01_alt : 4|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ Klima_Sensor_02_alt : 5|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ VSG_01_alt : 6|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ Klima_01_alt : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ WFS_01_alt : 8|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Licht_Anf_01_alt : 9|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZV_HFS_offen : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZV_HBFS_offen : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ VS_VD_offen_ver : 22|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ VS_VD_zu_ver : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZV_BT_offen : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_Rueckfahrlicht_Schalter : 25|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ ZV_FT_offen : 26|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Wischer_vorne_aktiv : 27|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ AAG_Anhaenger_erkannt : 28|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ BCM1_MH_Schalter : 29|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZV_HD_offen : 30|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Waschen_vorne_aktiv : 31|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KL_Thermomanagement : 32|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ WFS_Schluessel_Fahrberecht : 34|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ BCM1_RFahrlicht_Fzg_Anf : 38|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BCM1_RFahrlicht_Ahg_Anf : 39|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BH_Fernlicht : 49|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ BH_Blinker_li : 50|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BH_Blinker_re : 51|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ BCM1_OBD_FStatus_ATemp : 52|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM1_Aussen_Temp_ungef : 56|8@1+ (0.5,-50) [-50|76] "Unit_DegreCelsi" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 989 Gateway_74: 8 Gateway_MQB + SG_ LH_EPS_01_alt : 0|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB + SG_ Kessy_04_alt : 1|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ LIN_2_alt : 2|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MFG_01_alt : 3|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ GW_74_va_14 : 4|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Klima_02_alt : 5|1@1+ (1,0) [0|1] "" BMS_MQB + SG_ Parkhilfe_01_alt : 6|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ ELV_01_alt : 7|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KY_StartStopp_Info : 16|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ PH_StartStopp_Info : 18|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ EPS_Lenkerposition : 20|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB + SG_ ELV_Anf_Klemme_50 : 22|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ MF_StartStopp_Info : 25|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ KL_Geblaesespannung_Soll : 40|8@1+ (0.05,0.5) [2|13] "Unit_Volt" BMS_MQB + SG_ KL_Umluftklappe_Status : 48|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ MFL_Tip_Down : 56|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MFL_Tip_Up : 57|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ LS_Tiptronic_Fehler : 58|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 296 Getriebe_06: 3 Getriebe_DQ_Hybrid_MQB + SG_ GE_WH_Sperre : 0|1@1+ (1,0) [0|1] "" Waehlhebel_MQB + SG_ GE_Ausleuchtungsmode : 1|1@1+ (1,0) [0|1] "" Waehlhebel_MQB + SG_ GE_Test_Freigabe : 2|1@1+ (1,0) [0|1] "" Waehlhebel_MQB + SG_ GE_Ist_Fahrstufe : 4|4@1+ (1,0) [0|15] "" Waehlhebel_MQB + SG_ GE_Testparameter_1 : 8|8@1+ (1,0) [0|255] "" Waehlhebel_MQB + SG_ GE_Testparameter_2 : 16|8@1+ (1,0) [0|255] "" Waehlhebel_MQB + +BO_ 173 Getriebe_11: 8 Getriebe_DQ_Hybrid_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTERXX : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_MMom_Soll_02 : 12|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_MMom_Vorhalt_02 : 22|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Uefkt : 32|10@1+ (0.1,0) [0|102.2] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Fahrstufe : 42|5@1+ (1,0) [0|31] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Schaltvorgang : 47|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Status_Kupplung : 54|2@1+ (1,0) [0|3] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_MMom_Status : 56|2@1+ (1,0) [0|3] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Freig_MMom_Vorhalt : 58|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Verbot_Ausblendung : 59|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Zielgang : 60|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 174 Getriebe_12: 8 Getriebe_DQ_Hybrid_MQB + SG_ Getriebe_12_CRC : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Getriebe_12_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Drehzahlmesser_Daempfung : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Schubabschalt_Unt : 13|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Freigabe_Synchro : 14|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Synchro_Wunschdrehz : 15|9@1+ (25,0) [0|12750] "Unit_MinutInver" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Synchro_Zeit : 24|8@1+ (20,0) [0|5080] "Unit_MilliSecon" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Mom_Begr_Gradient : 32|8@1+ (10,0) [0|2540] "Unit_NewtoMeterPerSecon" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Anheb_Solldrehz_Leerlauf : 40|8@1+ (10,0) [0|2540] "Unit_MinutInver" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Aufnahmemoment : 48|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Anf_Zylabsch : 58|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ GE_HYB_DZ_Eingriff : 62|2@1+ (1,0) [0|3] "" Motor_Hybrid_MQB + +BO_ 301 Getriebe_13: 8 Getriebe_DQ_Hybrid_MQB + SG_ Getriebe_13_CRC : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ Getriebe_13_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_StartStopp_Info : 12|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ GE_Langfr_Schutzmom_02 : 14|9@1+ (1,0) [0|509] "Unit_NewtoMeter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Eingangsdrehz : 48|14@1+ (1,0) [0|16381] "Unit_MinutInver" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Notlauf : 62|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Freig_Langfr_Schutzmom : 63|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 968 Getriebe_14: 8 Getriebe_DQ_Hybrid_MQB + SG_ GE_OBD_AbsperrVent : 12|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_amax_moeglich : 16|9@1+ (0.024,-2.016) [-2.016|10.224] "Unit_MeterPerSeconSquar" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Charisma_FahrPr : 25|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ GE_Charisma_Status : 29|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ GE_Verlustmoment : 32|8@1+ (1,0) [0|254] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Freigabe_Verfallsinfo_WFS : 49|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ GE_Codierung_MSG : 50|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ GE_LaunchControl : 51|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ GE_Heizwunsch : 52|2@1+ (1,0) [0|3] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_OBD_Status : 54|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_LFR_Adaption : 55|1@1+ (1,0) [0|1] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GE_Sumpftemperatur : 56|8@1+ (1,-58) [-58|196] "Unit_DegreCelsi" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 158 Getriebe_Hybrid_01: 8 Getriebe_DQ_Hybrid_MQB + SG_ Getriebe_Hybrid_01_CRC : 0|8@1+ (1,0) [0|255] "" Motor_Hybrid_MQB + SG_ Getriebe_Hybrid_01_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB + SG_ GE_HYB_Fehlerstatus : 12|2@1+ (1,0) [0|3] "" Motor_Hybrid_MQB + SG_ GE_HYB_Freigabe_K0 : 16|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_Freigabe_LL_Reg : 17|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_Freig_sSchl_K0 : 18|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_Freig_VM_EM_Stop : 19|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_Wiederstart : 20|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_Filt_MomAufbau : 21|3@1+ (1,0) [0|7] "" Motor_Hybrid_MQB + SG_ GE_HYB_nK0 : 24|8@1+ (25,0) [0|6350] "Unit_MinutInver" Vector__XXX + SG_ GE_HYB_MomEingriff_EM : 32|6@1+ (0.5,0) [0|31.5] "Unit_NewtoMeter" LEH_MQB + SG_ GE_HYB_VZ_MomEingriff_EM : 38|1@1+ (1,0) [0|1] "" LEH_MQB + SG_ GE_HYB_Sportfaktor : 56|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB + SG_ GE_HYB_VM_akt_halten : 61|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_StartAnf : 62|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + SG_ GE_HYB_VM_Startkontr : 63|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB + +BO_ 299 GRA_ACC_01: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Hauptschalter : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Abbrechen : 13|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Typ_Hauptschalter : 14|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Limiter : 15|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Tip_Setzen : 16|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Tip_Hoch : 17|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Tip_Runter : 18|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Tip_Wiederaufnahme : 19|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Verstellung_Zeitluecke : 20|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Codierung : 22|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Fehler : 24|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Typ468 : 25|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_Tip_Stufe_2 : 27|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ GRA_ButtonTypeInfo : 28|2@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 960 Klemmen_Status_01: 4 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ZAS_Kl_S : 16|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZAS_Kl_15 : 17|1@1+ (1,0) [0|1] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ ZAS_Kl_X : 18|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ ZAS_Kl_50 : 19|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 949 Klima_11: 8 Gateway_MQB + SG_ KL_Drehz_Anh : 0|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_Vorwarn_Komp_ein : 1|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_AC_Schalter : 2|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KL_Komp_Moment_alt : 3|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KL_Zonen : 4|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_Vorwarn_Zuheizer_ein : 6|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KL_Zustand : 7|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_Comp_rev_rq : 8|8@1+ (50,0) [0|8600] "Unit_MinutInver" Vector__XXX + SG_ KL_Charisma_FahrPr : 16|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ KL_Charisma_Status : 20|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KL_Comp_enable : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KL_Last_Kompr : 24|8@1+ (0.25,0) [0|63.5] "Unit_NewtoMeter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_Spannungs_Anf : 32|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KL_Thermomanagement : 34|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_StartStopp_Info : 36|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ KL_Anf_KL : 40|8@1+ (0.4,0) [0|101.6] "Unit_PerCent" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KL_el_Zuheizer_Stufe : 48|3@1+ (1,0) [0|7] "" Motor_Diesel_MQB + +BO_ 1625 Klimakomp_01: 8 Gateway_MQB + SG_ EKL_KD_Fehler : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EKL_Comp_SCI_com_stat : 16|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EKL_Comp_output_stat : 18|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EKL_Comp_main_stat : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EKL_Comp_ovld_stat : 21|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ EKL_Comp_Inv_stat : 24|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EKL_Comp_photo_temp_stat : 30|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ EKL_Comp_photo_temp : 32|8@1+ (1,0) [0|254] "Unit_DegreCelsi" Vector__XXX + SG_ EKL_Comp_current : 40|8@1+ (0.1,0) [0|25.4] "Unit_Amper" Motor_Hybrid_MQB + SG_ EKL_Comp_rev_stat : 48|8@1+ (50,0) [0|8600] "Unit_MinutInver" Vector__XXX + +BO_ 2549088277 KN_Airbag_01: 8 Airbag_MQB + SG_ Airbag_01_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Airbag_01_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ AB_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 2549088380 KN_EMotor_01: 8 LEH_MQB + SG_ EMotor_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EMotor_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ EM_HYB_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 2549088375 KN_Getriebe_01: 8 Getriebe_DQ_Hybrid_MQB + SG_ Getriebe_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Getriebe_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ GE_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 2549088379 KN_Hybrid_01: 8 BMS_MQB + SG_ Hybrid_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Hybrid_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ BMS_HYB_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 2549088374 KN_MO_01: 8 Motor_Diesel_MQB + SG_ Motor_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Motor_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 2549088284 KN_SAK: 8 SAK_MQB + SG_ SAK_KompSchutz : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SAK_Nachlauftyp : 4|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ SAK_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 779 Kombi_01: 8 Gateway_MQB + SG_ KBI_ABS_Lampe : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_ESP_Lampe : 1|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_BKL_Lampe : 2|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Airbag_Lampe : 3|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ KBI_SILA_gueltig : 4|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ KBI_Lenkung_Lampe : 5|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Vorglueh_System_Lampe : 6|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB + SG_ KBI_NV_in_Anzeige : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Kombi_01_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Anzeigestatus_ACC : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Anzeigestatus_GRA : 13|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Oeldruck_Schalter : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Tankwarnung : 16|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_MFA_v_Einheit_01 : 17|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_im_Stellgliedtest : 18|1@1+ (1,0) [0|1] "" Airbag_MQB + SG_ KBI_Anzeigefehler_LDW : 19|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ KBI_Variante_USA : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Oeldruckwarnung : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Handbremse : 23|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ KBI_V_Digital : 24|9@1+ (1,0) [0|511] "" Vector__XXX + SG_ KBI_PLA_in_Anzeige : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Anzeigefehler_NV : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Anzeigestatus_LIM : 35|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_angez_Geschw : 48|10@1+ (0.32,0) [0|325.12] "Unit_KiloMeterPerHour" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Einheit_Tacho : 58|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Konsistenz_ACC : 59|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Fehler_Anzeige_ACC : 60|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ KBI_Anzeigefehler_SWA : 61|2@1+ (1,0) [0|3] "" Vector__XXX + +BO_ 1719 Kombi_02: 8 Gateway_MQB + SG_ KBI_Kilometerstand : 0|20@1+ (1,0) [0|1048573] "Unit_KiloMeter" Vector__XXX + SG_ KBI_Standzeit_02 : 20|17@1+ (1,0) [0|131068] "Unit_Secon" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Inhalt_Tank : 40|7@1+ (1,0) [0|125] "Unit_Liter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_FStatus_Tank : 47|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_QBit_Aussen_Temp_gef : 55|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ KBI_Aussen_Temp_gef : 56|8@1+ (0.5,-50) [-50|75] "Unit_DegreCelsi" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 982 Licht_hinten_01: 8 Gateway_MQB + SG_ Licht_hinten_01_BZ : 0|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ BCM2_Bremsl_durch_ECD : 5|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LH_Aussenlicht_def : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Standlicht_H_aktiv : 8|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Parklicht_HL_aktiv : 9|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Parklicht_HR_aktiv : 10|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Bremslicht_H_aktiv : 11|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Nebelschluss_aktiv : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Rueckfahrlicht_aktiv : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Blinker_HL_akt : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Blinker_HR_akt : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Blinker_li_def : 16|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Bremsl_li_def : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schlusslicht_li_def : 18|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Rueckf_li_def : 19|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Nebel_li_def : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Brems_Nebel_li_def : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Brems_Nebel_re_def : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Brems_li_def : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Nebel_li_def : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_SL_BRL_BLK_li_def : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Brems_Blk_li_def : 27|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Blinker_re_def : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Bremsl_re_def : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schlusslicht_re_def : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Rueckf_re_def : 35|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Nebel_re_def : 36|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Brems_re_def : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Schluss_Nebel_re_def : 41|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_SL_BRL_BLK_re_def : 42|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Brems_Blk_re_def : 43|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Kennzl_def : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_3_Bremsl_def : 49|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LH_Nebel_mi_def : 50|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Rueckf_mi_def : 51|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LH_Bremsl_li_ges_def : 54|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LH_Bremsl_re_ges_def : 55|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 134 LWI_01: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LWI_Sensorstatus : 12|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LWI_QBit_Sub_Daten : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LWI_QBit_Lenkradwinkel : 15|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LWI_Lenkradwinkel : 16|13@1+ (0.1,0) [0|800] "Unit_DegreOfArc" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LWI_VZ_Lenkradwinkel : 29|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ LWI_VZ_Lenkradw_Geschw : 30|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ LWI_Lenkradw_Geschw : 31|9@1+ (5,0) [0|2500] "Unit_DegreOfArcPerSecon" Vector__XXX + SG_ LWI_Sub_Daten : 40|16@1+ (1,0) [0|65535] "" Vector__XXX + +BO_ 263 Motor_04: 8 Motor_Diesel_MQB + SG_ MO_Istgang : 8|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_Sollgang : 12|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_Oeldruck : 16|8@1+ (0.04,0) [0|10] "Unit_Bar" Gateway_MQB + SG_ MO_Anzeigedrehz : 24|12@1+ (3,0) [0|12282] "Unit_MinutInver" Gateway_MQB + SG_ MO_Schaltempf_verfbar : 38|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Ladedruck : 39|9@1+ (0.01,0) [0|5.1] "Unit_Bar" Gateway_MQB + SG_ MO_KVS : 48|15@1+ (1,0) [0|32767] "Unit_MicroLiter" Gateway_MQB + SG_ MO_KVS_Ueberlauf : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 1600 Motor_07: 8 Motor_Diesel_MQB + SG_ MO_QBit_Ansaugluft_Temp : 0|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_QBit_Oel_Temp : 1|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_QBit_Kuehlmittel_Temp : 2|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ MO_Stellgliedtest_Soundaktuator : 3|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Fehler_HV_Netz : 4|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_aktives_Getriebeheizen : 5|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Absperrventil_oeffnen : 6|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Ansaugluft_Temp : 8|8@1+ (0.75,-48) [-48|141.75] "Unit_DegreCelsi" Gateway_MQB + SG_ MO_Oel_Temp : 16|8@1+ (1,-60) [-60|192] "Unit_DegreCelsi" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Kuehlmittel_Temp : 24|8@1+ (0.75,-48) [-48|141.75] "Unit_DegreCelsi" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ MO_Hoeheninfo : 32|8@1+ (0.00781,0) [0|1.98374] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Kennfeldk : 40|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Versionsinfo : 41|6@1+ (1,0) [0|63] "" Gateway_MQB + SG_ MO_Getriebe_kuehlen : 47|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Traegheit_02 : 48|5@1+ (0.01,0) [0|0.31] "Unit_KiloGramMeterSquar" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Heizungspumpenansteuerung : 53|4@1+ (10,0) [0|100] "Unit_PerCent" Gateway_MQB + SG_ MO_SpannungsAnf : 57|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Nachlaufzeit_Heizungspumpe : 58|6@1+ (15,0) [0|945] "Unit_Secon" Gateway_MQB + +BO_ 1607 Motor_09: 8 Motor_Diesel_MQB + SG_ MO_ITM_Kuehlmittel_Temp : 0|8@1+ (0.75,-48) [-45.75|143.25] "Unit_DegreCelsi" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_E85_Sensor : 8|4@1+ (10,0) [0|100] "Unit_PerCent" Gateway_MQB + SG_ SCR_Anz_Motorstarts : 12|4@1+ (1,0) [0|8] "" Gateway_MQB + SG_ SCR_Reichweite : 16|15@1+ (1,0) [0|32766] "" Gateway_MQB + SG_ SCR_Warnstufe_1 : 32|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ SCR_Warnstufe_2 : 33|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ SCR_Text : 34|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ SCR_Akustik : 37|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Kraftstofffilter_Wasser : 40|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ SCR_Systemfehler : 41|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ SCR_Inducement_Strategie : 42|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_CO2_Faktor : 44|12@1+ (1,0) [1|4094] "Unit_GramPerLiter" Gateway_MQB + +BO_ 167 Motor_11: 8 Motor_Diesel_MQB + SG_ Motor_11_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ Motor_11_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Soll_Roh : 12|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Ist_Summe : 22|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,SAK_MQB + SG_ MO_Mom_Traegheit_Summe : 32|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Soll_gefiltert : 42|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Schub : 52|9@1+ (1,-509) [-509|0] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Status_Normalbetrieb_01 : 61|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_erste_Ungenauschwelle : 62|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_QBit_Motormomente : 63|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 168 Motor_12: 8 Motor_Diesel_MQB + SG_ Motor_12_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ Motor_12_BZ : 8|4@1+ (1,0) [0|15] "" BMS_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ MO_Mom_neg_verfuegbar : 12|9@1+ (1,-509) [-509|0] "Unit_NewtoMeter" Gateway_MQB + SG_ MO_Mom_Begr_stat : 21|9@1+ (1,0) [0|509] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Mom_Begr_dyn : 30|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB + SG_ MO_Momentenintegral_02 : 40|7@1+ (1,0) [0|100] "Unit_PerCent" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_QBit_Drehzahl_01 : 47|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ MO_Drehzahl_01 : 48|16@1+ (0.25,0) [0|16383] "Unit_MinutInver" BMS_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,SAK_MQB + +BO_ 958 Motor_14: 8 Motor_Diesel_MQB + SG_ MO_StartStopp_Status : 12|2@1+ (1,0) [0|3] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_StartStopp_Wiederstart : 14|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_StartStopp_Motorstopp : 15|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Freig_Reku : 16|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Kl_75 : 18|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Kl_50 : 19|1@1+ (1,0) [0|1] "" Gateway_MQB,LEH_MQB + SG_ MO_Gangposition : 20|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_StartStopp_Fahrerwunsch : 24|2@1+ (1,0) [0|3] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_HYB_Fahrbereitschaft : 26|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB + SG_ MO_Ext_E_Fahrt_aktiv : 27|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Fahrer_bremst : 28|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_QBit_Fahrer_bremst : 29|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_BLS : 30|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Konsistenz_Bremsped : 31|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Timeout_ESP : 32|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Klima_Eingr : 33|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Aussp_Anlass : 35|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Freig_Anlass : 36|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Kuppl_schalter : 37|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Interlock : 38|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Motor_laeuft : 39|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Kickdown : 40|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Status_Zylabschalt_01 : 41|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_EKlKomLeiRed : 42|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Handshake_STH : 44|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_BKV_Unterdruckwarnung : 45|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Freigabe_Segeln : 46|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_PTC_Status : 47|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ MO_QBit_Gangposition : 50|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Signalquelle_Gangposition : 51|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Remotestart_Betrieb : 52|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 1631 Motor_16: 8 Motor_Diesel_MQB + SG_ TSK_QBit_Steigung : 12|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_QBit_Fahrzeugmasse : 13|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_SpannungsAnf_02 : 14|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_DPF_reg : 16|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Heizstrom_EKAT : 17|7@1+ (1,0) [0|126] "Unit_Amper" Gateway_MQB + SG_ MO_Heizstrom_SCR : 24|6@1+ (1,0) [0|62] "Unit_Amper" Gateway_MQB + SG_ TSK_Fahrzeugmasse_02 : 48|8@1+ (32,0) [0|8128] "Unit_KiloGram" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Steigung : 56|8@1+ (0.8,-101.6) [-101.6|101.6] "Unit_PerCent" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 812 Motor_17: 8 Motor_Diesel_MQB + SG_ MO_Prio_MAX_Wunschdrehzahl : 12|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Prio_MIN_Wunschdrehzahl : 13|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Luftpfad_aktiv : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ MO_v_Begrenz_Aktivierbar : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ MO_Drehzahlbeeinflussung : 16|8@1+ (0.39,0) [0|99.45] "Unit_PerCent" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_MIN_Wunschdrehzahl : 24|8@1+ (25,0) [0|6350] "Unit_MinutInver" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_MAX_Wunschdrehzahl : 32|9@1+ (25,0) [0|12750] "Unit_MinutInver" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Charisma_FahrPr : 41|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_Charisma_Status : 45|2@1+ (1,0) [0|3] "" Gateway_MQB + +BO_ 1648 Motor_18: 8 Motor_Diesel_MQB + SG_ MO_Hybrid_StartStopp_LED : 43|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Eis_Offroad_LED : 45|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Anzahl_Abgesch_Zyl : 47|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ MO_Zylabsch_Texte : 50|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_E85_BS_Texte : 52|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ MO_Drehzahl_Warnung : 55|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_obere_Drehzahlgrenze : 56|8@1+ (50,0) [50|12750] "Unit_MinutInver" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 289 Motor_20: 8 Motor_Diesel_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX + SG_ MO_Fahrpedalrohwert_01 : 12|8@1+ (0.4,0) [0|101.6] "Unit_PerCent" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_QBit_Fahrpedalwerte_01 : 20|1@1+ (1,0) [0|1] "" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Fahrpedalgradient : 21|8@1+ (25,0) [0|6350] "Unit_PerCentPerSecon" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Sig_Fahrpedalgradient : 29|1@1+ (1,0) [0|1] "" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_rel_Saugrohrdruck : 30|6@1+ (18,0) [0|1116] "Unit_MilliBar" Gateway_MQB + SG_ MO_rel_Saugrohrdruck_gem_err : 36|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Moment_im_Leerlauf : 37|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Schubabschaltung : 38|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Solldrehz_Leerlauf : 40|8@1+ (10,0) [0|2540] "Unit_MinutInver" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 967 Motor_26: 8 Motor_Diesel_MQB + SG_ MO_HYB_Status_HV_Ladung : 8|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ WIV_Anzeige_aktiv : 12|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Oelmin_Warn : 13|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Sensorfehler : 14|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Schieflage : 15|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Oelstand : 16|4@1+ (12.5,0) [0|100] "Unit_PerCent" Gateway_MQB + SG_ MO_Zustand_HWP : 20|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ WIV_Oelsystem_aktiv : 24|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_nicht_betriebswarm : 25|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Ueberfuell_Warn : 26|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_laufender_Motor : 27|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_1 : 28|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_2 : 29|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_3 : 30|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_4 : 31|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Text_Motorstart : 32|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_HYB_Text_5 : 36|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_6 : 37|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_HYB_Text_7 : 38|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Text_Partikelfil_Reg : 41|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Oelmenge : 43|5@1+ (125,0) [0|3875] "Unit_MilliLiter" Gateway_MQB + SG_ MO_Systemlampe : 48|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_OBD2_Lampe : 49|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Heissleuchte : 50|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Partikel_Lampe : 51|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Winterfahrprog : 52|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WIV_Oelstand_nicht_vorhanden : 53|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_nachfuellanzeige_ein : 54|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Ueberfuell_deaktiv : 55|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Unterfuell_Warn : 56|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Tankdeckel_Lampe : 57|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Text_Tankdeckelwarn : 58|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WIV_Oeldr_Warn_Motor : 60|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 1601 Motor_Code_01: 8 Motor_Diesel_MQB + SG_ Motor_Code_01_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ Motor_Code_01_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_Faktor_Momente_02 : 12|2@1+ (1,0) [0|3] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Hybridfahrzeug : 14|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ MO_Code : 16|8@1+ (1,0) [0|255] "" Gateway_MQB,SAK_MQB + SG_ MO_Getriebe_Code : 24|6@1+ (1,0) [0|63] "" Gateway_MQB + SG_ MO_StartStopp_Codiert : 30|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Anzahl_Zyl : 32|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ MO_Kraftstoffart : 36|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Hubraum : 40|7@1+ (0.1,0) [0|12.7] "Unit_Liter" Gateway_MQB + SG_ MO_Ansaugsystem : 47|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ MO_Leistung : 48|9@1+ (1,0) [0|511] "Unit_KiloWatt" Gateway_MQB + SG_ MO_Abgastyp_EOBD : 57|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,LEH_MQB + SG_ MO_Abgastyp_OBD : 58|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,LEH_MQB + SG_ MO_DPF_verbaut : 59|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ TSK_Codierung : 60|3@1+ (1,0) [0|7] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ MO_Einspritzart : 63|1@1+ (1,0) [0|1] "" Gateway_MQB + +BO_ 157 Motor_Hybrid_01: 8 Motor_Hybrid_MQB + SG_ Motor_Hybrid_01_CRC : 0|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB + SG_ Motor_Hybrid_01_BZ : 8|4@1+ (1,0) [0|15] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_IstStatusK0 : 12|2@1+ (1,0) [0|3] "" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_max_ind_VM_Mom : 16|10@1+ (1,0) [0|1021] "Unit_NewtoMeter" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_Zielzustand : 26|3@1+ (1,0) [0|7] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_Startmodus : 29|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ MO_HYB_Startmodus_PQ3x : 32|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_Stoppmodus : 33|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_VM_Mom_oE : 40|10@1+ (1,-100) [-100|922] "Unit_NewtoMeter" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_VM_aktiv : 50|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_Schaltverhinderung : 51|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB + +BO_ 811 Motor_Hybrid_02: 8 Motor_Hybrid_MQB + SG_ MO_HYB_E_Faktor : 12|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_Drehzahl_VM : 16|16@1+ (0.25,0) [0|16256] "Unit_MinutInver" Getriebe_DQ_Hybrid_MQB + SG_ MO_HYB_LowSpeedModus : 32|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB + +BO_ 2600468501 NMH_Airbag_01: 8 Airbag_MQB + SG_ NM_Airbag_01_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Airbag_01_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_Airbag_01_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ NM_Airbag_01_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Airbag_01_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Airbag_01_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Airbag_01_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Airbag_01_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 2600468604 NMH_EMotor_01: 8 LEH_MQB + SG_ NM_EMotor_01_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_EMotor_01_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_EMotor_01_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ NM_EMotor_01_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_EMotor_01_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_EMotor_01_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_EMotor_01_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_EMotor_01_NL_Daten_EEPROM : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_EMotor_01_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 2600468496 NMH_Gateway: 8 Gateway_MQB + SG_ NM_Gateway_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Gateway_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_Gateway_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Gateway_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_ACAN_Aktivitaet : 35|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_FCAN_Aktivitaet : 36|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_KCAN_Aktivitaet : 37|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_ICAN_Aktivitaet : 38|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_DiagCAN_Aktivitaet : 39|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_ECAN_Aktivitaet : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_Energie_LIN_Aktivi000 : 41|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_Bedien_LIN_Aktivitaet : 42|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_EM_Aktivitaet : 43|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NL_EM : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NL_Shutdown : 49|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NL_Spg_Messung : 50|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_NL_Wakeup_Monitor : 51|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Gateway_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 2600468599 NMH_Getriebe_01: 8 Getriebe_DQ_Hybrid_MQB + SG_ NM_Getriebe_01_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Getriebe_01_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_Getriebe_01_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ NM_Getriebe_01_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_v_gr_0 : 35|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_Pos_Erk : 36|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NM_aktiv_Umg_Bed : 37|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_NL_Daten_EEPROM : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Getriebe_01_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 2600468603 NMH_Hybrid_01: 8 BMS_MQB + SG_ NM_Hybrid_01_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Hybrid_01_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_Hybrid_01_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ NM_Hybrid_01_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_Hybrid_01_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Hybrid_01_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Hybrid_01_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Hybrid_01_NL_Daten_EEPROM : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Hybrid_01_NL_Luefter : 49|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_Hybrid_01_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 2600468598 NMH_MO_01: 8 Motor_Diesel_MQB + SG_ NM_MO_01_SNI : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_MO_01_NM_State : 16|6@1+ (1,0) [0|63] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ NM_MO_01_Car_Wakeup : 22|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ NM_MO_01_Wakeup : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_KL15 : 32|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_Diagnose : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_Tmin : 34|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_HV_Abschaltung : 35|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_EKP_Vorlauf : 36|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NM_aktiv_STH_Betrieb : 37|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NL_Kuehlerluefter : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NL_Diagnose : 49|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NL_WFS : 50|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NL_EEPROM : 51|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_NL_Sonstige : 52|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ NM_MO_01_UDS_CC : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 913 OBD_01: 8 Motor_Diesel_MQB + SG_ OBD_Calc_Load_Val : 0|8@1+ (0.39215686275,0) [0|100] "Unit_PerCent" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Eng_Cool_Temp : 8|8@1+ (1,-40) [-40|215] "Unit_DegreCelsi" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Abs_Throttle_Pos : 16|8@1+ (0.39215686275,0) [0|100] "Unit_PerCent" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Abs_Load_Val : 24|16@1+ (0.39215686275,0) [0|25700] "Unit_PerCent" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Abs_Pedal_Pos : 40|8@1+ (0.39215686275,0) [0|100] "Unit_PerCent" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Kaltstart_Denominator : 59|1@1+ (1,0) [0|1] "" BMS_MQB,LEH_MQB + SG_ OBD_Minimum_Trip : 60|1@1+ (1,0) [0|1] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Driving_Cycle : 61|1@1+ (1,0) [0|1] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Warm_Up_Cycle : 62|1@1+ (1,0) [0|1] "" BMS_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + SG_ OBD_Normed_Trip : 63|1@1+ (1,0) [0|1] "" BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB + +BO_ 1630 OBD_Tankgeber_01: 8 Gateway_MQB + SG_ OBD_TG_F_Status_1 : 0|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_F_Status_2 : 4|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_F_Status_3 : 8|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_F_Status_4 : 12|4@1+ (1,0) [0|15] "" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_Sens_Rohwert_1 : 16|12@1+ (0.5,0) [0|2047.5] "Unit_Ohm" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_Sens_Rohwert_2 : 28|12@1+ (0.5,0) [0|2047.5] "Unit_Ohm" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_Sens_Rohwert_3 : 40|12@1+ (0.5,0) [0|2047.5] "Unit_Ohm" Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ OBD_TG_Sens_Rohwert_4 : 52|12@1+ (0.5,0) [0|2047.5] "Unit_Ohm" Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 1437 Remotestart_FFB: 8 Gateway_MQB + SG_ RSF_Tastencode_1 : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ RSF_Tastencode_2 : 8|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Otto_MQB + SG_ RSF_Tastencode_Maske : 16|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Otto_MQB + +BO_ 984 RGS_VL_01: 8 Airbag_MQB + SG_ RGS_VL_Texte : 12|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ RGS_VL_Charisma_FahrPr : 14|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ RGS_VL_Charisma_Status : 18|2@1+ (1,0) [0|3] "" Gateway_MQB + SG_ RGS_VL_aktiv : 21|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ RGS_VL_PC_Aktuator_Sitz : 25|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ RGS_VL_PC_Aktuator_Schiebedach : 26|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ RGS_VL_PC_Aktuator_Fenster : 27|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ RGS_VL_PC_Aktuator_Warnblinken : 28|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ RGS_VL_Precrash_Basis : 32|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ RGS_VL_Precrash_Front : 40|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ RGS_VL_Precrash_Rear : 48|8@1+ (1,0) [0|255] "" Gateway_MQB + +BO_ 1528 SAK_01: 8 SAK_MQB + SG_ SAK_Charisma_FahrPr : 16|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ SAK_Charisma_Status : 20|2@1+ (1,0) [0|3] "" Gateway_MQB + +BO_ 1313 STH_01: 8 Gateway_MQB + SG_ STH_Funk_ein : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_Funk_aus : 1|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_Zusatzheizung : 2|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_LED : 3|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STH_Pumpe_ein : 4|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_Geblaese : 5|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_EKP_Anst : 6|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STH_Start_folgt : 7|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_Ventiloeffnungszeit : 8|6@1+ (1,0) [0|63] "Unit_Minut" Vector__XXX + SG_ STH_Ventil_Status : 14|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_Waermeeintrag : 16|6@1+ (1,0) [0|63] "" Vector__XXX + SG_ STH_KVS : 24|13@1+ (1,0) [0|8191] "Unit_MilliLiter" Vector__XXX + SG_ STH_Fehlerstatus : 37|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ STH_Heizleistung : 40|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ STH_Wassertemp : 48|8@1+ (0.75,-40) [-40|142.25] "Unit_DegreCelsi" Vector__XXX + SG_ STH_Motorvorwaermung : 59|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STH_Servicemode : 60|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_war_aktiv : 61|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STH_KVS_Ueberlauf : 62|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STH_KD_Fehler : 63|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 1172 STS_01: 8 Gateway_MQB + SG_ STS_01_CRC : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STS_01_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ STS_Car_not_under_theft : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Car_under_theft : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Anlassersperre : 15|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Typencodierung : 16|5@1+ (1,0) [0|31] "" Vector__XXX + SG_ STS_LIN_aktiv : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Standlicht : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Fahrlicht : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Alarm_still : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Texte : 27|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ STS_Laderelais : 38|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Summer : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Alarm_Blinker : 50|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Notstart : 51|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Signalhorn : 55|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ STS_Leerlaufschaltung : 56|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + +BO_ 1413 Systeminfo_01: 8 Gateway_MQB + SG_ SI_Sammel_SG_Fehler : 0|6@1+ (1,0) [0|60] "" Vector__XXX + SG_ SI_Rollenmode : 6|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ SI_QRS_Mode : 8|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB + SG_ SI_T_Mode : 9|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_NWDF : 10|1@1+ (1,0) [0|1] "" SAK_MQB + SG_ SI_NWDF_gueltig : 11|1@1+ (1,0) [0|1] "" SAK_MQB + SG_ SI_Sammelfehler : 12|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ GW_KD_Fehler : 13|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_01 : 16|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_02 : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_03 : 18|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_04 : 19|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_05 : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_06 : 21|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_07 : 22|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_08 : 23|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_09 : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_10 : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_11 : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_12 : 27|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_13 : 28|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_14 : 29|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SI_BUS_15 : 30|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 288 TSK_06: 8 Motor_Diesel_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Radbremsmom : 12|12@1+ (8,0) [0|32760] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Status : 24|3@1+ (1,0) [0|7] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_v_Begrenzung_aktiv : 27|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Standby_Anf_ESP : 28|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ TSK_Freig_Verzoeg_Anf : 30|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Limiter_ausgewaehlt : 31|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_ax_Getriebe_02 : 48|9@1+ (0.024,-2.016) [-2.016|10.224] "Unit_MeterPerSeconSquar" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ TSK_Zwangszusch_ESP : 57|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ TSK_zul_Regelabw : 58|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 798 TSK_07: 8 Motor_Diesel_MQB + SG_ TSK_07_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ TSK_07_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ TSK_Wunschgeschw : 12|10@1+ (0.32,0) [0|326.72] "Unit_KiloMeterPerHour" Gateway_MQB + SG_ TSK_Texte_Primaeranz : 48|5@1+ (1,0) [0|31] "" Gateway_MQB + SG_ TSK_Limiter_Anzeige : 55|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ TSK_Status_Anzeige : 61|3@1+ (1,0) [0|7] "" Gateway_MQB + +BO_ 1716 VIN_01: 8 Gateway_MQB + SG_ VIN_01_MUX M : 0|2@1+ (1,0) [0|3] "" Airbag_MQB + SG_ KS_Geheimnis_1 m0 : 8|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ VIN_4 m1 : 8|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_11 m2 : 8|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ KS_Geheimnis_2 m0 : 16|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ VIN_5 m1 : 16|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_12 m2 : 16|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ KS_Geheimnis_3 m0 : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ VIN_6 m1 : 24|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_13 m2 : 24|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ KS_Geheimnis_4 m0 : 32|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ VIN_7 m1 : 32|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_14 m2 : 32|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_1 m0 : 40|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_8 m1 : 40|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_15 m2 : 40|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_2 m0 : 48|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_9 m1 : 48|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_16 m2 : 48|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_3 m0 : 56|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_10 m1 : 56|8@1+ (1,0) [0|255] "" Airbag_MQB + SG_ VIN_17 m2 : 56|8@1+ (1,0) [0|255] "" Airbag_MQB + +BO_ 175 Waehlhebel_03: 4 Waehlhebel_MQB + SG_ WH_Status_Sperre : 0|3@1+ (1,0) [0|7] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_Initialisierung : 3|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_SensorPos_roh : 4|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_03_BZ : 8|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_SensorPos_roh_inv : 12|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_Testergebnis : 16|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_Test_Aktiv : 24|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + SG_ WH_Status : 25|7@1+ (1,0) [0|127] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB + +BO_ 916 WBA_03: 8 Getriebe_DQ_Hybrid_MQB + SG_ WBA_03_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB + SG_ WBA_03_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ WBA_Fahrstufe_02 : 12|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ WBA_ZielFahrstufe : 16|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ WBA_GE_Warnung_02 : 20|4@1+ (1,0) [0|15] "" Gateway_MQB + SG_ WBA_eing_Gang_02 : 24|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Otto_MQB + SG_ WBA_GE_Texte : 28|3@1+ (1,0) [0|7] "" Gateway_MQB + SG_ WBA_Segeln_aktiv : 31|1@1+ (1,0) [0|1] "" Gateway_MQB + SG_ WBA_Schaltschema : 32|5@1+ (1,0) [0|31] "" Gateway_MQB + +BO_ 1602 WIV_01: 8 Motor_Diesel_MQB + SG_ WIV_Verschleissindex : 0|16@1+ (2e-8,0) [0|0.00131068] "" Gateway_MQB + SG_ WIV_Russindex : 16|16@1+ (2e-8,0) [0|0.00131068] "" Gateway_MQB + SG_ WIV_t_min : 32|6@1+ (1,0) [0|63] "Unit_Month" Gateway_MQB + SG_ WIV_t_max : 40|6@1+ (1,0) [0|63] "Unit_Month" Gateway_MQB + SG_ WIV_W_min : 48|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB + SG_ WIV_W_max : 56|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB + +BO_ 294 HCA_01: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_0X3 : 12|4@1+ (1,0) [0|15] "" XXX + SG_ Assist_Torque : 16|14@1+ (1,0) [0|300] "Nm" XXX + SG_ Assist_Requested : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Assist_VZ : 31|1@1+ (1,0) [0|1] "" XXX + SG_ HCA_Available : 32|1@1+ (1,0) [0|1] "" XXX + SG_ HCA_Standby : 33|1@1+ (1,0) [0|1] "" XXX + SG_ HCA_Active : 34|1@1+ (1,0) [0|1] "" XXX + SG_ SET_ME_0XFE : 40|8@1+ (1,0) [0|255] "" XXX + SG_ SET_ME_0X07 : 48|8@1+ (1,0) [0|255] "" XXX + +BO_ 159 LH_EPS_03: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ EPS_DSR_Status : 12|4@1+ (1,0) [0|15] "" XXX + SG_ EPS_Berechneter_LW : 16|12@1+ (0.15,0) [0|613.95] "Unit_DegreOfArc" XXX + SG_ EPS_BLW_QBit : 30|1@1+ (1,0) [0|1] "" XXX + SG_ EPS_VZ_BLW : 31|1@1+ (1,0) [0|1] "" XXX + SG_ EPS_HCA_Status : 32|4@1+ (1,0) [0|15] "" XXX + SG_ EPS_Lenkmoment : 40|10@1+ (1,0) [0|8] "Unit_centiNewtoMeter" XXX + SG_ EPS_Lenkmoment_QBit : 54|1@1+ (1,0) [0|1] "" XXX + SG_ EPS_VZ_Lenkmoment : 55|1@1+ (1,0) [0|1] "" XXX + SG_ EPS_Lenkungstyp : 60|4@1+ (1,0) [0|15] "" XXX + +BO_ 286 VehicleSpeed: 8 XXX + SG_ VehicleSpeed_CRC : 0|8@1+ (1,0) [0|255] "" XXX + SG_ VehicleSpeed_BZ : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Speed : 52|12@1+ (0.125,0) [0|1] "" XXX + +BO_ 919 LDW_02: 8 XXX + SG_ LDW_Gong : 12|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_SW_Warnung_links : 14|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_SW_Warnung_rechts : 15|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Texte : 16|4@1+ (1,0) [0|15] "" XXX + SG_ LDW_Seite_DLCTLC : 20|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Lernmodus : 21|3@1+ (1,0) [0|7] "" XXX + SG_ LDW_Anlaufsp_VLR : 24|4@1+ (1,0) [0|15] "" XXX + SG_ LDW_Vib_Amp_VLR : 28|4@1+ (1,0) [0|15] "" XXX + SG_ LDW_Anlaufzeit_VLR : 32|4@1+ (1,0) [0|15] "" XXX + SG_ LDW_Lernmodus_rechts : 36|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_Lernmodus_links : 38|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_DLC : 40|8@1+ (0.01,-1.25) [-1.25|1.25] "Unit_Meter" XXX + SG_ LDW_TLC : 48|5@1+ (0.1,0) [0|3] "Unit_Secon" XXX + SG_ LDW_Warnung_links : 56|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Warnung_rechts : 57|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Codierinfo_fuer_VLR : 58|2@1+ (1,0) [0|3] "" XXX + SG_ LDW_Frontscheibenheizung_aktiv : 60|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Status_LED_gelb : 61|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_Status_LED_gruen : 62|1@1+ (1,0) [0|1] "" XXX + SG_ LDW_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX + +BO_ 780 ACC_02: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ACC_Wunschgeschw : 12|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour" XXX + SG_ ACC_Status_Prim_Anz : 22|2@1+ (1.0,0.0) [0.0|3] "" XXX + SG_ ACC_Abstandsindex : 24|10@1+ (1,0) [1|1021] "" XXX + SG_ ACC_Akustik : 34|3@1+ (1.0,0.0) [0.0|7] "" XXX + SG_ ACC_Gesetzte_Zeitluecke : 37|3@1+ (1.0,0.0) [0.0|7] "" XXX + SG_ ACC_Optischer_Fahrerhinweis : 40|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ ACC_Typ_Tachokranz : 41|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ ACC_Anzeige_Zeitluecke : 42|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ ACC_Tachokranz : 43|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ ACC_Display_Prio : 44|2@1+ (1.0,0.0) [0.0|3] "" XXX + SG_ ACC_Relevantes_Objekt : 46|2@1+ (1.0,0.0) [0.0|3] "" XXX + SG_ ACC_Texte_Primaeranz : 48|7@1+ (1.0,0.0) [0.0|127] "" XXX + SG_ ACC_Wunschgeschw_erreicht : 55|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ ACC_Status_Anzeige : 61|3@1+ (1.0,0.0) [0.0|7] "" XXX + +BO_ 302 ACC_07: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ACC_Distance_to_Stop : 12|11@1+ (0.01,0) [0|1] "m" XXX + SG_ ACC_Hold_Request : 23|1@1+ (1,0) [0|1] "x" XXX + SG_ ACC_Boost_Request : 24|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Freewheel_Request : 25|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Freewheel_Type : 26|2@1+ (1,0) [0|3] "enum" XXX + SG_ ACC_Hold_Type : 28|3@1+ (1,0) [0|15] "enum" XXX + SG_ ACC_Hold_Release : 31|1@1+ (1,0) [0|1] "" XXX + SG_ ACC_Accel_Secondary : 32|8@1+ (0.03,-4.6) [-4.6|2.99] "m/s2" XXX + SG_ ACC_Accel_TSK : 53|11@1+ (0.005,-7.22) [-7.22|3.005] "m/s2" XXX + +BO_ 264 Fahrwerk_01: 8 XXX + SG_ Fahrwerk_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX + SG_ Fahrwerk_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 695 RCTA_01: 8 XXX + SG_ RCTA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX + SG_ RCTA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 783 SWA_01: 8 Gateway_MQB + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ SWA_Anzeigen : 12|4@1+ (1,0) [0|15] "" Kombi_D4 + SG_ SWA_Blindheit_erkannt : 16|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_rel_Nichtverf : 17|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_rel_Fehler : 18|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Sta_aktiv : 19|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Sta_passiv : 20|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Standziele_li : 24|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Kolonne_li : 25|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Infostufe_SWA_li : 26|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Warnung_SWA_li : 27|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Kolonne_mi : 33|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Standziele_re : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Kolonne_re : 41|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Infostufe_SWA_re : 42|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Warnung_SWA_re : 43|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SWA_Gischtzaehler : 48|7@1+ (1,0) [0|100] "Unit_PerCent" Vector__XXX + SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 804 ACC_04: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ACC_Texte_Zusatzanz : 16|6@1+ (1.0,0.0) [0.0|63] "" XXX + SG_ ACC_Status_Zusatzanz : 22|5@1+ (1.0,0.0) [0.0|31] "" XXX + SG_ ACC_Texte : 27|5@1+ (1.0,0.0) [0.0|31] "" XXX + SG_ ACC_Texte_braking_guard : 32|3@1+ (1.0,0.0) [0.0|7] "" XXX + SG_ ACC_Warnhinweis : 35|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ ACC_Geschw_Zielfahrzeug : 40|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour" XXX + SG_ ACC_Charisma_FahrPr : 56|3@1+ (1.0,0.0) [0.0|7] "" XXX + SG_ ACC_Charisma_Status : 59|2@1+ (1.0,0.0) [0.0|3] "" XXX + SG_ ACC_Charisma_Umschaltung : 61|2@1+ (1.0,0.0) [0.0|3] "" XXX + +BO_ 917 LWR_AFS_01: 8 XXX + +BO_ 991 Gateway_76: 8 XXX + +BO_ 997 TSG_FT_02: 8 XXX + SG_ TSG_FT_02_BZ : 8|4@1+ (1,0) [0|15] "" XXX + SG_ TSG_FT_02_CRC : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 1175 Parkhilfe_01: 8 XXX + +BO_ 427 ESP_33: 8 XXX + SG_ ESP_33_BZ : 8|4@1+ (1,0) [0|15] "" XXX + SG_ ESP_33_CRC : 0|8@1+ (1,0) [0|255] "" XXX + +BO_ 418 ESP_15: 8 XXX + SG_ ESP_15_CRC : 0|8@1+ (1,0) [0|255] "" XXX + SG_ ESP_15_BZ : 8|4@1+ (1,0) [0|15] "" XXX + +BO_ 1122 PSD_04: 8 XXX + SG_ PSD_Object_Index : 0|6@1+ (1,0) [0|63] "" XXX + +BO_ 1123 PSD_05: 8 XXX + SG_ PSD_Current_Route_Index : 0|6@1+ (1,0) [0|63] "" XXX + SG_ Route_Distance_Remaining : 8|5@1+ (1,0) [0|31] "" XXX + +BO_ 1124 PSD_06: 8 XXX + +BO_ 988 Gateway_73: 8 XXX + +BO_ 792 Kamera_Status: 8 XXX + +BO_ 981 Licht_Anf_01: 8 XXX + +BO_ 1440 RLS_01: 8 XXX + +BO_ 870 Blinkmodi_02: 8 XXX + SG_ Hazard_Switch : 20|1@1+ (1,0) [0|1] "" XXX + SG_ Comfort_Signal_Left : 23|1@1+ (1,0) [0|1] "" XXX + SG_ Comfort_Signal_Right : 24|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Turn_Exterior_Bulb_1 : 25|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Turn_Exterior_Bulb_1 : 26|1@1+ (1,0) [0|1] "" XXX + SG_ Left_Turn_Exterior_Bulb_2 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ Right_Turn_Exterior_Bulb_2 : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Fast_Send_Rate_Active : 37|1@1+ (1,0) [0|1] "" XXX + +BO_ 1385 HVEM_04: 8 XXX + +BO_ 1605 FLA_01: 8 XXX + +BO_ 1624 Licht_vorne_01: 8 XXX + +BO_ 1646 Klima_03: 8 XXX + +BO_ 1720 Kombi_03: 8 XXX + SG_ KBI_Reifenumfang : 0|12@1+ (1,0) [0|4095] "Unit_MilliMeter" XXX + SG_ KBI_Variante_USA : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ KBI_Variante : 13|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ KBI_BCmE_aktiv : 16|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ KBI_Sparhinweis_quittiert : 17|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ KBI_Tankfuellstand_Prozent : 18|7@1+ (1,0) [0|100] "Unit_PerCent" XXX + SG_ KBI_Nachtanken_erkannt : 25|1@1+ (1.0,0.0) [0.0|1] "" XXX + SG_ KBI_Tankinhalt_hochaufl : 26|14@1+ (0.01,0) [0.00|163.81] "Unit_Liter" XXX + SG_ KBI_Max_Tankinhalt : 40|8@1+ (0.5,0) [0.0|126.5] "" XXX + SG_ KBI_Reifenumfang_Sekundaer : 48|12@1+ (1,0) [0|4095] "Unit_MilliMeter" XXX + +BO_ 391 EV_Gearshift: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ GearPosition : 16|4@1+ (1,0) [0|255] "" XXX + SG_ RegenBrakingMode : 12|2@1+ (1,0) [0|3] "" XXX + +CM_ SG_ 134 LWI_Lenkradwinkel "Steering angle WITH variable ratio effect included"; +CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature"; +CM_ SG_ 159 EPS_Lenkmoment "Steering input by driver, torque"; +CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction"; +CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees"; +CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction"; +CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost"; +CM_ SG_ 294 SET_ME_0X3 "May be zero when sent by older cameras"; +CM_ SG_ 294 SET_ME_0X07 "May be zero when sent by older cameras"; +CM_ SG_ 294 SET_ME_0XFE "May be zero when sent by older cameras"; +CM_ SG_ 294 Assist_Torque "Heading control input, torque"; +CM_ SG_ 294 Assist_VZ "Heading control input, direction (sign)"; +CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands"; +CM_ SG_ 302 ACC_Hold_Request "Active request for ABS brake hold in ACC_Hold_Type"; +CM_ SG_ 302 ACC_Boost_Request "Hybrid engine start related"; +CM_ SG_ 302 ACC_Freewheel_Request "Active request for DSG sailing/coasting in ACC_Freewheel_Type"; +CM_ SG_ 302 ACC_Hold_Release "Request to ABS to release brake hold"; +CM_ SG_ 302 ACC_Accel_Secondary "Target acceleration of the secondary controller"; +CM_ SG_ 302 ACC_Accel_TSK "Mirror of request to TSK to implement a target acceleration"; +CM_ SG_ 870 Hazard_Switch "Four-way flashers active"; +CM_ SG_ 870 Comfort_Signal_Left "Comfort turn signal active, left"; +CM_ SG_ 870 Comfort_Signal_Right "Comfort turn signal active, right"; +CM_ SG_ 870 Left_Turn_Exterior_Bulb_1 "Probably front"; +CM_ SG_ 870 Right_Turn_Exterior_Bulb_1 "Probably front"; +CM_ SG_ 870 Left_Turn_Exterior_Bulb_2 "Probably rear"; +CM_ SG_ 870 Right_Turn_Exterior_Bulb_2 "Probably rear"; +CM_ SG_ 870 Fast_Send_Rate_Active "CAN message send rate"; +CM_ SG_ 919 LDW_DLC "Probable DLC (distance to line crossing)"; +CM_ SG_ 919 LDW_TLC "Probable TLC (time to line crossing)"; +CM_ SG_ 919 LDW_Unknown "Might be a steering pressed / driver active flag"; +CM_ SG_ 919 Alert_Message "Static table of alert messages to be invoked in the instrument cluster, some with or without beeps, 0 = no current message"; +CM_ SG_ 919 LDW_Direction "Left/right indicator for DLC and TLC"; +CM_ SG_ 919 Right_Lane_Status "Display brightness range, 0 = no lane, 3 = full brightness"; +CM_ SG_ 919 Left_Lane_Status "Display brightness range, 0 = no lane, 3 = full brightness"; +CM_ SG_ 919 Kombi_Lamp_Orange "Enables orange LDW light in instrument cluster"; +CM_ SG_ 919 Kombi_Lamp_Green "Enables green LDW light in instrument cluster"; +CM_ SG_ 780 Folgefahrt "Following another vehicle"; +CM_ SG_ 780 SetAbstand "Set following distance"; +CM_ SG_ 780 Abstand "Following distance"; +CM_ SG_ 780 SetSpeed "ACC set speed"; +CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode mapped to Drive"; +CM_ SG_ 960 ZAS_Kl_15 "Indicates ignition on"; +CM_ SG_ 1720 KBI_BCmE_aktiv "Anzeige BCmE aktiv (BCmE-Screen oder Einsparhinweis in der Anzeige)"; +CM_ SG_ 1720 KBI_Max_Tankinhalt "Mitteilung des maximalen Tankinhalts an das Reichweitenmodul"; +CM_ SG_ 1720 KBI_Nachtanken_erkannt "Statusinformation Nachtankmodus"; +CM_ SG_ 1720 KBI_Reifenumfang "Mittlerer Radumfang aus der K-Zahl gerechnet in Millimeter. Byte 2 Bit 5,4 reserviert, Byte 2 Bit 3..0 und Byte 1 Bit 7..0; Wertebereich 0..4096 mm +"; +CM_ SG_ 1720 KBI_Reifenumfang_Sekundaer "Fahrzeuge mit unterschiedlichen Reifenumfängen Vorderachse / Hinterachse: + +Primärachse: KBI_Reifenumfang +Sekundärachse: KBI_Reifenumfang_Sekundaer +"; +CM_ SG_ 1720 KBI_Sparhinweis_quittiert "angezeigter Sparhinweis ist quittiert. Signal wird nach zwei Sendebotschaften wieder auf '0' gesetzt."; +CM_ SG_ 1720 KBI_Tankfuellstand_Prozent "Tankfüllstand in %"; +CM_ SG_ 1720 KBI_Tankinhalt_hochaufl "angezeigter Tankinhalt hochauflösend zur Restreichweitenberechnung"; +CM_ SG_ 1720 KBI_Variante "Zeigt an ob es sich um ein konventionelles Zeiger-Kombiinstrument handelt oder um eine Volldisplay-Kombiinstrument"; +CM_ SG_ 1720 KBI_Variante_USA "In diesem Signal wird die HW-Variante des Kombis ausgegeben, ACC plausibilisiert auf dieses Signal hin seine US-Codierung"; + + +VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active"; +VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 13 "T" 14 "T"; +VAL_ 288 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault"; +VAL_ 302 ACC_Freewheel_Type 0 "freewheel_released" 1 "freewheel_not_permitted" 2 "freewheel_not_released" 3 "freewheel_requested" ; +VAL_ 302 ACC_Hold_Type 0 "no_request" 1 "hold" 2 "park" 3 "hold_standby" 4 "startup" 5 "loosen_over_ramp" ; +VAL_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D"; +VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3"; +VAL_ 870 Fast_Send_Rate_Active 0 "1 Hz" 1 "50 Hz"; +VAL_ 1720 KBI_Variante_USA 0 "keine USA-Variante" 1 "USA-Variante" ; +VAL_ 1720 KBI_Variante 0 "Zeiger Kombiinstrument" 1 "Volldisplay Kombiinstrument" ; +VAL_ 1720 KBI_BCmE_aktiv 0 "Anzeige_nicht_aktiv" 1 "Anzeige_aktiv" ; +VAL_ 1720 KBI_Sparhinweis_quittiert 0 "nicht_quittiert" 1 "quittiert" ; +VAL_ 1720 KBI_Tankfuellstand_Prozent 126 "Init" 127 "Fehler" ; +VAL_ 1720 KBI_Nachtanken_erkannt 0 "Geberbetrieb" 1 "Nachtankmodus" ; +VAL_ 1720 KBI_Tankinhalt_hochaufl 16382 "Init" 16383 "Fehler" ; +VAL_ 1720 KBI_Max_Tankinhalt 254 "Init" 255 "Fehler" ; diff --git a/panda/.gitignore b/panda/.gitignore new file mode 100644 index 000000000..3a8ead1e0 --- /dev/null +++ b/panda/.gitignore @@ -0,0 +1,20 @@ +*.pyc +.*.swp +.*.swo +*.o +*.so +*.os +*.d +*.dump +a.out +*~ +.#* +dist/ +pandacan.egg-info/ +board/obj/ +examples/output.csv +.DS_Store +.vscode* +nosetests.xml +.mypy_cache/ +.sconsign.dblite diff --git a/panda/__init__.py b/panda/__init__.py new file mode 100644 index 000000000..6b2d73a87 --- /dev/null +++ b/panda/__init__.py @@ -0,0 +1,10 @@ +# flake8: noqa +# pylint: skip-file +from .python import Panda, PandaDFU, flash_release, \ + BASEDIR, ensure_st_up_to_date, PandaSerial, pack_can_buffer, unpack_can_buffer, \ + DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4, DLC_TO_LEN, LEN_TO_DLC, \ + ALTERNATIVE_EXPERIENCE + +from .python.config import BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, \ + BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, \ + DEVICE_SERIAL_NUMBER_ADDR_FX diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin new file mode 100755 index 000000000..0c5372175 Binary files /dev/null and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed new file mode 100644 index 000000000..5fccbccf7 Binary files /dev/null and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda.bin.testing.signed b/panda/board/obj/panda.bin.testing.signed new file mode 100644 index 000000000..01070dee4 Binary files /dev/null and b/panda/board/obj/panda.bin.testing.signed differ diff --git a/panda/examples/query_fw_versions.py b/panda/examples/query_fw_versions.py new file mode 100755 index 000000000..4132959be --- /dev/null +++ b/panda/examples/query_fw_versions.py @@ -0,0 +1,78 @@ +#!/usr/bin/env python3 +import argparse +from tqdm import tqdm +from panda import Panda +from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE, DATA_IDENTIFIER_TYPE + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument('--rxoffset', default="") + parser.add_argument('--nonstandard', action='store_true') + parser.add_argument('--debug', action='store_true') + parser.add_argument('--addr') + args = parser.parse_args() + + if args.addr: + addrs = [int(args.addr, base=16)] + else: + addrs = [0x700 + i for i in range(256)] + addrs += [0x18da0000 + (i << 8) + 0xf1 for i in range(256)] + results = {} + + uds_data_ids = {} + for std_id in DATA_IDENTIFIER_TYPE: + uds_data_ids[std_id.value] = std_id.name + if args.nonstandard: + for uds_id in range(0xf100,0xf180): + uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_VEHICLE_MANUFACTURER_SPECIFIC_DATA_IDENTIFIER" + for uds_id in range(0xf1a0,0xf1f0): + uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_VEHICLE_MANUFACTURER_SPECIFIC" + for uds_id in range(0xf1f0,0xf200): + uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_SYSTEM_SUPPLIER_SPECIFIC" + + panda = Panda() + panda.set_safety_mode(Panda.SAFETY_ELM327) + print("querying addresses ...") + with tqdm(addrs) as t: + for addr in t: + # skip functional broadcast addrs + if addr == 0x7df or addr == 0x18db33f1: + continue + t.set_description(hex(addr)) + panda.send_heartbeat() + + bus = 1 if panda.has_obd() else 0 + rx_addr = addr + int(args.rxoffset, base=16) if args.rxoffset else None + uds_client = UdsClient(panda, addr, rx_addr, bus, timeout=0.2, debug=args.debug) + # Check for anything alive at this address, and switch to the highest + # available diagnostic session without security access + try: + uds_client.tester_present() + uds_client.diagnostic_session_control(SESSION_TYPE.DEFAULT) + uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) + except NegativeResponseError: + pass + except MessageTimeoutError: + continue + + # Run queries against all standard UDS data identifiers, plus selected + # non-standardized identifier ranges if requested + resp = {} + for uds_data_id in sorted(uds_data_ids): + try: + data = uds_client.read_data_by_identifier(uds_data_id) # type: ignore + if data: + resp[uds_data_id] = data + except (NegativeResponseError, MessageTimeoutError): + pass + + if resp.keys(): + results[addr] = resp + + if len(results.items()): + for addr, resp in results.items(): + print(f"\n\n*** Results for address 0x{addr:X} ***\n\n") + for rid, dat in resp.items(): + print(f"0x{rid:02X} {uds_data_ids[rid]}: {dat}") + else: + print("no fw versions found!") diff --git a/panda/python/__init__.py b/panda/python/__init__.py new file mode 100644 index 000000000..3b3ecd800 --- /dev/null +++ b/panda/python/__init__.py @@ -0,0 +1,756 @@ +# python library to interface with panda +import datetime +import struct +import hashlib +import usb1 +import os +import time +import traceback +import sys +from functools import wraps +from typing import Optional +from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7 # pylint: disable=import-error +from .flash_release import flash_release # noqa pylint: disable=import-error +from .update import ensure_st_up_to_date # noqa pylint: disable=import-error +from .serial import PandaSerial # noqa pylint: disable=import-error +from .isotp import isotp_send, isotp_recv # pylint: disable=import-error +from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN # noqa pylint: disable=import-error + +__version__ = '0.0.10' + +BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../") + +DEBUG = os.getenv("PANDADEBUG") is not None + +CANPACKET_HEAD_SIZE = 0x5 +DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64] +LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)} + +def pack_can_buffer(arr): + snds = [b''] + idx = 0 + for address, _, dat, bus in arr: + assert len(dat) in LEN_TO_DLC + if DEBUG: + print(f" W 0x{address:x}: 0x{dat.hex()}") + extended = 1 if address >= 0x800 else 0 + data_len_code = LEN_TO_DLC[len(dat)] + header = bytearray(5) + word_4b = address << 3 | extended << 2 + header[0] = (data_len_code << 4) | (bus << 1) + header[1] = word_4b & 0xFF + header[2] = (word_4b >> 8) & 0xFF + header[3] = (word_4b >> 16) & 0xFF + header[4] = (word_4b >> 24) & 0xFF + snds[idx] += header + dat + if len(snds[idx]) > 256: # Limit chunks to 256 bytes + snds.append(b'') + idx += 1 + + #Apply counter to each 64 byte packet + for idx in range(len(snds)): + tx = b'' + counter = 0 + for i in range (0, len(snds[idx]), 63): + tx += bytes([counter]) + snds[idx][i:i+63] + counter += 1 + snds[idx] = tx + return snds + +def unpack_can_buffer(dat): + ret = [] + counter = 0 + tail = bytearray() + for i in range(0, len(dat), 64): + if counter != dat[i]: + print("CAN: LOST RECV PACKET COUNTER") + break + counter+=1 + chunk = tail + dat[i+1:i+64] + tail = bytearray() + pos = 0 + while pos>4)] + pckt_len = CANPACKET_HEAD_SIZE + data_len + if pckt_len <= len(chunk[pos:]): + header = chunk[pos:pos+CANPACKET_HEAD_SIZE] + if len(header) < 5: + print("CAN: MALFORMED USB RECV PACKET") + break + bus = (header[0] >> 1) & 0x7 + address = (header[4] << 24 | header[3] << 16 | header[2] << 8 | header[1]) >> 3 + returned = (header[1] >> 1) & 0x1 + rejected = header[1] & 0x1 + data = chunk[pos + CANPACKET_HEAD_SIZE:pos + CANPACKET_HEAD_SIZE + data_len] + if returned: + bus += 128 + if rejected: + bus += 192 + if DEBUG: + print(f" R 0x{address:x}: 0x{data.hex()}") + ret.append((address, 0, data, bus)) + pos += pckt_len + else: + tail = chunk[pos:] + break + return ret + +def ensure_health_packet_version(fn): + @wraps(fn) + def wrapper(self, *args, **kwargs): + if self.health_version < self.HEALTH_PACKET_VERSION: + raise RuntimeError("Panda firmware has outdated health packet definition. Reflash panda firmware.") + elif self.health_version > self.HEALTH_PACKET_VERSION: + raise RuntimeError("Panda python library has outdated health packet definition. Update panda python library.") + return fn(self, *args, **kwargs) + return wrapper + +def ensure_can_packet_version(fn): + @wraps(fn) + def wrapper(self, *args, **kwargs): + if self.can_version < self.CAN_PACKET_VERSION: + raise RuntimeError("Panda firmware has outdated CAN packet definition. Reflash panda firmware.") + elif self.can_version > self.CAN_PACKET_VERSION: + raise RuntimeError("Panda python library has outdated CAN packet definition. Update panda python library.") + return fn(self, *args, **kwargs) + return wrapper + +class ALTERNATIVE_EXPERIENCE: + DEFAULT = 0 + DISABLE_DISENGAGE_ON_GAS = 1 + DISABLE_STOCK_AEB = 2 + RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8 + +class Panda: + + # matches cereal.car.CarParams.SafetyModel + SAFETY_SILENT = 0 + SAFETY_HONDA_NIDEC = 1 + SAFETY_TOYOTA = 2 + SAFETY_ELM327 = 3 + SAFETY_GM = 4 + SAFETY_HONDA_BOSCH_GIRAFFE = 5 + SAFETY_FORD = 6 + SAFETY_HYUNDAI = 8 + SAFETY_CHRYSLER = 9 + SAFETY_TESLA = 10 + SAFETY_SUBARU = 11 + SAFETY_MAZDA = 13 + SAFETY_NISSAN = 14 + SAFETY_VOLKSWAGEN_MQB = 15 + SAFETY_ALLOUTPUT = 17 + SAFETY_GM_ASCM = 18 + SAFETY_NOOUTPUT = 19 + SAFETY_HONDA_BOSCH = 20 + SAFETY_VOLKSWAGEN_PQ = 21 + SAFETY_SUBARU_LEGACY = 22 + SAFETY_HYUNDAI_LEGACY = 23 + SAFETY_HYUNDAI_COMMUNITY = 24 + SAFETY_STELLANTIS = 25 + SAFETY_FAW = 26 + SAFETY_BODY = 27 + SAFETY_HYUNDAI_HDA2 = 28 + + SERIAL_DEBUG = 0 + SERIAL_ESP = 1 + SERIAL_LIN1 = 2 + SERIAL_LIN2 = 3 + + GMLAN_CAN2 = 1 + GMLAN_CAN3 = 2 + + REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE + REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE + + HW_TYPE_UNKNOWN = b'\x00' + HW_TYPE_WHITE_PANDA = b'\x01' + HW_TYPE_GREY_PANDA = b'\x02' + HW_TYPE_BLACK_PANDA = b'\x03' + HW_TYPE_PEDAL = b'\x04' + HW_TYPE_UNO = b'\x05' + HW_TYPE_DOS = b'\x06' + HW_TYPE_RED_PANDA = b'\x07' + + CAN_PACKET_VERSION = 2 + HEALTH_PACKET_VERSION = 7 + HEALTH_STRUCT = struct.Struct(" bool: + if reset: + self.reset(enter_bootstub=True) + self.reset(enter_bootloader=True) + + t_start = time.time() + while len(PandaDFU.list()) == 0: + print("waiting for DFU...") + time.sleep(0.1) + if timeout is not None and (time.time() - t_start) > timeout: + return False + + dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type)) + dfu.recover() + + # reflash after recover + self.connect(True, True) + self.flash() + return True + + @staticmethod + def list(): + context = usb1.USBContext() + ret = [] + try: + for device in context.getDeviceList(skip_on_error=True): + if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee): + try: + ret.append(device.getSerialNumber()) + except Exception: + continue + except Exception: + pass + return ret + + def call_control_api(self, msg): + self._handle.controlWrite(Panda.REQUEST_OUT, msg, 0, 0, b'') + + # ******************* health ******************* + + @ensure_health_packet_version + def health(self): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, self.HEALTH_STRUCT.size) + a = self.HEALTH_STRUCT.unpack(dat) + return { + "uptime": a[0], + "voltage": a[1], + "current": a[2], + "can_rx_errs": a[3], + "can_send_errs": a[4], + "can_fwd_errs": a[5], + "gmlan_send_errs": a[6], + "faults": a[7], + "ignition_line": a[8], + "ignition_can": a[9], + "controls_allowed": a[10], + "gas_interceptor_detected": a[11], + "car_harness_status": a[12], + "usb_power_mode": a[13], + "safety_mode": a[14], + "safety_param": a[15], + "fault_status": a[16], + "power_save_enabled": a[17], + "heartbeat_lost": a[18], + "alternative_experience": a[19], + "blocked_msg_cnt": a[20], + "interrupt_load": a[21], + } + + # ******************* control ******************* + + def enter_bootloader(self): + try: + self._handle.controlWrite(Panda.REQUEST_OUT, 0xd1, 0, 0, b'') + except Exception as e: + print(e) + + def get_version(self): + return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8') + + @staticmethod + def get_signature_from_firmware(fn) -> bytes: + f = open(fn, 'rb') + f.seek(-128, 2) # Seek from end of file + return f.read(128) + + def get_signature(self): + part_1 = self._handle.controlRead(Panda.REQUEST_IN, 0xd3, 0, 0, 0x40) + part_2 = self._handle.controlRead(Panda.REQUEST_IN, 0xd4, 0, 0, 0x40) + return bytes(part_1 + part_2) + + def get_type(self): + return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40) + + # Returns tuple with health packet version and CAN packet/USB packet version + def get_packets_versions(self): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 2) + if dat: + a = struct.unpack("BB", dat) + return (a[0], a[1]) + else: + return (0, 0) + + def is_white(self): + return self.get_type() == Panda.HW_TYPE_WHITE_PANDA + + def is_grey(self): + return self.get_type() == Panda.HW_TYPE_GREY_PANDA + + def is_black(self): + return self.get_type() == Panda.HW_TYPE_BLACK_PANDA + + def is_pedal(self): + return self.get_type() == Panda.HW_TYPE_PEDAL + + def is_uno(self): + return self.get_type() == Panda.HW_TYPE_UNO + + def is_dos(self): + return self.get_type() == Panda.HW_TYPE_DOS + + def is_red(self): + return self.get_type() == Panda.HW_TYPE_RED_PANDA + + def get_mcu_type(self): + hw_type = self.get_type() + if hw_type in Panda.F2_DEVICES: + return MCU_TYPE_F2 + elif hw_type in Panda.F4_DEVICES: + return MCU_TYPE_F4 + elif hw_type in Panda.H7_DEVICES: + return MCU_TYPE_H7 + return None + + def has_obd(self): + return (self.is_uno() or self.is_dos() or self.is_black() or self.is_red()) + + def has_canfd(self) -> bool: + return self.get_type() in Panda.H7_DEVICES + + def is_internal(self) -> bool: + return self.get_type() in (Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS) + + def get_serial(self): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20) + hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4] + assert(hashsig == calc_hash) + return [dat[0:0x10].decode("utf8"), dat[0x10:0x10 + 10].decode("utf8")] + + def get_usb_serial(self): + return self._serial + + def get_secret(self): + return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10) + + # ******************* configuration ******************* + + def set_usb_power(self, on): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe6, int(on), 0, b'') + + def set_power_save(self, power_save_enabled=0): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'') + + def enable_deepsleep(self): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xfb, 0, 0, b'') + + def set_esp_power(self, on): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xd9, int(on), 0, b'') + + def esp_reset(self, bootmode=0): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'') + time.sleep(0.2) + + def set_safety_mode(self, mode=SAFETY_SILENT, param=0, disable_checks=True): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'') + if disable_checks: + self.set_heartbeat_disabled() + self.set_power_save(0) + + def set_gmlan(self, bus=2): + # TODO: check panda type + if bus is None: + self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 0, 0, b'') + elif bus in (Panda.GMLAN_CAN2, Panda.GMLAN_CAN3): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'') + + def set_obd(self, obd): + # TODO: check panda type + self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, int(obd), 0, b'') + + def set_can_loopback(self, enable): + # set can loopback mode for all buses + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'') + + def set_can_enable(self, bus_num, enable): + # sets the can transceiver enable pin + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, int(bus_num), int(enable), b'') + + def set_can_speed_kbps(self, bus, speed): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed * 10), b'') + + def set_can_data_speed_kbps(self, bus, speed): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'') + + # CAN FD and BRS status + def get_canfd_status(self, bus): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfa, bus, 0, 2) + if dat: + a = struct.unpack("BB", dat) + return (a[0], a[1]) + else: + return (None, None) + + def set_uart_baud(self, uart, rate): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'') + + def set_uart_parity(self, uart, parity): + # parity, 0=off, 1=even, 2=odd + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe2, uart, parity, b'') + + def set_uart_callback(self, uart, install): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xe3, uart, int(install), b'') + + # ******************* can ******************* + + # The panda will NAK CAN writes when there is CAN congestion. + # libusb will try to send it again, with a max timeout. + # Timeout is in ms. If set to 0, the timeout is infinite. + CAN_SEND_TIMEOUT_MS = 10 + + @ensure_can_packet_version + def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS): + snds = pack_can_buffer(arr) + while True: + try: + for tx in snds: + while True: + bs = self._handle.bulkWrite(3, tx, timeout=timeout) + tx = tx[bs:] + if len(tx) == 0: + break + print("CAN: PARTIAL SEND MANY, RETRYING") + break + except (usb1.USBErrorIO, usb1.USBErrorOverflow): + print("CAN: BAD SEND MANY, RETRYING") + + def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS): + self.can_send_many([[addr, None, dat, bus]], timeout=timeout) + + @ensure_can_packet_version + def can_recv(self): + dat = bytearray() + while True: + try: + dat = self._handle.bulkRead(1, 16384) # Max receive batch size + 2 extra reserve frames + break + except (usb1.USBErrorIO, usb1.USBErrorOverflow): + print("CAN: BAD RECV, RETRYING") + time.sleep(0.1) + return unpack_can_buffer(dat) + + def can_clear(self, bus): + """Clears all messages from the specified internal CAN ringbuffer as + though it were drained. + + Args: + bus (int): can bus number to clear a tx queue, or 0xFFFF to clear the + global can rx queue. + + """ + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf1, bus, 0, b'') + + # ******************* isotp ******************* + + def isotp_send(self, addr, dat, bus, recvaddr=None, subaddr=None): + return isotp_send(self, dat, addr, bus, recvaddr, subaddr) + + def isotp_recv(self, addr, bus=0, sendaddr=None, subaddr=None): + return isotp_recv(self, addr, bus, sendaddr, subaddr) + + # ******************* serial ******************* + + def serial_read(self, port_number): + ret = [] + while 1: + lret = bytes(self._handle.controlRead(Panda.REQUEST_IN, 0xe0, port_number, 0, 0x40)) + if len(lret) == 0: + break + ret.append(lret) + return b''.join(ret) + + def serial_write(self, port_number, ln): + ret = 0 + for i in range(0, len(ln), 0x20): + ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20]) + return ret + + def serial_clear(self, port_number): + """Clears all messages (tx and rx) from the specified internal uart + ringbuffer as though it were drained. + + Args: + port_number (int): port number of the uart to clear. + + """ + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf2, port_number, 0, b'') + + # ******************* kline ******************* + + # pulse low for wakeup + def kline_wakeup(self, k=True, l=True): + assert k or l, "must specify k-line, l-line, or both" + if DEBUG: + print("kline wakeup...") + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 2 if k and l else int(l), 0, b'') + if DEBUG: + print("kline wakeup done") + + def kline_5baud(self, addr, k=True, l=True): + assert k or l, "must specify k-line, l-line, or both" + if DEBUG: + print("kline 5 baud...") + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, 2 if k and l else int(l), addr, b'') + if DEBUG: + print("kline 5 baud done") + + def kline_drain(self, bus=2): + # drain buffer + bret = bytearray() + while True: + ret = self._handle.controlRead(Panda.REQUEST_IN, 0xe0, bus, 0, 0x40) + if len(ret) == 0: + break + elif DEBUG: + print(f"kline drain: 0x{ret.hex()}") + bret += ret + return bytes(bret) + + def kline_ll_recv(self, cnt, bus=2): + echo = bytearray() + while len(echo) != cnt: + ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt - len(echo)) + if DEBUG and len(ret) > 0: + print(f"kline recv: 0x{ret.hex()}") + echo += ret + return bytes(echo) + + def kline_send(self, x, bus=2, checksum=True): + self.kline_drain(bus=bus) + if checksum: + x += bytes([sum(x) % 0x100]) + for i in range(0, len(x), 0xf): + ts = x[i:i + 0xf] + if DEBUG: + print(f"kline send: 0x{ts.hex()}") + self._handle.bulkWrite(2, bytes([bus]) + ts) + echo = self.kline_ll_recv(len(ts), bus=bus) + if echo != ts: + print(f"**** ECHO ERROR {i} ****") + print(f"0x{echo.hex()}") + print(f"0x{ts.hex()}") + assert echo == ts + + def kline_recv(self, bus=2, header_len=4): + # read header (last byte is length) + msg = self.kline_ll_recv(header_len, bus=bus) + # read data (add one byte to length for checksum) + msg += self.kline_ll_recv(msg[-1]+1, bus=bus) + return msg + + def send_heartbeat(self, engaged=True): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, engaged, 0, b'') + + # disable heartbeat checks for use outside of openpilot + # sending a heartbeat will reenable the checks + def set_heartbeat_disabled(self): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf8, 0, 0, b'') + + # ******************* RTC ******************* + def set_datetime(self, dt): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xa1, int(dt.year), 0, b'') + self._handle.controlWrite(Panda.REQUEST_OUT, 0xa2, int(dt.month), 0, b'') + self._handle.controlWrite(Panda.REQUEST_OUT, 0xa3, int(dt.day), 0, b'') + self._handle.controlWrite(Panda.REQUEST_OUT, 0xa4, int(dt.isoweekday()), 0, b'') + self._handle.controlWrite(Panda.REQUEST_OUT, 0xa5, int(dt.hour), 0, b'') + self._handle.controlWrite(Panda.REQUEST_OUT, 0xa6, int(dt.minute), 0, b'') + self._handle.controlWrite(Panda.REQUEST_OUT, 0xa7, int(dt.second), 0, b'') + + def get_datetime(self): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa0, 0, 0, 8) + a = struct.unpack("HBBBBBB", dat) + return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6]) + + # ******************* IR ******************* + def set_ir_power(self, percentage): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xb0, int(percentage), 0, b'') + + # ******************* Fan ****************** + def set_fan_power(self, percentage): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xb1, int(percentage), 0, b'') + + def get_fan_rpm(self): + dat = self._handle.controlRead(Panda.REQUEST_IN, 0xb2, 0, 0, 2) + a = struct.unpack("H", dat) + return a[0] + + # ****************** Phone ***************** + def set_phone_power(self, enabled): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, int(enabled), 0, b'') + + # ************** Clock Source ************** + def set_clock_source_mode(self, mode): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf5, int(mode), 0, b'') + + # ****************** Siren ***************** + def set_siren(self, enabled): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'') + + # ****************** Debug ***************** + def set_green_led(self, enabled): + self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'') diff --git a/panda/python/ccp.py b/panda/python/ccp.py new file mode 100644 index 000000000..a8c00169f --- /dev/null +++ b/panda/python/ccp.py @@ -0,0 +1,362 @@ +#!/usr/bin/env python3 +import sys +import time +import struct +from enum import IntEnum, Enum + +class COMMAND_CODE(IntEnum): + CONNECT = 0x01 + SET_MTA = 0x02 + DNLOAD = 0x03 + UPLOAD = 0x04 + TEST = 0x05 + START_STOP = 0x06 + DISCONNECT = 0x07 + START_STOP_ALL = 0x08 + GET_ACTIVE_CAL_PAGE = 0x09 + SET_S_STATUS = 0x0C + GET_S_STATUS = 0x0D + BUILD_CHKSUM = 0x0E + SHORT_UP = 0x0F + CLEAR_MEMORY = 0x10 + SELECT_CAL_PAGE = 0x11 + GET_SEED = 0x12 + UNLOCK = 0x13 + GET_DAQ_SIZE = 0x14 + SET_DAQ_PTR = 0x15 + WRITE_DAQ = 0x16 + EXCHANGE_ID = 0x17 + PROGRAM = 0x18 + MOVE = 0x19 + GET_CCP_VERSION = 0x1B + DIAG_SERVICE = 0x20 + ACTION_SERVICE = 0x21 + PROGRAM_6 = 0x22 + DNLOAD_6 = 0x23 + +COMMAND_RETURN_CODES = { + 0x00: "acknowledge / no error", + 0x01: "DAQ processor overload", + 0x10: "command processor busy", + 0x11: "DAQ processor busy", + 0x12: "internal timeout", + 0x18: "key request", + 0x19: "session status request", + 0x20: "cold start request", + 0x21: "cal. data init. request", + 0x22: "DAQ list init. request", + 0x23: "code update request", + 0x30: "unknown command", + 0x31: "command syntax", + 0x32: "parameter(s) out of range", + 0x33: "access denied", + 0x34: "overload", + 0x35: "access locked", + 0x36: "resource/function not available", +} + +class BYTE_ORDER(Enum): + LITTLE_ENDIAN = '<' + BIG_ENDIAN = '>' + +class CommandTimeoutError(Exception): + pass + +class CommandCounterError(Exception): + pass + +class CommandResponseError(Exception): + def __init__(self, message, return_code): + super().__init__() + self.message = message + self.return_code = return_code + + def __str__(self): + return self.message + +class CcpClient(): + def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int=0, byte_order: BYTE_ORDER=BYTE_ORDER.BIG_ENDIAN, debug=False): + self.tx_addr = tx_addr + self.rx_addr = rx_addr + self.can_bus = bus + self.byte_order = byte_order + self.debug = debug + self._panda = panda + self._command_counter = -1 + + def _send_cro(self, cmd: int, dat: bytes = b"") -> None: + self._command_counter = (self._command_counter + 1) & 0xFF + tx_data = (bytes([cmd, self._command_counter]) + dat).ljust(8, b"\x00") + if self.debug: + print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(tx_data)}") + assert len(tx_data) == 8, "data is not 8 bytes" + self._panda.can_clear(self.can_bus) + self._panda.can_clear(0xFFFF) + self._panda.can_send(self.tx_addr, tx_data, self.can_bus) + + def _recv_dto(self, timeout: float) -> bytes: + start_time = time.time() + while time.time() - start_time < timeout: + msgs = self._panda.can_recv() or [] + if len(msgs) >= 256: + print("CAN RX buffer overflow!!!", file=sys.stderr) + for rx_addr, _, rx_data, rx_bus in msgs: + if rx_bus == self.can_bus and rx_addr == self.rx_addr: + rx_data = bytes(rx_data) # convert bytearray to bytes + if self.debug: + print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}") + assert len(rx_data) == 8, f"message length not 8: {len(rx_data)}" + + pid = rx_data[0] + if pid == 0xFF or pid == 0xFE: + err = rx_data[1] + err_desc = COMMAND_RETURN_CODES.get(err, "unknown error") + ctr = rx_data[2] + dat = rx_data[3:] + + if pid == 0xFF and self._command_counter != ctr: + raise CommandCounterError(f"counter invalid: {ctr} != {self._command_counter}") + + if err >= 0x10 and err <= 0x12: + if self.debug: + print(f"CCP-WAIT: {hex(err)} - {err_desc}") + start_time = time.time() + continue + + if err >= 0x30: + raise CommandResponseError(f"{hex(err)} - {err_desc}", err) + else: + dat = rx_data[1:] + + return dat + time.sleep(0.001) + + raise CommandTimeoutError("timeout waiting for response") + + # commands + def connect(self, station_addr: int) -> None: + if station_addr > 65535: + raise ValueError("station address must be less than 65536") + # NOTE: station address is always little endian + self._send_cro(COMMAND_CODE.CONNECT, struct.pack(" dict: + self._send_cro(COMMAND_CODE.EXCHANGE_ID, device_id_info) + resp = self._recv_dto(0.025) + return { # TODO: define a type + "id_length": resp[0], + "data_type": resp[1], + "available": resp[2], + "protected": resp[3], + } + + def get_seed(self, resource_mask: int) -> bytes: + if resource_mask > 255: + raise ValueError("resource mask must be less than 256") + self._send_cro(COMMAND_CODE.GET_SEED) + resp = self._recv_dto(0.025) + # protected = resp[0] == 0 + seed = resp[1:] + return seed + + def unlock(self, key: bytes) -> int: + if len(key) > 6: + raise ValueError("max key size is 6 bytes") + self._send_cro(COMMAND_CODE.UNLOCK, key) + resp = self._recv_dto(0.025) + status = resp[0] + return status + + def set_memory_transfer_address(self, mta_num: int, addr_ext: int, addr: int) -> None: + if mta_num > 255: + raise ValueError("MTA number must be less than 256") + if addr_ext > 255: + raise ValueError("address extension must be less than 256") + self._send_cro(COMMAND_CODE.SET_MTA, bytes([mta_num, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr)) + self._recv_dto(0.025) + + def download(self, data: bytes) -> int: + if len(data) > 5: + raise ValueError("max data size is 5 bytes") + self._send_cro(COMMAND_CODE.DNLOAD, bytes([len(data)]) + data) + resp = self._recv_dto(0.025) + # mta_addr_ext = resp[0] + mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0] + return mta_addr + + def download_6_bytes(self, data: bytes) -> int: + if len(data) != 6: + raise ValueError("data size must be 6 bytes") + self._send_cro(COMMAND_CODE.DNLOAD_6, data) + resp = self._recv_dto(0.025) + # mta_addr_ext = resp[0] + mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0] + return mta_addr + + def upload(self, size: int) -> bytes: + if size > 5: + raise ValueError("size must be less than 6") + self._send_cro(COMMAND_CODE.UPLOAD, bytes([size])) + return self._recv_dto(0.025) + + def short_upload(self, size: int, addr_ext: int, addr: int) -> bytes: + if size > 5: + raise ValueError("size must be less than 6") + if addr_ext > 255: + raise ValueError("address extension must be less than 256") + self._send_cro(COMMAND_CODE.SHORT_UP, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr)) + return self._recv_dto(0.025) + + def select_calibration_page(self) -> None: + self._send_cro(COMMAND_CODE.SELECT_CAL_PAGE) + self._recv_dto(0.025) + + def get_daq_list_size(self, list_num: int, can_id: int = 0) -> dict: + if list_num > 255: + raise ValueError("list number must be less than 256") + self._send_cro(COMMAND_CODE.GET_DAQ_SIZE, bytes([list_num, 0]) + struct.pack(f"{self.byte_order.value}I", can_id)) + resp = self._recv_dto(0.025) + return { # TODO: define a type + "list_size": resp[0], + "first_pid": resp[1], + } + + def set_daq_list_pointer(self, list_num: int, odt_num: int, element_num: int) -> None: + if list_num > 255: + raise ValueError("list number must be less than 256") + if odt_num > 255: + raise ValueError("ODT number must be less than 256") + if element_num > 255: + raise ValueError("element number must be less than 256") + self._send_cro(COMMAND_CODE.SET_DAQ_PTR, bytes([list_num, odt_num, element_num])) + self._recv_dto(0.025) + + def write_daq_list_entry(self, size: int, addr_ext: int, addr: int) -> None: + if size > 255: + raise ValueError("size must be less than 256") + if addr_ext > 255: + raise ValueError("address extension must be less than 256") + self._send_cro(COMMAND_CODE.WRITE_DAQ, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr)) + self._recv_dto(0.025) + + def start_stop_transmission(self, mode: int, list_num: int, odt_num: int, channel_num: int, rate_prescaler: int = 0) -> None: + if mode > 255: + raise ValueError("mode must be less than 256") + if list_num > 255: + raise ValueError("list number must be less than 256") + if odt_num > 255: + raise ValueError("ODT number must be less than 256") + if channel_num > 255: + raise ValueError("channel number must be less than 256") + if rate_prescaler > 65535: + raise ValueError("rate prescaler must be less than 65536") + self._send_cro(COMMAND_CODE.START_STOP, bytes([mode, list_num, odt_num, channel_num]) + struct.pack(f"{self.byte_order.value}H", rate_prescaler)) + self._recv_dto(0.025) + + def disconnect(self, station_addr: int, temporary: bool = False) -> None: + if station_addr > 65535: + raise ValueError("station address must be less than 65536") + # NOTE: station address is always little endian + self._send_cro(COMMAND_CODE.DISCONNECT, bytes([int(not temporary), 0x00]) + struct.pack(" None: + if status > 255: + raise ValueError("status must be less than 256") + self._send_cro(COMMAND_CODE.SET_S_STATUS, bytes([status])) + self._recv_dto(0.025) + + def get_session_status(self) -> dict: + self._send_cro(COMMAND_CODE.GET_S_STATUS) + resp = self._recv_dto(0.025) + return { # TODO: define a type + "status": resp[0], + "info": resp[2] if resp[1] else None, + } + + def build_checksum(self, size: int) -> bytes: + self._send_cro(COMMAND_CODE.BUILD_CHKSUM, struct.pack(f"{self.byte_order.value}I", size)) + resp = self._recv_dto(30.0) + chksum_size = resp[0] + assert chksum_size <= 4, "checksum more than 4 bytes" + chksum = resp[1:1+chksum_size] + return chksum + + def clear_memory(self, size: int) -> None: + self._send_cro(COMMAND_CODE.CLEAR_MEMORY, struct.pack(f"{self.byte_order.value}I", size)) + self._recv_dto(30.0) + + def program(self, size: int, data: bytes) -> int: + if size > 5: + raise ValueError("size must be less than 6") + if len(data) > 5: + raise ValueError("max data size is 5 bytes") + self._send_cro(COMMAND_CODE.PROGRAM, bytes([size]) + data) + resp = self._recv_dto(0.1) + # mta_addr_ext = resp[0] + mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0] + return mta_addr + + def program_6_bytes(self, data: bytes) -> int: + if len(data) != 6: + raise ValueError("data size must be 6 bytes") + self._send_cro(COMMAND_CODE.PROGRAM_6, data) + resp = self._recv_dto(0.1) + # mta_addr_ext = resp[0] + mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0] + return mta_addr + + def move_memory_block(self, size: int) -> None: + self._send_cro(COMMAND_CODE.MOVE, struct.pack(f"{self.byte_order.value}I", size)) + self._recv_dto(0.025) + + def diagnostic_service(self, service_num: int, data: bytes = b"") -> dict: + if service_num > 65535: + raise ValueError("service number must be less than 65536") + if len(data) > 4: + raise ValueError("max data size is 4 bytes") + self._send_cro(COMMAND_CODE.DIAG_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data) + resp = self._recv_dto(0.025) + return { # TODO: define a type + "length": resp[0], + "type": resp[1], + } + + def action_service(self, service_num: int, data: bytes = b"") -> dict: + if service_num > 65535: + raise ValueError("service number must be less than 65536") + if len(data) > 4: + raise ValueError("max data size is 4 bytes") + self._send_cro(COMMAND_CODE.ACTION_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data) + resp = self._recv_dto(0.025) + return { # TODO: define a type + "length": resp[0], + "type": resp[1], + } + + def test_availability(self, station_addr: int) -> None: + if station_addr > 65535: + raise ValueError("station address must be less than 65536") + # NOTE: station address is always little endian + self._send_cro(COMMAND_CODE.TEST, struct.pack(" None: + if mode > 255: + raise ValueError("mode must be less than 256") + self._send_cro(COMMAND_CODE.START_STOP_ALL, bytes([mode])) + self._recv_dto(0.025) + + def get_active_calibration_page(self): + self._send_cro(COMMAND_CODE.GET_ACTIVE_CAL_PAGE) + resp = self._recv_dto(0.025) + # cal_addr_ext = resp[0] + cal_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0] + return cal_addr + + def get_version(self, desired_version: float = 2.1) -> float: + major, minor = map(int, str(desired_version).split(".")) + self._send_cro(COMMAND_CODE.GET_CCP_VERSION, bytes([major, minor])) + resp = self._recv_dto(0.025) + return float(f"{resp[0]}.{resp[1]}") diff --git a/panda/python/config.py b/panda/python/config.py new file mode 100644 index 000000000..7ddb91b25 --- /dev/null +++ b/panda/python/config.py @@ -0,0 +1,21 @@ +import os + +BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../") + +BOOTSTUB_ADDRESS = 0x8000000 + +BLOCK_SIZE_FX = 0x800 +APP_ADDRESS_FX = 0x8004000 +DEVICE_SERIAL_NUMBER_ADDR_FX = 0x1FFF79C0 +DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed") +TESTING_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.testing.signed") +with open('/data/params/d/dp_atl') as f: + if (int(f.read().strip())) != 0 and os.path.exists(TESTING_FW_FN): + DEFAULT_FW_FN = TESTING_FW_FN +DEFAULT_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin") + +BLOCK_SIZE_H7 = 0x400 +APP_ADDRESS_H7 = 0x8020000 +DEVICE_SERIAL_NUMBER_ADDR_H7 = 0x080FFFC0 +DEFAULT_H7_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed") +DEFAULT_H7_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin") diff --git a/panda/python/dfu.py b/panda/python/dfu.py new file mode 100644 index 000000000..317780ca8 --- /dev/null +++ b/panda/python/dfu.py @@ -0,0 +1,125 @@ +import usb1 +import struct +import binascii +from .config import BOOTSTUB_ADDRESS, APP_ADDRESS_H7, APP_ADDRESS_FX, BLOCK_SIZE_H7, BLOCK_SIZE_FX, DEFAULT_H7_BOOTSTUB_FN, DEFAULT_BOOTSTUB_FN + + +MCU_TYPE_F2 = 0 +MCU_TYPE_F4 = 1 +MCU_TYPE_H7 = 2 + +# *** DFU mode *** +DFU_DNLOAD = 1 +DFU_UPLOAD = 2 +DFU_GETSTATUS = 3 +DFU_CLRSTATUS = 4 +DFU_ABORT = 6 + +class PandaDFU(object): + def __init__(self, dfu_serial): + context = usb1.USBContext() + for device in context.getDeviceList(skip_on_error=True): + if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11: + try: + this_dfu_serial = device.open().getASCIIStringDescriptor(3) + except Exception: + continue + if this_dfu_serial == dfu_serial or dfu_serial is None: + self._mcu_type = self.get_mcu_type(device) + self._handle = device.open() + return + raise Exception("failed to open " + dfu_serial if dfu_serial is not None else "DFU device") + + @staticmethod + def list(): + context = usb1.USBContext() + dfu_serials = [] + try: + for device in context.getDeviceList(skip_on_error=True): + if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11: + try: + dfu_serials.append(device.open().getASCIIStringDescriptor(3)) + except Exception: + pass + except Exception: + pass + return dfu_serials + + @staticmethod + def st_serial_to_dfu_serial(st, mcu_type=MCU_TYPE_F4): + if st is None or st == "none": + return None + uid_base = struct.unpack("H" * 6, bytes.fromhex(st)) + if mcu_type == MCU_TYPE_H7: + return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8") + else: + return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8") + + # TODO: Find a way to detect F4 vs F2 + def get_mcu_type(self, dev): + return MCU_TYPE_H7 if dev.getbcdDevice() == 512 else MCU_TYPE_F4 + + def status(self): + while 1: + dat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6) + if dat[1] == 0: + break + + def clear_status(self): + # Clear status + stat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6) + if stat[4] == 0xa: + self._handle.controlRead(0x21, DFU_CLRSTATUS, 0, 0, 0) + elif stat[4] == 0x9: + self._handle.controlWrite(0x21, DFU_ABORT, 0, 0, b"") + self.status() + stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)) + + def erase(self, address): + self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address)) + self.status() + + def program(self, address, dat, block_size=None): + if block_size is None: + block_size = len(dat) + + # Set Address Pointer + self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address)) + self.status() + + # Program + dat += b"\xFF" * ((block_size - len(dat)) % block_size) + for i in range(0, len(dat) // block_size): + ldat = dat[i * block_size:(i + 1) * block_size] + print("programming %d with length %d" % (i, len(ldat))) + self._handle.controlWrite(0x21, DFU_DNLOAD, 2 + i, 0, ldat) + self.status() + + def program_bootstub(self, code_bootstub): + self.clear_status() + self.erase(BOOTSTUB_ADDRESS) + if self._mcu_type == MCU_TYPE_H7: + self.erase(APP_ADDRESS_H7) + self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_H7) + else: + self.erase(APP_ADDRESS_FX) + self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_FX) + self.reset() + + def recover(self): + fn = DEFAULT_H7_BOOTSTUB_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_BOOTSTUB_FN + + with open(fn, "rb") as f: + code = f.read() + + self.program_bootstub(code) + + def reset(self): + # **** Reset **** + self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", BOOTSTUB_ADDRESS)) + self.status() + try: + self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"") + _ = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)) + except Exception: + pass diff --git a/panda/python/flash_release.py b/panda/python/flash_release.py new file mode 100755 index 000000000..ae50e6dc0 --- /dev/null +++ b/panda/python/flash_release.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python3 + +import sys +import time +import requests +import json +import io + +def flash_release(path=None, st_serial=None): + from panda import Panda, PandaDFU + from zipfile import ZipFile + + def status(x): + print("\033[1;32;40m" + x + "\033[00m") + + if st_serial is not None: + # look for Panda + panda_list = Panda.list() + if len(panda_list) == 0: + raise Exception("panda not found, make sure it's connected and your user can access it") + elif len(panda_list) > 1: + raise Exception("Please only connect one panda") + st_serial = panda_list[0] + print("Using panda with serial %s" % st_serial) + + if path is None: + print("Fetching latest firmware from github.com/commaai/panda-artifacts") + r = requests.get("https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json") + url = json.loads(r.text)['url'] + r = requests.get(url) + print("Fetching firmware from %s" % url) + path = io.BytesIO(r.content) + + zf = ZipFile(path) + zf.printdir() + + version = zf.read("version").decode().strip() + status("0. Preparing to flash " + str(version)) + + code_bootstub = zf.read("bootstub.panda.bin") + code_panda = zf.read("panda.bin") + + # enter DFU mode + status("1. Entering DFU mode") + panda = Panda(st_serial) + panda.reset(enter_bootstub=True) + panda.reset(enter_bootloader=True) + time.sleep(1) + + # program bootstub + status("2. Programming bootstub") + dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(st_serial)) + dfu.program_bootstub(code_bootstub) + time.sleep(1) + + # flash main code + status("3. Flashing main code") + panda = Panda(st_serial) + panda.flash(code=code_panda) + panda.close() + + # check for connection + status("4. Verifying version") + panda = Panda(st_serial) + my_version = panda.get_version() + print("dongle id: %s" % panda.get_serial()[0]) + print(my_version, "should be", version) + assert(str(version) == str(my_version)) + + # done! + status("6. Success!") + +if __name__ == "__main__": + flash_release(*sys.argv[1:]) diff --git a/panda/python/isotp.py b/panda/python/isotp.py new file mode 100644 index 000000000..45acb6aba --- /dev/null +++ b/panda/python/isotp.py @@ -0,0 +1,142 @@ +import binascii +import time + +DEBUG = False + +def msg(x): + if DEBUG: + print("S:", binascii.hexlify(x)) + if len(x) <= 7: + ret = bytes([len(x)]) + x + else: + assert False + return ret.ljust(8, b"\x00") + +kmsgs = [] +def recv(panda, cnt, addr, nbus): + global kmsgs + ret = [] + + while len(ret) < cnt: + kmsgs += panda.can_recv() + nmsgs = [] + for ids, ts, dat, bus in kmsgs: + if ids == addr and bus == nbus and len(ret) < cnt: + ret.append(dat) + else: + # leave around + nmsgs.append((ids, ts, dat, bus)) + kmsgs = nmsgs[-256:] + return ret + +def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr): + msg = recv(panda, 1, addr, bus)[0] + + # TODO: handle other subaddr also communicating + assert msg[0] == subaddr + + if msg[1] & 0xf0 == 0x10: + # first + tlen = ((msg[1] & 0xf) << 8) | msg[2] + dat = msg[3:] + + # 0 block size? + CONTINUE = bytes([subaddr]) + b"\x30" + b"\x00" * 6 + panda.can_send(sendaddr, CONTINUE, bus) + + idx = 1 + for mm in recv(panda, (tlen - len(dat) + 5) // 6, addr, bus): + assert mm[0] == subaddr + assert mm[1] == (0x20 | (idx & 0xF)) + dat += mm[2:] + idx += 1 + elif msg[1] & 0xf0 == 0x00: + # single + tlen = msg[1] & 0xf + dat = msg[2:] + else: + print(binascii.hexlify(msg)) + assert False + + return dat[0:tlen] + +# **** import below this line **** + +def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None, rate=None): + if recvaddr is None: + recvaddr = addr + 8 + + if len(x) <= 7 and subaddr is None: + panda.can_send(addr, msg(x), bus) + elif len(x) <= 6 and subaddr is not None: + panda.can_send(addr, bytes([subaddr]) + msg(x)[0:7], bus) + else: + if subaddr: + ss = bytes([subaddr, 0x10 + (len(x) >> 8), len(x) & 0xFF]) + x[0:5] + x = x[5:] + else: + ss = bytes([0x10 + (len(x) >> 8), len(x) & 0xFF]) + x[0:6] + x = x[6:] + idx = 1 + sends = [] + while len(x) > 0: + if subaddr: + sends.append(((bytes([subaddr, 0x20 + (idx & 0xF)]) + x[0:6]).ljust(8, b"\x00"))) + x = x[6:] + else: + sends.append(((bytes([0x20 + (idx & 0xF)]) + x[0:7]).ljust(8, b"\x00"))) + x = x[7:] + idx += 1 + + # actually send + panda.can_send(addr, ss, bus) + rr = recv(panda, 1, recvaddr, bus)[0] + if rr.find(b"\x30\x01") != -1: + for s in sends[:-1]: + panda.can_send(addr, s, 0) + rr = recv(panda, 1, recvaddr, bus)[0] + panda.can_send(addr, sends[-1], 0) + else: + if rate is None: + panda.can_send_many([(addr, None, s, bus) for s in sends]) + else: + for dat in sends: + panda.can_send(addr, dat, bus) + time.sleep(rate) + +def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None): + if sendaddr is None: + sendaddr = addr - 8 + + if subaddr is not None: + dat = isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr) + else: + msg = recv(panda, 1, addr, bus)[0] + + if msg[0] & 0xf0 == 0x10: + # first + tlen = ((msg[0] & 0xf) << 8) | msg[1] + dat = msg[2:] + + # 0 block size? + CONTINUE = b"\x30" + b"\x00" * 7 + + panda.can_send(sendaddr, CONTINUE, bus) + + idx = 1 + for mm in recv(panda, (tlen - len(dat) + 6) // 7, addr, bus): + assert mm[0] == (0x20 | (idx & 0xF)) + dat += mm[1:] + idx += 1 + elif msg[0] & 0xf0 == 0x00: + # single + tlen = msg[0] & 0xf + dat = msg[1:] + else: + assert False + dat = dat[0:tlen] + + if DEBUG: + print("R:", binascii.hexlify(dat)) + + return dat diff --git a/panda/python/serial.py b/panda/python/serial.py new file mode 100644 index 000000000..97fe8f1d9 --- /dev/null +++ b/panda/python/serial.py @@ -0,0 +1,35 @@ +# mimic a python serial port +class PandaSerial(object): + def __init__(self, panda, port, baud): + self.panda = panda + self.port = port + self.panda.set_uart_parity(self.port, 0) + self._baudrate = baud + self.panda.set_uart_baud(self.port, baud) + self.buf = b"" + + def read(self, l=1): # noqa: E741 + tt = self.panda.serial_read(self.port) + if len(tt) > 0: + self.buf += tt + ret = self.buf[0:l] + self.buf = self.buf[l:] + return ret + + def write(self, dat): + return self.panda.serial_write(self.port, dat) + + def close(self): + pass + + def flush(self): + pass + + @property + def baudrate(self): + return self._baudrate + + @baudrate.setter + def baudrate(self, value): + self.panda.set_uart_baud(self.port, value) + self._baudrate = value diff --git a/panda/python/uds.py b/panda/python/uds.py new file mode 100644 index 000000000..c35fe30f5 --- /dev/null +++ b/panda/python/uds.py @@ -0,0 +1,893 @@ +#!/usr/bin/env python3 +import time +import struct +from collections import deque +from typing import Callable, NamedTuple, Tuple, List, Deque, Generator, Optional, cast +from enum import IntEnum +from functools import partial + +class SERVICE_TYPE(IntEnum): + DIAGNOSTIC_SESSION_CONTROL = 0x10 + ECU_RESET = 0x11 + SECURITY_ACCESS = 0x27 + COMMUNICATION_CONTROL = 0x28 + TESTER_PRESENT = 0x3E + ACCESS_TIMING_PARAMETER = 0x83 + SECURED_DATA_TRANSMISSION = 0x84 + CONTROL_DTC_SETTING = 0x85 + RESPONSE_ON_EVENT = 0x86 + LINK_CONTROL = 0x87 + READ_DATA_BY_IDENTIFIER = 0x22 + READ_MEMORY_BY_ADDRESS = 0x23 + READ_SCALING_DATA_BY_IDENTIFIER = 0x24 + READ_DATA_BY_PERIODIC_IDENTIFIER = 0x2A + DYNAMICALLY_DEFINE_DATA_IDENTIFIER = 0x2C + WRITE_DATA_BY_IDENTIFIER = 0x2E + WRITE_MEMORY_BY_ADDRESS = 0x3D + CLEAR_DIAGNOSTIC_INFORMATION = 0x14 + READ_DTC_INFORMATION = 0x19 + INPUT_OUTPUT_CONTROL_BY_IDENTIFIER = 0x2F + ROUTINE_CONTROL = 0x31 + REQUEST_DOWNLOAD = 0x34 + REQUEST_UPLOAD = 0x35 + TRANSFER_DATA = 0x36 + REQUEST_TRANSFER_EXIT = 0x37 + +class SESSION_TYPE(IntEnum): + DEFAULT = 1 + PROGRAMMING = 2 + EXTENDED_DIAGNOSTIC = 3 + SAFETY_SYSTEM_DIAGNOSTIC = 4 + +class RESET_TYPE(IntEnum): + HARD = 1 + KEY_OFF_ON = 2 + SOFT = 3 + ENABLE_RAPID_POWER_SHUTDOWN = 4 + DISABLE_RAPID_POWER_SHUTDOWN = 5 + +class ACCESS_TYPE(IntEnum): + REQUEST_SEED = 1 + SEND_KEY = 2 + +class CONTROL_TYPE(IntEnum): + ENABLE_RX_ENABLE_TX = 0 + ENABLE_RX_DISABLE_TX = 1 + DISABLE_RX_ENABLE_TX = 2 + DISABLE_RX_DISABLE_TX = 3 + +class MESSAGE_TYPE(IntEnum): + NORMAL = 1 + NETWORK_MANAGEMENT = 2 + NORMAL_AND_NETWORK_MANAGEMENT = 3 + +class TIMING_PARAMETER_TYPE(IntEnum): + READ_EXTENDED_SET = 1 + SET_TO_DEFAULT_VALUES = 2 + READ_CURRENTLY_ACTIVE = 3 + SET_TO_GIVEN_VALUES = 4 + +class DTC_SETTING_TYPE(IntEnum): + ON = 1 + OFF = 2 + +class RESPONSE_EVENT_TYPE(IntEnum): + STOP_RESPONSE_ON_EVENT = 0 + ON_DTC_STATUS_CHANGE = 1 + ON_TIMER_INTERRUPT = 2 + ON_CHANGE_OF_DATA_IDENTIFIER = 3 + REPORT_ACTIVATED_EVENTS = 4 + START_RESPONSE_ON_EVENT = 5 + CLEAR_RESPONSE_ON_EVENT = 6 + ON_COMPARISON_OF_VALUES = 7 + +class LINK_CONTROL_TYPE(IntEnum): + VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE = 1 + VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE = 2 + TRANSITION_BAUDRATE = 3 + +class BAUD_RATE_TYPE(IntEnum): + PC9600 = 1 + PC19200 = 2 + PC38400 = 3 + PC57600 = 4 + PC115200 = 5 + CAN125000 = 16 + CAN250000 = 17 + CAN500000 = 18 + CAN1000000 = 19 + +class DATA_IDENTIFIER_TYPE(IntEnum): + BOOT_SOFTWARE_IDENTIFICATION = 0xF180 + APPLICATION_SOFTWARE_IDENTIFICATION = 0xF181 + APPLICATION_DATA_IDENTIFICATION = 0xF182 + BOOT_SOFTWARE_FINGERPRINT = 0xF183 + APPLICATION_SOFTWARE_FINGERPRINT = 0xF184 + APPLICATION_DATA_FINGERPRINT = 0xF185 + ACTIVE_DIAGNOSTIC_SESSION = 0xF186 + VEHICLE_MANUFACTURER_SPARE_PART_NUMBER = 0xF187 + VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER = 0xF188 + VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER = 0xF189 + SYSTEM_SUPPLIER_IDENTIFIER = 0xF18A + ECU_MANUFACTURING_DATE = 0xF18B + ECU_SERIAL_NUMBER = 0xF18C + SUPPORTED_FUNCTIONAL_UNITS = 0xF18D + VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER = 0xF18E + VIN = 0xF190 + VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER = 0xF191 + SYSTEM_SUPPLIER_ECU_HARDWARE_NUMBER = 0xF192 + SYSTEM_SUPPLIER_ECU_HARDWARE_VERSION_NUMBER = 0xF193 + SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER = 0xF194 + SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER = 0xF195 + EXHAUST_REGULATION_OR_TYPE_APPROVAL_NUMBER = 0xF196 + SYSTEM_NAME_OR_ENGINE_TYPE = 0xF197 + REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER = 0xF198 + PROGRAMMING_DATE = 0xF199 + CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER = 0xF19A + CALIBRATION_DATE = 0xF19B + CALIBRATION_EQUIPMENT_SOFTWARE_NUMBER = 0xF19C + ECU_INSTALLATION_DATE = 0xF19D + ODX_FILE = 0xF19E + ENTITY = 0xF19F + +class TRANSMISSION_MODE_TYPE(IntEnum): + SEND_AT_SLOW_RATE = 1 + SEND_AT_MEDIUM_RATE = 2 + SEND_AT_FAST_RATE = 3 + STOP_SENDING = 4 + +class DYNAMIC_DEFINITION_TYPE(IntEnum): + DEFINE_BY_IDENTIFIER = 1 + DEFINE_BY_MEMORY_ADDRESS = 2 + CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER = 3 + +class DynamicSourceDefinition(NamedTuple): + data_identifier: int + position: int + memory_size: int + memory_address: int + +class DTC_GROUP_TYPE(IntEnum): + EMISSIONS = 0x000000 + ALL = 0xFFFFFF + +class DTC_REPORT_TYPE(IntEnum): + NUMBER_OF_DTC_BY_STATUS_MASK = 0x01 + DTC_BY_STATUS_MASK = 0x02 + DTC_SNAPSHOT_IDENTIFICATION = 0x03 + DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER = 0x04 + DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER = 0x05 + DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER = 0x06 + NUMBER_OF_DTC_BY_SEVERITY_MASK_RECORD = 0x07 + DTC_BY_SEVERITY_MASK_RECORD = 0x08 + SEVERITY_INFORMATION_OF_DTC = 0x09 + SUPPORTED_DTC = 0x0A + FIRST_TEST_FAILED_DTC = 0x0B + FIRST_CONFIRMED_DTC = 0x0C + MOST_RECENT_TEST_FAILED_DTC = 0x0D + MOST_RECENT_CONFIRMED_DTC = 0x0E + MIRROR_MEMORY_DTC_BY_STATUS_MASK = 0x0F + MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER = 0x10 + NUMBER_OF_MIRROR_MEMORY_DTC_BY_STATUS_MASK = 0x11 + NUMBER_OF_EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK = 0x12 + EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK = 0x13 + DTC_FAULT_DETECTION_COUNTER = 0x14 + DTC_WITH_PERMANENT_STATUS = 0x15 + +class DTC_STATUS_MASK_TYPE(IntEnum): + TEST_FAILED = 0x01 + TEST_FAILED_THIS_OPERATION_CYCLE = 0x02 + PENDING_DTC = 0x04 + CONFIRMED_DTC = 0x08 + TEST_NOT_COMPLETED_SINCE_LAST_CLEAR = 0x10 + TEST_FAILED_SINCE_LAST_CLEAR = 0x20 + TEST_NOT_COMPLETED_THIS_OPERATION_CYCLE = 0x40 + WARNING_INDICATOR_REQUESTED = 0x80 + ALL = 0xFF + +class DTC_SEVERITY_MASK_TYPE(IntEnum): + MAINTENANCE_ONLY = 0x20 + CHECK_AT_NEXT_HALT = 0x40 + CHECK_IMMEDIATELY = 0x80 + ALL = 0xE0 + +class CONTROL_PARAMETER_TYPE(IntEnum): + RETURN_CONTROL_TO_ECU = 0 + RESET_TO_DEFAULT = 1 + FREEZE_CURRENT_STATE = 2 + SHORT_TERM_ADJUSTMENT = 3 + +class ROUTINE_CONTROL_TYPE(IntEnum): + START = 1 + STOP = 2 + REQUEST_RESULTS = 3 + +class ROUTINE_IDENTIFIER_TYPE(IntEnum): + ERASE_MEMORY = 0xFF00 + CHECK_PROGRAMMING_DEPENDENCIES = 0xFF01 + ERASE_MIRROR_MEMORY_DTCS = 0xFF02 + +class MessageTimeoutError(Exception): + pass + +class NegativeResponseError(Exception): + def __init__(self, message, service_id, error_code): + super().__init__() + self.message = message + self.service_id = service_id + self.error_code = error_code + + def __str__(self): + return self.message + +class InvalidServiceIdError(Exception): + pass + +class InvalidSubFunctioneError(Exception): + pass + +_negative_response_codes = { + 0x00: 'positive response', + 0x10: 'general reject', + 0x11: 'service not supported', + 0x12: 'sub-function not supported', + 0x13: 'incorrect message length or invalid format', + 0x14: 'response too long', + 0x21: 'busy repeat request', + 0x22: 'conditions not correct', + 0x24: 'request sequence error', + 0x25: 'no response from subnet component', + 0x26: 'failure prevents execution of requested action', + 0x31: 'request out of range', + 0x33: 'security access denied', + 0x35: 'invalid key', + 0x36: 'exceed number of attempts', + 0x37: 'required time delay not expired', + 0x70: 'upload download not accepted', + 0x71: 'transfer data suspended', + 0x72: 'general programming failure', + 0x73: 'wrong block sequence counter', + 0x78: 'request correctly received - response pending', + 0x7e: 'sub-function not supported in active session', + 0x7f: 'service not supported in active session', + 0x81: 'rpm too high', + 0x82: 'rpm too low', + 0x83: 'engine is running', + 0x84: 'engine is not running', + 0x85: 'engine run time too low', + 0x86: 'temperature too high', + 0x87: 'temperature too low', + 0x88: 'vehicle speed too high', + 0x89: 'vehicle speed too low', + 0x8a: 'throttle/pedal too high', + 0x8b: 'throttle/pedal too low', + 0x8c: 'transmission not in neutral', + 0x8d: 'transmission not in gear', + 0x8f: 'brake switch(es) not closed', + 0x90: 'shifter lever not in park', + 0x91: 'torque converter clutch locked', + 0x92: 'voltage too high', + 0x93: 'voltage too low', +} + +def get_dtc_num_as_str(dtc_num_bytes): + # ISO 15031-6 + designator = { + 0b00: "P", + 0b01: "C", + 0b10: "B", + 0b11: "U", + } + d = designator[dtc_num_bytes[0] >> 6] + n = bytes([dtc_num_bytes[0] & 0x3F]) + dtc_num_bytes[1:] + return d + n.hex() + +def get_dtc_status_names(status): + result = list() + for m in DTC_STATUS_MASK_TYPE: + if m == DTC_STATUS_MASK_TYPE.ALL: + continue + if status & m.value: + result.append(m.name) + return result + +class CanClient(): + def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], List[Tuple[int, int, bytes, int]]], + tx_addr: int, rx_addr: int, bus: int, sub_addr: int = None, debug: bool = False): + self.tx = can_send + self.rx = can_recv + self.tx_addr = tx_addr + self.rx_addr = rx_addr + self.rx_buff = deque() # type: Deque[bytes] + self.sub_addr = sub_addr + self.bus = bus + self.debug = debug + + def _recv_filter(self, bus: int, addr: int) -> bool: + # handle functional addresses (switch to first addr to respond) + if self.tx_addr == 0x7DF: + is_response = addr >= 0x7E8 and addr <= 0x7EF + if is_response: + if self.debug: + print(f"switch to physical addr {hex(addr)}") + self.tx_addr = addr - 8 + self.rx_addr = addr + return is_response + if self.tx_addr == 0x18DB33F1: + is_response = addr >= 0x18DAF100 and addr <= 0x18DAF1FF + if is_response: + if self.debug: + print(f"switch to physical addr {hex(addr)}") + self.tx_addr = 0x18DA00F1 + (addr << 8 & 0xFF00) + self.rx_addr = addr + return bus == self.bus and addr == self.rx_addr + + def _recv_buffer(self, drain: bool = False) -> None: + while True: + msgs = self.rx() + if drain: + if self.debug: + print("CAN-RX: drain - {}".format(len(msgs))) + self.rx_buff.clear() + else: + for rx_addr, _, rx_data, rx_bus in msgs or []: + if self._recv_filter(rx_bus, rx_addr) and len(rx_data) > 0: + rx_data = bytes(rx_data) # convert bytearray to bytes + + if self.debug: + print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}") + + # Cut off sub addr in first byte + if self.sub_addr is not None: + rx_data = rx_data[1:] + + self.rx_buff.append(rx_data) + # break when non-full buffer is processed + if len(msgs) < 254: + return + + def recv(self, drain: bool = False) -> Generator[bytes, None, None]: + # buffer rx messages in case two response messages are received at once + # (e.g. response pending and success/failure response) + self._recv_buffer(drain) + try: + while True: + yield self.rx_buff.popleft() + except IndexError: + pass # empty + + def send(self, msgs: List[bytes], delay: float = 0) -> None: + for i, msg in enumerate(msgs): + if delay and i != 0: + if self.debug: + print(f"CAN-TX: delay - {delay}") + time.sleep(delay) + + if self.sub_addr is not None: + msg = bytes([self.sub_addr]) + msg + + if self.debug: + print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(msg)}") + assert len(msg) <= 8 + + self.tx(self.tx_addr, msg, self.bus) + # prevent rx buffer from overflowing on large tx + if i % 10 == 9: + self._recv_buffer() + +class IsoTpMessage(): + def __init__(self, can_client: CanClient, timeout: float = 1, debug: bool = False, max_len: int = 8): + self._can_client = can_client + self.timeout = timeout + self.debug = debug + self.max_len = max_len + + def send(self, dat: bytes) -> None: + # throw away any stale data + self._can_client.recv(drain=True) + + self.tx_dat = dat + self.tx_len = len(dat) + self.tx_idx = 0 + self.tx_done = False + + self.rx_dat = b"" + self.rx_len = 0 + self.rx_idx = 0 + self.rx_done = False + + if self.debug: + print(f"ISO-TP: REQUEST - {hex(self._can_client.tx_addr)} 0x{bytes.hex(self.tx_dat)}") + self._tx_first_frame() + + def _tx_first_frame(self) -> None: + if self.tx_len < self.max_len: + # single frame (send all bytes) + if self.debug: + print(f"ISO-TP: TX - single frame - {hex(self._can_client.tx_addr)}") + msg = (bytes([self.tx_len]) + self.tx_dat).ljust(self.max_len, b"\x00") + self.tx_done = True + else: + # first frame (send first 6 bytes) + if self.debug: + print(f"ISO-TP: TX - first frame - {hex(self._can_client.tx_addr)}") + msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:self.max_len - 2]).ljust(self.max_len - 2, b"\x00") + self._can_client.send([msg]) + + def recv(self, timeout=None) -> Optional[bytes]: + if timeout is None: + timeout = self.timeout + + start_time = time.monotonic() + try: + while True: + for msg in self._can_client.recv(): + self._isotp_rx_next(msg) + start_time = time.monotonic() + if self.tx_done and self.rx_done: + return self.rx_dat + # no timeout indicates non-blocking + if timeout == 0: + return None + if time.monotonic() - start_time > timeout: + raise MessageTimeoutError("timeout waiting for response") + finally: + if self.debug and self.rx_dat: + print(f"ISO-TP: RESPONSE - {hex(self._can_client.rx_addr)} 0x{bytes.hex(self.rx_dat)}") + + def _isotp_rx_next(self, rx_data: bytes) -> None: + # single rx_frame + if rx_data[0] >> 4 == 0x0: + self.rx_len = rx_data[0] & 0xFF + self.rx_dat = rx_data[1:1 + self.rx_len] + self.rx_idx = 0 + self.rx_done = True + if self.debug: + print(f"ISO-TP: RX - single frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}") + return + + # first rx_frame + if rx_data[0] >> 4 == 0x1: + self.rx_len = ((rx_data[0] & 0x0F) << 8) + rx_data[1] + self.rx_dat = rx_data[2:] + self.rx_idx = 0 + self.rx_done = False + if self.debug: + print(f"ISO-TP: RX - first frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}") + if self.debug: + print(f"ISO-TP: TX - flow control continue - {hex(self._can_client.tx_addr)}") + # send flow control message (send all bytes) + msg = b"\x30\x00\x00".ljust(self.max_len, b"\x00") + self._can_client.send([msg]) + return + + # consecutive rx frame + if rx_data[0] >> 4 == 0x2: + assert not self.rx_done, "isotp - rx: consecutive frame with no active frame" + self.rx_idx += 1 + assert self.rx_idx & 0xF == rx_data[0] & 0xF, "isotp - rx: invalid consecutive frame index" + rx_size = self.rx_len - len(self.rx_dat) + self.rx_dat += rx_data[1:1 + rx_size] + if self.rx_len == len(self.rx_dat): + self.rx_done = True + if self.debug: + print(f"ISO-TP: RX - consecutive frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}") + return + + # flow control + if rx_data[0] >> 4 == 0x3: + assert not self.tx_done, "isotp - rx: flow control with no active frame" + assert rx_data[0] != 0x32, "isotp - rx: flow-control overflow/abort" + assert rx_data[0] == 0x30 or rx_data[0] == 0x31, "isotp - rx: flow-control transfer state indicator invalid" + if rx_data[0] == 0x30: + if self.debug: + print(f"ISO-TP: RX - flow control continue - {hex(self._can_client.tx_addr)}") + delay_ts = rx_data[2] & 0x7F + # scale is 1 milliseconds if first bit == 0, 100 micro seconds if first bit == 1 + delay_div = 1000. if rx_data[2] & 0x80 == 0 else 10000. + delay_sec = delay_ts / delay_div + + # first frame = 6 bytes, each consecutive frame = 7 bytes + num_bytes = self.max_len - 1 + start = 6 + self.tx_idx * num_bytes + count = rx_data[1] + end = start + count * num_bytes if count > 0 else self.tx_len + tx_msgs = [] + for i in range(start, end, num_bytes): + self.tx_idx += 1 + # consecutive tx messages + msg = (bytes([0x20 | (self.tx_idx & 0xF)]) + self.tx_dat[i:i + num_bytes]).ljust(self.max_len, b"\x00") + tx_msgs.append(msg) + # send consecutive tx messages + self._can_client.send(tx_msgs, delay=delay_sec) + if end >= self.tx_len: + self.tx_done = True + if self.debug: + print(f"ISO-TP: TX - consecutive frame - {hex(self._can_client.tx_addr)} idx={self.tx_idx} done={self.tx_done}") + elif rx_data[0] == 0x31: + # wait (do nothing until next flow control message) + if self.debug: + print(f"ISO-TP: TX - flow control wait - {hex(self._can_client.tx_addr)}") + +FUNCTIONAL_ADDRS = [0x7DF, 0x18DB33F1] + +def get_rx_addr_for_tx_addr(tx_addr, rx_offset=0x8): + if tx_addr in FUNCTIONAL_ADDRS: + return None + + if tx_addr < 0xFFF8: + # pseudo-standard 11 bit response addr (add 8) works for most manufacturers + # allow override; some manufacturers use other offsets for non-OBD2 access + return tx_addr + rx_offset + + if tx_addr > 0x10000000 and tx_addr < 0xFFFFFFFF: + # standard 29 bit response addr (flip last two bytes) + return (tx_addr & 0xFFFF0000) + (tx_addr << 8 & 0xFF00) + (tx_addr >> 8 & 0xFF) + + raise ValueError("invalid tx_addr: {}".format(tx_addr)) + + +class UdsClient(): + def __init__(self, panda, tx_addr: int, rx_addr: int = None, bus: int = 0, timeout: float = 1, debug: bool = False, + tx_timeout: float = 1, response_pending_timeout: float = 10): + self.bus = bus + self.tx_addr = tx_addr + self.rx_addr = rx_addr if rx_addr is not None else get_rx_addr_for_tx_addr(tx_addr) + self.timeout = timeout + self.debug = debug + can_send_with_timeout = partial(panda.can_send, timeout=int(tx_timeout*1000)) + self._can_client = CanClient(can_send_with_timeout, panda.can_recv, self.tx_addr, self.rx_addr, self.bus, debug=self.debug) + self.response_pending_timeout = response_pending_timeout + + # generic uds request + def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int = None, data: bytes = None) -> bytes: + req = bytes([service_type]) + if subfunction is not None: + req += bytes([subfunction]) + if data is not None: + req += data + + # send request, wait for response + isotp_msg = IsoTpMessage(self._can_client, self.timeout, self.debug) + isotp_msg.send(req) + response_pending = False + while True: + timeout = self.response_pending_timeout if response_pending else self.timeout + resp = isotp_msg.recv(timeout) + + if resp is None: + continue + + response_pending = False + resp_sid = resp[0] if len(resp) > 0 else None + + # negative response + if resp_sid == 0x7F: + service_id = resp[1] if len(resp) > 1 else -1 + try: + service_desc = SERVICE_TYPE(service_id).name + except BaseException: + service_desc = 'NON_STANDARD_SERVICE' + error_code = resp[2] if len(resp) > 2 else -1 + try: + error_desc = _negative_response_codes[error_code] + except BaseException: + error_desc = resp[3:].hex() + # wait for another message if response pending + if error_code == 0x78: + response_pending = True + if self.debug: + print("UDS-RX: response pending") + continue + raise NegativeResponseError('{} - {}'.format(service_desc, error_desc), service_id, error_code) + + # positive response + if service_type + 0x40 != resp_sid: + resp_sid_hex = hex(resp_sid) if resp_sid is not None else None + raise InvalidServiceIdError('invalid response service id: {}'.format(resp_sid_hex)) + + if subfunction is not None: + resp_sfn = resp[1] if len(resp) > 1 else None + if subfunction != resp_sfn: + resp_sfn_hex = hex(resp_sfn) if resp_sfn is not None else None + raise InvalidSubFunctioneError(f'invalid response subfunction: {resp_sfn_hex:x}') + + # return data (exclude service id and sub-function id) + return resp[(1 if subfunction is None else 2):] + + # services + def diagnostic_session_control(self, session_type: SESSION_TYPE): + self._uds_request(SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, subfunction=session_type) + + def ecu_reset(self, reset_type: RESET_TYPE): + resp = self._uds_request(SERVICE_TYPE.ECU_RESET, subfunction=reset_type) + power_down_time = None + if reset_type == RESET_TYPE.ENABLE_RAPID_POWER_SHUTDOWN: + power_down_time = resp[0] + return power_down_time + + def security_access(self, access_type: ACCESS_TYPE, security_key: bytes = b'', data_record: bytes = b''): + request_seed = access_type % 2 != 0 + if request_seed and len(security_key) != 0: + raise ValueError('security_key not allowed') + if not request_seed and len(security_key) == 0: + raise ValueError('security_key is missing') + if not request_seed and len(data_record) != 0: + raise ValueError('data_record not allowed') + data = security_key + data_record + resp = self._uds_request(SERVICE_TYPE.SECURITY_ACCESS, subfunction=access_type, data=data) + if request_seed: + security_seed = resp + return security_seed + + def communication_control(self, control_type: CONTROL_TYPE, message_type: MESSAGE_TYPE): + data = bytes([message_type]) + self._uds_request(SERVICE_TYPE.COMMUNICATION_CONTROL, subfunction=control_type, data=data) + + def tester_present(self, ): + self._uds_request(SERVICE_TYPE.TESTER_PRESENT, subfunction=0x00) + + def access_timing_parameter(self, timing_parameter_type: TIMING_PARAMETER_TYPE, parameter_values: bytes = None): + write_custom_values = timing_parameter_type == TIMING_PARAMETER_TYPE.SET_TO_GIVEN_VALUES + read_values = (timing_parameter_type == TIMING_PARAMETER_TYPE.READ_CURRENTLY_ACTIVE or + timing_parameter_type == TIMING_PARAMETER_TYPE.READ_EXTENDED_SET) + if not write_custom_values and parameter_values is not None: + raise ValueError('parameter_values not allowed') + if write_custom_values and parameter_values is None: + raise ValueError('parameter_values is missing') + resp = self._uds_request(SERVICE_TYPE.ACCESS_TIMING_PARAMETER, subfunction=timing_parameter_type, data=parameter_values) + if read_values: + # TODO: parse response into values? + parameter_values = resp + return parameter_values + + def secured_data_transmission(self, data: bytes): + # TODO: split data into multiple input parameters? + resp = self._uds_request(SERVICE_TYPE.SECURED_DATA_TRANSMISSION, subfunction=None, data=data) + # TODO: parse response into multiple output values? + return resp + + def control_dtc_setting(self, dtc_setting_type: DTC_SETTING_TYPE): + self._uds_request(SERVICE_TYPE.CONTROL_DTC_SETTING, subfunction=dtc_setting_type) + + def response_on_event(self, response_event_type: RESPONSE_EVENT_TYPE, store_event: bool, window_time: int, + event_type_record: int, service_response_record: int): + if store_event: + response_event_type |= 0x20 # type: ignore + # TODO: split record parameters into arrays + data = bytes([window_time, event_type_record, service_response_record]) + resp = self._uds_request(SERVICE_TYPE.RESPONSE_ON_EVENT, subfunction=response_event_type, data=data) + + if response_event_type == RESPONSE_EVENT_TYPE.REPORT_ACTIVATED_EVENTS: + return { + "num_of_activated_events": resp[0], + "data": resp[1:], # TODO: parse the reset of response + } + + return { + "num_of_identified_events": resp[0], + "event_window_time": resp[1], + "data": resp[2:], # TODO: parse the reset of response + } + + def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: BAUD_RATE_TYPE = None): + data: Optional[bytes] + + if link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE: + # baud_rate_type = BAUD_RATE_TYPE + data = bytes([cast(int, baud_rate_type)]) + elif link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE: + # baud_rate_type = custom value (3 bytes big-endian) + data = struct.pack('!I', baud_rate_type)[1:] + else: + data = None + self._uds_request(SERVICE_TYPE.LINK_CONTROL, subfunction=link_control_type, data=data) + + def read_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE): + # TODO: support list of identifiers + data = struct.pack('!H', data_identifier_type) + resp = self._uds_request(SERVICE_TYPE.READ_DATA_BY_IDENTIFIER, subfunction=None, data=data) + resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None + if resp_id != data_identifier_type: + raise ValueError('invalid response data identifier: {} expected: {}'.format(hex(resp_id), hex(data_identifier_type))) + return resp[2:] + + def read_memory_by_address(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 1): + if memory_address_bytes < 1 or memory_address_bytes > 4: + raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes)) + if memory_size_bytes < 1 or memory_size_bytes > 4: + raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes)) + data = bytes([memory_size_bytes << 4 | memory_address_bytes]) + + if memory_address >= 1 << (memory_address_bytes * 8): + raise ValueError('invalid memory_address: {}'.format(memory_address)) + data += struct.pack('!I', memory_address)[4 - memory_address_bytes:] + if memory_size >= 1 << (memory_size_bytes * 8): + raise ValueError('invalid memory_size: {}'.format(memory_size)) + data += struct.pack('!I', memory_size)[4 - memory_size_bytes:] + + resp = self._uds_request(SERVICE_TYPE.READ_MEMORY_BY_ADDRESS, subfunction=None, data=data) + return resp + + def read_scaling_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE): + data = struct.pack('!H', data_identifier_type) + resp = self._uds_request(SERVICE_TYPE.READ_SCALING_DATA_BY_IDENTIFIER, subfunction=None, data=data) + resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None + if resp_id != data_identifier_type: + raise ValueError('invalid response data identifier: {}'.format(hex(resp_id))) + return resp[2:] # TODO: parse the response + + def read_data_by_periodic_identifier(self, transmission_mode_type: TRANSMISSION_MODE_TYPE, periodic_data_identifier: int): + # TODO: support list of identifiers + data = bytes([transmission_mode_type, periodic_data_identifier]) + self._uds_request(SERVICE_TYPE.READ_DATA_BY_PERIODIC_IDENTIFIER, subfunction=None, data=data) + + def dynamically_define_data_identifier(self, dynamic_definition_type: DYNAMIC_DEFINITION_TYPE, dynamic_data_identifier: int, + source_definitions: List[DynamicSourceDefinition], memory_address_bytes: int = 4, memory_size_bytes: int = 1): + if memory_address_bytes < 1 or memory_address_bytes > 4: + raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes)) + if memory_size_bytes < 1 or memory_size_bytes > 4: + raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes)) + + data = struct.pack('!H', dynamic_data_identifier) + if dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_IDENTIFIER: + for s in source_definitions: + data += struct.pack('!H', s.data_identifier) + bytes([s.position, s.memory_size]) + elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_MEMORY_ADDRESS: + data += bytes([memory_size_bytes << 4 | memory_address_bytes]) + for s in source_definitions: + if s.memory_address >= 1 << (memory_address_bytes * 8): + raise ValueError('invalid memory_address: {}'.format(s.memory_address)) + data += struct.pack('!I', s.memory_address)[4 - memory_address_bytes:] + if s.memory_size >= 1 << (memory_size_bytes * 8): + raise ValueError('invalid memory_size: {}'.format(s.memory_size)) + data += struct.pack('!I', s.memory_size)[4 - memory_size_bytes:] + elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER: + pass + else: + raise ValueError('invalid dynamic identifier type: {}'.format(hex(dynamic_definition_type))) + self._uds_request(SERVICE_TYPE.DYNAMICALLY_DEFINE_DATA_IDENTIFIER, subfunction=dynamic_definition_type, data=data) + + def write_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, data_record: bytes): + data = struct.pack('!H', data_identifier_type) + data_record + resp = self._uds_request(SERVICE_TYPE.WRITE_DATA_BY_IDENTIFIER, subfunction=None, data=data) + resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None + if resp_id != data_identifier_type: + raise ValueError('invalid response data identifier: {}'.format(hex(resp_id))) + + def write_memory_by_address(self, memory_address: int, memory_size: int, data_record: bytes, memory_address_bytes: int = 4, memory_size_bytes: int = 1): + if memory_address_bytes < 1 or memory_address_bytes > 4: + raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes)) + if memory_size_bytes < 1 or memory_size_bytes > 4: + raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes)) + data = bytes([memory_size_bytes << 4 | memory_address_bytes]) + + if memory_address >= 1 << (memory_address_bytes * 8): + raise ValueError('invalid memory_address: {}'.format(memory_address)) + data += struct.pack('!I', memory_address)[4 - memory_address_bytes:] + if memory_size >= 1 << (memory_size_bytes * 8): + raise ValueError('invalid memory_size: {}'.format(memory_size)) + data += struct.pack('!I', memory_size)[4 - memory_size_bytes:] + + data += data_record + self._uds_request(SERVICE_TYPE.WRITE_MEMORY_BY_ADDRESS, subfunction=0x00, data=data) + + def clear_diagnostic_information(self, dtc_group_type: DTC_GROUP_TYPE): + data = struct.pack('!I', dtc_group_type)[1:] # 3 bytes + self._uds_request(SERVICE_TYPE.CLEAR_DIAGNOSTIC_INFORMATION, subfunction=None, data=data) + + def read_dtc_information(self, dtc_report_type: DTC_REPORT_TYPE, dtc_status_mask_type: DTC_STATUS_MASK_TYPE = DTC_STATUS_MASK_TYPE.ALL, + dtc_severity_mask_type: DTC_SEVERITY_MASK_TYPE = DTC_SEVERITY_MASK_TYPE.ALL, dtc_mask_record: int = 0xFFFFFF, + dtc_snapshot_record_num: int = 0xFF, dtc_extended_record_num: int = 0xFF): + data = b'' + # dtc_status_mask_type + if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_STATUS_MASK or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_BY_STATUS_MASK or \ + dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_BY_STATUS_MASK or \ + dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_MIRROR_MEMORY_DTC_BY_STATUS_MASK or \ + dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK or \ + dtc_report_type == DTC_REPORT_TYPE.EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK: + data += bytes([dtc_status_mask_type]) + # dtc_mask_record + if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \ + dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \ + dtc_report_type == DTC_REPORT_TYPE.SEVERITY_INFORMATION_OF_DTC: + data += struct.pack('!I', dtc_mask_record)[1:] # 3 bytes + # dtc_snapshot_record_num + if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER: + data += bytes([dtc_snapshot_record_num]) + # dtc_extended_record_num + if dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \ + dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER: + data += bytes([dtc_extended_record_num]) + # dtc_severity_mask_type + if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_SEVERITY_MASK_RECORD or \ + dtc_report_type == DTC_REPORT_TYPE.DTC_BY_SEVERITY_MASK_RECORD: + data += bytes([dtc_severity_mask_type, dtc_status_mask_type]) + + resp = self._uds_request(SERVICE_TYPE.READ_DTC_INFORMATION, subfunction=dtc_report_type, data=data) + + # TODO: parse response + return resp + + def input_output_control_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, control_parameter_type: CONTROL_PARAMETER_TYPE, + control_option_record: bytes = b'', control_enable_mask_record: bytes = b''): + data = struct.pack('!H', data_identifier_type) + bytes([control_parameter_type]) + control_option_record + control_enable_mask_record + resp = self._uds_request(SERVICE_TYPE.INPUT_OUTPUT_CONTROL_BY_IDENTIFIER, subfunction=None, data=data) + resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None + if resp_id != data_identifier_type: + raise ValueError('invalid response data identifier: {}'.format(hex(resp_id))) + return resp[2:] + + def routine_control(self, routine_control_type: ROUTINE_CONTROL_TYPE, routine_identifier_type: ROUTINE_IDENTIFIER_TYPE, routine_option_record: bytes = b''): + data = struct.pack('!H', routine_identifier_type) + routine_option_record + resp = self._uds_request(SERVICE_TYPE.ROUTINE_CONTROL, subfunction=routine_control_type, data=data) + resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None + if resp_id != routine_identifier_type: + raise ValueError('invalid response routine identifier: {}'.format(hex(resp_id))) + return resp[2:] + + def request_download(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 4, data_format: int = 0x00): + data = bytes([data_format]) + + if memory_address_bytes < 1 or memory_address_bytes > 4: + raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes)) + if memory_size_bytes < 1 or memory_size_bytes > 4: + raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes)) + data += bytes([memory_size_bytes << 4 | memory_address_bytes]) + + if memory_address >= 1 << (memory_address_bytes * 8): + raise ValueError('invalid memory_address: {}'.format(memory_address)) + data += struct.pack('!I', memory_address)[4 - memory_address_bytes:] + if memory_size >= 1 << (memory_size_bytes * 8): + raise ValueError('invalid memory_size: {}'.format(memory_size)) + data += struct.pack('!I', memory_size)[4 - memory_size_bytes:] + + resp = self._uds_request(SERVICE_TYPE.REQUEST_DOWNLOAD, subfunction=None, data=data) + max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else 0 + if max_num_bytes_len >= 1 and max_num_bytes_len <= 4: + max_num_bytes = struct.unpack('!I', (b"\x00" * (4 - max_num_bytes_len)) + resp[1:max_num_bytes_len + 1])[0] + else: + raise ValueError('invalid max_num_bytes_len: {}'.format(max_num_bytes_len)) + + return max_num_bytes # max number of bytes per transfer data request + + def request_upload(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 4, data_format: int = 0x00): + data = bytes([data_format]) + + if memory_address_bytes < 1 or memory_address_bytes > 4: + raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes)) + if memory_size_bytes < 1 or memory_size_bytes > 4: + raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes)) + data += bytes([memory_size_bytes << 4 | memory_address_bytes]) + + if memory_address >= 1 << (memory_address_bytes * 8): + raise ValueError('invalid memory_address: {}'.format(memory_address)) + data += struct.pack('!I', memory_address)[4 - memory_address_bytes:] + if memory_size >= 1 << (memory_size_bytes * 8): + raise ValueError('invalid memory_size: {}'.format(memory_size)) + data += struct.pack('!I', memory_size)[4 - memory_size_bytes:] + + resp = self._uds_request(SERVICE_TYPE.REQUEST_UPLOAD, subfunction=None, data=data) + max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else 0 + if max_num_bytes_len >= 1 and max_num_bytes_len <= 4: + max_num_bytes = struct.unpack('!I', (b"\x00" * (4 - max_num_bytes_len)) + resp[1:max_num_bytes_len + 1])[0] + else: + raise ValueError('invalid max_num_bytes_len: {}'.format(max_num_bytes_len)) + + return max_num_bytes # max number of bytes per transfer data request + + def transfer_data(self, block_sequence_count: int, data: bytes = b''): + data = bytes([block_sequence_count]) + data + resp = self._uds_request(SERVICE_TYPE.TRANSFER_DATA, subfunction=None, data=data) + resp_id = resp[0] if len(resp) > 0 else None + if resp_id != block_sequence_count: + raise ValueError('invalid block_sequence_count: {}'.format(resp_id)) + return resp[1:] + + def request_transfer_exit(self): + self._uds_request(SERVICE_TYPE.REQUEST_TRANSFER_EXIT, subfunction=None) diff --git a/panda/python/update.py b/panda/python/update.py new file mode 100755 index 000000000..f8e328044 --- /dev/null +++ b/panda/python/update.py @@ -0,0 +1,44 @@ +#!/usr/bin/env python3 +import os +import time + +def ensure_st_up_to_date(): + from panda import Panda, PandaDFU, BASEDIR + + with open(os.path.join(BASEDIR, "VERSION")) as f: + repo_version = f.read() + + repo_version += "-EON" if os.path.isfile('/EON') else "-DEV" + + panda = None + panda_dfu = None + + while 1: + # break on normal mode Panda + panda_list = Panda.list() + if len(panda_list) > 0: + panda = Panda(panda_list[0]) + break + + # flash on DFU mode Panda + panda_dfu = PandaDFU.list() + if len(panda_dfu) > 0: + panda_dfu = PandaDFU(panda_dfu[0]) + panda_dfu.recover() + + print("waiting for board...") + time.sleep(1) + + if panda.bootstub or not panda.get_version().startswith(repo_version): + panda.flash() + + if panda.bootstub: + panda.recover() + + assert(not panda.bootstub) + version = str(panda.get_version()) + print("%s should be %s" % (version, repo_version)) + assert(version.startswith(repo_version)) + +if __name__ == "__main__": + ensure_st_up_to_date() diff --git a/prebuilt b/prebuilt new file mode 100644 index 000000000..e69de29bb diff --git a/pyextra/.gitignore b/pyextra/.gitignore new file mode 100644 index 000000000..0d20b6487 --- /dev/null +++ b/pyextra/.gitignore @@ -0,0 +1 @@ +*.pyc diff --git a/pyextra/acados_template/__init__.py b/pyextra/acados_template/__init__.py new file mode 100644 index 000000000..f33b75bb7 --- /dev/null +++ b/pyextra/acados_template/__init__.py @@ -0,0 +1,43 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +from .acados_model import * +from .generate_c_code_explicit_ode import * +from .generate_c_code_implicit_ode import * +from .generate_c_code_constraint import * +from .generate_c_code_nls_cost import * +from .acados_ocp import * +from .acados_sim import * +from .acados_ocp_solver import * +from .acados_sim_solver import * +from .utils import * diff --git a/pyextra/acados_template/acados_layout.json b/pyextra/acados_template/acados_layout.json new file mode 100644 index 000000000..c9f0b90c7 --- /dev/null +++ b/pyextra/acados_template/acados_layout.json @@ -0,0 +1,804 @@ +{ + "code_export_directory": [ + "str" + ], + "acados_include_path": [ + "str" + ], + "cython_include_dirs": [ + "str" + ], + "model": { + "name" : [ + "str" + ], + "dyn_ext_fun_type" : [ + "str" + ], + "dyn_source_discrete" : [ + "str" + ], + "dyn_disc_fun_jac_hess" : [ + "str" + ], + "dyn_disc_fun_jac" : [ + "str" + ], + "dyn_disc_fun" : [ + "str" + ], + "gnsf" : { + "nontrivial_f_LO": [ + "int" + ], + "purely_linear": [ + "int" + ] + } + }, + "parameter_values": [ + "ndarray", + [ + "np" + ] + ], + "acados_lib_path": [ + "str" + ], + "problem_class": [ + "str" + ], + "constraints": { + "constr_type": [ + "str" + ], + "constr_type_e": [ + "str" + ], + "lbx": [ + "ndarray", + [ + "nbx" + ] + ], + "lbu": [ + "ndarray", + [ + "nbu" + ] + ], + "ubx": [ + "ndarray", + [ + "nbx" + ] + ], + "ubu": [ + "ndarray", + [ + "nbu" + ] + ], + "idxbx": [ + "ndarray", + [ + "nbx" + ] + ], + "idxbu": [ + "ndarray", + [ + "nbu" + ] + ], + "lbx_e": [ + "ndarray", + [ + "nbx_e" + ] + ], + "ubx_e": [ + "ndarray", + [ + "nbx_e" + ] + ], + "idxbx_e": [ + "ndarray", + [ + "nbx_e" + ] + ], + "lbx_0": [ + "ndarray", + [ + "nbx_0" + ] + ], + "ubx_0": [ + "ndarray", + [ + "nbx_0" + ] + ], + "idxbx_0": [ + "ndarray", + [ + "nbx_0" + ] + ], + "idxbxe_0": [ + "ndarray", + [ + "nbxe_0" + ] + ], + "lg": [ + "ndarray", + [ + "ng" + ] + ], + "ug": [ + "ndarray", + [ + "ng" + ] + ], + "D": [ + "ndarray", + [ + "ng", + "nu" + ] + ], + "C": [ + "ndarray", + [ + "ng", + "nx" + ] + ], + "C_e": [ + "ndarray", + [ + "ng_e", + "nx" + ] + ], + "lg_e": [ + "ndarray", + [ + "ng_e" + ] + ], + "ug_e": [ + "ndarray", + [ + "ng_e" + ] + ], + "lh": [ + "ndarray", + [ + "nh" + ] + ], + "uh": [ + "ndarray", + [ + "nh" + ] + ], + "lh_e": [ + "ndarray", + [ + "nh_e" + ] + ], + "uh_e": [ + "ndarray", + [ + "nh_e" + ] + ], + "lphi": [ + "ndarray", + [ + "nphi" + ] + ], + "uphi": [ + "ndarray", + [ + "nphi" + ] + ], + "lphi_e": [ + "ndarray", + [ + "nphi_e" + ] + ], + "uphi_e": [ + "ndarray", + [ + "nphi_e" + ] + ], + "lsbx": [ + "ndarray", + [ + "nsbx" + ] + ], + "usbx": [ + "ndarray", + [ + "nsbx" + ] + ], + "lsbu": [ + "ndarray", + [ + "nsbu" + ] + ], + "usbu": [ + "ndarray", + [ + "nsbu" + ] + ], + "idxsbx": [ + "ndarray", + [ + "nsbx" + ] + ], + "idxsbu": [ + "ndarray", + [ + "nsbu" + ] + ], + "lsbx_e": [ + "ndarray", + [ + "nsbx_e" + ] + ], + "usbx_e": [ + "ndarray", + [ + "nsbx_e" + ] + ], + "idxsbx_e": [ + "ndarray", + [ + "nsbx_e" + ] + ], + "lsg": [ + "ndarray", + [ + "nsg" + ] + ], + "usg": [ + "ndarray", + [ + "nsg" + ] + ], + "idxsg": [ + "ndarray", + [ + "nsg" + ] + ], + "lsg_e": [ + "ndarray", + [ + "nsg_e" + ] + ], + "usg_e": [ + "ndarray", + [ + "nsg_e" + ] + ], + "idxsg_e": [ + "ndarray", + [ + "nsg_e" + ] + ], + "lsh": [ + "ndarray", + [ + "nsh" + ] + ], + "ush": [ + "ndarray", + [ + "nsh" + ] + ], + "idxsh": [ + "ndarray", + [ + "nsh" + ] + ], + "lsh_e": [ + "ndarray", + [ + "nsh_e" + ] + ], + "ush_e": [ + "ndarray", + [ + "nsh_e" + ] + ], + "idxsh_e": [ + "ndarray", + [ + "nsh_e" + ] + ], + "lsphi": [ + "ndarray", + [ + "nsphi" + ] + ], + "usphi": [ + "ndarray", + [ + "nsphi" + ] + ], + "idxsphi": [ + "ndarray", + [ + "nsphi" + ] + ], + "lsphi_e": [ + "ndarray", + [ + "nsphi_e" + ] + ], + "usphi_e": [ + "ndarray", + [ + "nsphi_e" + ] + ], + "idxsphi_e": [ + "ndarray", + [ + "nsphi_e" + ] + ] + }, + "cost": { + "cost_type_0": [ + "str" + ], + "cost_type": [ + "str" + ], + "cost_type_e": [ + "str" + ], + "cost_ext_fun_type_0": [ + "str" + ], + "cost_ext_fun_type": [ + "str" + ], + "cost_ext_fun_type_e": [ + "str" + ], + "Vu_0": [ + "ndarray", + [ + "ny_0", + "nu" + ] + ], + "Vu": [ + "ndarray", + [ + "ny", + "nu" + ] + ], + "Vx_0": [ + "ndarray", + [ + "ny_0", + "nx" + ] + ], + "Vx": [ + "ndarray", + [ + "ny", + "nx" + ] + ], + "Vx_e": [ + "ndarray", + [ + "ny_e", + "nx" + ] + ], + "Vz_0": [ + "ndarray", + [ + "ny_0", + "nz" + ] + ], + "Vz": [ + "ndarray", + [ + "ny", + "nz" + ] + ], + "W_0": [ + "ndarray", + [ + "ny_0", + "ny_0" + ] + ], + "W": [ + "ndarray", + [ + "ny", + "ny" + ] + ], + "Zl": [ + "ndarray", + [ + "ns" + ] + ], + "Zu": [ + "ndarray", + [ + "ns" + ] + ], + "zl": [ + "ndarray", + [ + "ns" + ] + ], + "zu": [ + "ndarray", + [ + "ns" + ] + ], + "W_e": [ + "ndarray", + [ + "ny_e", + "ny_e" + ] + ], + "yref_0": [ + "ndarray", + [ + "ny_0" + ] + ], + "yref": [ + "ndarray", + [ + "ny" + ] + ], + "yref_e": [ + "ndarray", + [ + "ny_e" + ] + ], + "Zl_e": [ + "ndarray", + [ + "ns_e" + ] + ], + "Zu_e": [ + "ndarray", + [ + "ns_e" + ] + ], + "zl_e": [ + "ndarray", + [ + "ns_e" + ] + ], + "zu_e": [ + "ndarray", + [ + "ns_e" + ] + ] + }, + "dims": { + "N": [ + "int" + ], + "nbu": [ + "int" + ], + "nbx": [ + "int" + ], + "nsbu": [ + "int" + ], + "nsbx": [ + "int" + ], + "nsbx_e": [ + "int" + ], + "nbx_0": [ + "int" + ], + "nbx_e": [ + "int" + ], + "nbxe_0": [ + "int" + ], + "nsg": [ + "int" + ], + "nsg_e": [ + "int" + ], + "nsh": [ + "int" + ], + "nsh_e": [ + "int" + ], + "nsphi": [ + "int" + ], + "nsphi_e": [ + "int" + ], + "ns": [ + "int" + ], + "ns_e": [ + "int" + ], + "ng": [ + "int" + ], + "ng_e": [ + "int" + ], + "np": [ + "int" + ], + "nr": [ + "int" + ], + "nr_e": [ + "int" + ], + "nh": [ + "int" + ], + "nh_e": [ + "int" + ], + "nphi": [ + "int" + ], + "nphi_e": [ + "int" + ], + "nu": [ + "int" + ], + "nx": [ + "int" + ], + "ny": [ + "int" + ], + "ny_0": [ + "int" + ], + "ny_e": [ + "int" + ], + "nz": [ + "int" + ], + "gnsf_nx1": [ + "int" + ], + "gnsf_nz1": [ + "int" + ], + "gnsf_nuhat": [ + "int" + ], + "gnsf_ny": [ + "int" + ], + "gnsf_nout": [ + "int" + ] + }, + "solver_options": { + "time_steps": [ + "ndarray", + [ + "N" + ] + ], + "hessian_approx": [ + "str" + ], + "hpipm_mode": [ + "str" + ], + "regularize_method": [ + "str" + ], + "integrator_type": [ + "str" + ], + "nlp_solver_type": [ + "str" + ], + "collocation_type": [ + "str" + ], + "globalization": [ + "str" + ], + "nlp_solver_step_length": [ + "float" + ], + "levenberg_marquardt": [ + "float" + ], + "qp_solver": [ + "str" + ], + "tf": [ + "float" + ], + "Tsim": [ + "float" + ], + "alpha_min": [ + "float" + ], + "alpha_reduction": [ + "float" + ], + "line_search_use_sufficient_descent": [ + "int" + ], + "globalization_use_SOC": [ + "int" + ], + "full_step_dual": [ + "int" + ], + "eps_sufficient_descent": [ + "float" + ], + "sim_method_num_stages": [ + "ndarray", + [ + "N" + ] + ], + "sim_method_num_steps": [ + "ndarray", + [ + "N" + ] + ], + "sim_method_newton_iter": [ + "int" + ], + "sim_method_jac_reuse": [ + "ndarray", + [ + "N" + ] + ], + "qp_solver_cond_N": [ + "int" + ], + "qp_solver_warm_start": [ + "int" + ], + "qp_solver_tol_stat": [ + "float" + ], + "qp_solver_tol_eq": [ + "float" + ], + "qp_solver_tol_ineq": [ + "float" + ], + "qp_solver_tol_comp": [ + "float" + ], + "qp_solver_iter_max": [ + "int" + ], + "nlp_solver_tol_stat": [ + "float" + ], + "nlp_solver_tol_eq": [ + "float" + ], + "nlp_solver_tol_ineq": [ + "float" + ], + "nlp_solver_tol_comp": [ + "float" + ], + "nlp_solver_max_iter": [ + "int" + ], + "print_level": [ + "int" + ], + "initialize_t_slacks": [ + "int" + ], + "exact_hess_cost": [ + "int" + ], + "exact_hess_constr": [ + "int" + ], + "exact_hess_dyn": [ + "int" + ], + "ext_cost_num_hess": [ + "int" + ], + "model_external_shared_lib_dir": [ + "str" + ], + "model_external_shared_lib_name": [ + "str" + ] + } +} diff --git a/pyextra/acados_template/acados_model.py b/pyextra/acados_template/acados_model.py new file mode 100644 index 000000000..e292cc747 --- /dev/null +++ b/pyextra/acados_template/acados_model.py @@ -0,0 +1,167 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + +class AcadosModel(): + """ + Class containing all the information to code generate the external CasADi functions + that are needed when creating an acados ocp solver or acados integrator. + Thus, this class contains: + + a) the :py:attr:`name` of the model, + b) all CasADi variables/expressions needed in the CasADi function generation process. + """ + def __init__(self): + ## common for OCP and Integrator + self.name = None + """ + The model name is used for code generation. Type: string. Default: :code:`None` + """ + self.x = None #: CasADi variable describing the state of the system; Default: :code:`None` + self.xdot = None #: CasADi variable describing the derivative of the state wrt time; Default: :code:`None` + self.u = None #: CasADi variable describing the input of the system; Default: :code:`None` + self.z = [] #: CasADi variable describing the algebraic variables of the DAE; Default: :code:`empty` + self.p = [] #: CasADi variable describing parameters of the DAE; Default: :code:`empty` + # dynamics + self.f_impl_expr = None + """ + CasADi expression for the implicit dynamics :math:`f_\\text{impl}(\dot{x}, x, u, z, p) = 0`. + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'IRK'. + Default: :code:`None` + """ + self.f_expl_expr = None + """ + CasADi expression for the explicit dynamics :math:`\dot{x} = f_\\text{expl}(x, u, p)`. + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'ERK'. + Default: :code:`None` + """ + self.disc_dyn_expr = None + """ + CasADi expression for the discrete dynamics :math:`x_{+} = f_\\text{disc}(x, u, p)`. + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'DISCRETE'. + Default: :code:`None` + """ + + self.dyn_ext_fun_type = 'casadi' #: type of external functions for dynamics module; 'casadi' or 'generic'; Default: 'casadi' + self.dyn_source_discrete = None #: name of source file for discrete dyanamics; Default: :code:`None` + self.dyn_disc_fun_jac_hess = None #: name of function discrete dyanamics + jacobian and hessian; Default: :code:`None` + self.dyn_disc_fun_jac = None #: name of function discrete dyanamics + jacobian; Default: :code:`None` + self.dyn_disc_fun = None #: name of function discrete dyanamics; Default: :code:`None` + + # for GNSF models + self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0} + """ + dictionary containing information on GNSF structure needed when rendering templates. + Contains integers `nontrivial_f_LO`, `purely_linear`. + """ + + ## for OCP + # constraints + self.con_h_expr = None #: CasADi expression for the constraint :math:`h`; Default: :code:`None` + self.con_phi_expr = None #: CasADi expression for the constraint phi; Default: :code:`None` + self.con_r_expr = None #: CasADi expression for the constraint phi(r); Default: :code:`None` + self.con_r_in_phi = None + # terminal + self.con_h_expr_e = None #: CasADi expression for the terminal constraint :math:`h^e`; Default: :code:`None` + self.con_r_expr_e = None #: CasADi expression for the terminal constraint; Default: :code:`None` + self.con_phi_expr_e = None #: CasADi expression for the terminal constraint; Default: :code:`None` + self.con_r_in_phi_e = None + # cost + self.cost_y_expr = None #: CasADi expression for nonlinear least squares; Default: :code:`None` + self.cost_y_expr_e = None #: CasADi expression for nonlinear least squares, terminal; Default: :code:`None` + self.cost_y_expr_0 = None #: CasADi expression for nonlinear least squares, initial; Default: :code:`None` + self.cost_expr_ext_cost = None #: CasADi expression for external cost; Default: :code:`None` + self.cost_expr_ext_cost_e = None #: CasADi expression for external cost, terminal; Default: :code:`None` + self.cost_expr_ext_cost_0 = None #: CasADi expression for external cost, initial; Default: :code:`None` + self.cost_expr_ext_cost_custom_hess = None #: CasADi expression for custom hessian (only for external cost); Default: :code:`None` + self.cost_expr_ext_cost_custom_hess_e = None #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None` + self.cost_expr_ext_cost_custom_hess_0 = None #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None` + + +def acados_model_strip_casadi_symbolics(model): + out = model + if 'f_impl_expr' in out.keys(): + del out['f_impl_expr'] + if 'f_expl_expr' in out.keys(): + del out['f_expl_expr'] + if 'disc_dyn_expr' in out.keys(): + del out['disc_dyn_expr'] + if 'x' in out.keys(): + del out['x'] + if 'xdot' in out.keys(): + del out['xdot'] + if 'u' in out.keys(): + del out['u'] + if 'z' in out.keys(): + del out['z'] + if 'p' in out.keys(): + del out['p'] + # constraints + if 'con_phi_expr' in out.keys(): + del out['con_phi_expr'] + if 'con_h_expr' in out.keys(): + del out['con_h_expr'] + if 'con_r_expr' in out.keys(): + del out['con_r_expr'] + if 'con_r_in_phi' in out.keys(): + del out['con_r_in_phi'] + # terminal + if 'con_phi_expr_e' in out.keys(): + del out['con_phi_expr_e'] + if 'con_h_expr_e' in out.keys(): + del out['con_h_expr_e'] + if 'con_r_expr_e' in out.keys(): + del out['con_r_expr_e'] + if 'con_r_in_phi_e' in out.keys(): + del out['con_r_in_phi_e'] + # cost + if 'cost_y_expr' in out.keys(): + del out['cost_y_expr'] + if 'cost_y_expr_e' in out.keys(): + del out['cost_y_expr_e'] + if 'cost_y_expr_0' in out.keys(): + del out['cost_y_expr_0'] + if 'cost_expr_ext_cost' in out.keys(): + del out['cost_expr_ext_cost'] + if 'cost_expr_ext_cost_e' in out.keys(): + del out['cost_expr_ext_cost_e'] + if 'cost_expr_ext_cost_0' in out.keys(): + del out['cost_expr_ext_cost_0'] + if 'cost_expr_ext_cost_custom_hess' in out.keys(): + del out['cost_expr_ext_cost_custom_hess'] + if 'cost_expr_ext_cost_custom_hess_e' in out.keys(): + del out['cost_expr_ext_cost_custom_hess_e'] + if 'cost_expr_ext_cost_custom_hess_0' in out.keys(): + del out['cost_expr_ext_cost_custom_hess_0'] + + return out diff --git a/pyextra/acados_template/acados_ocp.py b/pyextra/acados_template/acados_ocp.py new file mode 100644 index 000000000..80970239e --- /dev/null +++ b/pyextra/acados_template/acados_ocp.py @@ -0,0 +1,2955 @@ +# -*- coding: future_fstrings -*- +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import numpy as np +import os +from .acados_model import AcadosModel +from .utils import get_acados_path, J_to_idx, J_to_idx_slack + +class AcadosOcpDims: + """ + Class containing the dimensions of the optimal control problem. + """ + def __init__(self): + self.__nx = None + self.__nu = None + self.__nz = 0 + self.__np = 0 + self.__ny = 0 + self.__ny_e = 0 + self.__ny_0 = 0 + self.__nr = 0 + self.__nr_e = 0 + self.__nh = 0 + self.__nh_e = 0 + self.__nphi = 0 + self.__nphi_e = 0 + self.__nbx = 0 + self.__nbx_0 = 0 + self.__nbx_e = 0 + self.__nbu = 0 + self.__nsbx = 0 + self.__nsbx_e = 0 + self.__nsbu = 0 + self.__nsh = 0 + self.__nsh_e = 0 + self.__nsphi = 0 + self.__nsphi_e = 0 + self.__ns = 0 + self.__ns_e = 0 + self.__ng = 0 + self.__ng_e = 0 + self.__nsg = 0 + self.__nsg_e = 0 + self.__nbxe_0 = None + self.__N = None + + + @property + def nx(self): + """:math:`n_x` - number of states. + Type: int; default: None""" + return self.__nx + + @property + def nz(self): + """:math:`n_z` - number of algebraic variables. + Type: int; default: 0""" + return self.__nz + + @property + def nu(self): + """:math:`n_u` - number of inputs. + Type: int; default: None""" + return self.__nu + + @property + def np(self): + """:math:`n_p` - number of parameters. + Type: int; default: 0""" + return self.__np + + @property + def ny(self): + """:math:`n_y` - number of residuals in Lagrange term. + Type: int; default: 0""" + return self.__ny + + @property + def ny_0(self): + """:math:`n_{y}^0` - number of residuals in Mayer term. + Type: int; default: 0""" + return self.__ny_0 + + @property + def ny_e(self): + """:math:`n_{y}^e` - number of residuals in Mayer term. + Type: int; default: 0""" + return self.__ny_e + + @property + def nr(self): + """:math:`n_{\pi}` - dimension of the image of the inner nonlinear function in positive definite constraints. + Type: int; default: 0""" + return self.__nr + + @property + def nr_e(self): + """:math:`n_{\pi}^e` - dimension of the image of the inner nonlinear function in positive definite constraints. + Type: int; default: 0""" + return self.__nr_e + + @property + def nh(self): + """:math:`n_h` - number of nonlinear constraints. + Type: int; default: 0""" + return self.__nh + + @property + def nh_e(self): + """:math:`n_{h}^e` - number of nonlinear constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__nh_e + + @property + def nphi(self): + """:math:`n_{\phi}` - number of convex-over-nonlinear constraints. + Type: int; default: 0""" + return self.__nphi + + @property + def nphi_e(self): + """:math:`n_{\phi}^e` - number of convex-over-nonlinear constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__nphi_e + + @property + def nbx(self): + """:math:`n_{b_x}` - number of state bounds. + Type: int; default: 0""" + return self.__nbx + + @property + def nbxe_0(self): + """:math:`n_{be_{x0}}` - number of state bounds at initial shooting node that are equalities. + Type: int; default: None""" + return self.__nbxe_0 + + @property + def nbx_0(self): + """:math:`n_{b_{x0}}` - number of state bounds for initial state. + Type: int; default: 0""" + return self.__nbx_0 + + @property + def nbx_e(self): + """:math:`n_{b_x}` - number of state bounds at terminal shooting node N. + Type: int; default: 0""" + return self.__nbx_e + + @property + def nbu(self): + """:math:`n_{b_u}` - number of input bounds. + Type: int; default: 0""" + return self.__nbu + + @property + def nsbx(self): + """:math:`n_{{sb}_x}` - number of soft state bounds. + Type: int; default: 0""" + return self.__nsbx + + @property + def nsbx_e(self): + """:math:`n_{{sb}^e_{x}}` - number of soft state bounds at terminal shooting node N. + Type: int; default: 0""" + return self.__nsbx_e + + @property + def nsbu(self): + """:math:`n_{{sb}_u}` - number of soft input bounds. + Type: int; default: 0""" + return self.__nsbu + + @property + def nsg(self): + """:math:`n_{{sg}}` - number of soft general linear constraints. + Type: int; default: 0""" + return self.__nsg + + @property + def nsg_e(self): + """:math:`n_{{sg}^e}` - number of soft general linear constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__nsg_e + + @property + def nsh(self): + """:math:`n_{{sh}}` - number of soft nonlinear constraints. + Type: int; default: 0""" + return self.__nsh + + @property + def nsh_e(self): + """:math:`n_{{sh}}^e` - number of soft nonlinear constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__nsh_e + + @property + def nsphi(self): + """:math:`n_{{s\phi}}` - number of soft convex-over-nonlinear constraints. + Type: int; default: 0""" + return self.__nsphi + + @property + def nsphi_e(self): + """:math:`n_{{s\phi}^e}` - number of soft convex-over-nonlinear constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__nsphi_e + + @property + def ns(self): + """:math:`n_{s}` - total number of slacks. + Type: int; default: 0""" + return self.__ns + + @property + def ns_e(self): + """:math:`n_{s}^e` - total number of slacks at terminal shooting node N. + Type: int; default: 0""" + return self.__ns_e + + @property + def ng(self): + """:math:`n_{g}` - number of general polytopic constraints. + Type: int; default: 0""" + return self.__ng + + @property + def ng_e(self): + """:math:`n_{g}^e` - number of general polytopic constraints at terminal shooting node N. + Type: int; default: 0""" + return self.__ng_e + + @property + def N(self): + """:math:`N` - prediction horizon. + Type: int; default: None""" + return self.__N + + @nx.setter + def nx(self, nx): + if isinstance(nx, int) and nx > 0: + self.__nx = nx + else: + raise Exception('Invalid nx value, expected positive integer. Exiting.') + + @nz.setter + def nz(self, nz): + if isinstance(nz, int) and nz > -1: + self.__nz = nz + else: + raise Exception('Invalid nz value, expected nonnegative integer. Exiting.') + + @nu.setter + def nu(self, nu): + if isinstance(nu, int) and nu > -1: + self.__nu = nu + else: + raise Exception('Invalid nu value, expected nonnegative integer. Exiting.') + + @np.setter + def np(self, np): + if isinstance(np, int) and np > -1: + self.__np = np + else: + raise Exception('Invalid np value, expected nonnegative integer. Exiting.') + + @ny_0.setter + def ny_0(self, ny_0): + if isinstance(ny_0, int) and ny_0 > -1: + self.__ny_0 = ny_0 + else: + raise Exception('Invalid ny_0 value, expected nonnegative integer. Exiting.') + + @ny.setter + def ny(self, ny): + if isinstance(ny, int) and ny > -1: + self.__ny = ny + else: + raise Exception('Invalid ny value, expected nonnegative integer. Exiting.') + + @ny_e.setter + def ny_e(self, ny_e): + if isinstance(ny_e, int) and ny_e > -1: + self.__ny_e = ny_e + else: + raise Exception('Invalid ny_e value, expected nonnegative integer. Exiting.') + + @nr.setter + def nr(self, nr): + if isinstance(nr, int) and nr > -1: + self.__nr = nr + else: + raise Exception('Invalid nr value, expected nonnegative integer. Exiting.') + + @nr_e.setter + def nr_e(self, nr_e): + if isinstance(nr_e, int) and nr_e > -1: + self.__nr_e = nr_e + else: + raise Exception('Invalid nr_e value, expected nonnegative integer. Exiting.') + + @nh.setter + def nh(self, nh): + if isinstance(nh, int) and nh > -1: + self.__nh = nh + else: + raise Exception('Invalid nh value, expected nonnegative integer. Exiting.') + + @nh_e.setter + def nh_e(self, nh_e): + if isinstance(nh_e, int) and nh_e > -1: + self.__nh_e = nh_e + else: + raise Exception('Invalid nh_e value, expected nonnegative integer. Exiting.') + + @nphi.setter + def nphi(self, nphi): + if isinstance(nphi, int) and nphi > -1: + self.__nphi = nphi + else: + raise Exception('Invalid nphi value, expected nonnegative integer. Exiting.') + + @nphi_e.setter + def nphi_e(self, nphi_e): + if isinstance(nphi_e, int) and nphi_e > -1: + self.__nphi_e = nphi_e + else: + raise Exception('Invalid nphi_e value, expected nonnegative integer. Exiting.') + + @nbx.setter + def nbx(self, nbx): + if isinstance(nbx, int) and nbx > -1: + self.__nbx = nbx + else: + raise Exception('Invalid nbx value, expected nonnegative integer. Exiting.') + + @nbxe_0.setter + def nbxe_0(self, nbxe_0): + if isinstance(nbxe_0, int) and nbxe_0 > -1: + self.__nbxe_0 = nbxe_0 + else: + raise Exception('Invalid nbxe_0 value, expected nonnegative integer. Exiting.') + + @nbx_0.setter + def nbx_0(self, nbx_0): + if isinstance(nbx_0, int) and nbx_0 > -1: + self.__nbx_0 = nbx_0 + else: + raise Exception('Invalid nbx_0 value, expected nonnegative integer. Exiting.') + + @nbx_e.setter + def nbx_e(self, nbx_e): + if isinstance(nbx_e, int) and nbx_e > -1: + self.__nbx_e = nbx_e + else: + raise Exception('Invalid nbx_e value, expected nonnegative integer. Exiting.') + + @nbu.setter + def nbu(self, nbu): + if isinstance(nbu, int) and nbu > -1: + self.__nbu = nbu + else: + raise Exception('Invalid nbu value, expected nonnegative integer. Exiting.') + + @nsbx.setter + def nsbx(self, nsbx): + if isinstance(nsbx, int) and nsbx > -1: + self.__nsbx = nsbx + else: + raise Exception('Invalid nsbx value, expected nonnegative integer. Exiting.') + + @nsbx_e.setter + def nsbx_e(self, nsbx_e): + if isinstance(nsbx_e, int) and nsbx_e > -1: + self.__nsbx_e = nsbx_e + else: + raise Exception('Invalid nsbx_e value, expected nonnegative integer. Exiting.') + + @nsbu.setter + def nsbu(self, nsbu): + if isinstance(nsbu, int) and nsbu > -1: + self.__nsbu = nsbu + else: + raise Exception('Invalid nsbu value, expected nonnegative integer. Exiting.') + + @nsg.setter + def nsg(self, nsg): + if isinstance(nsg, int) and nsg > -1: + self.__nsg = nsg + else: + raise Exception('Invalid nsg value, expected nonnegative integer. Exiting.') + + @nsg_e.setter + def nsg_e(self, nsg_e): + if isinstance(nsg_e, int) and nsg_e > -1: + self.__nsg_e = nsg_e + else: + raise Exception('Invalid nsg_e value, expected nonnegative integer. Exiting.') + + @nsh.setter + def nsh(self, nsh): + if isinstance(nsh, int) and nsh > -1: + self.__nsh = nsh + else: + raise Exception('Invalid nsh value, expected nonnegative integer. Exiting.') + + @nsh_e.setter + def nsh_e(self, nsh_e): + if isinstance(nsh_e, int) and nsh_e > -1: + self.__nsh_e = nsh_e + else: + raise Exception('Invalid nsh_e value, expected nonnegative integer. Exiting.') + + @nsphi.setter + def nsphi(self, nsphi): + if isinstance(nsphi, int) and nsphi > -1: + self.__nsphi = nsphi + else: + raise Exception('Invalid nsphi value, expected nonnegative integer. Exiting.') + + @nsphi_e.setter + def nsphi_e(self, nsphi_e): + if isinstance(nsphi_e, int) and nsphi_e > -1: + self.__nsphi_e = nsphi_e + else: + raise Exception('Invalid nsphi_e value, expected nonnegative integer. Exiting.') + + @ns.setter + def ns(self, ns): + if isinstance(ns, int) and ns > -1: + self.__ns = ns + else: + raise Exception('Invalid ns value, expected nonnegative integer. Exiting.') + + @ns_e.setter + def ns_e(self, ns_e): + if isinstance(ns_e, int) and ns_e > -1: + self.__ns_e = ns_e + else: + raise Exception('Invalid ns_e value, expected nonnegative integer. Exiting.') + + @ng.setter + def ng(self, ng): + if isinstance(ng, int) and ng > -1: + self.__ng = ng + else: + raise Exception('Invalid ng value, expected nonnegative integer. Exiting.') + + @ng_e.setter + def ng_e(self, ng_e): + if isinstance(ng_e, int) and ng_e > -1: + self.__ng_e = ng_e + else: + raise Exception('Invalid ng_e value, expected nonnegative integer. Exiting.') + + @N.setter + def N(self, N): + if isinstance(N, int) and N > 0: + self.__N = N + else: + raise Exception('Invalid N value, expected positive integer. Exiting.') + + def set(self, attr, value): + setattr(self, attr, value) + + +class AcadosOcpCost: + """ + Class containing the numerical data of the cost: + + In case of LINEAR_LS: + stage cost is + :math:`l(x,u,z) = || V_x \, x + V_u \, u + V_z \, z - y_\\text{ref}||^2_W`, + terminal cost is + :math:`m(x) = || V^e_x \, x - y_\\text{ref}^e||^2_{W^e}` + + In case of NONLINEAR_LS: + stage cost is + :math:`l(x,u,z) = || y(x,u,z) - y_\\text{ref}||^2_W`, + terminal cost is + :math:`m(x) = || y^e(x) - y_\\text{ref}^e||^2_{W^e}` + """ + def __init__(self): + # initial stage + self.__cost_type_0 = None + self.__W_0 = None + self.__Vx_0 = None + self.__Vu_0 = None + self.__Vz_0 = None + self.__yref_0 = None + self.__cost_ext_fun_type_0 = 'casadi' + # Lagrange term + self.__cost_type = 'LINEAR_LS' # cost type + self.__W = np.zeros((0,0)) + self.__Vx = np.zeros((0,0)) + self.__Vu = np.zeros((0,0)) + self.__Vz = np.zeros((0,0)) + self.__yref = np.array([]) + self.__Zl = np.array([]) + self.__Zu = np.array([]) + self.__zl = np.array([]) + self.__zu = np.array([]) + self.__cost_ext_fun_type = 'casadi' + # Mayer term + self.__cost_type_e = 'LINEAR_LS' + self.__W_e = np.zeros((0,0)) + self.__Vx_e = np.zeros((0,0)) + self.__yref_e = np.array([]) + self.__Zl_e = np.array([]) + self.__Zu_e = np.array([]) + self.__zl_e = np.array([]) + self.__zu_e = np.array([]) + self.__cost_ext_fun_type_e = 'casadi' + + # initial stage + @property + def cost_type_0(self): + """Cost type at initial shooting node (0) + -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS} or :code:`None`. + Default: :code:`None`. + + .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly. + + .. note:: If :py:attr:`cost_type_0` is set to :code:`None` values in :py:attr:`W_0`, :py:attr:`Vx_0`, :py:attr:`Vu_0`, :py:attr:`Vz_0` and :py:attr:`yref_0` are ignored (set to :code:`None`). + """ + return self.__cost_type_0 + + @property + def W_0(self): + """:math:`W_0` - weight matrix at initial shooting node (0). + Default: :code:`None`. + """ + return self.__W_0 + + @property + def Vx_0(self): + """:math:`V_x^0` - x matrix coefficient at initial shooting node (0). + Default: :code:`None`. + """ + return self.__Vx_0 + + @property + def Vu_0(self): + """:math:`V_u^0` - u matrix coefficient at initial shooting node (0). + Default: :code:`None`. + """ + return self.__Vu_0 + + @property + def Vz_0(self): + """:math:`V_z^0` - z matrix coefficient at initial shooting node (0). + Default: :code:`None`. + """ + return self.__Vz_0 + + @property + def yref_0(self): + """:math:`y_\\text{ref}^0` - reference at initial shooting node (0). + Default: :code:`None`. + """ + return self.__yref_0 + + @property + def cost_ext_fun_type_0(self): + """Type of external function for cost at initial shooting node (0) + -- string in {casadi, generic} or :code:`None` + Default: :code:'casadi'. + + .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly. + """ + return self.__cost_ext_fun_type_0 + + @yref_0.setter + def yref_0(self, yref_0): + if isinstance(yref_0, np.ndarray): + self.__yref_0 = yref_0 + else: + raise Exception('Invalid yref_0 value, expected numpy array. Exiting.') + + @W_0.setter + def W_0(self, W_0): + if isinstance(W_0, np.ndarray) and len(W_0.shape) == 2: + self.__W_0 = W_0 + else: + raise Exception('Invalid cost W_0 value. ' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @Vx_0.setter + def Vx_0(self, Vx_0): + if isinstance(Vx_0, np.ndarray) and len(Vx_0.shape) == 2: + self.__Vx_0 = Vx_0 + else: + raise Exception('Invalid cost Vx_0 value. ' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @Vu_0.setter + def Vu_0(self, Vu_0): + if isinstance(Vu_0, np.ndarray) and len(Vu_0.shape) == 2: + self.__Vu_0 = Vu_0 + else: + raise Exception('Invalid cost Vu_0 value. ' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @Vz_0.setter + def Vz_0(self, Vz_0): + if isinstance(Vz_0, np.ndarray) and len(Vz_0.shape) == 2: + self.__Vz_0 = Vz_0 + else: + raise Exception('Invalid cost Vz_0 value. ' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @cost_ext_fun_type_0.setter + def cost_ext_fun_type_0(self, cost_ext_fun_type_0): + if cost_ext_fun_type_0 in ['casadi', 'generic']: + self.__cost_ext_fun_type_0 = cost_ext_fun_type_0 + else: + raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array. Exiting.') + + # Lagrange term + @property + def cost_type(self): + """ + Cost type at intermediate shooting nodes (1 to N-1) + -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS}. + Default: 'LINEAR_LS'. + """ + return self.__cost_type + + @property + def W(self): + """:math:`W` - weight matrix at intermediate shooting nodes (1 to N-1). + Default: :code:`np.zeros((0,0))`. + """ + return self.__W + + @property + def Vx(self): + """:math:`V_x` - x matrix coefficient at intermediate shooting nodes (1 to N-1). + Default: :code:`np.zeros((0,0))`. + """ + return self.__Vx + + @property + def Vu(self): + """:math:`V_u` - u matrix coefficient at intermediate shooting nodes (1 to N-1). + Default: :code:`np.zeros((0,0))`. + """ + return self.__Vu + + @property + def Vz(self): + """:math:`V_z` - z matrix coefficient at intermediate shooting nodes (1 to N-1). + Default: :code:`np.zeros((0,0))`. + """ + return self.__Vz + + @property + def yref(self): + """:math:`y_\\text{ref}` - reference at intermediate shooting nodes (1 to N-1). + Default: :code:`np.array([])`. + """ + return self.__yref + + @property + def Zl(self): + """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (1 to N-1). + Default: :code:`np.array([])`. + """ + return self.__Zl + + @property + def Zu(self): + """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (1 to N-1). + Default: :code:`np.array([])`. + """ + return self.__Zu + + @property + def zl(self): + """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (1 to N-1). + Default: :code:`np.array([])`. + """ + return self.__zl + + @property + def zu(self): + """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (1 to N-1). + Default: :code:`np.array([])`. + """ + return self.__zu + + @property + def cost_ext_fun_type(self): + """Type of external function for cost at intermediate shooting nodes (1 to N-1). + -- string in {casadi, generic} + Default: :code:'casadi'. + """ + return self.__cost_ext_fun_type + + @cost_type.setter + def cost_type(self, cost_type): + cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL') + if cost_type in cost_types: + self.__cost_type = cost_type + else: + raise Exception('Invalid cost_type value. Exiting.') + + @cost_type_0.setter + def cost_type_0(self, cost_type_0): + cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL') + if cost_type_0 in cost_types: + self.__cost_type_0 = cost_type_0 + else: + raise Exception('Invalid cost_type_0 value. Exiting.') + + @W.setter + def W(self, W): + if isinstance(W, np.ndarray) and len(W.shape) == 2: + self.__W = W + else: + raise Exception('Invalid cost W value. ' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + + @Vx.setter + def Vx(self, Vx): + if isinstance(Vx, np.ndarray) and len(Vx.shape) == 2: + self.__Vx = Vx + else: + raise Exception('Invalid cost Vx value. ' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @Vu.setter + def Vu(self, Vu): + if isinstance(Vu, np.ndarray) and len(Vu.shape) == 2: + self.__Vu = Vu + else: + raise Exception('Invalid cost Vu value. ' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @Vz.setter + def Vz(self, Vz): + if isinstance(Vz, np.ndarray) and len(Vz.shape) == 2: + self.__Vz = Vz + else: + raise Exception('Invalid cost Vz value. ' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @yref.setter + def yref(self, yref): + if isinstance(yref, np.ndarray): + self.__yref = yref + else: + raise Exception('Invalid yref value, expected numpy array. Exiting.') + + @Zl.setter + def Zl(self, Zl): + if isinstance(Zl, np.ndarray): + self.__Zl = Zl + else: + raise Exception('Invalid Zl value, expected numpy array. Exiting.') + + @Zu.setter + def Zu(self, Zu): + if isinstance(Zu, np.ndarray): + self.__Zu = Zu + else: + raise Exception('Invalid Zu value, expected numpy array. Exiting.') + + @zl.setter + def zl(self, zl): + if isinstance(zl, np.ndarray): + self.__zl = zl + else: + raise Exception('Invalid zl value, expected numpy array. Exiting.') + + @zu.setter + def zu(self, zu): + if isinstance(zu, np.ndarray): + self.__zu = zu + else: + raise Exception('Invalid zu value, expected numpy array. Exiting.') + + @cost_ext_fun_type.setter + def cost_ext_fun_type(self, cost_ext_fun_type): + if cost_ext_fun_type in ['casadi', 'generic']: + self.__cost_ext_fun_type = cost_ext_fun_type + else: + raise Exception('Invalid cost_ext_fun_type value, expected numpy array. Exiting.') + + # Mayer term + @property + def cost_type_e(self): + """ + Cost type at terminal shooting node (N) + -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS}. + Default: 'LINEAR_LS'. + """ + return self.__cost_type_e + + @property + def W_e(self): + """:math:`W_e` - weight matrix at terminal shooting node (N). + Default: :code:`np.zeros((0,0))`. + """ + return self.__W_e + + @property + def Vx_e(self): + """:math:`V_x^e` - x matrix coefficient for cost at terminal shooting node (N). + Default: :code:`np.zeros((0,0))`. + """ + return self.__Vx_e + + @property + def yref_e(self): + """:math:`y_\\text{ref}^e` - cost reference at terminal shooting node (N). + Default: :code:`np.array([])`. + """ + return self.__yref_e + + @property + def Zl_e(self): + """:math:`Z_l^e` - diagonal of Hessian wrt lower slack at terminal shooting node (N). + Default: :code:`np.array([])`. + """ + return self.__Zl_e + + @property + def Zu_e(self): + """:math:`Z_u^e` - diagonal of Hessian wrt upper slack at terminal shooting node (N). + Default: :code:`np.array([])`. + """ + return self.__Zu_e + + @property + def zl_e(self): + """:math:`z_l^e` - gradient wrt lower slack at terminal shooting node (N). + Default: :code:`np.array([])`. + """ + return self.__zl_e + + @property + def zu_e(self): + """:math:`z_u^e` - gradient wrt upper slack at terminal shooting node (N). + Default: :code:`np.array([])`. + """ + return self.__zu_e + + @property + def cost_ext_fun_type_e(self): + """Type of external function for cost at intermediate shooting nodes (1 to N-1). + -- string in {casadi, generic} + Default: :code:'casadi'. + """ + return self.__cost_ext_fun_type_e + + @cost_type_e.setter + def cost_type_e(self, cost_type_e): + cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL') + + if cost_type_e in cost_types: + self.__cost_type_e = cost_type_e + else: + raise Exception('Invalid cost_type_e value. Exiting.') + + @W_e.setter + def W_e(self, W_e): + if isinstance(W_e, np.ndarray) and len(W_e.shape) == 2: + self.__W_e = W_e + else: + raise Exception('Invalid cost W_e value. ' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @Vx_e.setter + def Vx_e(self, Vx_e): + if isinstance(Vx_e, np.ndarray) and len(Vx_e.shape) == 2: + self.__Vx_e = Vx_e + else: + raise Exception('Invalid cost Vx_e value. ' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @yref_e.setter + def yref_e(self, yref_e): + if isinstance(yref_e, np.ndarray): + self.__yref_e = yref_e + else: + raise Exception('Invalid yref_e value, expected numpy array. Exiting.') + + @Zl_e.setter + def Zl_e(self, Zl_e): + if isinstance(Zl_e, np.ndarray): + self.__Zl_e = Zl_e + else: + raise Exception('Invalid Zl_e value, expected numpy array. Exiting.') + + @Zu_e.setter + def Zu_e(self, Zu_e): + if isinstance(Zu_e, np.ndarray): + self.__Zu_e = Zu_e + else: + raise Exception('Invalid Zu_e value, expected numpy array. Exiting.') + + @zl_e.setter + def zl_e(self, zl_e): + if isinstance(zl_e, np.ndarray): + self.__zl_e = zl_e + else: + raise Exception('Invalid zl_e value, expected numpy array. Exiting.') + + @zu_e.setter + def zu_e(self, zu_e): + if isinstance(zu_e, np.ndarray): + self.__zu_e = zu_e + else: + raise Exception('Invalid zu_e value, expected numpy array. Exiting.') + + @cost_ext_fun_type_e.setter + def cost_ext_fun_type_e(self, cost_ext_fun_type_e): + if cost_ext_fun_type_e in ['casadi', 'generic']: + self.__cost_ext_fun_type_e = cost_ext_fun_type_e + else: + raise Exception('Invalid cost_ext_fun_type_e value, expected numpy array. Exiting.') + + def set(self, attr, value): + setattr(self, attr, value) + + +def print_J_to_idx_note(): + print("NOTE: J* matrix is converted to zero based vector idx* vector, which is returned here.") + + +class AcadosOcpConstraints: + """ + class containing the description of the constraints + """ + def __init__(self): + self.__constr_type = 'BGH' + self.__constr_type_e = 'BGH' + # initial x + self.__lbx_0 = np.array([]) + self.__ubx_0 = np.array([]) + self.__idxbx_0 = np.array([]) + self.__idxbxe_0 = np.array([]) + # state bounds + self.__lbx = np.array([]) + self.__ubx = np.array([]) + self.__idxbx = np.array([]) + # bounds on x at shooting node N + self.__lbx_e = np.array([]) + self.__ubx_e = np.array([]) + self.__idxbx_e = np.array([]) + # bounds on u + self.__lbu = np.array([]) + self.__ubu = np.array([]) + self.__idxbu = np.array([]) + # polytopic constraints + self.__lg = np.array([]) + self.__ug = np.array([]) + self.__D = np.zeros((0,0)) + self.__C = np.zeros((0,0)) + # polytopic constraints at shooting node N + self.__C_e = np.zeros((0,0)) + self.__lg_e = np.array([]) + self.__ug_e = np.array([]) + # nonlinear constraints + self.__lh = np.array([]) + self.__uh = np.array([]) + # nonlinear constraints at shooting node N + self.__uh_e = np.array([]) + self.__lh_e = np.array([]) + # convex-over-nonlinear constraints + self.__lphi = np.array([]) + self.__uphi = np.array([]) + # nonlinear constraints at shooting node N + self.__uphi_e = np.array([]) + self.__lphi_e = np.array([]) + # SLACK BOUNDS + # soft bounds on x + self.__lsbx = np.array([]) + self.__usbx = np.array([]) + self.__idxsbx = np.array([]) + # soft bounds on u + self.__lsbu = np.array([]) + self.__usbu = np.array([]) + self.__idxsbu = np.array([]) + # soft bounds on x at shooting node N + self.__lsbx_e = np.array([]) + self.__usbx_e = np.array([]) + self.__idxsbx_e= np.array([]) + # soft bounds on general linear constraints + self.__lsg = np.array([]) + self.__usg = np.array([]) + self.__idxsg = np.array([]) + # soft bounds on nonlinear constraints + self.__lsh = np.array([]) + self.__ush = np.array([]) + self.__idxsh = np.array([]) + # soft bounds on nonlinear constraints + self.__lsphi = np.array([]) + self.__usphi = np.array([]) + self.__idxsphi = np.array([]) + # soft bounds on general linear constraints at shooting node N + self.__lsg_e = np.array([]) + self.__usg_e = np.array([]) + self.__idxsg_e = np.array([]) + # soft bounds on nonlinear constraints at shooting node N + self.__lsh_e = np.array([]) + self.__ush_e = np.array([]) + self.__idxsh_e = np.array([]) + # soft bounds on nonlinear constraints at shooting node N + self.__lsphi_e = np.array([]) + self.__usphi_e = np.array([]) + self.__idxsphi_e = np.array([]) + + + # types + @property + def constr_type(self): + """Constraints type for shooting nodes (0 to N-1). string in {BGH, BGP}. + Default: BGH; BGP is for convex over nonlinear.""" + return self.__constr_type + + @property + def constr_type_e(self): + """Constraints type for terminal shooting node N. string in {BGH, BGP}. + Default: BGH; BGP is for convex over nonlinear.""" + return self.__constr_type_e + + # initial bounds on x + @property + def lbx_0(self): + """:math:`\\underline{x_0}` - lower bounds on x at initial stage 0. + Type: :code:`np.ndarray`; default: :code:`np.array([])`.""" + return self.__lbx_0 + + @property + def ubx_0(self): + """:math:`\\bar{x_0}` - upper bounds on x at initial stage 0. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__ubx_0 + + @property + def Jbx_0(self): + """:math:`J_{bx,0}` - matrix coefficient for bounds on x at initial stage 0. + Translated internally to :py:attr:`idxbx_0`""" + print_J_to_idx_note() + return self.__idxbx_0 + + @property + def idxbx_0(self): + """Indices of bounds on x at initial stage 0 + -- can be set automatically via x0. + Can be set by using :py:attr:`Jbx_0`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxbx_0 + + @property + def idxbxe_0(self): + """Indices of bounds on x0 that are equalities -- can be set automatically via :py:attr:`x0`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxbxe_0 + + # bounds on x + @property + def lbx(self): + """:math:`\\underline{x}` - lower bounds on x at intermediate shooting nodes (1 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__lbx + + @property + def ubx(self): + """:math:`\\bar{x}` - upper bounds on x at intermediate shooting nodes (1 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__ubx + + @property + def idxbx(self): + """indices of bounds on x (defines :math:`J_{bx}`) at intermediate shooting nodes (1 to N-1). + Can be set by using :py:attr:`Jbx`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxbx + + @property + def Jbx(self): + """:math:`J_{bx}` - matrix coefficient for bounds on x + at intermediate shooting nodes (1 to N-1). + Translated internally into :py:attr:`idxbx`.""" + print_J_to_idx_note() + return self.__idxbx + + # bounds on x at shooting node N + @property + def lbx_e(self): + """:math:`\\underline{x}^e` - lower bounds on x at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__lbx_e + + @property + def ubx_e(self): + """:math:`\\bar{x}^e` - upper bounds on x at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__ubx_e + + @property + def idxbx_e(self): + """Indices for bounds on x at terminal shooting node N (defines :math:`J_{bx}^e`). + Can be set by using :py:attr:`Jbx_e`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxbx_e + + @property + def Jbx_e(self): + """:math:`J_{bx}^e` matrix coefficient for bounds on x at terminal shooting node N. + Translated internally into :py:attr:`idxbx_e`.""" + print_J_to_idx_note() + return self.__idxbx_e + + # bounds on u + @property + def lbu(self): + """:math:`\\underline{u}` - lower bounds on u at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])` + """ + return self.__lbu + + @property + def ubu(self): + """:math:`\\bar{u}` - upper bounds on u at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])` + """ + return self.__ubu + + @property + def idxbu(self): + """Indices of bounds on u (defines :math:`J_{bu}`) at shooting nodes (0 to N-1). + Can be set by using :py:attr:`Jbu`. + Type: :code:`np.ndarray`; default: :code:`np.array([])` + """ + return self.__idxbu + + @property + def Jbu(self): + """:math:`J_{bu}` - matrix coefficient for bounds on u at shooting nodes (0 to N-1). + Translated internally to :py:attr:`idxbu`. + """ + print_J_to_idx_note() + return self.__idxbu + + # polytopic constraints + @property + def C(self): + """:math:`C` - C matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}` + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`. + """ + return self.__C + + @property + def D(self): + """:math:`D` - D matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}` + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array((0,0))` + """ + return self.__D + + @property + def lg(self): + """:math:`\\underline{g}` - lower bound for general polytopic inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])` + """ + return self.__lg + + @property + def ug(self): + """:math:`\\bar{g}` - upper bound for general polytopic inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__ug + + # polytopic constraints at shooting node N + @property + def C_e(self): + """:math:`C^e` - C matrix at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`. + """ + return self.__C_e + + @property + def lg_e(self): + """:math:`\\underline{g}^e` - lower bound on general polytopic inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__lg_e + + @property + def ug_e(self): + """:math:`\\bar{g}^e` - upper bound on general polytopic inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__ug_e + + + # nonlinear constraints + @property + def lh(self): + """:math:`\\underline{h}` - lower bound for nonlinear inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__lh + + @property + def uh(self): + """:math:`\\bar{h}` - upper bound for nonlinear inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__uh + + # nonlinear constraints at shooting node N + @property + def lh_e(self): + """:math:`\\underline{h}^e` - lower bound on nonlinear inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__lh_e + + @property + def uh_e(self): + """:math:`\\bar{h}^e` - upper bound on nonlinear inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__uh_e + + # convex-over-nonlinear constraints + @property + def lphi(self): + """:math:`\\underline{\phi}` - lower bound for convex-over-nonlinear inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__lphi + + @property + def uphi(self): + """:math:`\\bar{\phi}` - upper bound for convex-over-nonlinear inequalities + at shooting nodes (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__uphi + + # convex-over-nonlinear constraints at shooting node N + @property + def lphi_e(self): + """:math:`\\underline{\phi}^e` - lower bound on convex-over-nonlinear inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__lphi_e + + @property + def uphi_e(self): + """:math:`\\bar{\phi}^e` - upper bound on convex-over-nonlinear inequalities + at terminal shooting node N. + Type: :code:`np.ndarray`; default: :code:`np.array([])`. + """ + return self.__uphi_e + + + # SLACK bounds + # soft bounds on x + @property + def lsbx(self): + """Lower bounds on slacks corresponding to soft lower bounds on x + at stages (1 to N-1); + not required - zeros by default""" + return self.__lsbx + + @property + def usbx(self): + """Lower bounds on slacks corresponding to soft upper bounds on x + at stages (1 to N-1); + not required - zeros by default""" + return self.__usbx + + @property + def idxsbx(self): + """Indices of soft bounds on x within the indices of bounds on x + at stages (1 to N-1). + Can be set by using :py:attr:`Jsbx`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsbx + + @property + def Jsbx(self): + """:math:`J_{sbx}` - matrix coefficient for soft bounds on x + at stages (1 to N-1); + Translated internally into :py:attr:`idxsbx`.""" + print_J_to_idx_note() + return self.__idxsbx + + # soft bounds on u + @property + def lsbu(self): + """Lower bounds on slacks corresponding to soft lower bounds on u + at stages (0 to N-1). + Not required - zeros by default.""" + return self.__lsbu + + @property + def usbu(self): + """Lower bounds on slacks corresponding to soft upper bounds on u + at stages (0 to N-1); + not required - zeros by default""" + return self.__usbu + + @property + def idxsbu(self): + """Indices of soft bounds on u within the indices of bounds on u + at stages (0 to N-1). + Can be set by using :py:attr:`Jsbu`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsbu + + @property + def Jsbu(self): + """:math:`J_{sbu}` - matrix coefficient for soft bounds on u + at stages (0 to N-1); + internally translated into :py:attr:`idxsbu`""" + print_J_to_idx_note() + return self.__idxsbu + + # soft bounds on x at shooting node N + @property + def lsbx_e(self): + """Lower bounds on slacks corresponding to soft lower bounds on x at shooting node N. + Not required - zeros by default""" + return self.__lsbx_e + + @property + def usbx_e(self): + """Lower bounds on slacks corresponding to soft upper bounds on x at shooting node N. + Not required - zeros by default""" + return self.__usbx_e + + @property + def idxsbx_e(self): + """Indices of soft bounds on x at shooting node N, within the indices of bounds on x at terminal shooting node N. + Can be set by using :py:attr:`Jsbx_e`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsbx_e + + @property + def Jsbx_e(self): + """:math:`J_{sbx}^e` - matrix coefficient for soft bounds on x at terminal shooting node N. + Translated internally to :py:attr:`idxsbx_e`""" + print_J_to_idx_note() + return self.__idxsbx_e + + # soft general linear constraints + @property + def lsg(self): + """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints + at stages (0 to N-1). + Type: :code:`np.ndarray`; default: :code:`np.array([])` + """ + return self.__lsg + + @property + def usg(self): + """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints. + Not required - zeros by default""" + return self.__usg + + @property + def idxsg(self): + """Indices of soft general linear constraints within the indices of general linear constraints. + Can be set by using :py:attr:`Jsg`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsg + + @property + def Jsg(self): + """:math:`J_{sg}` - matrix coefficient for soft bounds on general linear constraints. + Translated internally to :py:attr:`idxsg`""" + print_J_to_idx_note() + return self.__idxsg + + # soft nonlinear constraints + @property + def lsh(self): + """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints. + Not required - zeros by default""" + return self.__lsh + + @property + def ush(self): + """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints. + Not required - zeros by default""" + return self.__ush + + @property + def idxsh(self): + """Indices of soft nonlinear constraints within the indices of nonlinear constraints. + Can be set by using :py:attr:`Jbx`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsh + + @property + def Jsh(self): + """:math:`J_{sh}` - matrix coefficient for soft bounds on nonlinear constraints. + Translated internally to :py:attr:`idxsh`""" + print_J_to_idx_note() + return self.__idxsh + + # soft bounds on convex-over-nonlinear constraints + @property + def lsphi(self): + """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints. + Not required - zeros by default""" + return self.__lsphi + + @property + def usphi(self): + """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints. + Not required - zeros by default""" + return self.__usphi + + @property + def idxsphi(self): + """Indices of soft convex-over-nonlinear constraints within the indices of nonlinear constraints. + Can be set by using :py:attr:`Jsphi`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsphi + + @property + def Jsphi(self): + """:math:`J_{s, \phi}` - matrix coefficient for soft bounds on convex-over-nonlinear constraints. + Translated internally into :py:attr:`idxsphi`.""" + print_J_to_idx_note() + return self.__idxsphi + + + # soft bounds on general linear constraints at shooting node N + @property + def lsg_e(self): + """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints at shooting node N. + Not required - zeros by default""" + return self.__lsg_e + + @property + def usg_e(self): + """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints at shooting node N. + Not required - zeros by default""" + return self.__usg_e + + @property + def idxsg_e(self): + """Indices of soft general linear constraints at shooting node N within the indices of general linear constraints at shooting node N. + Can be set by using :py:attr:`Jsg_e`.""" + return self.__idxsg_e + + @property + def Jsg_e(self): + """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on general linear constraints at terminal shooting node N. + Translated internally to :py:attr:`idxsg_e`""" + print_J_to_idx_note() + return self.__idxsg_e + + + # soft bounds on nonlinear constraints at shooting node N + @property + def lsh_e(self): + """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints at terminal shooting node N. + Not required - zeros by default""" + return self.__lsh_e + + @property + def ush_e(self): + """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints at terminal shooting node N. + Not required - zeros by default""" + return self.__ush_e + + @property + def idxsh_e(self): + """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N. + Can be set by using :py:attr:`Jsh_e`.""" + return self.__idxsh_e + + @property + def Jsh_e(self): + """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on nonlinear constraints at terminal shooting node N; fills :py:attr:`idxsh_e`""" + print_J_to_idx_note() + return self.__idxsh_e + + # soft bounds on convex-over-nonlinear constraints at shooting node N + @property + def lsphi_e(self): + """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints at terminal shooting node N. + Not required - zeros by default""" + return self.__lsphi_e + + @property + def usphi_e(self): + """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints at terminal shooting node N. + Not required - zeros by default""" + return self.__usphi_e + + @property + def idxsphi_e(self): + """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N. + Can be set by using :py:attr:`Jsphi_e`. + Type: :code:`np.ndarray`; default: :code:`np.array([])`""" + return self.__idxsphi_e + + @property + def Jsphi_e(self): + """:math:`J_{sh}^e` - matrix coefficient for soft bounds on convex-over-nonlinear constraints at shooting node N. + Translated internally to :py:attr:`idxsphi_e`""" + print_J_to_idx_note() + return self.__idxsphi_e + + @property + def x0(self): + """:math:`x_0 \\in \mathbb{R}^{n_x}` - initial state -- + Translated internally to :py:attr:`idxbx_0`, :py:attr:`lbx_0`, :py:attr:`ubx_0`, :py:attr:`idxbxe_0` """ + print("x0 is converted to lbx_0, ubx_0, idxbx_0") + print("idxbx_0: ", self.__idxbx_0) + print("lbx_0: ", self.__lbx_0) + print("ubx_0: ", self.__ubx_0) + print("idxbxe_0: ", self.__idxbxe_0) + return None + + # SETTERS + @constr_type.setter + def constr_type(self, constr_type): + constr_types = ('BGH', 'BGP') + if constr_type in constr_types: + self.__constr_type = constr_type + else: + raise Exception('Invalid constr_type value. Possible values are:\n\n' \ + + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\nExiting.') + + @constr_type_e.setter + def constr_type_e(self, constr_type_e): + constr_types = ('BGH', 'BGP') + if constr_type_e in constr_types: + self.__constr_type_e = constr_type_e + else: + raise Exception('Invalid constr_type_e value. Possible values are:\n\n' \ + + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\nExiting.') + + # initial x + @lbx_0.setter + def lbx_0(self, lbx_0): + if isinstance(lbx_0, np.ndarray): + self.__lbx_0 = lbx_0 + else: + raise Exception('Invalid lbx_0 value. Exiting.') + + @ubx_0.setter + def ubx_0(self, ubx_0): + if isinstance(ubx_0, np.ndarray): + self.__ubx_0 = ubx_0 + else: + raise Exception('Invalid ubx_0 value. Exiting.') + + @idxbx_0.setter + def idxbx_0(self, idxbx_0): + if isinstance(idxbx_0, np.ndarray): + self.__idxbx_0 = idxbx_0 + else: + raise Exception('Invalid idxbx_0 value. Exiting.') + + @Jbx_0.setter + def Jbx_0(self, Jbx_0): + if isinstance(Jbx_0, np.ndarray): + self.__idxbx_0 = J_to_idx(Jbx_0) + else: + raise Exception('Invalid Jbx_0 value. Exiting.') + + @idxbxe_0.setter + def idxbxe_0(self, idxbxe_0): + if isinstance(idxbxe_0, np.ndarray): + self.__idxbxe_0 = idxbxe_0 + else: + raise Exception('Invalid idxbxe_0 value. Exiting.') + + + @x0.setter + def x0(self, x0): + if isinstance(x0, np.ndarray): + self.__lbx_0 = x0 + self.__ubx_0 = x0 + self.__idxbx_0 = np.arange(x0.size) + self.__idxbxe_0 = np.arange(x0.size) + else: + raise Exception('Invalid x0 value. Exiting.') + + # bounds on x + @lbx.setter + def lbx(self, lbx): + if isinstance(lbx, np.ndarray): + self.__lbx = lbx + else: + raise Exception('Invalid lbx value. Exiting.') + + @ubx.setter + def ubx(self, ubx): + if isinstance(ubx, np.ndarray): + self.__ubx = ubx + else: + raise Exception('Invalid ubx value. Exiting.') + + @idxbx.setter + def idxbx(self, idxbx): + if isinstance(idxbx, np.ndarray): + self.__idxbx = idxbx + else: + raise Exception('Invalid idxbx value. Exiting.') + + @Jbx.setter + def Jbx(self, Jbx): + if isinstance(Jbx, np.ndarray): + self.__idxbx = J_to_idx(Jbx) + else: + raise Exception('Invalid Jbx value. Exiting.') + + # bounds on u + @lbu.setter + def lbu(self, lbu): + if isinstance(lbu, np.ndarray): + self.__lbu = lbu + else: + raise Exception('Invalid lbu value. Exiting.') + + @ubu.setter + def ubu(self, ubu): + if isinstance(ubu, np.ndarray): + self.__ubu = ubu + else: + raise Exception('Invalid ubu value. Exiting.') + + @idxbu.setter + def idxbu(self, idxbu): + if isinstance(idxbu, np.ndarray): + self.__idxbu = idxbu + else: + raise Exception('Invalid idxbu value. Exiting.') + + @Jbu.setter + def Jbu(self, Jbu): + if isinstance(Jbu, np.ndarray): + self.__idxbu = J_to_idx(Jbu) + else: + raise Exception('Invalid Jbu value. Exiting.') + + # bounds on x at shooting node N + @lbx_e.setter + def lbx_e(self, lbx_e): + if isinstance(lbx_e, np.ndarray): + self.__lbx_e = lbx_e + else: + raise Exception('Invalid lbx_e value. Exiting.') + + @ubx_e.setter + def ubx_e(self, ubx_e): + if isinstance(ubx_e, np.ndarray): + self.__ubx_e = ubx_e + else: + raise Exception('Invalid ubx_e value. Exiting.') + + @idxbx_e.setter + def idxbx_e(self, idxbx_e): + if isinstance(idxbx_e, np.ndarray): + self.__idxbx_e = idxbx_e + else: + raise Exception('Invalid idxbx_e value. Exiting.') + + @Jbx_e.setter + def Jbx_e(self, Jbx_e): + if isinstance(Jbx_e, np.ndarray): + self.__idxbx_e = J_to_idx(Jbx_e) + else: + raise Exception('Invalid Jbx_e value. Exiting.') + + # polytopic constraints + @D.setter + def D(self, D): + if isinstance(D, np.ndarray) and len(D.shape) == 2: + self.__D = D + else: + raise Exception('Invalid constraint D value.' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @C.setter + def C(self, C): + if isinstance(C, np.ndarray) and len(C.shape) == 2: + self.__C = C + else: + raise Exception('Invalid constraint C value.' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @lg.setter + def lg(self, lg): + if isinstance(lg, np.ndarray): + self.__lg = lg + else: + raise Exception('Invalid lg value. Exiting.') + + @ug.setter + def ug(self, ug): + if isinstance(ug, np.ndarray): + self.__ug = ug + else: + raise Exception('Invalid ug value. Exiting.') + + # polytopic constraints at shooting node N + @C_e.setter + def C_e(self, C_e): + if isinstance(C_e, np.ndarray) and len(C_e.shape) == 2: + self.__C_e = C_e + else: + raise Exception('Invalid constraint C_e value.' \ + + 'Should be 2 dimensional numpy array. Exiting.') + + @lg_e.setter + def lg_e(self, lg_e): + if isinstance(lg_e, np.ndarray): + self.__lg_e = lg_e + else: + raise Exception('Invalid lg_e value. Exiting.') + + @ug_e.setter + def ug_e(self, ug_e): + if isinstance(ug_e, np.ndarray): + self.__ug_e = ug_e + else: + raise Exception('Invalid ug_e value. Exiting.') + + # nonlinear constraints + @lh.setter + def lh(self, lh): + if isinstance(lh, np.ndarray): + self.__lh = lh + else: + raise Exception('Invalid lh value. Exiting.') + + @uh.setter + def uh(self, uh): + if isinstance(uh, np.ndarray): + self.__uh = uh + else: + raise Exception('Invalid uh value. Exiting.') + + # convex-over-nonlinear constraints + @lphi.setter + def lphi(self, lphi): + if isinstance(lphi, np.ndarray): + self.__lphi = lphi + else: + raise Exception('Invalid lphi value. Exiting.') + + @uphi.setter + def uphi(self, uphi): + if isinstance(uphi, np.ndarray): + self.__uphi = uphi + else: + raise Exception('Invalid uphi value. Exiting.') + + # nonlinear constraints at shooting node N + @lh_e.setter + def lh_e(self, lh_e): + if isinstance(lh_e, np.ndarray): + self.__lh_e = lh_e + else: + raise Exception('Invalid lh_e value. Exiting.') + + @uh_e.setter + def uh_e(self, uh_e): + if isinstance(uh_e, np.ndarray): + self.__uh_e = uh_e + else: + raise Exception('Invalid uh_e value. Exiting.') + + # convex-over-nonlinear constraints at shooting node N + @lphi_e.setter + def lphi_e(self, lphi_e): + if isinstance(lphi_e, np.ndarray): + self.__lphi_e = lphi_e + else: + raise Exception('Invalid lphi_e value. Exiting.') + + @uphi_e.setter + def uphi_e(self, uphi_e): + if isinstance(uphi_e, np.ndarray): + self.__uphi_e = uphi_e + else: + raise Exception('Invalid uphi_e value. Exiting.') + + # SLACK bounds + # soft bounds on x + @lsbx.setter + def lsbx(self, lsbx): + if isinstance(lsbx, np.ndarray): + self.__lsbx = lsbx + else: + raise Exception('Invalid lsbx value. Exiting.') + + @usbx.setter + def usbx(self, usbx): + if isinstance(usbx, np.ndarray): + self.__usbx = usbx + else: + raise Exception('Invalid usbx value. Exiting.') + + @idxsbx.setter + def idxsbx(self, idxsbx): + if isinstance(idxsbx, np.ndarray): + self.__idxsbx = idxsbx + else: + raise Exception('Invalid idxsbx value. Exiting.') + + @Jsbx.setter + def Jsbx(self, Jsbx): + if isinstance(Jsbx, np.ndarray): + self.__idxsbx = J_to_idx_slack(Jsbx) + else: + raise Exception('Invalid Jsbx value, expected numpy array. Exiting.') + + # soft bounds on u + @lsbu.setter + def lsbu(self, lsbu): + if isinstance(lsbu, np.ndarray): + self.__lsbu = lsbu + else: + raise Exception('Invalid lsbu value. Exiting.') + + @usbu.setter + def usbu(self, usbu): + if isinstance(usbu, np.ndarray): + self.__usbu = usbu + else: + raise Exception('Invalid usbu value. Exiting.') + + @idxsbu.setter + def idxsbu(self, idxsbu): + if isinstance(idxsbu, np.ndarray): + self.__idxsbu = idxsbu + else: + raise Exception('Invalid idxsbu value. Exiting.') + + @Jsbu.setter + def Jsbu(self, Jsbu): + if isinstance(Jsbu, np.ndarray): + self.__idxsbu = J_to_idx_slack(Jsbu) + else: + raise Exception('Invalid Jsbu value. Exiting.') + + # soft bounds on x at shooting node N + @lsbx_e.setter + def lsbx_e(self, lsbx_e): + if isinstance(lsbx_e, np.ndarray): + self.__lsbx_e = lsbx_e + else: + raise Exception('Invalid lsbx_e value. Exiting.') + + @usbx_e.setter + def usbx_e(self, usbx_e): + if isinstance(usbx_e, np.ndarray): + self.__usbx_e = usbx_e + else: + raise Exception('Invalid usbx_e value. Exiting.') + + @idxsbx_e.setter + def idxsbx_e(self, idxsbx_e): + if isinstance(idxsbx_e, np.ndarray): + self.__idxsbx_e = idxsbx_e + else: + raise Exception('Invalid idxsbx_e value. Exiting.') + + @Jsbx_e.setter + def Jsbx_e(self, Jsbx_e): + if isinstance(Jsbx_e, np.ndarray): + self.__idxsbx_e = J_to_idx_slack(Jsbx_e) + else: + raise Exception('Invalid Jsbx_e value. Exiting.') + + + # soft bounds on general linear constraints + @lsg.setter + def lsg(self, lsg): + if isinstance(lsg, np.ndarray): + self.__lsg = lsg + else: + raise Exception('Invalid lsg value. Exiting.') + + @usg.setter + def usg(self, usg): + if isinstance(usg, np.ndarray): + self.__usg = usg + else: + raise Exception('Invalid usg value. Exiting.') + + @idxsg.setter + def idxsg(self, idxsg): + if isinstance(idxsg, np.ndarray): + self.__idxsg = idxsg + else: + raise Exception('Invalid idxsg value. Exiting.') + + @Jsg.setter + def Jsg(self, Jsg): + if isinstance(Jsg, np.ndarray): + self.__idxsg = J_to_idx_slack(Jsg) + else: + raise Exception('Invalid Jsg value, expected numpy array. Exiting.') + + + # soft bounds on nonlinear constraints + @lsh.setter + def lsh(self, lsh): + if isinstance(lsh, np.ndarray): + self.__lsh = lsh + else: + raise Exception('Invalid lsh value. Exiting.') + + @ush.setter + def ush(self, ush): + if isinstance(ush, np.ndarray): + self.__ush = ush + else: + raise Exception('Invalid ush value. Exiting.') + + @idxsh.setter + def idxsh(self, idxsh): + if isinstance(idxsh, np.ndarray): + self.__idxsh = idxsh + else: + raise Exception('Invalid idxsh value. Exiting.') + + + @Jsh.setter + def Jsh(self, Jsh): + if isinstance(Jsh, np.ndarray): + self.__idxsh = J_to_idx_slack(Jsh) + else: + raise Exception('Invalid Jsh value, expected numpy array. Exiting.') + + # soft bounds on convex-over-nonlinear constraints + @lsphi.setter + def lsphi(self, lsphi): + if isinstance(lsphi, np.ndarray): + self.__lsphi = lsphi + else: + raise Exception('Invalid lsphi value. Exiting.') + + @usphi.setter + def usphi(self, usphi): + if isinstance(usphi, np.ndarray): + self.__usphi = usphi + else: + raise Exception('Invalid usphi value. Exiting.') + + @idxsphi.setter + def idxsphi(self, idxsphi): + if isinstance(idxsphi, np.ndarray): + self.__idxsphi = idxsphi + else: + raise Exception('Invalid idxsphi value. Exiting.') + + @Jsphi.setter + def Jsphi(self, Jsphi): + if isinstance(Jsphi, np.ndarray): + self.__idxsphi = J_to_idx_slack(Jsphi) + else: + raise Exception('Invalid Jsphi value, expected numpy array. Exiting.') + + # soft bounds on general linear constraints at shooting node N + @lsg_e.setter + def lsg_e(self, lsg_e): + if isinstance(lsg_e, np.ndarray): + self.__lsg_e = lsg_e + else: + raise Exception('Invalid lsg_e value. Exiting.') + + @usg_e.setter + def usg_e(self, usg_e): + if isinstance(usg_e, np.ndarray): + self.__usg_e = usg_e + else: + raise Exception('Invalid usg_e value. Exiting.') + + @idxsg_e.setter + def idxsg_e(self, idxsg_e): + if isinstance(idxsg_e, np.ndarray): + self.__idxsg_e = idxsg_e + else: + raise Exception('Invalid idxsg_e value. Exiting.') + + @Jsg_e.setter + def Jsg_e(self, Jsg_e): + if isinstance(Jsg_e, np.ndarray): + self.__idxsg_e = J_to_idx_slack(Jsg_e) + else: + raise Exception('Invalid Jsg_e value, expected numpy array. Exiting.') + + # soft bounds on nonlinear constraints at shooting node N + @lsh_e.setter + def lsh_e(self, lsh_e): + if isinstance(lsh_e, np.ndarray): + self.__lsh_e = lsh_e + else: + raise Exception('Invalid lsh_e value. Exiting.') + + @ush_e.setter + def ush_e(self, ush_e): + if isinstance(ush_e, np.ndarray): + self.__ush_e = ush_e + else: + raise Exception('Invalid ush_e value. Exiting.') + + @idxsh_e.setter + def idxsh_e(self, idxsh_e): + if isinstance(idxsh_e, np.ndarray): + self.__idxsh_e = idxsh_e + else: + raise Exception('Invalid idxsh_e value. Exiting.') + + @Jsh_e.setter + def Jsh_e(self, Jsh_e): + if isinstance(Jsh_e, np.ndarray): + self.__idxsh_e = J_to_idx_slack(Jsh_e) + else: + raise Exception('Invalid Jsh_e value, expected numpy array. Exiting.') + + + # soft bounds on convex-over-nonlinear constraints at shooting node N + @lsphi_e.setter + def lsphi_e(self, lsphi_e): + if isinstance(lsphi_e, np.ndarray): + self.__lsphi_e = lsphi_e + else: + raise Exception('Invalid lsphi_e value. Exiting.') + + @usphi_e.setter + def usphi_e(self, usphi_e): + if isinstance(usphi_e, np.ndarray): + self.__usphi_e = usphi_e + else: + raise Exception('Invalid usphi_e value. Exiting.') + + @idxsphi_e.setter + def idxsphi_e(self, idxsphi_e): + if isinstance(idxsphi_e, np.ndarray): + self.__idxsphi_e = idxsphi_e + else: + raise Exception('Invalid idxsphi_e value. Exiting.') + + @Jsphi_e.setter + def Jsphi_e(self, Jsphi_e): + if isinstance(Jsphi_e, np.ndarray): + self.__idxsphi_e = J_to_idx_slack(Jsphi_e) + else: + raise Exception('Invalid Jsphi_e value. Exiting.') + + def set(self, attr, value): + setattr(self, attr, value) + + +class AcadosOcpOptions: + """ + class containing the description of the solver options + """ + def __init__(self): + self.__qp_solver = 'PARTIAL_CONDENSING_HPIPM' # qp solver to be used in the NLP solver + self.__hessian_approx = 'GAUSS_NEWTON' # hessian approximation + self.__integrator_type = 'ERK' # integrator type + self.__tf = None # prediction horizon + self.__nlp_solver_type = 'SQP_RTI' # NLP solver + self.__globalization = 'FIXED_STEP' + self.__nlp_solver_step_length = 1.0 # fixed Newton step length + self.__levenberg_marquardt = 0.0 + self.__collocation_type = 'GAUSS_LEGENDRE' + self.__sim_method_num_stages = 4 # number of stages in the integrator + self.__sim_method_num_steps = 1 # number of steps in the integrator + self.__sim_method_newton_iter = 3 # number of Newton iterations in simulation method + self.__sim_method_jac_reuse = 0 + self.__qp_solver_tol_stat = None # QP solver stationarity tolerance + self.__qp_solver_tol_eq = None # QP solver equality tolerance + self.__qp_solver_tol_ineq = None # QP solver inequality + self.__qp_solver_tol_comp = None # QP solver complementarity + self.__qp_solver_iter_max = 50 # QP solver max iter + self.__qp_solver_cond_N = None # QP solver: new horizon after partial condensing + self.__qp_solver_warm_start = 0 + self.__nlp_solver_tol_stat = 1e-6 # NLP solver stationarity tolerance + self.__nlp_solver_tol_eq = 1e-6 # NLP solver equality tolerance + self.__nlp_solver_tol_ineq = 1e-6 # NLP solver inequality + self.__nlp_solver_tol_comp = 1e-6 # NLP solver complementarity + self.__nlp_solver_max_iter = 100 # NLP solver maximum number of iterations + self.__Tsim = None # automatically calculated as tf/N + self.__print_level = 0 # print level + self.__initialize_t_slacks = 0 # possible values: 0, 1 + self.__model_external_shared_lib_dir = None # path to the the .so lib + self.__model_external_shared_lib_name = None # name of the the .so lib + self.__regularize_method = None + self.__time_steps = None + self.__shooting_nodes = None + self.__exact_hess_cost = 1 + self.__exact_hess_dyn = 1 + self.__exact_hess_constr = 1 + self.__ext_cost_num_hess = 0 + self.__alpha_min = 0.05 + self.__alpha_reduction = 0.7 + self.__line_search_use_sufficient_descent = 0 + self.__globalization_use_SOC = 0 + self.__full_step_dual = 0 + self.__eps_sufficient_descent = 1e-4 + self.__hpipm_mode = 'BALANCE' + + + @property + def qp_solver(self): + """QP solver to be used in the NLP solver. + String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP'). + Default: 'PARTIAL_CONDENSING_HPIPM'. + """ + return self.__qp_solver + + @property + def hpipm_mode(self): + """ + Mode of HPIPM to be used, + + String in ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST'). + + Default: 'BALANCE'. + + see https://cdn.syscop.de/publications/Frison2020a.pdf + and the HPIPM code: + https://github.com/giaf/hpipm/blob/master/ocp_qp/x_ocp_qp_ipm.c#L69 + """ + return self.__hpipm_mode + + @property + def hessian_approx(self): + """Hessian approximation. + String in ('GAUSS_NEWTON', 'EXACT'). + Default: 'GAUSS_NEWTON'. + """ + return self.__hessian_approx + + @property + def integrator_type(self): + """ + Integrator type. + String in ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK'). + Default: 'ERK'. + """ + return self.__integrator_type + + @property + def nlp_solver_type(self): + """NLP solver. + String in ('SQP', 'SQP_RTI'). + Default: 'SQP_RTI'. + """ + return self.__nlp_solver_type + + @property + def globalization(self): + """Globalization type. + String in ('FIXED_STEP', 'MERIT_BACKTRACKING'). + Default: 'FIXED_STEP'. + + .. note:: preliminary implementation. + """ + return self.__globalization + + @property + def collocation_type(self): + """Collocation type: relevant for implicit integrators + -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}. + + Default: GAUSS_LEGENDRE + """ + return self.__collocation_type + + @property + def regularize_method(self): + """Regularization method for the Hessian. + String in ('NO_REGULARIZE', 'MIRROR', 'PROJECT', 'PROJECT_REDUC_HESS', 'CONVEXIFY') or :code:`None`. + + Default: :code:`None`. + """ + return self.__regularize_method + + @property + def nlp_solver_step_length(self): + """ + Fixed Newton step length. + Type: float > 0. + Default: 1.0. + """ + return self.__nlp_solver_step_length + + @property + def levenberg_marquardt(self): + """ + Factor for LM regularization. + Type: float >= 0 + Default: 0.0. + """ + return self.__levenberg_marquardt + + @property + def sim_method_num_stages(self): + """ + Number of stages in the integrator. + Type: int > 0 or ndarray of ints > 0 of shape (N,). + Default: 4 + """ + return self.__sim_method_num_stages + + @property + def sim_method_num_steps(self): + """ + Number of steps in the integrator. + Type: int > 0 or ndarray of ints > 0 of shape (N,). + Default: 1 + """ + return self.__sim_method_num_steps + + @property + def sim_method_newton_iter(self): + """ + Number of Newton iterations in simulation method. + Type: int > 0 + Default: 3 + """ + return self.__sim_method_newton_iter + + @property + def sim_method_jac_reuse(self): + """ + Integer determining if jacobians are reused within integrator or ndarray of ints > 0 of shape (N,). + 0: False (no reuse); 1: True (reuse) + Default: 0 + """ + return self.__sim_method_jac_reuse + + @property + def qp_solver_tol_stat(self): + """ + QP solver stationarity tolerance. + Default: :code:`None` + """ + return self.__qp_solver_tol_stat + + @property + def qp_solver_tol_eq(self): + """ + QP solver equality tolerance. + Default: :code:`None` + """ + return self.__qp_solver_tol_eq + + @property + def qp_solver_tol_ineq(self): + """ + QP solver inequality. + Default: :code:`None` + """ + return self.__qp_solver_tol_ineq + + @property + def qp_solver_tol_comp(self): + """ + QP solver complementarity. + Default: :code:`None` + """ + return self.__qp_solver_tol_comp + + @property + def qp_solver_cond_N(self): + """QP solver: New horizon after partial condensing. + Set to N by default -> no condensing.""" + return self.__qp_solver_cond_N + + @property + def qp_solver_warm_start(self): + """QP solver: Warm starting. + 0: no warm start; 1: warm start; 2: hot start.""" + return self.__qp_solver_warm_start + + @property + def qp_solver_iter_max(self): + """ + QP solver: maximum number of iterations. + Type: int > 0 + Default: 50 + """ + return self.__qp_solver_iter_max + + @property + def tol(self): + """ + NLP solver tolerance. Sets or gets the max of :py:attr:`nlp_solver_tol_eq`, + :py:attr:`nlp_solver_tol_ineq`, :py:attr:`nlp_solver_tol_comp` + and :py:attr:`nlp_solver_tol_stat`. + """ + return max([self.__nlp_solver_tol_eq, self.__nlp_solver_tol_ineq,\ + self.__nlp_solver_tol_comp, self.__nlp_solver_tol_stat]) + + @property + def qp_tol(self): + """ + QP solver tolerance. + Sets all of the following at once or gets the max of + :py:attr:`qp_solver_tol_eq`, :py:attr:`qp_solver_tol_ineq`, + :py:attr:`qp_solver_tol_comp` and + :py:attr:`qp_solver_tol_stat`. + """ + return max([self.__qp_solver_tol_eq, self.__qp_solver_tol_ineq,\ + self.__qp_solver_tol_comp, self.__qp_solver_tol_stat]) + + @property + def nlp_solver_tol_stat(self): + """ + NLP solver stationarity tolerance. + Type: float > 0 + Default: 1e-6 + """ + return self.__nlp_solver_tol_stat + + @property + def nlp_solver_tol_eq(self): + """NLP solver equality tolerance""" + return self.__nlp_solver_tol_eq + + @property + def alpha_min(self): + """Minimal step size for globalization MERIT_BACKTRACKING, default: 0.05.""" + return self.__alpha_min + + @property + def alpha_reduction(self): + """Step size reduction factor for globalization MERIT_BACKTRACKING, default: 0.7.""" + return self.__alpha_reduction + + @property + def line_search_use_sufficient_descent(self): + """ + Determines if sufficient descent (Armijo) condition is used in line search. + Type: int; 0 or 1; + default: 0. + """ + return self.__line_search_use_sufficient_descent + + @property + def eps_sufficient_descent(self): + """ + Factor for sufficient descent (Armijo) conditon, see line_search_use_sufficient_descent. + Type: float, + default: 1e-4. + """ + return self.__eps_sufficient_descent + + @property + def globalization_use_SOC(self): + """ + Determines if second order correction (SOC) is done when using MERIT_BACKTRACKING. + SOC is done if preliminary line search does not return full step. + Type: int; 0 or 1; + default: 0. + """ + return self.__globalization_use_SOC + + @property + def full_step_dual(self): + """ + Determines if dual variables are updated with full steps (alpha=1.0) when primal variables are updated with smaller step. + Type: int; 0 or 1; + default: 0. + """ + return self.__full_step_dual + + @property + def nlp_solver_tol_ineq(self): + """NLP solver inequality tolerance""" + return self.__nlp_solver_tol_ineq + + @property + def nlp_solver_tol_comp(self): + """NLP solver complementarity tolerance""" + return self.__nlp_solver_tol_comp + + @property + def nlp_solver_max_iter(self): + """ + NLP solver maximum number of iterations. + Type: int > 0 + Default: 100 + """ + return self.__nlp_solver_max_iter + + @property + def time_steps(self): + """ + Vector with time steps between the shooting nodes. Set automatically to uniform discretization if :py:attr:`N` and :py:attr:`tf` are provided. + Default: :code:`None` + """ + return self.__time_steps + + @property + def shooting_nodes(self): + """ + Vector with the shooting nodes, time_steps will be computed from it automatically. + Default: :code:`None` + """ + return self.__shooting_nodes + + @property + def tf(self): + """ + Prediction horizon + Type: float > 0 + Default: :code:`None` + """ + return self.__tf + + @property + def Tsim(self): + """ + Time horizon for one integrator step. Automatically calculated as :py:attr:`tf`/:py:attr:`N`. + Default: :code:`None` + """ + return self.__Tsim + + @property + def print_level(self): + """ + Verbosity of printing. + Type: int >= 0 + Default: 0 + """ + return self.__print_level + + @property + def model_external_shared_lib_dir(self): + """Path to the .so lib""" + return self.__model_external_shared_lib_dir + + @property + def model_external_shared_lib_name(self): + """Name of the .so lib""" + return self.__model_external_shared_lib_name + + @property + def exact_hess_constr(self): + """ + Used in case of hessian_approx == 'EXACT'.\n + Can be used to turn off exact hessian contributions from the constraints module. + """ + return self.__exact_hess_constr + + @property + def exact_hess_cost(self): + """ + Used in case of hessian_approx == 'EXACT'.\n + Can be used to turn off exact hessian contributions from the cost module. + """ + return self.__exact_hess_cost + + @property + def exact_hess_dyn(self): + """ + Used in case of hessian_approx == 'EXACT'.\n + Can be used to turn off exact hessian contributions from the dynamics module. + """ + return self.__exact_hess_dyn + + @property + def ext_cost_num_hess(self): + """ + Determines if custom hessian approximation for cost contribution is used (> 0).\n + Or if hessian contribution is evaluated exactly using CasADi external function (=0 - default). + """ + return self.__ext_cost_num_hess + + @qp_solver.setter + def qp_solver(self, qp_solver): + qp_solvers = ('PARTIAL_CONDENSING_HPIPM', \ + 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', \ + 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP') + if qp_solver in qp_solvers: + self.__qp_solver = qp_solver + else: + raise Exception('Invalid qp_solver value. Possible values are:\n\n' \ + + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\nExiting.') + + @regularize_method.setter + def regularize_method(self, regularize_method): + regularize_methods = ('NO_REGULARIZE', 'MIRROR', 'PROJECT', \ + 'PROJECT_REDUC_HESS', 'CONVEXIFY') + if regularize_method in regularize_methods: + self.__regularize_method = regularize_method + else: + raise Exception('Invalid regularize_method value. Possible values are:\n\n' \ + + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\nExiting.') + + @collocation_type.setter + def collocation_type(self, collocation_type): + collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE') + if collocation_type in collocation_types: + self.__collocation_type = collocation_type + else: + raise Exception('Invalid collocation_type value. Possible values are:\n\n' \ + + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.') + + @hpipm_mode.setter + def hpipm_mode(self, hpipm_mode): + hpipm_modes = ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST') + if hpipm_mode in hpipm_modes: + self.__hpipm_mode = hpipm_mode + else: + raise Exception('Invalid hpipm_mode value. Possible values are:\n\n' \ + + ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\nExiting.') + + @hessian_approx.setter + def hessian_approx(self, hessian_approx): + hessian_approxs = ('GAUSS_NEWTON', 'EXACT') + if hessian_approx in hessian_approxs: + self.__hessian_approx = hessian_approx + else: + raise Exception('Invalid hessian_approx value. Possible values are:\n\n' \ + + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\nExiting.') + + @integrator_type.setter + def integrator_type(self, integrator_type): + integrator_types = ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK') + if integrator_type in integrator_types: + self.__integrator_type = integrator_type + else: + raise Exception('Invalid integrator_type value. Possible values are:\n\n' \ + + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\nExiting.') + + @tf.setter + def tf(self, tf): + self.__tf = tf + + @time_steps.setter + def time_steps(self, time_steps): + if isinstance(time_steps, np.ndarray): + if len(time_steps.shape) == 1: + self.__time_steps = time_steps + else: + raise Exception('Invalid time_steps, expected np.ndarray of shape (N,).') + else: + raise Exception('Invalid time_steps, expected np.ndarray.') + + @shooting_nodes.setter + def shooting_nodes(self, shooting_nodes): + if isinstance(shooting_nodes, np.ndarray): + if len(shooting_nodes.shape) == 1: + self.__shooting_nodes = shooting_nodes + else: + raise Exception('Invalid shooting_nodes, expected np.ndarray of shape (N+1,).') + else: + raise Exception('Invalid shooting_nodes, expected np.ndarray.') + + @Tsim.setter + def Tsim(self, Tsim): + self.__Tsim = Tsim + + @globalization.setter + def globalization(self, globalization): + globalization_types = ('MERIT_BACKTRACKING', 'FIXED_STEP') + if globalization in globalization_types: + self.__globalization = globalization + else: + raise Exception('Invalid globalization value. Possible values are:\n\n' \ + + ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\nExiting.') + + @alpha_min.setter + def alpha_min(self, alpha_min): + self.__alpha_min = alpha_min + + @alpha_reduction.setter + def alpha_reduction(self, alpha_reduction): + self.__alpha_reduction = alpha_reduction + + @line_search_use_sufficient_descent.setter + def line_search_use_sufficient_descent(self, line_search_use_sufficient_descent): + if line_search_use_sufficient_descent in [0, 1]: + self.__line_search_use_sufficient_descent = line_search_use_sufficient_descent + else: + raise Exception(f'Invalid value for line_search_use_sufficient_descent. Possible values are 0, 1, got {line_search_use_sufficient_descent}') + + @globalization_use_SOC.setter + def globalization_use_SOC(self, globalization_use_SOC): + if globalization_use_SOC in [0, 1]: + self.__globalization_use_SOC = globalization_use_SOC + else: + raise Exception(f'Invalid value for globalization_use_SOC. Possible values are 0, 1, got {globalization_use_SOC}') + + @full_step_dual.setter + def full_step_dual(self, full_step_dual): + if full_step_dual in [0, 1]: + self.__full_step_dual = full_step_dual + else: + raise Exception(f'Invalid value for full_step_dual. Possible values are 0, 1, got {full_step_dual}') + + @eps_sufficient_descent.setter + def eps_sufficient_descent(self, eps_sufficient_descent): + if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0: + self.__eps_sufficient_descent = eps_sufficient_descent + else: + raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float. Exiting') + + @sim_method_num_stages.setter + def sim_method_num_stages(self, sim_method_num_stages): + + # if isinstance(sim_method_num_stages, int): + # self.__sim_method_num_stages = sim_method_num_stages + # else: + # raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer. Exiting.') + + self.__sim_method_num_stages = sim_method_num_stages + + @sim_method_num_steps.setter + def sim_method_num_steps(self, sim_method_num_steps): + + # if isinstance(sim_method_num_steps, int): + # self.__sim_method_num_steps = sim_method_num_steps + # else: + # raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer. Exiting.') + self.__sim_method_num_steps = sim_method_num_steps + + + @sim_method_newton_iter.setter + def sim_method_newton_iter(self, sim_method_newton_iter): + + if isinstance(sim_method_newton_iter, int): + self.__sim_method_newton_iter = sim_method_newton_iter + else: + raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer. Exiting.') + + @sim_method_jac_reuse.setter + def sim_method_jac_reuse(self, sim_method_jac_reuse): + # if sim_method_jac_reuse in (True, False): + self.__sim_method_jac_reuse = sim_method_jac_reuse + # else: + # raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be a Boolean.') + + @nlp_solver_type.setter + def nlp_solver_type(self, nlp_solver_type): + nlp_solver_types = ('SQP', 'SQP_RTI') + if nlp_solver_type in nlp_solver_types: + self.__nlp_solver_type = nlp_solver_type + else: + raise Exception('Invalid nlp_solver_type value. Possible values are:\n\n' \ + + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\nExiting.') + + @nlp_solver_step_length.setter + def nlp_solver_step_length(self, nlp_solver_step_length): + if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0: + self.__nlp_solver_step_length = nlp_solver_step_length + else: + raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float. Exiting') + + @levenberg_marquardt.setter + def levenberg_marquardt(self, levenberg_marquardt): + if isinstance(levenberg_marquardt, float) and levenberg_marquardt >= 0: + self.__levenberg_marquardt = levenberg_marquardt + else: + raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float. Exiting') + + @qp_solver_iter_max.setter + def qp_solver_iter_max(self, qp_solver_iter_max): + if isinstance(qp_solver_iter_max, int) and qp_solver_iter_max > 0: + self.__qp_solver_iter_max = qp_solver_iter_max + else: + raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int. Exiting') + + @qp_solver_cond_N.setter + def qp_solver_cond_N(self, qp_solver_cond_N): + if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0: + self.__qp_solver_cond_N = qp_solver_cond_N + else: + raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int. Exiting') + + @qp_solver_warm_start.setter + def qp_solver_warm_start(self, qp_solver_warm_start): + if qp_solver_warm_start in [0, 1, 2]: + self.__qp_solver_warm_start = qp_solver_warm_start + else: + raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2. Exiting') + + @qp_tol.setter + def qp_tol(self, qp_tol): + if isinstance(qp_tol, float) and qp_tol > 0: + self.__qp_solver_tol_eq = qp_tol + self.__qp_solver_tol_ineq = qp_tol + self.__qp_solver_tol_stat = qp_tol + self.__qp_solver_tol_comp = qp_tol + else: + raise Exception('Invalid qp_tol value. qp_tol must be a positive float. Exiting') + + @qp_solver_tol_stat.setter + def qp_solver_tol_stat(self, qp_solver_tol_stat): + if isinstance(qp_solver_tol_stat, float) and qp_solver_tol_stat > 0: + self.__qp_solver_tol_stat = qp_solver_tol_stat + else: + raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float. Exiting') + + @qp_solver_tol_eq.setter + def qp_solver_tol_eq(self, qp_solver_tol_eq): + if isinstance(qp_solver_tol_eq, float) and qp_solver_tol_eq > 0: + self.__qp_solver_tol_eq = qp_solver_tol_eq + else: + raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float. Exiting') + + @qp_solver_tol_ineq.setter + def qp_solver_tol_ineq(self, qp_solver_tol_ineq): + if isinstance(qp_solver_tol_ineq, float) and qp_solver_tol_ineq > 0: + self.__qp_solver_tol_ineq = qp_solver_tol_ineq + else: + raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float. Exiting') + + @qp_solver_tol_comp.setter + def qp_solver_tol_comp(self, qp_solver_tol_comp): + if isinstance(qp_solver_tol_comp, float) and qp_solver_tol_comp > 0: + self.__qp_solver_tol_comp = qp_solver_tol_comp + else: + raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float. Exiting') + + @tol.setter + def tol(self, tol): + if isinstance(tol, float) and tol > 0: + self.__nlp_solver_tol_eq = tol + self.__nlp_solver_tol_ineq = tol + self.__nlp_solver_tol_stat = tol + self.__nlp_solver_tol_comp = tol + else: + raise Exception('Invalid tol value. tol must be a positive float. Exiting') + + @nlp_solver_tol_stat.setter + def nlp_solver_tol_stat(self, nlp_solver_tol_stat): + if isinstance(nlp_solver_tol_stat, float) and nlp_solver_tol_stat > 0: + self.__nlp_solver_tol_stat = nlp_solver_tol_stat + else: + raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float. Exiting') + + @nlp_solver_tol_eq.setter + def nlp_solver_tol_eq(self, nlp_solver_tol_eq): + if isinstance(nlp_solver_tol_eq, float) and nlp_solver_tol_eq > 0: + self.__nlp_solver_tol_eq = nlp_solver_tol_eq + else: + raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float. Exiting') + + @nlp_solver_tol_ineq.setter + def nlp_solver_tol_ineq(self, nlp_solver_tol_ineq): + if isinstance(nlp_solver_tol_ineq, float) and nlp_solver_tol_ineq > 0: + self.__nlp_solver_tol_ineq = nlp_solver_tol_ineq + else: + raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float. Exiting') + + @nlp_solver_tol_comp.setter + def nlp_solver_tol_comp(self, nlp_solver_tol_comp): + if isinstance(nlp_solver_tol_comp, float) and nlp_solver_tol_comp > 0: + self.__nlp_solver_tol_comp = nlp_solver_tol_comp + else: + raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float. Exiting') + + @nlp_solver_max_iter.setter + def nlp_solver_max_iter(self, nlp_solver_max_iter): + + if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0: + self.__nlp_solver_max_iter = nlp_solver_max_iter + else: + raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int. Exiting') + + @print_level.setter + def print_level(self, print_level): + if isinstance(print_level, int) and print_level >= 0: + self.__print_level = print_level + else: + raise Exception('Invalid print_level value. print_level takes one of the values >=0. Exiting') + + @model_external_shared_lib_dir.setter + def model_external_shared_lib_dir(self, model_external_shared_lib_dir): + if isinstance(model_external_shared_lib_dir, str) : + self.__model_external_shared_lib_dir = model_external_shared_lib_dir + else: + raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \ + + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\nExiting.') + + @model_external_shared_lib_name.setter + def model_external_shared_lib_name(self, model_external_shared_lib_name): + if isinstance(model_external_shared_lib_name, str) : + if model_external_shared_lib_name[-3:] == '.so' : + raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \ + + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.') + else : + self.__model_external_shared_lib_name = model_external_shared_lib_name + else: + raise Exception('Invalid model_external_shared_lib_name value. Str expected.' \ + + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.') + + @exact_hess_constr.setter + def exact_hess_constr(self, exact_hess_constr): + if exact_hess_constr in [0, 1]: + self.__exact_hess_constr = exact_hess_constr + else: + raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1. Exiting') + + @exact_hess_cost.setter + def exact_hess_cost(self, exact_hess_cost): + if exact_hess_cost in [0, 1]: + self.__exact_hess_cost = exact_hess_cost + else: + raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1. Exiting') + + @exact_hess_dyn.setter + def exact_hess_dyn(self, exact_hess_dyn): + if exact_hess_dyn in [0, 1]: + self.__exact_hess_dyn = exact_hess_dyn + else: + raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1. Exiting') + + @ext_cost_num_hess.setter + def ext_cost_num_hess(self, ext_cost_num_hess): + if ext_cost_num_hess in [0, 1]: + self.__ext_cost_num_hess = ext_cost_num_hess + else: + raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1. Exiting') + + def set(self, attr, value): + setattr(self, attr, value) + + +class AcadosOcp: + """ + Class containing the full description of the optimal control problem. + This object can be used to create an :py:class:`acados_template.acados_ocp_solver.AcadosOcpSolver`. + + The class has the following properties that can be modified to formulate a specific OCP, see below: + + - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosOcpDims` + - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel` + - :py:attr:`cost` of type :py:class:`acados_template.acados_ocp.AcadosOcpCost` + - :py:attr:`constraints` of type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints` + - :py:attr:`solver_options` of type :py:class:`acados_template.acados_ocp.AcadosOcpOptions` + + - :py:attr:`acados_include_path` (set automatically) + - :py:attr:`acados_lib_path` (set automatically) + - :py:attr:`parameter_values` - used to initialize the parameters (can be changed) + """ + def __init__(self, acados_path=''): + """ + Keyword arguments: + acados_path -- path of your acados installation + """ + if acados_path == '': + acados_path = get_acados_path() + + self.dims = AcadosOcpDims() + """Dimension definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpDims`""" + self.model = AcadosModel() + """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`""" + self.cost = AcadosOcpCost() + """Cost definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpCost`""" + self.constraints = AcadosOcpConstraints() + """Constraints definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`""" + self.solver_options = AcadosOcpOptions() + """Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`""" + + self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake + """Path to acados include directory (set automatically), type: `string`""" + self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake + """Path to where acados library is located, type: `string`""" + + import numpy + self.cython_include_dirs = numpy.get_include() + + self.__parameter_values = np.array([]) + self.__problem_class = 'OCP' + + self.code_export_directory = 'c_generated_code' + """Path to where code will be exported. Default: `c_generated_code`.""" + + @property + def parameter_values(self): + """:math:`p` - initial values for parameter - can be updated stagewise""" + return self.__parameter_values + + @parameter_values.setter + def parameter_values(self, parameter_values): + if isinstance(parameter_values, np.ndarray): + self.__parameter_values = parameter_values + else: + raise Exception('Invalid parameter_values value. ' + + f'Expected numpy array, got {type(parameter_values)}.') + + def set(self, attr, value): + # tokenize string + tokens = attr.split('_', 1) + if len(tokens) > 1: + setter_to_call = getattr(getattr(self, tokens[0]), 'set') + else: + setter_to_call = getattr(self, 'set') + + setter_to_call(tokens[1], value) + + return diff --git a/pyextra/acados_template/acados_ocp_solver.py b/pyextra/acados_template/acados_ocp_solver.py new file mode 100644 index 000000000..beeda2cb0 --- /dev/null +++ b/pyextra/acados_template/acados_ocp_solver.py @@ -0,0 +1,1818 @@ +# -*- coding: future_fstrings -*- +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import sys +import os +import json +import numpy as np +from datetime import datetime +import importlib +from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref + +from copy import deepcopy + +from .generate_c_code_explicit_ode import generate_c_code_explicit_ode +from .generate_c_code_implicit_ode import generate_c_code_implicit_ode +from .generate_c_code_gnsf import generate_c_code_gnsf +from .generate_c_code_discrete_dynamics import generate_c_code_discrete_dynamics +from .generate_c_code_constraint import generate_c_code_constraint +from .generate_c_code_nls_cost import generate_c_code_nls_cost +from .generate_c_code_external_cost import generate_c_code_external_cost +from .acados_ocp import AcadosOcp +from .acados_model import acados_model_strip_casadi_symbolics +from .utils import is_column, is_empty, casadi_length, render_template,\ + format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\ + set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path +from .builders import CMakeBuilder + + +def make_ocp_dims_consistent(acados_ocp): + dims = acados_ocp.dims + cost = acados_ocp.cost + constraints = acados_ocp.constraints + model = acados_ocp.model + opts = acados_ocp.solver_options + + # nx + if is_column(model.x): + dims.nx = casadi_length(model.x) + else: + raise Exception('model.x should be column vector!') + + # nu + if is_empty(model.u): + dims.nu = 0 + else: + dims.nu = casadi_length(model.u) + + # nz + if is_empty(model.z): + dims.nz = 0 + else: + dims.nz = casadi_length(model.z) + + # np + if is_empty(model.p): + dims.np = 0 + else: + dims.np = casadi_length(model.p) + if acados_ocp.parameter_values.shape[0] != dims.np: + raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \ + f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n') + + ## cost + # initial stage - if not set, copy fields from path constraints + if cost.cost_type_0 is None: + cost.cost_type_0 = cost.cost_type + cost.W_0 = cost.W + cost.Vx_0 = cost.Vx + cost.Vu_0 = cost.Vu + cost.Vz_0 = cost.Vz + cost.yref_0 = cost.yref + cost.cost_ext_fun_type_0 = cost.cost_ext_fun_type + model.cost_y_expr_0 = model.cost_y_expr + model.cost_expr_ext_cost_0 = model.cost_expr_ext_cost + model.cost_expr_ext_cost_custom_hess_0 = model.cost_expr_ext_cost_custom_hess + + if cost.cost_type_0 == 'LINEAR_LS': + ny_0 = cost.W_0.shape[0] + if cost.Vx_0.shape[0] != ny_0 or cost.Vu_0.shape[0] != ny_0: + raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0.' + \ + f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}]\n') + if dims.nz != 0 and cost.Vz_0.shape[0] != ny_0: + raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0, Vz_0.' + \ + f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}], Vz_0[{cost.Vz_0.shape}]\n') + if cost.Vx_0.shape[1] != dims.nx and ny_0 != 0: + raise Exception('inconsistent dimension: Vx_0 should have nx columns.') + if cost.Vu_0.shape[1] != dims.nu and ny_0 != 0: + raise Exception('inconsistent dimension: Vu_0 should have nu columns.') + if cost.yref_0.shape[0] != ny_0: + raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \ + f'\nGot W_0[{cost.W_0.shape}], yref_0[{cost.yref_0.shape}]\n') + dims.ny_0 = ny_0 + + elif cost.cost_type_0 == 'NONLINEAR_LS': + ny_0 = cost.W_0.shape[0] + if is_empty(model.cost_y_expr_0) and ny_0 != 0: + raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.') + elif casadi_length(model.cost_y_expr_0) != ny_0: + raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.') + if cost.yref_0.shape[0] != ny_0: + raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \ + f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n') + dims.ny_0 = ny_0 + + elif cost.cost_type_0 == 'EXTERNAL': + if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_0 is None: + print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n" + "got cost_type_0: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n" + "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n" + "If you continue, acados will proceed computing the exact hessian for the cost term.\n" + "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n" + "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n") + + # path + if cost.cost_type == 'LINEAR_LS': + ny = cost.W.shape[0] + if cost.Vx.shape[0] != ny or cost.Vu.shape[0] != ny: + raise Exception('inconsistent dimension ny, regarding W, Vx, Vu.' + \ + f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}]\n') + if dims.nz != 0 and cost.Vz.shape[0] != ny: + raise Exception('inconsistent dimension ny, regarding W, Vx, Vu, Vz.' + \ + f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}], Vz[{cost.Vz.shape}]\n') + if cost.Vx.shape[1] != dims.nx and ny != 0: + raise Exception('inconsistent dimension: Vx should have nx columns.') + if cost.Vu.shape[1] != dims.nu and ny != 0: + raise Exception('inconsistent dimension: Vu should have nu columns.') + if cost.yref.shape[0] != ny: + raise Exception('inconsistent dimension: regarding W, yref.' + \ + f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n') + dims.ny = ny + + elif cost.cost_type == 'NONLINEAR_LS': + ny = cost.W.shape[0] + if is_empty(model.cost_y_expr) and ny != 0: + raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.') + elif casadi_length(model.cost_y_expr) != ny: + raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.') + if cost.yref.shape[0] != ny: + raise Exception('inconsistent dimension: regarding W, yref.' + \ + f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n') + dims.ny = ny + + elif cost.cost_type == 'EXTERNAL': + if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess is None: + print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n" + "got cost_type: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n" + "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n" + "If you continue, acados will proceed computing the exact hessian for the cost term.\n" + "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n" + "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n") + + # terminal + if cost.cost_type_e == 'LINEAR_LS': + ny_e = cost.W_e.shape[0] + if cost.Vx_e.shape[0] != ny_e: + raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.' + \ + f'\nGot W_e[{cost.W_e.shape}], Vx_e[{cost.Vx_e.shape}]') + if cost.Vx_e.shape[1] != dims.nx and ny_e != 0: + raise Exception('inconsistent dimension: Vx_e should have nx columns.') + if cost.yref_e.shape[0] != ny_e: + raise Exception('inconsistent dimension: regarding W_e, yref_e.') + dims.ny_e = ny_e + + elif cost.cost_type_e == 'NONLINEAR_LS': + ny_e = cost.W_e.shape[0] + if is_empty(model.cost_y_expr_e) and ny_e != 0: + raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.') + elif casadi_length(model.cost_y_expr_e) != ny_e: + raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.') + if cost.yref_e.shape[0] != ny_e: + raise Exception('inconsistent dimension: regarding W_e, yref_e.') + dims.ny_e = ny_e + + elif cost.cost_type_e == 'EXTERNAL': + if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_e is None: + print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n" + "got cost_type_e: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n" + "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n" + "If you continue, acados will proceed computing the exact hessian for the cost term.\n" + "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n" + "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n") + + ## constraints + # initial + if (constraints.lbx_0 == [] and constraints.ubx_0 == []): + dims.nbx_0 = 0 + else: + this_shape = constraints.lbx_0.shape + other_shape = constraints.ubx_0.shape + if not this_shape == other_shape: + raise Exception('lbx_0, ubx_0 have different shapes!') + if not is_column(constraints.lbx_0): + raise Exception('lbx_0, ubx_0 must be column vectors!') + dims.nbx_0 = constraints.lbx_0.size + + if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \ + and dims.nbxe_0 is None \ + and (constraints.idxbxe_0.shape == constraints.idxbx_0.shape)\ + and all(constraints.idxbxe_0 == constraints.idxbx_0): + # case: x0 was set: nbx0 are all equlities. + dims.nbxe_0 = dims.nbx_0 + elif dims.nbxe_0 is None: + # case: x0 was not set -> dont assume nbx0 to be equality constraints. + dims.nbxe_0 = 0 + + # path + nbx = constraints.idxbx.shape[0] + if constraints.ubx.shape[0] != nbx or constraints.lbx.shape[0] != nbx: + raise Exception('inconsistent dimension nbx, regarding idxbx, ubx, lbx.') + else: + dims.nbx = nbx + + nbu = constraints.idxbu.shape[0] + if constraints.ubu.shape[0] != nbu or constraints.lbu.shape[0] != nbu: + raise Exception('inconsistent dimension nbu, regarding idxbu, ubu, lbu.') + else: + dims.nbu = nbu + + ng = constraints.lg.shape[0] + if constraints.ug.shape[0] != ng or constraints.C.shape[0] != ng \ + or constraints.D.shape[0] != ng: + raise Exception('inconsistent dimension ng, regarding lg, ug, C, D.') + else: + dims.ng = ng + + if not is_empty(model.con_h_expr): + nh = casadi_length(model.con_h_expr) + else: + nh = 0 + + if constraints.uh.shape[0] != nh or constraints.lh.shape[0] != nh: + raise Exception('inconsistent dimension nh, regarding lh, uh, con_h_expr.') + else: + dims.nh = nh + + if is_empty(model.con_phi_expr): + dims.nphi = 0 + dims.nr = 0 + else: + dims.nphi = casadi_length(model.con_phi_expr) + if is_empty(model.con_r_expr): + raise Exception('convex over nonlinear constraints: con_r_expr but con_phi_expr is nonempty') + else: + dims.nr = casadi_length(model.con_r_expr) + + # terminal + nbx_e = constraints.idxbx_e.shape[0] + if constraints.ubx_e.shape[0] != nbx_e or constraints.lbx_e.shape[0] != nbx_e: + raise Exception('inconsistent dimension nbx_e, regarding idxbx_e, ubx_e, lbx_e.') + else: + dims.nbx_e = nbx_e + + ng_e = constraints.lg_e.shape[0] + if constraints.ug_e.shape[0] != ng_e or constraints.C_e.shape[0] != ng_e: + raise Exception('inconsistent dimension ng_e, regarding_e lg_e, ug_e, C_e.') + else: + dims.ng_e = ng_e + + if not is_empty(model.con_h_expr_e): + nh_e = casadi_length(model.con_h_expr_e) + else: + nh_e = 0 + + if constraints.uh_e.shape[0] != nh_e or constraints.lh_e.shape[0] != nh_e: + raise Exception('inconsistent dimension nh_e, regarding lh_e, uh_e, con_h_expr_e.') + else: + dims.nh_e = nh_e + + if is_empty(model.con_phi_expr_e): + dims.nphi_e = 0 + dims.nr_e = 0 + else: + dims.nphi_e = casadi_length(model.con_phi_expr_e) + if is_empty(model.con_r_expr_e): + raise Exception('convex over nonlinear constraints: con_r_expr_e but con_phi_expr_e is nonempty') + else: + dims.nr_e = casadi_length(model.con_r_expr_e) + + # Slack dimensions + nsbx = constraints.idxsbx.shape[0] + if is_empty(constraints.lsbx): + constraints.lsbx = np.zeros((nsbx,)) + elif constraints.lsbx.shape[0] != nsbx: + raise Exception('inconsistent dimension nsbx, regarding idxsbx, lsbx.') + if is_empty(constraints.usbx): + constraints.usbx = np.zeros((nsbx,)) + elif constraints.usbx.shape[0] != nsbx: + raise Exception('inconsistent dimension nsbx, regarding idxsbx, usbx.') + dims.nsbx = nsbx + + nsbu = constraints.idxsbu.shape[0] + if is_empty(constraints.lsbu): + constraints.lsbu = np.zeros((nsbu,)) + elif constraints.lsbu.shape[0] != nsbu: + raise Exception('inconsistent dimension nsbu, regarding idxsbu, lsbu.') + if is_empty(constraints.usbu): + constraints.usbu = np.zeros((nsbu,)) + elif constraints.usbu.shape[0] != nsbu: + raise Exception('inconsistent dimension nsbu, regarding idxsbu, usbu.') + dims.nsbu = nsbu + + nsh = constraints.idxsh.shape[0] + if is_empty(constraints.lsh): + constraints.lsh = np.zeros((nsh,)) + elif constraints.lsh.shape[0] != nsh: + raise Exception('inconsistent dimension nsh, regarding idxsh, lsh.') + if is_empty(constraints.ush): + constraints.ush = np.zeros((nsh,)) + elif constraints.ush.shape[0] != nsh: + raise Exception('inconsistent dimension nsh, regarding idxsh, ush.') + dims.nsh = nsh + + nsphi = constraints.idxsphi.shape[0] + if is_empty(constraints.lsphi): + constraints.lsphi = np.zeros((nsphi,)) + elif constraints.lsphi.shape[0] != nsphi: + raise Exception('inconsistent dimension nsphi, regarding idxsphi, lsphi.') + if is_empty(constraints.usphi): + constraints.usphi = np.zeros((nsphi,)) + elif constraints.usphi.shape[0] != nsphi: + raise Exception('inconsistent dimension nsphi, regarding idxsphi, usphi.') + dims.nsphi = nsphi + + nsg = constraints.idxsg.shape[0] + if is_empty(constraints.lsg): + constraints.lsg = np.zeros((nsg,)) + elif constraints.lsg.shape[0] != nsg: + raise Exception('inconsistent dimension nsg, regarding idxsg, lsg.') + if is_empty(constraints.usg): + constraints.usg = np.zeros((nsg,)) + elif constraints.usg.shape[0] != nsg: + raise Exception('inconsistent dimension nsg, regarding idxsg, usg.') + dims.nsg = nsg + + ns = nsbx + nsbu + nsh + nsg + nsphi + wrong_field = "" + if cost.Zl.shape[0] != ns: + wrong_field = "Zl" + dim = cost.Zl.shape[0] + elif cost.Zu.shape[0] != ns: + wrong_field = "Zu" + dim = cost.Zu.shape[0] + elif cost.zl.shape[0] != ns: + wrong_field = "zl" + dim = cost.zl.shape[0] + elif cost.zu.shape[0] != ns: + wrong_field = "zu" + dim = cost.zu.shape[0] + + if wrong_field != "": + raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\ + + f'Detected ns = {ns} = nsbx + nsbu + nsg + nsh + nsphi.\n\t'\ + + f'With nsbx = {nsbx}, nsbu = {nsbu}, nsg = {nsg}, nsh = {nsh}, nsphi = {nsphi}') + + dims.ns = ns + + nsbx_e = constraints.idxsbx_e.shape[0] + if is_empty(constraints.lsbx_e): + constraints.lsbx_e = np.zeros((nsbx_e,)) + elif constraints.lsbx_e.shape[0] != nsbx_e: + raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, lsbx_e.') + if is_empty(constraints.usbx_e): + constraints.usbx_e = np.zeros((nsbx_e,)) + elif constraints.usbx_e.shape[0] != nsbx_e: + raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, usbx_e.') + dims.nsbx_e = nsbx_e + + nsh_e = constraints.idxsh_e.shape[0] + if is_empty(constraints.lsh_e): + constraints.lsh_e = np.zeros((nsh_e,)) + elif constraints.lsh_e.shape[0] != nsh_e: + raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, lsh_e.') + if is_empty(constraints.ush_e): + constraints.ush_e = np.zeros((nsh_e,)) + elif constraints.ush_e.shape[0] != nsh_e: + raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, ush_e.') + dims.nsh_e = nsh_e + + nsg_e = constraints.idxsg_e.shape[0] + if is_empty(constraints.lsg_e): + constraints.lsg_e = np.zeros((nsg_e,)) + elif constraints.lsg_e.shape[0] != nsg_e: + raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, lsg_e.') + if is_empty(constraints.usg_e): + constraints.usg_e = np.zeros((nsg_e,)) + elif constraints.usg_e.shape[0] != nsg_e: + raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, usg_e.') + dims.nsg_e = nsg_e + + nsphi_e = constraints.idxsphi_e.shape[0] + if is_empty(constraints.lsphi_e): + constraints.lsphi_e = np.zeros((nsphi_e,)) + elif constraints.lsphi_e.shape[0] != nsphi_e: + raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, lsphi_e.') + if is_empty(constraints.usphi_e): + constraints.usphi_e = np.zeros((nsphi_e,)) + elif constraints.usphi_e.shape[0] != nsphi_e: + raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, usphi_e.') + dims.nsphi_e = nsphi_e + + # terminal + ns_e = nsbx_e + nsh_e + nsg_e + nsphi_e + wrong_field = "" + if cost.Zl_e.shape[0] != ns_e: + wrong_field = "Zl_e" + dim = cost.Zl_e.shape[0] + elif cost.Zu_e.shape[0] != ns_e: + wrong_field = "Zu_e" + dim = cost.Zu_e.shape[0] + elif cost.zl_e.shape[0] != ns_e: + wrong_field = "zl_e" + dim = cost.zl_e.shape[0] + elif cost.zu_e.shape[0] != ns_e: + wrong_field = "zu_e" + dim = cost.zu_e.shape[0] + + if wrong_field != "": + raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\ + + f'Detected ns_e = {ns_e} = nsbx_e + nsg_e + nsh_e + nsphi_e.\n\t'\ + + f'With nsbx_e = {nsbx_e}, nsg_e = {nsg_e}, nsh_e = {nsh_e}, nsphi_e = {nsphi_e}') + + dims.ns_e = ns_e + + # discretization + if is_empty(opts.time_steps) and is_empty(opts.shooting_nodes): + # uniform discretization + opts.time_steps = opts.tf / dims.N * np.ones((dims.N,)) + + elif not is_empty(opts.shooting_nodes): + if np.shape(opts.shooting_nodes)[0] != dims.N+1: + raise Exception('inconsistent dimension N, regarding shooting_nodes.') + + time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1] + # identify constant time_steps: due to numerical reasons the content of time_steps might vary a bit + avg_time_steps = np.average(time_steps) + # criterion for constant time step detection: the min/max difference in values normalized by the average + check_const_time_step = (np.max(time_steps)-np.min(time_steps)) / avg_time_steps + # if the criterion is small, we have a constant time_step + if check_const_time_step < 1e-9: + time_steps[:] = avg_time_steps # if we have a constant time_step: apply the average time_step + + opts.time_steps = time_steps + + elif (not is_empty(opts.time_steps)) and (not is_empty(opts.shooting_nodes)): + Exception('Please provide either time_steps or shooting_nodes for nonuniform discretization') + + tf = np.sum(opts.time_steps) + if (tf - opts.tf) / tf > 1e-15: + raise Exception(f'Inconsistent discretization: {opts.tf}'\ + f' = tf != sum(opts.time_steps) = {tf}.') + + # num_steps + if isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == 1: + opts.sim_method_num_steps = opts.sim_method_num_steps.item() + + if isinstance(opts.sim_method_num_steps, (int, float)) and opts.sim_method_num_steps % 1 == 0: + opts.sim_method_num_steps = opts.sim_method_num_steps * np.ones((dims.N,), dtype=np.int64) + elif isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == dims.N \ + and np.all(np.equal(np.mod(opts.sim_method_num_steps, 1), 0)): + opts.sim_method_num_steps = np.reshape(opts.sim_method_num_steps, (dims.N,)).astype(np.int64) + else: + raise Exception("Wrong value for sim_method_num_steps. Should be either int or array of ints of shape (N,).") + + # num_stages + if isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == 1: + opts.sim_method_num_stages = opts.sim_method_num_stages.item() + + if isinstance(opts.sim_method_num_stages, (int, float)) and opts.sim_method_num_stages % 1 == 0: + opts.sim_method_num_stages = opts.sim_method_num_stages * np.ones((dims.N,), dtype=np.int64) + elif isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == dims.N \ + and np.all(np.equal(np.mod(opts.sim_method_num_stages, 1), 0)): + opts.sim_method_num_stages = np.reshape(opts.sim_method_num_stages, (dims.N,)).astype(np.int64) + else: + raise Exception("Wrong value for sim_method_num_stages. Should be either int or array of ints of shape (N,).") + + # jac_reuse + if isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == 1: + opts.sim_method_jac_reuse = opts.sim_method_jac_reuse.item() + + if isinstance(opts.sim_method_jac_reuse, (int, float)) and opts.sim_method_jac_reuse % 1 == 0: + opts.sim_method_jac_reuse = opts.sim_method_jac_reuse * np.ones((dims.N,), dtype=np.int64) + elif isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == dims.N \ + and np.all(np.equal(np.mod(opts.sim_method_jac_reuse, 1), 0)): + opts.sim_method_jac_reuse = np.reshape(opts.sim_method_jac_reuse, (dims.N,)).astype(np.int64) + else: + raise Exception("Wrong value for sim_method_jac_reuse. Should be either int or array of ints of shape (N,).") + + +def get_simulink_default_opts(): + python_interface_path = get_python_interface_path() + abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json') + with open(abs_path , 'r') as f: + simulink_default_opts = json.load(f) + return simulink_default_opts + + +def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_nlp.json'): + # Load acados_ocp_nlp structure description + ocp_layout = get_ocp_nlp_layout() + + # Copy input ocp object dictionary + ocp_nlp_dict = dict(deepcopy(acados_ocp).__dict__) + # TODO: maybe make one function with formatting + + for acados_struct, v in ocp_layout.items(): + # skip non dict attributes + if not isinstance(v, dict): + continue + # setattr(ocp_nlp, acados_struct, dict(getattr(acados_ocp, acados_struct).__dict__)) + # Copy ocp object attributes dictionaries + ocp_nlp_dict[acados_struct]=dict(getattr(acados_ocp, acados_struct).__dict__) + + ocp_nlp_dict = format_class_dict(ocp_nlp_dict) + + # strip symbolics + ocp_nlp_dict['model'] = acados_model_strip_casadi_symbolics(ocp_nlp_dict['model']) + + # strip shooting_nodes + ocp_nlp_dict['solver_options'].pop('shooting_nodes', None) + dims_dict = format_class_dict(acados_ocp.dims.__dict__) + + ocp_check_against_layout(ocp_nlp_dict, dims_dict) + + # add simulink options + ocp_nlp_dict['simulink_opts'] = simulink_opts + + with open(json_file, 'w') as f: + json.dump(ocp_nlp_dict, f, default=np_array_to_list, indent=4, sort_keys=True) + + + +def ocp_formulation_json_load(json_file='acados_ocp_nlp.json'): + # Load acados_ocp_nlp structure description + ocp_layout = get_ocp_nlp_layout() + + with open(json_file, 'r') as f: + ocp_nlp_json = json.load(f) + + ocp_nlp_dict = json2dict(ocp_nlp_json, ocp_nlp_json['dims']) + + # Instantiate AcadosOcp object + acados_ocp = AcadosOcp() + + # load class dict + acados_ocp.__dict__ = ocp_nlp_dict + + # load class attributes dict, dims, constraints, etc + for acados_struct, v in ocp_layout.items(): + # skip non dict attributes + if not isinstance(v, dict): + continue + acados_attribute = getattr(acados_ocp, acados_struct) + acados_attribute.__dict__ = ocp_nlp_dict[acados_struct] + setattr(acados_ocp, acados_struct, acados_attribute) + + return acados_ocp + + +def ocp_generate_external_functions(acados_ocp, model): + + model = make_model_consistent(model) + + if acados_ocp.solver_options.hessian_approx == 'EXACT': + opts = dict(generate_hess=1) + else: + opts = dict(generate_hess=0) + code_export_dir = acados_ocp.code_export_directory + opts['code_export_directory'] = code_export_dir + + if acados_ocp.model.dyn_ext_fun_type != 'casadi': + raise Exception("ocp_generate_external_functions: dyn_ext_fun_type only supports 'casadi' for now.\ + Extending the Python interface with generic function support is welcome.") + + if acados_ocp.solver_options.integrator_type == 'ERK': + # explicit model -- generate C code + generate_c_code_explicit_ode(model, opts) + elif acados_ocp.solver_options.integrator_type == 'IRK': + # implicit model -- generate C code + generate_c_code_implicit_ode(model, opts) + elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK': + generate_c_code_implicit_ode(model, opts) + elif acados_ocp.solver_options.integrator_type == 'GNSF': + generate_c_code_gnsf(model, opts) + elif acados_ocp.solver_options.integrator_type == 'DISCRETE': + generate_c_code_discrete_dynamics(model, opts) + else: + raise Exception("ocp_generate_external_functions: unknown integrator type.") + + if acados_ocp.dims.nphi > 0 or acados_ocp.dims.nh > 0: + generate_c_code_constraint(model, model.name, False, opts) + + if acados_ocp.dims.nphi_e > 0 or acados_ocp.dims.nh_e > 0: + generate_c_code_constraint(model, model.name, True, opts) + + # dummy matrices + if not acados_ocp.cost.cost_type_0 == 'LINEAR_LS': + acados_ocp.cost.Vx_0 = np.zeros((acados_ocp.dims.ny_0, acados_ocp.dims.nx)) + acados_ocp.cost.Vu_0 = np.zeros((acados_ocp.dims.ny_0, acados_ocp.dims.nu)) + if not acados_ocp.cost.cost_type == 'LINEAR_LS': + acados_ocp.cost.Vx = np.zeros((acados_ocp.dims.ny, acados_ocp.dims.nx)) + acados_ocp.cost.Vu = np.zeros((acados_ocp.dims.ny, acados_ocp.dims.nu)) + if not acados_ocp.cost.cost_type_e == 'LINEAR_LS': + acados_ocp.cost.Vx_e = np.zeros((acados_ocp.dims.ny_e, acados_ocp.dims.nx)) + + if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS': + generate_c_code_nls_cost(model, model.name, 'initial', opts) + elif acados_ocp.cost.cost_type_0 == 'EXTERNAL': + generate_c_code_external_cost(model, 'initial', opts) + + if acados_ocp.cost.cost_type == 'NONLINEAR_LS': + generate_c_code_nls_cost(model, model.name, 'path', opts) + elif acados_ocp.cost.cost_type == 'EXTERNAL': + generate_c_code_external_cost(model, 'path', opts) + + if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS': + generate_c_code_nls_cost(model, model.name, 'terminal', opts) + elif acados_ocp.cost.cost_type_e == 'EXTERNAL': + generate_c_code_external_cost(model, 'terminal', opts) + + +def ocp_get_default_cmake_builder() -> CMakeBuilder: + """ + If :py:class:`~acados_template.acados_ocp_solver.AcadosOcpSolver` is used with `CMake` this function returns a good first setting. + :return: default :py:class:`~acados_template.builders.CMakeBuilder` + """ + cmake_builder = CMakeBuilder() + cmake_builder.options_on = ['BUILD_ACADOS_OCP_SOLVER_LIB'] + return cmake_builder + + +def ocp_render_templates(acados_ocp, json_file, cmake_builder=None): + + name = acados_ocp.model.name + + # setting up loader and environment + json_path = os.path.abspath(json_file) + + if not os.path.exists(json_path): + raise Exception(f'Path "{json_path}" not found!') + + code_export_dir = acados_ocp.code_export_directory + template_dir = code_export_dir + + ## Render templates + in_file = 'main.in.c' + out_file = f'main_{name}.c' + render_template(in_file, out_file, template_dir, json_path) + + in_file = 'acados_solver.in.c' + out_file = f'acados_solver_{name}.c' + render_template(in_file, out_file, template_dir, json_path) + + in_file = 'acados_solver.in.h' + out_file = f'acados_solver_{name}.h' + render_template(in_file, out_file, template_dir, json_path) + + in_file = 'acados_solver.in.pxd' + out_file = f'acados_solver.pxd' + render_template(in_file, out_file, template_dir, json_path) + + if cmake_builder is not None: + in_file = 'CMakeLists.in.txt' + out_file = 'CMakeLists.txt' + render_template(in_file, out_file, template_dir, json_path) + else: + in_file = 'Makefile.in' + out_file = 'Makefile' + render_template(in_file, out_file, template_dir, json_path) + + in_file = 'acados_solver_sfun.in.c' + out_file = f'acados_solver_sfunction_{name}.c' + render_template(in_file, out_file, template_dir, json_path) + + in_file = 'make_sfun.in.m' + out_file = f'make_sfun_{name}.m' + render_template(in_file, out_file, template_dir, json_path) + + # sim + in_file = 'acados_sim_solver.in.c' + out_file = f'acados_sim_solver_{name}.c' + render_template(in_file, out_file, template_dir, json_path) + + in_file = 'acados_sim_solver.in.h' + out_file = f'acados_sim_solver_{name}.h' + render_template(in_file, out_file, template_dir, json_path) + + in_file = 'main_sim.in.c' + out_file = f'main_sim_{name}.c' + render_template(in_file, out_file, template_dir, json_path) + + ## folder model + template_dir = os.path.join(code_export_dir, name + '_model') + in_file = 'model.in.h' + out_file = f'{name}_model.h' + render_template(in_file, out_file, template_dir, json_path) + + # constraints on convex over nonlinear function + if acados_ocp.constraints.constr_type == 'BGP' and acados_ocp.dims.nphi > 0: + # constraints on outer function + template_dir = os.path.join(code_export_dir, name + '_constraints') + in_file = 'phi_constraint.in.h' + out_file = f'{name}_phi_constraint.h' + render_template(in_file, out_file, template_dir, json_path) + + # terminal constraints on convex over nonlinear function + if acados_ocp.constraints.constr_type_e == 'BGP' and acados_ocp.dims.nphi_e > 0: + # terminal constraints on outer function + template_dir = os.path.join(code_export_dir, name + '_constraints') + in_file = 'phi_e_constraint.in.h' + out_file = f'{name}_phi_e_constraint.h' + render_template(in_file, out_file, template_dir, json_path) + + # nonlinear constraints + if acados_ocp.constraints.constr_type == 'BGH' and acados_ocp.dims.nh > 0: + template_dir = os.path.join(code_export_dir, name + '_constraints') + in_file = 'h_constraint.in.h' + out_file = f'{name}_h_constraint.h' + render_template(in_file, out_file, template_dir, json_path) + + # terminal nonlinear constraints + if acados_ocp.constraints.constr_type_e == 'BGH' and acados_ocp.dims.nh_e > 0: + template_dir = os.path.join(code_export_dir, name + '_constraints') + in_file = 'h_e_constraint.in.h' + out_file = f'{name}_h_e_constraint.h' + render_template(in_file, out_file, template_dir, json_path) + + # initial stage Nonlinear LS cost function + if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS': + template_dir = os.path.join(code_export_dir, name + '_cost') + in_file = 'cost_y_0_fun.in.h' + out_file = f'{name}_cost_y_0_fun.h' + render_template(in_file, out_file, template_dir, json_path) + # external cost - terminal + elif acados_ocp.cost.cost_type_0 == 'EXTERNAL': + template_dir = os.path.join(code_export_dir, name + '_cost') + in_file = 'external_cost_0.in.h' + out_file = f'{name}_external_cost_0.h' + render_template(in_file, out_file, template_dir, json_path) + + # path Nonlinear LS cost function + if acados_ocp.cost.cost_type == 'NONLINEAR_LS': + template_dir = os.path.join(code_export_dir, name + '_cost') + in_file = 'cost_y_fun.in.h' + out_file = f'{name}_cost_y_fun.h' + render_template(in_file, out_file, template_dir, json_path) + + # terminal Nonlinear LS cost function + if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS': + template_dir = os.path.join(code_export_dir, name + '_cost') + in_file = 'cost_y_e_fun.in.h' + out_file = f'{name}_cost_y_e_fun.h' + render_template(in_file, out_file, template_dir, json_path) + + # external cost + if acados_ocp.cost.cost_type == 'EXTERNAL': + template_dir = os.path.join(code_export_dir, name + '_cost') + in_file = 'external_cost.in.h' + out_file = f'{name}_external_cost.h' + render_template(in_file, out_file, template_dir, json_path) + + # external cost - terminal + if acados_ocp.cost.cost_type_e == 'EXTERNAL': + template_dir = os.path.join(code_export_dir, name + '_cost') + in_file = 'external_cost_e.in.h' + out_file = f'{name}_external_cost_e.h' + render_template(in_file, out_file, template_dir, json_path) + + +def remove_x0_elimination(acados_ocp): + acados_ocp.constraints.idxbxe_0 = np.zeros((0,)) + acados_ocp.dims.nbxe_0 = 0 + + +class AcadosOcpSolver: + """ + Class to interact with the acados ocp solver C object. + + :param acados_ocp: type :py:class:`~acados_template.acados_ocp.AcadosOcp` - description of the OCP for acados + :param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json + :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs + """ + if sys.platform=="win32": + from ctypes import wintypes + from ctypes import WinDLL + dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary + dlclose.argtypes = [wintypes.HMODULE] + else: + dlclose = CDLL(None).dlclose + dlclose.argtypes = [c_void_p] + + @classmethod + def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = None): + """ + Generates the code for an acados OCP solver, given the description in acados_ocp. + :param acados_ocp: type AcadosOcp - description of the OCP for acados + :param json_file: name for the json file used to render the templated code - default: `acados_ocp_nlp.json` + :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible inputs and + outputs; default: `None` + :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use + the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with + `MS Visual Studio`); default: `None` + """ + model = acados_ocp.model + acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory) + + if simulink_opts is None: + simulink_opts = get_simulink_default_opts() + + # make dims consistent + make_ocp_dims_consistent(acados_ocp) + + # module dependent post processing + if acados_ocp.solver_options.integrator_type == 'GNSF': + set_up_imported_gnsf_model(acados_ocp) + + if acados_ocp.solver_options.qp_solver == 'PARTIAL_CONDENSING_QPDUNES': + remove_x0_elimination(acados_ocp) + + # set integrator time automatically + acados_ocp.solver_options.Tsim = acados_ocp.solver_options.time_steps[0] + + # generate external functions + ocp_generate_external_functions(acados_ocp, model) + + # dump to json + ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file) + + # render templates + ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder) + acados_ocp.json_file = json_file + + + @classmethod + def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None): + """ + Builds the code for an acados OCP solver, that has been generated in code_export_dir + :param code_export_dir: directory in which acados OCP solver has been generated, see generate() + :param with_cython: option indicating if the cython interface is build, default: False. + :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use + the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with + `MS Visual Studio`); default: `None` + """ + code_export_dir = os.path.abspath(code_export_dir) + cwd=os.getcwd() + os.chdir(code_export_dir) + if with_cython: + os.system('make clean_ocp_cython') + os.system('make ocp_cython') + else: + if cmake_builder is not None: + cmake_builder.exec(code_export_dir) + else: + os.system('make clean_ocp_shared_lib') + os.system('make ocp_shared_lib') + os.chdir(cwd) + + + @classmethod + def create_cython_solver(cls, json_file): + """ + Returns an `AcadosOcpSolverCython` object. + + This is an alternative Cython based Python wrapper to the acados OCP solver in C. + This offers faster interaction with the solver, because getter and setter calls, which include shape checking are done in compiled C code. + + The default wrapper `AcadosOcpSolver` is based on ctypes. + """ + with open(json_file, 'r') as f: + acados_ocp_json = json.load(f) + code_export_directory = acados_ocp_json['code_export_directory'] + + importlib.invalidate_caches() + rel_code_export_directory = os.path.relpath(code_export_directory) + acados_ocp_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_ocp_solver_pyx') + + AcadosOcpSolverCython = getattr(acados_ocp_solver_pyx, 'AcadosOcpSolverCython') + return AcadosOcpSolverCython(acados_ocp_json['model']['name'], + acados_ocp_json['solver_options']['nlp_solver_type'], + acados_ocp_json['dims']['N']) + + + def __init__(self, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None): + + self.solver_created = False + if generate: + self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder) + + # load json, store options in object + with open(json_file, 'r') as f: + acados_ocp_json = json.load(f) + self.N = acados_ocp_json['dims']['N'] + self.model_name = acados_ocp_json['model']['name'] + self.solver_options = acados_ocp_json['solver_options'] + + acados_lib_path = acados_ocp_json['acados_lib_path'] + code_export_directory = acados_ocp_json['code_export_directory'] + + if build: + self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder) + + # prepare library loading + lib_prefix = 'lib' + lib_ext = '.so' + if os.name == 'nt': + lib_prefix = '' + lib_ext = '' + # ToDo: check for mac + + # Load acados library to avoid unloading the library. + # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed. + # Unloading a library which uses OpenMP results in a segfault (on any platform?). + # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp] + # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html] + libacados_name = f'{lib_prefix}acados{lib_ext}' + libacados_filepath = os.path.join(acados_lib_path, libacados_name) + self.__acados_lib = CDLL(libacados_filepath) + # find out if acados was compiled with OpenMP + try: + self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None + except AttributeError as e: + self.__acados_lib_uses_omp = False + if self.__acados_lib_uses_omp: + print('acados was compiled with OpenMP.') + else: + print('acados was compiled without OpenMP.') + libacados_ocp_solver_name = f'{lib_prefix}acados_ocp_solver_{self.model_name}{lib_ext}' + self.shared_lib_name = os.path.join(code_export_directory, libacados_ocp_solver_name) + + # get shared_lib + self.shared_lib = CDLL(self.shared_lib_name) + + # create capsule + getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule").restype = c_void_p + self.capsule = getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule")() + + # create solver + getattr(self.shared_lib, f"{self.model_name}_acados_create").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_create").restype = c_int + assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0 + self.solver_created = True + + # get pointers solver + self.__get_pointers_solver() + + self.status = 0 + + + def __get_pointers_solver(self): + """ + Private function to get the pointers for solver + """ + # get pointers solver + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p + self.nlp_opts = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").restype = c_void_p + self.nlp_dims = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").restype = c_void_p + self.nlp_config = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p + self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").restype = c_void_p + self.sens_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p + self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p + self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule) + + + def solve(self): + """ + Solve the ocp with current input. + """ + getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int + self.status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule) + + return self.status + + + def reset(self): + """ + Sets current iterate to all zeros. + """ + getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_reset").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule) + + return + + + def set_new_time_steps(self, new_time_steps): + """ + Set new time steps. + Recreates the solver if N changes. + + :param new_time_steps: 1 dimensional np array of new time steps for the solver + + .. note:: This allows for different use-cases: either set a new size of time_steps or a new distribution of + the shooting nodes without changing the number, e.g., to reach a different final time. Both cases + do not require a new code export and compilation. + """ + + # unlikely but still possible + if not self.solver_created: + raise Exception('Solver was not yet created!') + + # check if time steps really changed in value + if np.array_equal(self.solver_options['time_steps'], new_time_steps): + return + + N = new_time_steps.size + new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double)) + + # check if recreation of acados is necessary (no need to recreate acados if sizes are identical) + if len(self.solver_options['time_steps']) == N: + getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int + assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0 + else: # recreate the solver with the new time steps + self.solver_created = False + + # delete old memory (analog to __del__) + getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule) + + # create solver with new time steps + getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int + assert getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization")(self.capsule, N, new_time_steps_data) == 0 + + self.solver_created = True + + # get pointers solver + self.__get_pointers_solver() + + # store time_steps, N + self.solver_options['time_steps'] = new_time_steps + self.N = N + self.solver_options['Tsim'] = self.solver_options['time_steps'][0] + + + def update_qp_solver_cond_N(self, qp_solver_cond_N: int): + """ + Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver. + This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or + the influence of a different `qp_solver_cond_N` is studied without code export and compilation. + :param qp_solver_cond_N: new number of condensing stages for the solver + + .. note:: This function can only be used in combination with a partial condensing QP solver. + + .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be + necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically + `qp_solver_cond_N < N`. + """ + # unlikely but still possible + if not self.solver_created: + raise Exception('Solver was not yet created!') + if self.N < qp_solver_cond_N: + raise Exception('Setting qp_solver_cond_N to be larger than N does not work!') + if self.solver_options['qp_solver_cond_N'] != qp_solver_cond_N: + self.solver_created = False + + # recreate the solver + fun_name = f'{self.model_name}_acados_update_qp_solver_cond_N' + getattr(self.shared_lib, fun_name).argtypes = [c_void_p, c_int] + getattr(self.shared_lib, fun_name).restype = c_int + assert getattr(self.shared_lib, fun_name)(self.capsule, qp_solver_cond_N) == 0 + + # store the new value + self.solver_options['qp_solver_cond_N'] = qp_solver_cond_N + self.solver_created = True + + # get pointers solver + self.__get_pointers_solver() + + + def eval_param_sens(self, index, stage=0, field="ex"): + """ + Calculate the sensitivity of the curent solution with respect to the initial state component of index + + :param index: integer corresponding to initial state index in range(nx) + """ + + field_ = field + field = field_.encode('utf-8') + + # checks + if not isinstance(index, int): + raise Exception('AcadosOcpSolver.eval_param_sens(): index must be Integer.') + + self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_void_p, c_int, c_char_p] + self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int + nx = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8')) + + if index < 0 or index > nx: + raise Exception(f'AcadosOcpSolver.eval_param_sens(): index must be in [0, nx-1], got: {index}.') + + # actual eval_param + self.shared_lib.ocp_nlp_eval_param_sens.argtypes = [c_void_p, c_char_p, c_int, c_int, c_void_p] + self.shared_lib.ocp_nlp_eval_param_sens.restype = None + self.shared_lib.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out) + + return + + + def get(self, stage_, field_): + """ + Get the last solution of the solver: + + :param stage: integer corresponding to shooting node + :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',] + + .. note:: regarding lam, t: \n + the inequalities are internally organized in the following order: \n + [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n + lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi] + + .. note:: pi: multipliers for dynamics equality constraints \n + lam: multipliers for inequalities \n + t: slack variables corresponding to evaluation of all inequalities (at the solution) \n + sl: slack variables of soft lower inequality constraints \n + su: slack variables of soft upper inequality constraints \n + """ + + out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su'] + # mem_fields = ['sl', 'su'] + sens_fields = ['sens_u', "sens_x"] + all_fields = out_fields + sens_fields + + field = field_ + + if (field_ not in all_fields): + raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\ + \n Possible values are {}. Exiting.'.format(field_, all_fields)) + + if not isinstance(stage_, int): + raise Exception('AcadosOcpSolver.get(): stage index must be Integer.') + + if stage_ < 0 or stage_ > self.N: + raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(stage_)) + + if stage_ == self.N and field_ == 'pi': + raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\ + .format(field_, stage_)) + + if field_ in sens_fields: + field = field_.replace('sens_', '') + + field = field.encode('utf-8') + + self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p] + self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int + + dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field) + + out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64) + out_data = cast(out.ctypes.data, POINTER(c_double)) + + if (field_ in out_fields): + self.shared_lib.ocp_nlp_out_get.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_out_get(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field, out_data) + # elif field_ in mem_fields: + # self.shared_lib.ocp_nlp_get_at_stage.argtypes = \ + # [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + # self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \ + # self.nlp_dims, self.nlp_solver, stage_, field, out_data) + elif field_ in sens_fields: + self.shared_lib.ocp_nlp_out_get.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_out_get(self.nlp_config, \ + self.nlp_dims, self.sens_out, stage_, field, out_data) + + return out + + + def print_statistics(self): + """ + prints statistics of previous solver run as a table: + - iter: iteration number + - res_stat: stationarity residual + - res_eq: residual wrt equality constraints (dynamics) + - res_ineq: residual wrt inequality constraints (constraints) + - res_comp: residual wrt complementarity conditions + - qp_stat: status of QP solver + - qp_iter: number of QP iterations + - alpha: SQP step size + - qp_res_stat: stationarity residual of the last QP solution + - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution + - qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution + - qp_res_comp: residual wrt complementarity conditions of the last QP solution + """ + stat = self.get_stats("statistics") + + if self.solver_options['nlp_solver_type'] == 'SQP': + print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha') + if stat.shape[0]>8: + print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp') + for jj in range(stat.shape[1]): + print(f'{int(stat[0][jj]):d}\t{stat[1][jj]:e}\t{stat[2][jj]:e}\t{stat[3][jj]:e}\t' + + f'{stat[4][jj]:e}\t{int(stat[5][jj]):d}\t{int(stat[6][jj]):d}\t{stat[7][jj]:e}\t') + if stat.shape[0]>8: + print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \ + stat[8][jj], stat[9][jj], stat[10][jj], stat[11][jj])) + print('\n') + elif self.solver_options['nlp_solver_type'] == 'SQP_RTI': + print('\niter\tqp_stat\tqp_iter') + if stat.shape[0]>3: + print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp') + for jj in range(stat.shape[1]): + print('{:d}\t{:d}\t{:d}'.format( int(stat[0][jj]), int(stat[1][jj]), int(stat[2][jj]))) + if stat.shape[0]>3: + print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \ + stat[3][jj], stat[4][jj], stat[5][jj], stat[6][jj])) + print('\n') + + return + + + def store_iterate(self, filename='', overwrite=False): + """ + Stores the current iterate of the ocp solver in a json file. + + :param filename: if not set, use model_name + timestamp + '.json' + :param overwrite: if false and filename exists add timestamp to filename + """ + if filename == '': + filename += self.model_name + '_' + 'iterate' + '.json' + + if not overwrite: + # append timestamp + if os.path.isfile(filename): + filename = filename[:-5] + filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json' + + # get iterate: + solution = dict() + + for i in range(self.N+1): + solution['x_'+str(i)] = self.get(i,'x') + solution['u_'+str(i)] = self.get(i,'u') + solution['z_'+str(i)] = self.get(i,'z') + solution['lam_'+str(i)] = self.get(i,'lam') + solution['t_'+str(i)] = self.get(i, 't') + solution['sl_'+str(i)] = self.get(i, 'sl') + solution['su_'+str(i)] = self.get(i, 'su') + for i in range(self.N): + solution['pi_'+str(i)] = self.get(i,'pi') + + # save + with open(filename, 'w') as f: + json.dump(solution, f, default=np_array_to_list, indent=4, sort_keys=True) + print("stored current iterate in ", os.path.join(os.getcwd(), filename)) + + + def load_iterate(self, filename): + """ + Loads the iterate stored in json file with filename into the ocp solver. + """ + if not os.path.isfile(filename): + raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename)) + + with open(filename, 'r') as f: + solution = json.load(f) + + print(f"loading iterate {filename}") + for key in solution.keys(): + (field, stage) = key.split('_') + self.set(int(stage), field, np.array(solution[key])) + + + def get_stats(self, field_): + """ + Get the information of the last solver call. + + :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter', 'residuals', 'qp_iter', 'alpha'] + + Available fileds: + - time_tot: total CPU time previous call + - time_lin: CPU time for linearization + - time_sim: CPU time for integrator + - time_sim_ad: CPU time for integrator contribution of external function calls + - time_sim_la: CPU time for integrator contribution of linear algebra + - time_qp: CPU time qp solution + - time_qp_solver_call: CPU time inside qp solver (without converting the QP) + - time_qp_xcond: time_glob: CPU time globalization + - time_solution_sensitivities: CPU time for previous call to eval_param_sens + - time_reg: CPU time regularization + - sqp_iter: number of SQP iterations + - qp_iter: vector of QP iterations for last SQP call + - statistics: table with info about last iteration + - stat_m: number of rows in statistics matrix + - stat_n: number of columns in statistics matrix + - residuals: residuals of last iterate + - alpha: step sizes of SQP iterations + """ + + double_fields = ['time_tot', + 'time_lin', + 'time_sim', + 'time_sim_ad', + 'time_sim_la', + 'time_qp', + 'time_qp_solver_call', + 'time_qp_xcond', + 'time_glob', + 'time_solution_sensitivities', + 'time_reg' + ] + fields = double_fields + [ + 'sqp_iter', + 'qp_iter', + 'statistics', + 'stat_m', + 'stat_n', + 'residuals', + 'alpha', + ] + field = field_.encode('utf-8') + + + if field_ in ['sqp_iter', 'stat_m', 'stat_n']: + out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64) + out_data = cast(out.ctypes.data, POINTER(c_int64)) + self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + return out + + # TODO: just return double instead of np. + elif field_ in double_fields: + out = np.zeros((1,)) + out_data = cast(out.ctypes.data, POINTER(c_double)) + self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + return out + + elif field_ == 'statistics': + sqp_iter = self.get_stats("sqp_iter") + stat_m = self.get_stats("stat_m") + stat_n = self.get_stats("stat_n") + min_size = min([stat_m, sqp_iter+1]) + out = np.ascontiguousarray( + np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64) + out_data = cast(out.ctypes.data, POINTER(c_double)) + self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + return out + + elif field_ == 'qp_iter': + full_stats = self.get_stats('statistics') + if self.solver_options['nlp_solver_type'] == 'SQP': + return full_stats[6, :] + elif self.solver_options['nlp_solver_type'] == 'SQP_RTI': + return full_stats[2, :] + + elif field_ == 'alpha': + full_stats = self.get_stats('statistics') + if self.solver_options['nlp_solver_type'] == 'SQP': + return full_stats[7, :] + else: # self.solver_options['nlp_solver_type'] == 'SQP_RTI': + raise Exception("alpha values are not available for SQP_RTI") + + elif field_ == 'residuals': + return self.get_residuals() + + else: + raise Exception(f'AcadosOcpSolver.get_stats(): {field} is not a valid argument.' + + f'\n Possible values are {fields}.') + + + def get_cost(self): + """ + Returns the cost value of the current solution. + """ + # compute cost internally + self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p] + self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out) + + # create output array + out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64) + out_data = cast(out.ctypes.data, POINTER(c_double)) + + # call getter + self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p] + + field = "cost_value".encode('utf-8') + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + + return out[0] + + + def get_residuals(self, recompute=False): + """ + Returns an array of the form [res_stat, res_eq, res_ineq, res_comp]. + """ + # compute residuals if RTI + if self.solver_options['nlp_solver_type'] == 'SQP_RTI' or recompute: + self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p] + self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out) + + # create output array + out = np.ascontiguousarray(np.zeros((4, 1)), dtype=np.float64) + out_data = cast(out.ctypes.data, POINTER(c_double)) + + # call getters + self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p] + + field = "res_stat".encode('utf-8') + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + + out_data = cast(out[1].ctypes.data, POINTER(c_double)) + field = "res_eq".encode('utf-8') + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + + out_data = cast(out[2].ctypes.data, POINTER(c_double)) + field = "res_ineq".encode('utf-8') + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + + out_data = cast(out[3].ctypes.data, POINTER(c_double)) + field = "res_comp".encode('utf-8') + self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data) + return out.flatten() + + + # Note: this function should not be used anymore, better use cost_set, constraints_set + def set(self, stage_, field_, value_): + """ + Set numerical data inside the solver. + + :param stage: integer corresponding to shooting node + :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p', 'xdot_guess', 'z_guess'] + + .. note:: regarding lam, t: \n + the inequalities are internally organized in the following order: \n + [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n + lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi] + + .. note:: pi: multipliers for dynamics equality constraints \n + lam: multipliers for inequalities \n + t: slack variables corresponding to evaluation of all inequalities (at the solution) \n + sl: slack variables of soft lower inequality constraints \n + su: slack variables of soft upper inequality constraints \n + """ + cost_fields = ['y_ref', 'yref'] + constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu'] + out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su'] + mem_fields = ['xdot_guess', 'z_guess'] + + # cast value_ to avoid conversion issues + if isinstance(value_, (float, int)): + value_ = np.array([value_]) + value_ = value_.astype(float) + + field = field_ + field = field.encode('utf-8') + + stage = c_int(stage_) + + # treat parameters separately + if field_ == 'p': + getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)] + getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int + + value_data = cast(value_.ctypes.data, POINTER(c_double)) + + assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0 + else: + if field_ not in constraints_fields + cost_fields + out_fields: + raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\ + \nPossible values are {}. Exiting.".format(field, \ + constraints_fields + cost_fields + out_fields + ['p'])) + + self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p] + self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int + + dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field) + + if value_.shape[0] != dims: + msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_) + msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0]) + raise Exception(msg) + + value_data = cast(value_.ctypes.data, POINTER(c_double)) + value_data_p = cast((value_data), c_void_p) + + if field_ in constraints_fields: + self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, value_data_p) + elif field_ in cost_fields: + self.shared_lib.ocp_nlp_cost_model_set.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, value_data_p) + elif field_ in out_fields: + self.shared_lib.ocp_nlp_out_set.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_out_set(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage, field, value_data_p) + elif field_ in mem_fields: + self.shared_lib.ocp_nlp_set.argtypes = \ + [c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_set(self.nlp_config, \ + self.nlp_solver, stage, field, value_data_p) + return + + + def cost_set(self, stage_, field_, value_, api='warn'): + """ + Set numerical data in the cost module of the solver. + + :param stage: integer corresponding to shooting node + :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess' + :param value: of appropriate size + """ + # cast value_ to avoid conversion issues + if isinstance(value_, (float, int)): + value_ = np.array([value_]) + value_ = value_.astype(float) + + field = field_ + field = field.encode('utf-8') + + stage = c_int(stage_) + self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)] + self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int + + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field, dims_data) + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + + elif len(value_shape) == 2: + if api=='old': + pass + elif api=='warn': + if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')): + raise Exception("Ambiguity in API detected.\n" + "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n" + "Are you seeing this error suddenly in previously running code? Read on.\n" + " You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) + + " acados_template now correctly passes on any matrices to acados in column major format.\n" + + " Two options to fix this error: \n" + + " * Add api='old' to cost_set to restore old incorrect behaviour\n" + + " * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " + + "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " + + "If there is no such manipulation, then you have probably been getting an incorrect solution before.") + # Get elements in column major order + value_ = np.ravel(value_, order='F') + elif api=='new': + # Get elements in column major order + value_ = np.ravel(value_, order='F') + else: + raise Exception("Unknown api: '{}'".format(api)) + + if value_shape != tuple(dims): + raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension' + + f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})') + + value_data = cast(value_.ctypes.data, POINTER(c_double)) + value_data_p = cast((value_data), c_void_p) + + self.shared_lib.ocp_nlp_cost_model_set.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, value_data_p) + + return + + + def constraints_set(self, stage_, field_, value_, api='warn'): + """ + Set numerical data in the constraint module of the solver. + + :param stage: integer corresponding to shooting node + :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D'] + :param value: of appropriate size + """ + # cast value_ to avoid conversion issues + if isinstance(value_, (float, int)): + value_ = np.array([value_]) + value_ = value_.astype(float) + + field = field_ + field = field.encode('utf-8') + + stage = c_int(stage_) + self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)] + self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int + + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field, dims_data) + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + elif len(value_shape) == 2: + if api=='old': + pass + elif api=='warn': + if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')): + raise Exception("Ambiguity in API detected.\n" + "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n" + "Are you seeing this error suddenly in previously running code? Read on.\n" + " You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) + + " acados_template now correctly passes on any matrices to acados in column major format.\n" + + " Two options to fix this error: \n" + + " * Add api='old' to constraints_set to restore old incorrect behaviour\n" + + " * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " + + "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " + + "If there is no such manipulation, then you have probably been getting an incorrect solution before.") + # Get elements in column major order + value_ = np.ravel(value_, order='F') + elif api=='new': + # Get elements in column major order + value_ = np.ravel(value_, order='F') + else: + raise Exception("Unknown api: '{}'".format(api)) + + if value_shape != tuple(dims): + raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' + + f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})') + + value_data = cast(value_.ctypes.data, POINTER(c_double)) + value_data_p = cast((value_data), c_void_p) + + self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, value_data_p) + + return + + + def dynamics_get(self, stage_, field_): + """ + Get numerical data from the dynamics module of the solver: + + :param stage: integer corresponding to shooting node + :param field: string, e.g. 'A' + """ + + field = field_ + field = field.encode('utf-8') + stage = c_int(stage_) + + # get dims + self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)] + self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr.restype = c_int + + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage_, field, dims_data) + + # create output data + out = np.ascontiguousarray(np.zeros((np.prod(dims),)), dtype=np.float64) + out = out.reshape(dims[0], dims[1], order='F') + + out_data = cast(out.ctypes.data, POINTER(c_double)) + out_data_p = cast((out_data), c_void_p) + + # call getter + self.shared_lib.ocp_nlp_get_at_stage.argtypes = \ + [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \ + self.nlp_dims, self.nlp_solver, stage, field, out_data_p) + + return out + + + def options_set(self, field_, value_): + """ + Set options of the solver. + + :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0' + + :param value: of type int, float, string + + - qp_tol_stat: QP solver tolerance stationarity + - qp_tol_eq: QP solver tolerance equalities + - qp_tol_ineq: QP solver tolerance inequalities + - qp_tol_comp: QP solver tolerance complementarity + - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM + - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness + - warm_start_first_qp: indicates if first QP in SQP is warm_started + """ + int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp'] + double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent', + 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'] + string_fields = ['globalization'] + + # check field availability and type + if field_ in int_fields: + if not isinstance(value_, int): + raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_))) + else: + value_ctypes = c_int(value_) + + elif field_ in double_fields: + if not isinstance(value_, float): + raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_))) + else: + value_ctypes = c_double(value_) + + elif field_ in string_fields: + if not isinstance(value_, str): + raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_))) + else: + value_ctypes = value_.encode('utf-8') + else: + raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\ + '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields))) + + + if field_ == 'rti_phase': + if value_ < 0 or value_ > 2: + raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can ' + 'take only values 0, 1, 2 for SQP-RTI-type solvers') + if self.solver_options['nlp_solver_type'] != 'SQP_RTI' and value_ > 0: + raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can ' + 'take only value 0 for SQP-type solvers') + + # encode + field = field_ + field = field.encode('utf-8') + + # call C interface + if field_ in string_fields: + self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \ + [c_void_p, c_void_p, c_char_p, c_char_p] + self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \ + self.nlp_opts, field, value_ctypes) + else: + self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \ + [c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \ + self.nlp_opts, field, byref(value_ctypes)) + return + + + def __del__(self): + if self.solver_created: + getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule")(self.capsule) + + try: + self.dlclose(self.shared_lib._handle) + except: + pass diff --git a/pyextra/acados_template/acados_ocp_solver_pyx.pyx b/pyextra/acados_template/acados_ocp_solver_pyx.pyx new file mode 100644 index 000000000..fe7fa8425 --- /dev/null +++ b/pyextra/acados_template/acados_ocp_solver_pyx.pyx @@ -0,0 +1,707 @@ +# -*- coding: future_fstrings -*- +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# cython: language_level=3 +# cython: profile=False +# distutils: language=c + +cimport cython +from libc cimport string + +cimport acados_solver_common +# TODO: make this import more clear? it is not a general solver, but problem specific. +cimport acados_solver + +cimport numpy as cnp + +import os +from datetime import datetime +import numpy as np + + +cdef class AcadosOcpSolverCython: + """ + Class to interact with the acados ocp solver C object. + """ + + cdef acados_solver.nlp_solver_capsule *capsule + cdef void *nlp_opts + cdef acados_solver_common.ocp_nlp_dims *nlp_dims + cdef acados_solver_common.ocp_nlp_config *nlp_config + cdef acados_solver_common.ocp_nlp_out *nlp_out + cdef acados_solver_common.ocp_nlp_out *sens_out + cdef acados_solver_common.ocp_nlp_in *nlp_in + cdef acados_solver_common.ocp_nlp_solver *nlp_solver + + cdef int status + cdef bint solver_created + + cdef str model_name + cdef int N + + cdef str nlp_solver_type + + def __cinit__(self, model_name, nlp_solver_type, N): + + self.solver_created = False + + self.N = N + self.model_name = model_name + self.nlp_solver_type = nlp_solver_type + + # create capsule + self.capsule = acados_solver.acados_create_capsule() + + # create solver + assert acados_solver.acados_create(self.capsule) == 0 + self.solver_created = True + + # get pointers solver + self.__get_pointers_solver() + self.status = 0 + + + def __get_pointers_solver(self): + """ + Private function to get the pointers for solver + """ + # get pointers solver + self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule) + self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule) + self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule) + self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule) + self.sens_out = acados_solver.acados_get_sens_out(self.capsule) + self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule) + self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule) + + + def solve(self): + """ + Solve the ocp with current input. + """ + return acados_solver.acados_solve(self.capsule) + + + def reset(self): + """ + Sets current iterate to all zeros. + """ + return acados_solver.acados_reset(self.capsule) + + + def set_new_time_steps(self, new_time_steps): + """ + Set new time steps. + Recreates the solver if N changes. + + :param new_time_steps: 1 dimensional np array of new time steps for the solver + + .. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of + the shooting nodes without changing the number, e.g., to reach a different final time. Both cases + do not require a new code export and compilation. + """ + + raise NotImplementedError("AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature") + # # unlikely but still possible + # if not self.solver_created: + # raise Exception('Solver was not yet created!') + + # ## check if time steps really changed in value + # # get time steps + # cdef cnp.ndarray[cnp.float64_t, ndim=1] old_time_steps = np.ascontiguousarray(np.zeros((self.N,)), dtype=np.float64) + # assert acados_solver.acados_get_time_steps(self.capsule, self.N, old_time_steps.data) + + # if np.array_equal(old_time_steps, new_time_steps): + # return + + # N = new_time_steps.size + # cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(new_time_steps, dtype=np.float64) + + # # check if recreation of acados is necessary (no need to recreate acados if sizes are identical) + # if len(old_time_steps) == N: + # assert acados_solver.acados_update_time_steps(self.capsule, N, value.data) == 0 + + # else: # recreate the solver with the new time steps + # self.solver_created = False + + # # delete old memory (analog to __del__) + # acados_solver.acados_free(self.capsule) + + # # create solver with new time steps + # assert acados_solver.acados_create_with_discretization(self.capsule, N, value.data) == 0 + + # self.solver_created = True + + # # get pointers solver + # self.__get_pointers_solver() + + # # store time_steps, N + # self.time_steps = new_time_steps + # self.N = N + + + def update_qp_solver_cond_N(self, qp_solver_cond_N: int): + """ + Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver. + This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or + the influence of a different `qp_solver_cond_N` is studied without code export and compilation. + :param qp_solver_cond_N: new number of condensing stages for the solver + + .. note:: This function can only be used in combination with a partial condensing QP solver. + + .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be + necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically + `qp_solver_cond_N < N`. + """ + raise NotImplementedError("AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature") + + # # unlikely but still possible + # if not self.solver_created: + # raise Exception('Solver was not yet created!') + # if self.N < qp_solver_cond_N: + # raise Exception('Setting qp_solver_cond_N to be larger than N does not work!') + # if self.qp_solver_cond_N != qp_solver_cond_N: + # self.solver_created = False + + # # recreate the solver + # acados_solver.acados_update_qp_solver_cond_N(self.capsule, qp_solver_cond_N) + + # # store the new value + # self.qp_solver_cond_N = qp_solver_cond_N + # self.solver_created = True + + # # get pointers solver + # self.__get_pointers_solver() + + + def eval_param_sens(self, index, stage=0, field="ex"): + """ + Calculate the sensitivity of the curent solution with respect to the initial state component of index + + :param index: integer corresponding to initial state index in range(nx) + """ + + field_ = field + field = field_.encode('utf-8') + + # checks + if not isinstance(index, int): + raise Exception('AcadosOcpSolverCython.eval_param_sens(): index must be Integer.') + + cdef int nx = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8')) + + if index < 0 or index > nx: + raise Exception(f'AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: {index}.') + + # actual eval_param + acados_solver_common.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out) + + return + + + def get(self, int stage, str field_): + """ + Get the last solution of the solver: + + :param stage: integer corresponding to shooting node + :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',] + + .. note:: regarding lam, t: \n + the inequalities are internally organized in the following order: \n + [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n + lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi] + + .. note:: pi: multipliers for dynamics equality constraints \n + lam: multipliers for inequalities \n + t: slack variables corresponding to evaluation of all inequalities (at the solution) \n + sl: slack variables of soft lower inequality constraints \n + su: slack variables of soft upper inequality constraints \n + """ + + out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su'] + field = field_.encode('utf-8') + + if field_ not in out_fields: + raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\ + \n Possible values are {}. Exiting.'.format(field_, out_fields)) + + if stage < 0 or stage > self.N: + raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N)) + + if stage == self.N and field_ == 'pi': + raise Exception('AcadosOcpSolverCython.get(): field {} does not exist at final stage {}.'\ + .format(field_, stage)) + + cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, + self.nlp_dims, self.nlp_out, stage, field) + + cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims,)) + acados_solver_common.ocp_nlp_out_get(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage, field, out.data) + + return out + + + def print_statistics(self): + """ + prints statistics of previous solver run as a table: + - iter: iteration number + - res_stat: stationarity residual + - res_eq: residual wrt equality constraints (dynamics) + - res_ineq: residual wrt inequality constraints (constraints) + - res_comp: residual wrt complementarity conditions + - qp_stat: status of QP solver + - qp_iter: number of QP iterations + - qp_res_stat: stationarity residual of the last QP solution + - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution + - qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution + - qp_res_comp: residual wrt complementarity conditions of the last QP solution + """ + acados_solver.acados_print_stats(self.capsule) + + + def store_iterate(self, filename='', overwrite=False): + """ + Stores the current iterate of the ocp solver in a json file. + + :param filename: if not set, use model_name + timestamp + '.json' + :param overwrite: if false and filename exists add timestamp to filename + """ + import json + if filename == '': + filename += self.model_name + '_' + 'iterate' + '.json' + + if not overwrite: + # append timestamp + if os.path.isfile(filename): + filename = filename[:-5] + filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json' + + # get iterate: + solution = dict() + + for i in range(self.N+1): + solution['x_'+str(i)] = self.get(i,'x') + solution['u_'+str(i)] = self.get(i,'u') + solution['z_'+str(i)] = self.get(i,'z') + solution['lam_'+str(i)] = self.get(i,'lam') + solution['t_'+str(i)] = self.get(i, 't') + solution['sl_'+str(i)] = self.get(i, 'sl') + solution['su_'+str(i)] = self.get(i, 'su') + for i in range(self.N): + solution['pi_'+str(i)] = self.get(i,'pi') + + # save + with open(filename, 'w') as f: + json.dump(solution, f, default=lambda x: x.tolist(), indent=4, sort_keys=True) + print("stored current iterate in ", os.path.join(os.getcwd(), filename)) + + + def load_iterate(self, filename): + """ + Loads the iterate stored in json file with filename into the ocp solver. + """ + import json + if not os.path.isfile(filename): + raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename)) + + with open(filename, 'r') as f: + solution = json.load(f) + + for key in solution.keys(): + (field, stage) = key.split('_') + self.set(int(stage), field, np.array(solution[key])) + + + def get_stats(self, field_): + """ + Get the information of the last solver call. + + :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter'] + Available fileds: + - time_tot: total CPU time previous call + - time_lin: CPU time for linearization + - time_sim: CPU time for integrator + - time_sim_ad: CPU time for integrator contribution of external function calls + - time_sim_la: CPU time for integrator contribution of linear algebra + - time_qp: CPU time qp solution + - time_qp_solver_call: CPU time inside qp solver (without converting the QP) + - time_qp_xcond: time_glob: CPU time globalization + - time_solution_sensitivities: CPU time for previous call to eval_param_sens + - time_reg: CPU time regularization + - sqp_iter: number of SQP iterations + - qp_iter: vector of QP iterations for last SQP call + - statistics: table with info about last iteration + - stat_m: number of rows in statistics matrix + - stat_n: number of columns in statistics matrix + - residuals: residuals of last iterate + - alpha: step sizes of SQP iterations + """ + + double_fields = ['time_tot', + 'time_lin', + 'time_sim', + 'time_sim_ad', + 'time_sim_la', + 'time_qp', + 'time_qp_solver_call', + 'time_qp_xcond', + 'time_glob', + 'time_solution_sensitivities', + 'time_reg' + ] + fields = double_fields + [ + 'sqp_iter', + 'qp_iter', + 'statistics', + 'stat_m', + 'stat_n', + 'residuals', + 'alpha', + ] + field = field_.encode('utf-8') + + if field_ in ['sqp_iter', 'stat_m', 'stat_n']: + return self.__get_stat_int(field) + + elif field_ in double_fields: + return self.__get_stat_double(field) + + elif field_ == 'statistics': + sqp_iter = self.get_stats("sqp_iter") + stat_m = self.get_stats("stat_m") + stat_n = self.get_stats("stat_n") + min_size = min([stat_m, sqp_iter+1]) + return self.__get_stat_matrix(field, stat_n+1, min_size) + + elif field_ == 'qp_iter': + full_stats = self.get_stats('statistics') + if self.nlp_solver_type == 'SQP': + return full_stats[6, :] + elif self.nlp_solver_type == 'SQP_RTI': + return full_stats[2, :] + + elif field_ == 'alpha': + full_stats = self.get_stats('statistics') + if self.nlp_solver_type == 'SQP': + return full_stats[7, :] + else: # self.nlp_solver_type == 'SQP_RTI': + raise Exception("alpha values are not available for SQP_RTI") + + elif field_ == 'residuals': + return self.get_residuals() + + else: + raise NotImplementedError("TODO!") + + + def __get_stat_int(self, field): + cdef int out + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, &out) + return out + + def __get_stat_double(self, field): + cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,)) + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out.data) + return out + + def __get_stat_matrix(self, field, n, m): + cdef cnp.ndarray[cnp.float64_t, ndim=2] out_mat = np.ascontiguousarray(np.zeros((n, m)), dtype=np.float64) + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_mat.data) + return out_mat + + + def get_cost(self): + """ + Returns the cost value of the current solution. + """ + # compute cost internally + acados_solver_common.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out) + + # create output + cdef double out + + # call getter + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, "cost_value", &out) + + return out + + + def get_residuals(self, recompute=False): + """ + Returns an array of the form [res_stat, res_eq, res_ineq, res_comp]. + """ + # compute residuals if RTI + if self.nlp_solver_type == 'SQP_RTI' or recompute: + acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out) + + # create output array + cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64)) + cdef double double_value + + field = "res_stat".encode('utf-8') + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, &double_value) + out[0] = double_value + + field = "res_eq".encode('utf-8') + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, &double_value) + out[1] = double_value + + field = "res_ineq".encode('utf-8') + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, &double_value) + out[2] = double_value + + field = "res_comp".encode('utf-8') + acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, &double_value) + out[3] = double_value + + return out + + + # Note: this function should not be used anymore, better use cost_set, constraints_set + def set(self, int stage, str field_, value_): + + """ + Set numerical data inside the solver. + + :param stage: integer corresponding to shooting node + :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p'] + + .. note:: regarding lam, t: \n + the inequalities are internally organized in the following order: \n + [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n + lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi] + + .. note:: pi: multipliers for dynamics equality constraints \n + lam: multipliers for inequalities \n + t: slack variables corresponding to evaluation of all inequalities (at the solution) \n + sl: slack variables of soft lower inequality constraints \n + su: slack variables of soft upper inequality constraints \n + """ + cost_fields = ['y_ref', 'yref'] + constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu'] + out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su'] + mem_fields = ['xdot_guess', 'z_guess'] + + field = field_.encode('utf-8') + + cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64) + + # treat parameters separately + if field_ == 'p': + assert acados_solver.acados_update_params(self.capsule, stage, value.data, value.shape[0]) == 0 + else: + if field_ not in constraints_fields + cost_fields + out_fields: + raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\ + \nPossible values are {}. Exiting.".format(field, \ + constraints_fields + cost_fields + out_fields + ['p'])) + + dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, + self.nlp_dims, self.nlp_out, stage, field) + + if value_.shape[0] != dims: + msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_) + msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0]) + raise Exception(msg) + + if field_ in constraints_fields: + acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, + self.nlp_dims, self.nlp_in, stage, field, value.data) + elif field_ in cost_fields: + acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, + self.nlp_dims, self.nlp_in, stage, field, value.data) + elif field_ in out_fields: + acados_solver_common.ocp_nlp_out_set(self.nlp_config, + self.nlp_dims, self.nlp_out, stage, field, value.data) + elif field_ in mem_fields: + acados_solver_common.ocp_nlp_set(self.nlp_config, \ + self.nlp_solver, stage, field, value.data) + + + def cost_set(self, int stage, str field_, value_): + """ + Set numerical data in the cost module of the solver. + + :param stage: integer corresponding to shooting node + :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess' + :param value: of appropriate size + """ + field = field_.encode('utf-8') + + cdef int dims[2] + acados_solver_common.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage, field, &dims[0]) + + cdef double[::1,:] value + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + value = np.asfortranarray(value_[None,:]) + + elif len(value_shape) == 2: + # Get elements in column major order + value = np.asfortranarray(value_) + + if value_shape[0] != dims[0] or value_shape[1] != dims[1]: + raise Exception('AcadosOcpSolverCython.cost_set(): mismatching dimension' + + f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})') + + acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, &value[0][0]) + + + def constraints_set(self, int stage, str field_, value_): + """ + Set numerical data in the constraint module of the solver. + + :param stage: integer corresponding to shooting node + :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D'] + :param value: of appropriate size + """ + field = field_.encode('utf-8') + + cdef int dims[2] + acados_solver_common.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \ + self.nlp_dims, self.nlp_out, stage, field, &dims[0]) + + cdef double[::1,:] value + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + value = np.asfortranarray(value_[None,:]) + + elif len(value_shape) == 2: + # Get elements in column major order + value = np.asfortranarray(value_) + + if value_shape[0] != dims[0] or value_shape[1] != dims[1]: + raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' + + f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})') + + acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \ + self.nlp_dims, self.nlp_in, stage, field, &value[0][0]) + + return + + + def dynamics_get(self, int stage, str field_): + """ + Get numerical data from the dynamics module of the solver: + + :param stage: integer corresponding to shooting node + :param field: string, e.g. 'A' + """ + field = field_.encode('utf-8') + + # get dims + cdef int[2] dims + acados_solver_common.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0]) + + # create output data + cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F') + + # call getter + acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, out.data) + + return out + + + def options_set(self, str field_, value_): + """ + Set options of the solver. + + :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0' + + :param value: of type int, float, string + + - qp_tol_stat: QP solver tolerance stationarity + - qp_tol_eq: QP solver tolerance equalities + - qp_tol_ineq: QP solver tolerance inequalities + - qp_tol_comp: QP solver tolerance complementarity + - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM + - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness + - warm_start_first_qp: indicates if first QP in SQP is warm_started + """ + int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp'] + double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent', + 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'] + string_fields = ['globalization'] + + # encode + field = field_.encode('utf-8') + + cdef int int_value + cdef double double_value + cdef unsigned char[::1] string_value + + # check field availability and type + if field_ in int_fields: + if not isinstance(value_, int): + raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_))) + + if field_ == 'rti_phase': + if value_ < 0 or value_ > 2: + raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can ' + 'take only values 0, 1, 2 for SQP-RTI-type solvers') + if self.nlp_solver_type != 'SQP_RTI' and value_ > 0: + raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can ' + 'take only value 0 for SQP-type solvers') + + int_value = value_ + acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, &int_value) + + elif field_ in double_fields: + if not isinstance(value_, float): + raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_))) + + double_value = value_ + acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, &double_value) + + elif field_ in string_fields: + if not isinstance(value_, bytes): + raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_))) + + string_value = value_.encode('utf-8') + acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, &string_value[0]) + + else: + raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\ + '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields))) + + + def __del__(self): + if self.solver_created: + acados_solver.acados_free(self.capsule) + acados_solver.acados_free_capsule(self.capsule) diff --git a/pyextra/acados_template/acados_sim.py b/pyextra/acados_template/acados_sim.py new file mode 100644 index 000000000..93d5f298d --- /dev/null +++ b/pyextra/acados_template/acados_sim.py @@ -0,0 +1,331 @@ +# -*- coding: future_fstrings -*- +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import numpy as np +import casadi as ca +import os +from .acados_model import AcadosModel +from .utils import get_acados_path + +class AcadosSimDims: + """ + Class containing the dimensions of the model to be simulated. + """ + def __init__(self): + self.__nx = None + self.__nu = None + self.__nz = 0 + self.__np = 0 + + @property + def nx(self): + """:math:`n_x` - number of states. Type: int > 0""" + return self.__nx + + @property + def nz(self): + """:math:`n_z` - number of algebraic variables. Type: int >= 0""" + return self.__nz + + @property + def nu(self): + """:math:`n_u` - number of inputs. Type: int >= 0""" + return self.__nu + + @property + def np(self): + """:math:`n_p` - number of parameters. Type: int >= 0""" + return self.__np + + @nx.setter + def nx(self, nx): + if isinstance(nx, int) and nx > 0: + self.__nx = nx + else: + raise Exception('Invalid nx value, expected positive integer. Exiting.') + + @nz.setter + def nz(self, nz): + if isinstance(nz, int) and nz > -1: + self.__nz = nz + else: + raise Exception('Invalid nz value, expected nonnegative integer. Exiting.') + + @nu.setter + def nu(self, nu): + if isinstance(nu, int) and nu > -1: + self.__nu = nu + else: + raise Exception('Invalid nu value, expected nonnegative integer. Exiting.') + + @np.setter + def np(self, np): + if isinstance(np, int) and np > -1: + self.__np = np + else: + raise Exception('Invalid np value, expected nonnegative integer. Exiting.') + + def set(self, attr, value): + setattr(self, attr, value) + + +class AcadosSimOpts: + """ + class containing the solver options + """ + def __init__(self): + self.__integrator_type = 'ERK' + self.__collocation_type = 'GAUSS_LEGENDRE' + self.__Tsim = None + # ints + self.__sim_method_num_stages = 1 + self.__sim_method_num_steps = 1 + self.__sim_method_newton_iter = 3 + # bools + self.__sens_forw = True + self.__sens_adj = False + self.__sens_algebraic = False + self.__sens_hess = False + self.__output_z = False + self.__sim_method_jac_reuse = 0 + + @property + def integrator_type(self): + """Integrator type. Default: 'ERK'.""" + return self.__integrator_type + + @property + def num_stages(self): + """Number of stages in the integrator. Default: 1""" + return self.__sim_method_num_stages + + @property + def num_steps(self): + """Number of steps in the integrator. Default: 1""" + return self.__sim_method_num_steps + + @property + def newton_iter(self): + """Number of Newton iterations in simulation method. Default: 3""" + return self.__sim_method_newton_iter + + @property + def sens_forw(self): + """Boolean determining if forward sensitivities are computed. Default: True""" + return self.__sens_forw + + @property + def sens_adj(self): + """Boolean determining if adjoint sensitivities are computed. Default: False""" + return self.__sens_adj + + @property + def sens_algebraic(self): + """Boolean determining if sensitivities wrt algebraic variables are computed. Default: False""" + return self.__sens_algebraic + + @property + def sens_hess(self): + """Boolean determining if hessians are computed. Default: False""" + return self.__sens_hess + + @property + def output_z(self): + """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: False""" + return self.__output_z + + @property + def sim_method_jac_reuse(self): + """Integer determining if jacobians are reused (0 or 1). Default: 0""" + return self.__sim_method_jac_reuse + + @property + def T(self): + """Time horizon""" + return self.__Tsim + + @property + def collocation_type(self): + """Collocation type: relevant for implicit integrators + -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE} + + Default: GAUSS_LEGENDRE + """ + return self.__collocation_type + + @integrator_type.setter + def integrator_type(self, integrator_type): + integrator_types = ('ERK', 'IRK', 'GNSF') + if integrator_type in integrator_types: + self.__integrator_type = integrator_type + else: + raise Exception('Invalid integrator_type value. Possible values are:\n\n' \ + + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\nExiting.') + + @collocation_type.setter + def collocation_type(self, collocation_type): + collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE') + if collocation_type in collocation_types: + self.__collocation_type = collocation_type + else: + raise Exception('Invalid collocation_type value. Possible values are:\n\n' \ + + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.') + + @T.setter + def T(self, T): + self.__Tsim = T + + @num_stages.setter + def num_stages(self, num_stages): + if isinstance(num_stages, int): + self.__sim_method_num_stages = num_stages + else: + raise Exception('Invalid num_stages value. num_stages must be an integer.') + + @num_steps.setter + def num_steps(self, num_steps): + if isinstance(num_steps, int): + self.__sim_method_num_steps = num_steps + else: + raise Exception('Invalid num_steps value. num_steps must be an integer.') + + @newton_iter.setter + def newton_iter(self, newton_iter): + if isinstance(newton_iter, int): + self.__sim_method_newton_iter = newton_iter + else: + raise Exception('Invalid newton_iter value. newton_iter must be an integer.') + + @sens_forw.setter + def sens_forw(self, sens_forw): + if sens_forw in (True, False): + self.__sens_forw = sens_forw + else: + raise Exception('Invalid sens_forw value. sens_forw must be a Boolean.') + + @sens_adj.setter + def sens_adj(self, sens_adj): + if sens_adj in (True, False): + self.__sens_adj = sens_adj + else: + raise Exception('Invalid sens_adj value. sens_adj must be a Boolean.') + + @sens_hess.setter + def sens_hess(self, sens_hess): + if sens_hess in (True, False): + self.__sens_hess = sens_hess + else: + raise Exception('Invalid sens_hess value. sens_hess must be a Boolean.') + + @sens_algebraic.setter + def sens_algebraic(self, sens_algebraic): + if sens_algebraic in (True, False): + self.__sens_algebraic = sens_algebraic + else: + raise Exception('Invalid sens_algebraic value. sens_algebraic must be a Boolean.') + + @output_z.setter + def output_z(self, output_z): + if output_z in (True, False): + self.__output_z = output_z + else: + raise Exception('Invalid output_z value. output_z must be a Boolean.') + + @sim_method_jac_reuse.setter + def sim_method_jac_reuse(self, sim_method_jac_reuse): + if sim_method_jac_reuse in (0, 1): + self.__sim_method_jac_reuse = sim_method_jac_reuse + else: + raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be 0 or 1.') + +class AcadosSim: + """ + The class has the following properties that can be modified to formulate a specific simulation problem, see below: + + :param acados_path: string with the path to acados. It is used to generate the include and lib paths. + + - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosSimDims` - are automatically detected from model + - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel` + - :py:attr:`solver_options` of type :py:class:`acados_template.acados_sim.AcadosSimOpts` + + - :py:attr:`acados_include_path` (set automatically) + - :py:attr:`acados_lib_path` (set automatically) + - :py:attr:`parameter_values` - used to initialize the parameters (can be changed) + + """ + def __init__(self, acados_path=''): + if acados_path == '': + acados_path = get_acados_path() + self.dims = AcadosSimDims() + """Dimension definitions, automatically detected from :py:attr:`model`. Type :py:class:`acados_template.acados_sim.AcadosSimDims`""" + self.model = AcadosModel() + """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`""" + self.solver_options = AcadosSimOpts() + """Solver Options, type :py:class:`acados_template.acados_sim.AcadosSimOpts`""" + + self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake + """Path to acados include directory (set automatically), type: `string`""" + self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake + """Path to where acados library is located (set automatically), type: `string`""" + + self.code_export_directory = 'c_generated_code' + """Path to where code will be exported. Default: `c_generated_code`.""" + + self.cython_include_dirs = '' + self.__parameter_values = np.array([]) + + @property + def parameter_values(self): + """:math:`p` - initial values for parameter - can be updated""" + return self.__parameter_values + + @parameter_values.setter + def parameter_values(self, parameter_values): + if isinstance(parameter_values, np.ndarray): + self.__parameter_values = parameter_values + else: + raise Exception('Invalid parameter_values value. ' + + f'Expected numpy array, got {type(parameter_values)}.') + + def set(self, attr, value): + # tokenize string + tokens = attr.split('_', 1) + if len(tokens) > 1: + setter_to_call = getattr(getattr(self, tokens[0]), 'set') + else: + setter_to_call = getattr(self, 'set') + + setter_to_call(tokens[1], value) + + return diff --git a/pyextra/acados_template/acados_sim_layout.json b/pyextra/acados_template/acados_sim_layout.json new file mode 100644 index 000000000..25b149613 --- /dev/null +++ b/pyextra/acados_template/acados_sim_layout.json @@ -0,0 +1,47 @@ +{ + "acados_include_path": [ + "str" + ], + "model": { + "name" : [ + "str" + ] + }, + "acados_lib_path": [ + "str" + ], + "dims": { + "np": [ + "int" + ], + "nu": [ + "int" + ], + "nx": [ + "int" + ], + "nz": [ + "int" + ] + }, + "solver_options": { + "integrator_type": [ + "str" + ], + "collocation_type": [ + "str" + ], + "Tsim": [ + "float" + ], + "sim_method_num_stages": [ + "int" + ], + "sim_method_num_steps": [ + "int" + ], + "sim_method_newton_iter": [ + "int" + ] + } +} diff --git a/pyextra/acados_template/acados_sim_solver.py b/pyextra/acados_template/acados_sim_solver.py new file mode 100644 index 000000000..3588dd38c --- /dev/null +++ b/pyextra/acados_template/acados_sim_solver.py @@ -0,0 +1,454 @@ +# -*- coding: future_fstrings -*- +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import sys, os, json + +import numpy as np + +from ctypes import * +from copy import deepcopy + +from .generate_c_code_explicit_ode import generate_c_code_explicit_ode +from .generate_c_code_implicit_ode import generate_c_code_implicit_ode +from .generate_c_code_gnsf import generate_c_code_gnsf +from .acados_sim import AcadosSim +from .acados_ocp import AcadosOcp +from .acados_model import acados_model_strip_casadi_symbolics +from .utils import is_column, render_template, format_class_dict, np_array_to_list,\ + make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path +from .builders import CMakeBuilder + + +def make_sim_dims_consistent(acados_sim): + dims = acados_sim.dims + model = acados_sim.model + # nx + if is_column(model.x): + dims.nx = model.x.shape[0] + else: + raise Exception("model.x should be column vector!") + + # nu + if is_column(model.u): + dims.nu = model.u.shape[0] + elif model.u == None or model.u == []: + dims.nu = 0 + else: + raise Exception("model.u should be column vector or None!") + + # nz + if is_column(model.z): + dims.nz = model.z.shape[0] + elif model.z == None or model.z == []: + dims.nz = 0 + else: + raise Exception("model.z should be column vector or None!") + + # np + if is_column(model.p): + dims.np = model.p.shape[0] + elif model.p == None or model.p == []: + dims.np = 0 + else: + raise Exception("model.p should be column vector or None!") + + +def get_sim_layout(): + python_interface_path = get_python_interface_path() + abs_path = os.path.join(python_interface_path, 'acados_sim_layout.json') + with open(abs_path, 'r') as f: + sim_layout = json.load(f) + return sim_layout + + +def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'): + # Load acados_sim structure description + sim_layout = get_sim_layout() + + # Copy input sim object dictionary + sim_dict = dict(deepcopy(acados_sim).__dict__) + + for key, v in sim_layout.items(): + # skip non dict attributes + if not isinstance(v, dict): continue + # Copy sim object attributes dictionaries + sim_dict[key]=dict(getattr(acados_sim, key).__dict__) + + sim_dict['model'] = acados_model_strip_casadi_symbolics(sim_dict['model']) + sim_json = format_class_dict(sim_dict) + + with open(json_file, 'w') as f: + json.dump(sim_json, f, default=np_array_to_list, indent=4, sort_keys=True) + + +def sim_get_default_cmake_builder() -> CMakeBuilder: + """ + If :py:class:`~acados_template.acados_sim_solver.AcadosSimSolver` is used with `CMake` this function returns a good first setting. + :return: default :py:class:`~acados_template.builders.CMakeBuilder` + """ + cmake_builder = CMakeBuilder() + cmake_builder.options_on = ['BUILD_ACADOS_SIM_SOLVER_LIB'] + return cmake_builder + + +def sim_render_templates(json_file, model_name, code_export_dir, cmake_options: CMakeBuilder = None): + # setting up loader and environment + json_path = os.path.join(os.getcwd(), json_file) + + if not os.path.exists(json_path): + raise Exception(f"{json_path} not found!") + + template_dir = code_export_dir + + ## Render templates + in_file = 'acados_sim_solver.in.c' + out_file = f'acados_sim_solver_{model_name}.c' + render_template(in_file, out_file, template_dir, json_path) + + in_file = 'acados_sim_solver.in.h' + out_file = f'acados_sim_solver_{model_name}.h' + render_template(in_file, out_file, template_dir, json_path) + + # Builder + if cmake_options is not None: + in_file = 'CMakeLists.in.txt' + out_file = 'CMakeLists.txt' + render_template(in_file, out_file, template_dir, json_path) + else: + in_file = 'Makefile.in' + out_file = 'Makefile' + render_template(in_file, out_file, template_dir, json_path) + + in_file = 'main_sim.in.c' + out_file = f'main_sim_{model_name}.c' + render_template(in_file, out_file, template_dir, json_path) + + ## folder model + template_dir = os.path.join(code_export_dir, model_name + '_model') + + in_file = 'model.in.h' + out_file = f'{model_name}_model.h' + render_template(in_file, out_file, template_dir, json_path) + + +def sim_generate_casadi_functions(acados_sim): + model = acados_sim.model + model = make_model_consistent(model) + + integrator_type = acados_sim.solver_options.integrator_type + + opts = dict(generate_hess = acados_sim.solver_options.sens_hess, + code_export_directory = acados_sim.code_export_directory) + # generate external functions + if integrator_type == 'ERK': + generate_c_code_explicit_ode(model, opts) + elif integrator_type == 'IRK': + generate_c_code_implicit_ode(model, opts) + elif integrator_type == 'GNSF': + generate_c_code_gnsf(model, opts) + + +class AcadosSimSolver: + """ + Class to interact with the acados integrator C object. + + :param acados_sim: type :py:class:`~acados_template.acados_ocp.AcadosOcp` (takes values to generate an instance :py:class:`~acados_template.acados_sim.AcadosSim`) or :py:class:`~acados_template.acados_sim.AcadosSim` + :param json_file: Default: 'acados_sim.json' + :param build: Default: True + :param cmake_builder: type :py:class:`~acados_template.utils.CMakeBuilder` generate a `CMakeLists.txt` and use + the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with + `MS Visual Studio`); default: `None` + """ + def __init__(self, acados_sim_, json_file='acados_sim.json', build=True, cmake_builder: CMakeBuilder = None): + + self.solver_created = False + + if isinstance(acados_sim_, AcadosOcp): + # set up acados_sim_ + acados_sim = AcadosSim() + acados_sim.model = acados_sim_.model + acados_sim.dims.nx = acados_sim_.dims.nx + acados_sim.dims.nu = acados_sim_.dims.nu + acados_sim.dims.nz = acados_sim_.dims.nz + acados_sim.dims.np = acados_sim_.dims.np + acados_sim.solver_options.integrator_type = acados_sim_.solver_options.integrator_type + acados_sim.code_export_directory = acados_sim_.code_export_directory + + elif isinstance(acados_sim_, AcadosSim): + acados_sim = acados_sim_ + + acados_sim.__problem_class = 'SIM' + + model_name = acados_sim.model.name + make_sim_dims_consistent(acados_sim) + + # reuse existing json and casadi functions, when creating integrator from ocp + if isinstance(acados_sim_, AcadosSim): + if acados_sim.solver_options.integrator_type == 'GNSF': + set_up_imported_gnsf_model(acados_sim) + + sim_generate_casadi_functions(acados_sim) + sim_formulation_json_dump(acados_sim, json_file) + + code_export_dir = acados_sim.code_export_directory + if build: + # render templates + sim_render_templates(json_file, model_name, code_export_dir, cmake_builder) + + # Compile solver + cwd = os.getcwd() + code_export_dir = os.path.abspath(code_export_dir) + os.chdir(code_export_dir) + if cmake_builder is not None: + cmake_builder.exec(code_export_dir) + else: + os.system('make sim_shared_lib') + os.chdir(cwd) + + self.sim_struct = acados_sim + model_name = self.sim_struct.model.name + self.model_name = model_name + + # Load acados library to avoid unloading the library. + # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed. + # Unloading a library which uses OpenMP results in a segfault (on any platform?). + # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp] + # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html] + libacados_name = 'libacados.so' + libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name) + self.__acados_lib = CDLL(libacados_filepath) + # find out if acados was compiled with OpenMP + try: + self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None + except AttributeError as e: + self.__acados_lib_uses_omp = False + if self.__acados_lib_uses_omp: + print('acados was compiled with OpenMP.') + else: + print('acados was compiled without OpenMP.') + + # Ctypes + lib_prefix = 'lib' + lib_ext = '.so' + if os.name == 'nt': + lib_prefix = '' + lib_ext = '' + self.shared_lib_name = os.path.join(code_export_dir, f'{lib_prefix}acados_sim_solver_{model_name}{lib_ext}') + print(f'self.shared_lib_name = "{self.shared_lib_name}"') + + self.shared_lib = CDLL(self.shared_lib_name) + + + # create capsule + getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule").restype = c_void_p + self.capsule = getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule")() + + # create solver + getattr(self.shared_lib, f"{model_name}_acados_sim_create").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_sim_create").restype = c_int + assert getattr(self.shared_lib, f"{model_name}_acados_sim_create")(self.capsule)==0 + self.solver_created = True + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").restype = c_void_p + self.sim_opts = getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts")(self.capsule) + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").restype = c_void_p + self.sim_dims = getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims")(self.capsule) + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").restype = c_void_p + self.sim_config = getattr(self.shared_lib, f"{model_name}_acados_get_sim_config")(self.capsule) + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").restype = c_void_p + self.sim_out = getattr(self.shared_lib, f"{model_name}_acados_get_sim_out")(self.capsule) + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").restype = c_void_p + self.sim_in = getattr(self.shared_lib, f"{model_name}_acados_get_sim_in")(self.capsule) + + getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").argtypes = [c_void_p] + getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").restype = c_void_p + self.sim_solver = getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver")(self.capsule) + + nu = self.sim_struct.dims.nu + nx = self.sim_struct.dims.nx + nz = self.sim_struct.dims.nz + self.gettable = { + 'x': nx, + 'xn': nx, + 'u': nu, + 'z': nz, + 'S_forw': nx*(nx+nu), + 'Sx': nx*nx, + 'Su': nx*nu, + 'S_adj': nx+nu, + 'S_hess': (nx+nu)*(nx+nu), + 'S_algebraic': (nz)*(nx+nu), + } + + self.settable = ['S_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw + + + def solve(self): + """ + Solve the simulation problem with current input. + """ + getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").restype = c_int + + status = getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve")(self.capsule) + return status + + + def get(self, field_): + """ + Get the last solution of the solver. + + :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic'] + """ + field = field_ + field = field.encode('utf-8') + + if field_ in self.gettable.keys(): + + # allocate array + dims = self.gettable[field_] + out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64) + out_data = cast(out.ctypes.data, POINTER(c_double)) + + self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data) + + if field_ == 'S_forw': + nu = self.sim_struct.dims.nu + nx = self.sim_struct.dims.nx + out = out.reshape(nx, nx+nu, order='F') + elif field_ == 'Sx': + nx = self.sim_struct.dims.nx + out = out.reshape(nx, nx, order='F') + elif field_ == 'Su': + nx = self.sim_struct.dims.nx + nu = self.sim_struct.dims.nu + out = out.reshape(nx, nu, order='F') + elif field_ == 'S_hess': + nx = self.sim_struct.dims.nx + nu = self.sim_struct.dims.nu + out = out.reshape(nx+nu, nx+nu, order='F') + elif field_ == 'S_algebraic': + nx = self.sim_struct.dims.nx + nu = self.sim_struct.dims.nu + nz = self.sim_struct.dims.nz + out = out.reshape(nz, nx+nu, order='F') + else: + raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \ + f' available fields are {", ".join(self.gettable.keys())}') + + return out + + + def set(self, field_, value_): + """ + Set numerical data inside the solver. + + :param field: string in ['p', 'S_adj', 'T', 'x', 'u', 'xdot', 'z'] + :param value: the value with appropriate size. + """ + # cast value_ to avoid conversion issues + if isinstance(value_, (float, int)): + value_ = np.array([value_]) + + value_ = value_.astype(float) + value_data = cast(value_.ctypes.data, POINTER(c_double)) + value_data_p = cast((value_data), c_void_p) + + field = field_ + field = field.encode('utf-8') + + # treat parameters separately + if field_ == 'p': + model_name = self.sim_struct.model.name + getattr(self.shared_lib, f"{model_name}_acados_sim_update_params").argtypes = [c_void_p, POINTER(c_double), c_int] + value_data = cast(value_.ctypes.data, POINTER(c_double)) + getattr(self.shared_lib, f"{model_name}_acados_sim_update_params")(self.capsule, value_data, value_.shape[0]) + return + else: + # dimension check + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)] + self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data) + + value_ = np.ravel(value_, order='F') + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + + if value_shape != tuple(dims): + raise Exception('AcadosSimSolver.set(): mismatching dimension' \ + ' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape)) + + # set + if field_ in ['xdot', 'z']: + self.shared_lib.sim_solver_set.argtypes = [c_void_p, c_char_p, c_void_p] + self.shared_lib.sim_solver_set(self.sim_solver, field, value_data_p) + elif field_ in self.settable: + self.shared_lib.sim_in_set.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value_data_p) + else: + raise Exception(f'AcadosSimSolver.set(): Unknown field {field_},' \ + f' available fields are {", ".join(self.settable)}') + + return + + + def __del__(self): + + if self.solver_created: + getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_sim_free")(self.capsule) + + getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule")(self.capsule) + + try: + self.dlclose(self.shared_lib._handle) + except: + pass diff --git a/pyextra/acados_template/acados_solver_common.pxd b/pyextra/acados_template/acados_solver_common.pxd new file mode 100644 index 000000000..fedd7190d --- /dev/null +++ b/pyextra/acados_template/acados_solver_common.pxd @@ -0,0 +1,103 @@ +# -*- coding: future_fstrings -*- +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + +cdef extern from "acados/ocp_nlp/ocp_nlp_common.h": + ctypedef struct ocp_nlp_config: + pass + + ctypedef struct ocp_nlp_dims: + pass + + ctypedef struct ocp_nlp_in: + pass + + ctypedef struct ocp_nlp_out: + pass + + +cdef extern from "acados_c/ocp_nlp_interface.h": + ctypedef enum ocp_nlp_solver_t: + pass + + ctypedef enum ocp_nlp_cost_t: + pass + + ctypedef enum ocp_nlp_dynamics_t: + pass + + ctypedef enum ocp_nlp_constraints_t: + pass + + ctypedef enum ocp_nlp_reg_t: + pass + + ctypedef struct ocp_nlp_plan: + pass + + ctypedef struct ocp_nlp_solver: + pass + + int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in_, + int start_stage, const char *field, void *value) + int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, + ocp_nlp_in *in_, int stage, const char *field, void *value) + + # out + void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, void *value) + void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, void *value) + void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver, + int stage, const char *field, void *value) + int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field) + void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, int *dims_out) + void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, int *dims_out) + void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + int stage, const char *field, int *dims_out) + + # opts + void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value) + + # solver + void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out) + void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out) + void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out) + + # get/set + void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, const char *field, void *return_value_) + void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, int stage, const char *field, void *value) diff --git a/pyextra/acados_template/builders.py b/pyextra/acados_template/builders.py new file mode 100644 index 000000000..f595033ce --- /dev/null +++ b/pyextra/acados_template/builders.py @@ -0,0 +1,116 @@ +# -*- coding: future_fstrings -*- +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os +import sys +from subprocess import call + + +class CMakeBuilder: + """ + Class to work with the `CMake` build system. + """ + def __init__(self): + self._source_dir = None # private source directory, this is set to code_export_dir + self.build_dir = 'build' + self._build_dir = None # private build directory, usually rendered to abspath(build_dir) + self.generator = None + """Defines the generator, options can be found via `cmake --help` under 'Generator'. Type: string. Linux default 'Unix Makefiles', Windows 'Visual Studio 15 2017 Win64'; default value: `None`.""" + # set something for Windows + if os.name == 'nt': + self.generator = 'Visual Studio 15 2017 Win64' + self.build_targets = None + """A comma-separated list of the build targets, if `None` then all targets will be build; type: List of strings; default: `None`.""" + self.options_on = None + """List of strings as CMake options which are translated to '-D Opt[0]=ON -D Opt[1]=ON ...'; default: `None`.""" + + # Generate the command string for handling the cmake command. + def get_cmd1_cmake(self): + defines_str = '' + if self.options_on is not None: + defines_arr = [f' -D{opt}=ON' for opt in self.options_on] + defines_str = ' '.join(defines_arr) + generator_str = '' + if self.generator is not None: + generator_str = f' -G"{self.generator}"' + return f'cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="{self._source_dir}"{defines_str}{generator_str} -Wdev -S"{self._source_dir}" -B"{self._build_dir}"' + + # Generate the command string for handling the build. + def get_cmd2_build(self): + import multiprocessing + cmd = f'cmake --build "{self._build_dir}" --config Release -j{multiprocessing.cpu_count()}' + if self.build_targets is not None: + cmd += f' -t {self.build_targets}' + return cmd + + # Generate the command string for handling the install command. + def get_cmd3_install(self): + return f'cmake --install "{self._build_dir}"' + + def exec(self, code_export_directory): + """ + Execute the compilation using `CMake` with the given settings. + :param code_export_directory: must be the absolute path to the directory where the code was exported to + """ + if(os.path.isabs(code_export_directory) is False): + print(f'(W) the code export directory "{code_export_directory}" is not an absolute path!') + self._source_dir = code_export_directory + self._build_dir = os.path.abspath(self.build_dir) + try: + os.mkdir(self._build_dir) + except FileExistsError as e: + pass + + try: + os.chdir(self._build_dir) + cmd_str = self.get_cmd1_cmake() + print(f'call("{cmd_str})"') + retcode = call(cmd_str, shell=True) + if retcode != 0: + raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}') + cmd_str = self.get_cmd2_build() + print(f'call("{cmd_str}")') + retcode = call(cmd_str, shell=True) + if retcode != 0: + raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}') + cmd_str = self.get_cmd3_install() + print(f'call("{cmd_str}")') + retcode = call(cmd_str, shell=True) + if retcode != 0: + raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}') + except OSError as e: + print("Execution failed:", e, file=sys.stderr) + except Exception as e: + print("Execution failed:", e, file=sys.stderr) + exit(1) diff --git a/pyextra/acados_template/c_templates_tera/CMakeLists.in.txt b/pyextra/acados_template/c_templates_tera/CMakeLists.in.txt new file mode 100644 index 000000000..3d6483b5d --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/CMakeLists.in.txt @@ -0,0 +1,374 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +{%- if solver_options.qp_solver %} + {%- set qp_solver = solver_options.qp_solver %} +{%- else %} + {%- set qp_solver = "FULL_CONDENSING_HPIPM" %} +{%- endif %} + +{%- if solver_options.hessian_approx %} + {%- set hessian_approx = solver_options.hessian_approx %} +{%- elif solver_options.sens_hess %} + {%- set hessian_approx = "EXACT" %} +{%- else %} + {%- set hessian_approx = "GAUSS_NEWTON" %} +{%- endif %} + +{%- if constraints.constr_type %} + {%- set constr_type = constraints.constr_type %} +{%- else %} + {%- set constr_type = "NONE" %} +{%- endif %} + +{%- if constraints.constr_type_e %} + {%- set constr_type_e = constraints.constr_type_e %} +{%- else %} + {%- set constr_type_e = "NONE" %} +{%- endif %} + +{%- if cost.cost_type %} + {%- set cost_type = cost.cost_type %} +{%- else %} + {%- set cost_type = "NONE" %} +{%- endif %} + +{%- if cost.cost_type_e %} + {%- set cost_type_e = cost.cost_type_e %} +{%- else %} + {%- set cost_type_e = "NONE" %} +{%- endif %} + +{%- if cost.cost_type_0 %} + {%- set cost_type_0 = cost.cost_type_0 %} +{%- else %} + {%- set cost_type_0 = "NONE" %} +{%- endif %} + +{%- if dims.nh %} + {%- set dims_nh = dims.nh %} +{%- else %} + {%- set dims_nh = 0 %} +{%- endif %} + +{%- if dims.nphi %} + {%- set dims_nphi = dims.nphi %} +{%- else %} + {%- set dims_nphi = 0 %} +{%- endif %} + +{%- if dims.nh_e %} + {%- set dims_nh_e = dims.nh_e %} +{%- else %} + {%- set dims_nh_e = 0 %} +{%- endif %} + +{%- if dims.nphi_e %} + {%- set dims_nphi_e = dims.nphi_e %} +{%- else %} + {%- set dims_nphi_e = 0 %} +{%- endif %} + +{%- if solver_options.model_external_shared_lib_dir %} + {%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %} +{%- endif %} + +{%- if solver_options.model_external_shared_lib_name %} + {%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %} +{%- endif %} + +{#- control operator #} +{%- if os and os == "pc" %} + {%- set control = "&" %} +{%- else %} + {%- set control = ";" %} +{%- endif %} + +{%- if acados_link_libs and os and os == "pc" %}{# acados linking libraries and flags #} + {%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%} + {%- set openmp_flag = acados_link_libs.openmp %} +{%- else %} + {%- set openmp_flag = " " %} + {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} + {%- set link_libs = "-lqpOASES_e" %} + {%- else %} + {%- set link_libs = "" %} + {%- endif %} +{%- endif %} + +cmake_minimum_required(VERSION 3.10) + +project({{ model.name }}) + +# build options. +option(BUILD_ACADOS_SOLVER_LIB "Should the solver library acados_solver_{{ model.name }} be build?" OFF) +option(BUILD_ACADOS_OCP_SOLVER_LIB "Should the OCP solver library acados_ocp_solver_{{ model.name }} be build?" OFF) +option(BUILD_EXAMPLE "Should the example main_{{ model.name }} be build?" OFF) +{%- if solver_options.integrator_type != "DISCRETE" %} +option(BUILD_SIM_EXAMPLE "Should the simulation example main_sim_{{ model.name }} be build?" OFF) +option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_sim_solver_{{ model.name }} be build?" OFF) +{%- endif %} + +# object target names +set(MODEL_OBJ model_{{ model.name }}) +set(OCP_OBJ ocp_{{ model.name }}) +set(SIM_OBJ sim_{{ model.name }}) + +# model +set(MODEL_SRC +{%- if solver_options.integrator_type == "ERK" %} + {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c + {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "IRK" %} + {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c + {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c + {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "LIFTED_IRK" %} + {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c + {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c + {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c + {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c + {% if model.gnsf.nontrivial_f_LO == 1 %} + {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c + {%- endif %} + {%- endif %} + {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c +{%- elif solver_options.integrator_type == "DISCRETE" %} + {%- if model.dyn_ext_fun_type == "casadi" %} + {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c + {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c + {%- endif %} + {%- else %} + {{ model.name }}_model/{{ model.dyn_source_discrete }} + {%- endif %} +{%- endif -%} +) +add_library(${MODEL_OBJ} OBJECT ${MODEL_SRC} ) + +# optimal control problem - mostly CasADi exports +if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMPLE}) + set(OCP_SRC +{%- if constr_type == "BGP" and dims_nphi > 0 %} + {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c +{%- endif %} +{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %} + {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c +{%- endif %} + +{%- if constr_type == "BGH" and dims_nh > 0 %} + {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c + {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c + {%- endif %} +{%- endif %} + +{%- if constr_type_e == "BGH" and dims_nh_e > 0 %} + {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c + {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c + {%- if hessian_approx == "EXACT" %} + {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c + {%- endif %} +{%- endif %} + +{%- if cost_type_0 == "NONLINEAR_LS" %} + {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c + {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c +{%- elif cost_type_0 == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_0 == "casadi" %} + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c + {%- else %} + {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }} + {%- endif %} +{%- endif %} +{%- if cost_type == "NONLINEAR_LS" %} + {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c + {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c +{%- elif cost_type == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type == "casadi" %} + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c + {%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %} + {{ model.name }}_cost/{{ cost.cost_source_ext_cost }} + {%- endif %} +{%- endif %} +{%- if cost_type_e == "NONLINEAR_LS" %} + {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c + {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c +{%- elif cost_type_e == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_e == "casadi" %} + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c + {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c + {%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %} + {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }} + {%- endif %} +{%- endif %} + acados_solver_{{ model.name }}.c) + add_library(${OCP_OBJ} OBJECT ${OCP_SRC}) +endif() + +{%- if solver_options.integrator_type != "DISCRETE" %} +# for sim solver +if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_EXAMPLE} + {%- if solver_options.integrator_type != "DISCRETE" %} + OR ${BUILD_SIM_EXAMPLE} OR ${BUILD_ACADOS_SIM_SOLVER_LIB} + {%- endif -%} + ) + set(SIM_SRC acados_sim_solver_{{ model.name }}.c) + add_library(${SIM_OBJ} OBJECT ${SIM_SRC}) +endif() +{%- endif %} + +# for target example +set(EX_SRC main_{{ model.name }}.c) +set(EX_EXE main_{{ model.name }}) + +{%- if model_external_shared_lib_dir and model_external_shared_lib_name %} +set(EXTERNAL_DIR {{ model_external_shared_lib_dir }}) +set(EXTERNAL_LIB {{ model_external_shared_lib_name }}) +{%- else %} +set(EXTERNAL_DIR) +set(EXTERNAL_LIB) +{%- endif %} + +# set some search paths for preprocessor and linker +set(ACADOS_INCLUDE_PATH {{ acados_include_path }} CACHE PATH "Define the path which contains the include directory for acados.") +set(ACADOS_LIB_PATH {{ acados_lib_path }} CACHE PATH "Define the path which contains the lib directory for acados.") + +# c-compiler flags for debugging +set(CMAKE_C_FLAGS_DEBUG "-O0 -ggdb") + +set(CMAKE_C_FLAGS " +{%- if qp_solver == "FULL_CONDENSING_QPOASES" -%} + -DACADOS_WITH_QPOASES +{%- endif -%} +{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%} + -DACADOS_WITH_OSQP +{%- endif -%} +{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%} + -DACADOS_WITH_QPDUNES +{%- endif -%} + -fPIC -std=c99 {{ openmp_flag }}") +#-fno-diagnostics-show-line-numbers -g + +include_directories( + ${ACADOS_INCLUDE_PATH} + ${ACADOS_INCLUDE_PATH}/acados + ${ACADOS_INCLUDE_PATH}/blasfeo/include + ${ACADOS_INCLUDE_PATH}/hpipm/include +{%- if qp_solver == "FULL_CONDENSING_QPOASES" %} + ${ACADOS_INCLUDE_PATH}/qpOASES_e/ +{%- endif %} +) + +# linker flags +link_directories(${ACADOS_LIB_PATH}) + +# link to libraries +if(UNIX) + link_libraries(acados hpipm blasfeo m {{ link_libs }}) +else() + link_libraries(acados hpipm blasfeo {{ link_libs }}) +endif() + +# the targets + +# bundled_shared_lib +if(${BUILD_ACADOS_SOLVER_LIB}) + set(LIB_ACADOS_SOLVER acados_solver_{{ model.name }}) + add_library(${LIB_ACADOS_SOLVER} SHARED $ $ + {%- if solver_options.integrator_type != "DISCRETE" %} + $ + {%- endif -%} + ) + install(TARGETS ${LIB_ACADOS_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX}) +endif(${BUILD_ACADOS_SOLVER_LIB}) + +# ocp_shared_lib +if(${BUILD_ACADOS_OCP_SOLVER_LIB}) + set(LIB_ACADOS_OCP_SOLVER acados_ocp_solver_{{ model.name }}) + add_library(${LIB_ACADOS_OCP_SOLVER} SHARED $ $) + # Specify libraries or flags to use when linking a given target and/or its dependents. + target_link_libraries(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_LIB}) + target_link_directories(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_DIR}) + install(TARGETS ${LIB_ACADOS_OCP_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX}) +endif(${BUILD_ACADOS_OCP_SOLVER_LIB}) + +# example +if(${BUILD_EXAMPLE}) + add_executable(${EX_EXE} ${EX_SRC} $ $ + {%- if solver_options.integrator_type != "DISCRETE" %} + $ + {%- endif -%} + ) + install(TARGETS ${EX_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX}) +endif(${BUILD_EXAMPLE}) + +{% if solver_options.integrator_type != "DISCRETE" -%} +# example_sim +if(${BUILD_SIM_EXAMPLE}) + set(EX_SIM_SRC main_sim_{{ model.name }}.c) + set(EX_SIM_EXE main_sim_{{ model.name }}) + add_executable(${EX_SIM_EXE} ${EX_SIM_SRC} $ $) + install(TARGETS ${EX_SIM_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX}) +endif(${BUILD_SIM_EXAMPLE}) + +# sim_shared_lib +if(${BUILD_ACADOS_SIM_SOLVER_LIB}) + set(LIB_ACADOS_SIM_SOLVER acados_sim_solver_{{ model.name }}) + add_library(${LIB_ACADOS_SIM_SOLVER} SHARED $ $) + install(TARGETS ${LIB_ACADOS_SIM_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX}) +endif(${BUILD_ACADOS_SIM_SOLVER_LIB}) +{%- endif %} + diff --git a/pyextra/acados_template/c_templates_tera/CPPLINT.cfg b/pyextra/acados_template/c_templates_tera/CPPLINT.cfg new file mode 100644 index 000000000..bbd1caf05 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/CPPLINT.cfg @@ -0,0 +1 @@ +exclude_files=[main, acados_solver, acados_solver_sfun, Makefile, model].*\.? diff --git a/pyextra/acados_template/c_templates_tera/Makefile.in b/pyextra/acados_template/c_templates_tera/Makefile.in new file mode 100644 index 000000000..d45be0a9c --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/Makefile.in @@ -0,0 +1,406 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +{%- if solver_options.qp_solver %} + {%- set qp_solver = solver_options.qp_solver %} +{%- else %} + {%- set qp_solver = "FULL_CONDENSING_HPIPM" %} +{%- endif %} + +{%- if solver_options.hessian_approx %} + {%- set hessian_approx = solver_options.hessian_approx %} +{%- elif solver_options.sens_hess %} + {%- set hessian_approx = "EXACT" %} +{%- else %} + {%- set hessian_approx = "GAUSS_NEWTON" %} +{%- endif %} + +{%- if constraints.constr_type %} + {%- set constr_type = constraints.constr_type %} +{%- else %} + {%- set constr_type = "NONE" %} +{%- endif %} + +{%- if constraints.constr_type_e %} + {%- set constr_type_e = constraints.constr_type_e %} +{%- else %} + {%- set constr_type_e = "NONE" %} +{%- endif %} + +{%- if cost.cost_type %} + {%- set cost_type = cost.cost_type %} +{%- else %} + {%- set cost_type = "NONE" %} +{%- endif %} + +{%- if cost.cost_type_e %} + {%- set cost_type_e = cost.cost_type_e %} +{%- else %} + {%- set cost_type_e = "NONE" %} +{%- endif %} + +{%- if cost.cost_type_0 %} + {%- set cost_type_0 = cost.cost_type_0 %} +{%- else %} + {%- set cost_type_0 = "NONE" %} +{%- endif %} + +{%- if dims.nh %} + {%- set dims_nh = dims.nh %} +{%- else %} + {%- set dims_nh = 0 %} +{%- endif %} + +{%- if dims.nphi %} + {%- set dims_nphi = dims.nphi %} +{%- else %} + {%- set dims_nphi = 0 %} +{%- endif %} + +{%- if dims.nh_e %} + {%- set dims_nh_e = dims.nh_e %} +{%- else %} + {%- set dims_nh_e = 0 %} +{%- endif %} + +{%- if dims.nphi_e %} + {%- set dims_nphi_e = dims.nphi_e %} +{%- else %} + {%- set dims_nphi_e = 0 %} +{%- endif %} +{%- if solver_options.model_external_shared_lib_dir %} + {%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %} +{%- endif %} +{%- if solver_options.model_external_shared_lib_name %} + {%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %} +{%- endif %} + +{# control operator #} +{%- if os and os == "pc" %} + {%- set control = "&" %} +{%- else %} + {%- set control = ";" %} +{%- endif %} + +{# acados linking libraries and flags #} +{%- if acados_link_libs and os and os == "pc" %} + {%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%} + {%- set openmp_flag = acados_link_libs.openmp %} +{%- else %} + {%- set openmp_flag = " " %} + {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} + {%- set link_libs = "-lqpOASES_e" %} + {%- else %} + {%- set link_libs = "" %} + {%- endif %} +{%- endif %} + +# define sources and use make's implicit rules to generate object files (*.o) + +# model +MODEL_SRC= +{%- if solver_options.integrator_type == "ERK" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c + {%- if hessian_approx == "EXACT" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "IRK" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c + {%- if hessian_approx == "EXACT" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "LIFTED_IRK" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c + {%- if hessian_approx == "EXACT" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c + {%- endif %} +{%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c + {% if model.gnsf.nontrivial_f_LO == 1 %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c + {%- endif %} + {%- endif %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c +{%- elif solver_options.integrator_type == "DISCRETE" %} + {%- if model.dyn_ext_fun_type == "casadi" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c + {%- if hessian_approx == "EXACT" %} +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c + {%- endif %} + {%- else %} +MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_source_discrete }} + {%- endif %} +{%- endif %} +MODEL_OBJ := $(MODEL_SRC:.c=.o) + +# optimal control problem - mostly CasADi exports +OCP_SRC= +{%- if constr_type == "BGP" and dims_nphi > 0 %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c +{%- endif %} +{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c +{%- endif %} + +{%- if constr_type == "BGH" and dims_nh > 0 %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c + {%- if hessian_approx == "EXACT" %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c + {%- endif %} +{%- endif %} + +{%- if constr_type_e == "BGH" and dims_nh_e > 0 %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c + {%- if hessian_approx == "EXACT" %} +OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c + {%- endif %} +{%- endif %} + +{%- if cost_type_0 == "NONLINEAR_LS" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c +{%- elif cost_type_0 == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_0 == "casadi" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c + {%- else %} +OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }} + {%- endif %} +{%- endif %} +{%- if cost_type == "NONLINEAR_LS" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c +{%- elif cost_type == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type == "casadi" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c + {%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %} +OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }} + {%- endif %} +{%- endif %} +{%- if cost_type_e == "NONLINEAR_LS" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c +{%- elif cost_type_e == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_e == "casadi" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c + {%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %} +OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }} + {%- endif %} +{%- endif %} +OCP_SRC+= acados_solver_{{ model.name }}.c +OCP_OBJ := $(OCP_SRC:.c=.o) + +# for sim solver +SIM_SRC= acados_sim_solver_{{ model.name }}.c +SIM_OBJ := $(SIM_SRC:.c=.o) + +# for target example +EX_SRC= main_{{ model.name }}.c +EX_OBJ := $(EX_SRC:.c=.o) +EX_EXE := $(EX_SRC:.c=) + +# for target example_sim +EX_SIM_SRC= main_sim_{{ model.name }}.c +EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o) +EX_SIM_EXE := $(EX_SIM_SRC:.c=) + +# combine model, sim and ocp object files +OBJ= +OBJ+= $(MODEL_OBJ) +{%- if solver_options.integrator_type != "DISCRETE" %} +OBJ+= $(SIM_OBJ) +{%- endif %} +OBJ+= $(OCP_OBJ) + +EXTERNAL_DIR= +EXTERNAL_LIB= + +{%- if model_external_shared_lib_dir and model_external_shared_lib_name %} +EXTERNAL_DIR+= {{ model_external_shared_lib_dir }} +EXTERNAL_LIB+= {{ model_external_shared_lib_name }} +{%- endif %} + +INCLUDE_PATH = {{ acados_include_path }} +LIB_PATH = {{ acados_lib_path }} + +# preprocessor flags for make's implicit rules +{%- if qp_solver == "FULL_CONDENSING_QPOASES" %} +CPPFLAGS += -DACADOS_WITH_QPOASES +{%- endif %} +{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %} +CPPFLAGS += -DACADOS_WITH_OSQP +{%- endif %} +{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %} +CPPFLAGS += -DACADOS_WITH_QPDUNES +{%- endif %} +CPPFLAGS+= -I$(INCLUDE_PATH) +CPPFLAGS+= -I$(INCLUDE_PATH)/acados +CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include +CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include + {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} +CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/ + {%- endif %} + +{# c-compiler flags #} +# define the c-compiler flags for make's implicit rules +CFLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g +# # Debugging +# CFLAGS += -g3 + +# linker flags +LDFLAGS+= -L$(LIB_PATH) + +# link to libraries +LDLIBS+= -lacados +LDLIBS+= -lhpipm +LDLIBS+= -lblasfeo +LDLIBS+= -lm +LDLIBS+= {{ link_libs }} + +# libraries +LIBACADOS_SOLVER=libacados_solver_{{ model.name }}.so +LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}.so +LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so) + +# virtual targets +.PHONY : all clean + +#all: clean example_sim example shared_lib +{% if solver_options.integrator_type == "DISCRETE" -%} +all: clean example +shared_lib: ocp_shared_lib +{%- else %} +all: clean example_sim example +shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib +{%- endif %} + +# some linker targets +example: $(EX_OBJ) $(OBJ) + $(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS) + +example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) + $(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS) + +{% if solver_options.integrator_type != "DISCRETE" -%} +bundled_shared_lib: $(OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS) +{%- endif %} + +ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \ + -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) + +sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS) + + +# Cython targets +ocp_cython_c: ocp_shared_lib + cython \ + -o acados_ocp_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ + -I {{ code_export_directory }} \ + +ocp_cython_o: ocp_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_ocp_solver_pyx.o \ + -I /usr/include/python3.8 \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I {{ cython_include_dirs }} \ + acados_ocp_solver_pyx.c \ + +ocp_cython: ocp_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_ocp_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_ocp_solver_pyx.o \ + $(abspath .)/libacados_ocp_solver_{{ model.name }}.so \ + $(LDFLAGS) $(LDLIBS) + +{%- if os and os == "pc" %} + +clean: + del \Q *.o 2>nul + del \Q *.so 2>nul + del \Q main_{{ model.name }} 2>nul + +clean_ocp_shared_lib: + del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul + del \Q acados_solver_{{ model.name }}.o 2>nul + +clean_ocp_cython: + del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul + del \Q acados_solver_{{ model.name }}.o 2>nul + del \Q acados_ocp_solver_pyx.so 2>nul + del \Q acados_ocp_solver_pyx.o 2>nul + +{%- else %} + +clean: + $(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ) + $(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER) + $(RM) $(EX_EXE) $(EX_SIM_EXE) + +clean_ocp_shared_lib: + $(RM) $(LIBACADOS_OCP_SOLVER) + $(RM) $(OCP_OBJ) + +clean_ocp_cython: + $(RM) libacados_ocp_solver_{{ model.name }}.so + $(RM) acados_solver_{{ model.name }}.o + $(RM) acados_ocp_solver_pyx.so + $(RM) acados_ocp_solver_pyx.o + +{%- endif %} diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_create.in.c b/pyextra/acados_template/c_templates_tera/acados_mex_create.in.c new file mode 100644 index 000000000..e67a51567 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_mex_create.in.c @@ -0,0 +1,387 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +#include + +// acados +#include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_{{ model.name }}.h" + +// mex +#include "mex.h" + + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) +{ + long long *l_ptr; + int status = 0; + + // create solver + {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule(); + + status = {{ model.name }}_acados_create(acados_ocp_capsule); + + if (status) + { + mexPrintf("{{ model.name }}_acados_create() returned status %d.\n", status); + } + mexPrintf("{{ model.name }}_acados_create() -> success!\n"); + + // get pointers to nlp solver related objects + ocp_nlp_plan_t *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule); + ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule); + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule); + ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule); + ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule); + ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule); + void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule); + + // mexPrintf("acados: got pointer to objectes!\n"); + + // field names of output struct + #define FIELDS_OCP 9 + #define FIELDS_EXT_FUN 25 + #define MAX_FIELDS 25 + char *fieldnames[MAX_FIELDS]; + + for (int i = 0; i < MAX_FIELDS; i++) + { + fieldnames[i] = (char*) mxMalloc(50); + } + + memcpy(fieldnames[0],"config",sizeof("config")); + memcpy(fieldnames[1],"dims",sizeof("dims")); + memcpy(fieldnames[2],"opts",sizeof("opts")); + memcpy(fieldnames[3],"in",sizeof("in")); + memcpy(fieldnames[4],"out",sizeof("out")); + memcpy(fieldnames[5],"solver",sizeof("solver")); + memcpy(fieldnames[6],"sens_out",sizeof("sens_out")); + memcpy(fieldnames[7],"plan",sizeof("plan")); + memcpy(fieldnames[8],"capsule",sizeof("capsule")); + + // create output struct - C_ocp + plhs[0] = mxCreateStructMatrix(1, 1, 9, (const char **) fieldnames); + + // MEX: config, dims, opts, in, out, solver, sens_out, plan + // plan + mxArray *plan_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(plan_mat); + l_ptr[0] = (long long) nlp_plan; + mxSetField(plhs[0], 0, "plan", plan_mat); + + // config + mxArray *config_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(config_mat); + l_ptr[0] = (long long) nlp_config; + mxSetField(plhs[0], 0, "config", config_mat); + + // dims + mxArray *dims_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(dims_mat); + l_ptr[0] = (long long) nlp_dims; + mxSetField(plhs[0], 0, "dims", dims_mat); + + // opts + mxArray *opts_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(opts_mat); + l_ptr[0] = (long long) nlp_opts; + mxSetField(plhs[0], 0, "opts", opts_mat); + + // in + mxArray *in_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(in_mat); + l_ptr[0] = (long long) nlp_in; + mxSetField(plhs[0], 0, "in", in_mat); + + // out + mxArray *out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(out_mat); + l_ptr[0] = (long long) nlp_out; + mxSetField(plhs[0], 0, "out", out_mat); + + // solver + mxArray *solver_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(solver_mat); + l_ptr[0] = (long long) nlp_solver; + mxSetField(plhs[0], 0, "solver", solver_mat); + + // TODO: sens_out not actually implemented in templates.. + // sens_out + mxArray *sens_out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(sens_out_mat); + l_ptr[0] = (long long) 1; + mxSetField(plhs[0], 0, "sens_out", sens_out_mat); + + // capsule + mxArray *capsule_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(capsule_mat); + l_ptr[0] = (long long) acados_ocp_capsule; + mxSetField(plhs[0], 0, "capsule", capsule_mat); + + /* store external function pointers */ + // dyn + memcpy(fieldnames[0],"expl_ode_fun",sizeof("expl_ode_fun")); + memcpy(fieldnames[1],"forw_vde",sizeof("forw_vde")); + memcpy(fieldnames[2],"hess_vde",sizeof("hess_vde")); + memcpy(fieldnames[3],"impl_dae_fun",sizeof("impl_dae_fun")); + memcpy(fieldnames[4],"impl_dae_fun_jac_x_xdot_z",sizeof("impl_dae_fun_jac_x_xdot_z")); + memcpy(fieldnames[5],"impl_dae_jac_x_xdot_u_z",sizeof("impl_dae_jac_x_xdot_u_z")); + memcpy(fieldnames[6],"impl_dae_hess",sizeof("impl_dae_hess")); + + memcpy(fieldnames[7],"gnsf_phi_fun",sizeof("gnsf_phi_fun")); + memcpy(fieldnames[8],"gnsf_phi_fun_jac_y",sizeof("gnsf_phi_fun_jac_y")); + memcpy(fieldnames[9],"gnsf_phi_jac_y_uhat",sizeof("gnsf_phi_jac_y_uhat")); + memcpy(fieldnames[10],"gnsf_f_lo_jac_x1_x1dot_u_z",sizeof("gnsf_f_lo_jac_x1_x1dot_u_z")); + memcpy(fieldnames[11],"gnsf_get_matrices_fun",sizeof("gnsf_get_matrices_fun")); + + memcpy(fieldnames[12],"disc_phi_fun",sizeof("disc_phi_fun")); + memcpy(fieldnames[13],"disc_phi_fun_jac",sizeof("disc_phi_fun_jac")); + memcpy(fieldnames[14],"disc_phi_fun_jac_hess",sizeof("disc_phi_fun_jac_hess")); + + // cost + memcpy(fieldnames[15],"cost_y_fun",sizeof("cost_y_fun")); + memcpy(fieldnames[16],"cost_y_fun_jac_ut_xt",sizeof("cost_y_fun_jac_ut_xt")); + memcpy(fieldnames[17],"cost_y_hess",sizeof("cost_y_hess")); + memcpy(fieldnames[18],"ext_cost_fun",sizeof("ext_cost_fun")); + memcpy(fieldnames[19],"ext_cost_fun_jac",sizeof("ext_cost_fun_jac")); + memcpy(fieldnames[20],"ext_cost_fun_jac_hess",sizeof("ext_cost_fun_jac_hess")); + + // constraints + memcpy(fieldnames[21],"phi_constraint",sizeof("phi_constraint")); + memcpy(fieldnames[22],"nl_constr_h_fun_jac",sizeof("nl_constr_h_fun_jac")); + memcpy(fieldnames[23],"nl_constr_h_fun",sizeof("nl_constr_h_fun")); + memcpy(fieldnames[24],"nl_constr_h_fun_jac_hess",sizeof("nl_constr_h_fun_jac_hess")); + + + // create output struct - C_ocp_ext_fun + plhs[1] = mxCreateStructMatrix(1, 1, FIELDS_EXT_FUN, (const char **) fieldnames); + + + for (int i = 0; i < FIELDS_EXT_FUN; i++) + { + mxFree( fieldnames[i] ); + } + +/* dynamics */ + mxArray *expl_ode_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *forw_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *hess_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *impl_dae_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *impl_dae_fun_jac_x_xdot_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *impl_dae_jac_x_xdot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *impl_dae_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + + mxArray *gnsf_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *gnsf_phi_fun_jac_y_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *gnsf_phi_jac_y_uhat_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *gnsf_f_lo_jac_x1_x1dot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *gnsf_get_matrices_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + + mxArray *disc_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *disc_phi_fun_jac_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + mxArray *disc_phi_fun_jac_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); + +{% if solver_options.integrator_type == "ERK" %} + {# TODO: remove _casadi from these names.. #} + l_ptr = mxGetData(forw_vde_mat); + l_ptr[0] = (long long) acados_ocp_capsule->forw_vde_casadi; + l_ptr = mxGetData(expl_ode_fun_mat); + l_ptr[0] = (long long) acados_ocp_capsule->expl_ode_fun; +{% if solver_options.hessian_approx == "EXACT" %} + l_ptr = mxGetData(hess_vde_mat); + l_ptr[0] = (long long) acados_ocp_capsule->hess_vde_casadi; +{%- endif %} +{% elif solver_options.integrator_type == "IRK" %} + l_ptr = mxGetData(impl_dae_fun_mat); + l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun; + l_ptr = mxGetData(impl_dae_fun_jac_x_xdot_z_mat); + l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun_jac_x_xdot_z; + l_ptr = mxGetData(impl_dae_jac_x_xdot_u_z_mat); + l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_jac_x_xdot_u_z; +{% if solver_options.hessian_approx == "EXACT" %} + l_ptr = mxGetData(impl_dae_hess_mat); + l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess; +{%- endif %} +{% elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + l_ptr = mxGetData(gnsf_phi_fun_mat); + l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun; + l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat); + l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y; + l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat); + l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat; + {% if model.gnsf.nontrivial_f_LO == 1 %} + l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat); + l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z; + {%- endif %} + {%- endif %} + l_ptr = mxGetData(gnsf_get_matrices_fun_mat); + l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun; +{% elif solver_options.integrator_type == "DISCRETE" %} + l_ptr = mxGetData(disc_phi_fun_mat); + l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun; + l_ptr = mxGetData(disc_phi_fun_jac_mat); + l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt; +{% if solver_options.hessian_approx == "EXACT" %} + l_ptr = mxGetData(disc_phi_fun_jac_hess_mat); + l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt_hess; +{%- endif %} +{%- endif %} + mxSetField(plhs[1], 0, "expl_ode_fun", expl_ode_fun_mat); + mxSetField(plhs[1], 0, "forw_vde", forw_vde_mat); + mxSetField(plhs[1], 0, "hess_vde", hess_vde_mat); + + mxSetField(plhs[1], 0, "gnsf_phi_fun", gnsf_phi_fun_mat); + mxSetField(plhs[1], 0, "gnsf_phi_fun_jac_y", gnsf_phi_fun_jac_y_mat); + mxSetField(plhs[1], 0, "gnsf_phi_jac_y_uhat", gnsf_phi_jac_y_uhat_mat); + mxSetField(plhs[1], 0, "gnsf_f_lo_jac_x1_x1dot_u_z", gnsf_f_lo_jac_x1_x1dot_u_z_mat); + mxSetField(plhs[1], 0, "gnsf_get_matrices_fun", gnsf_get_matrices_fun_mat); + + mxSetField(plhs[1], 0, "impl_dae_fun", impl_dae_fun_mat); + mxSetField(plhs[1], 0, "impl_dae_fun_jac_x_xdot_z", impl_dae_fun_jac_x_xdot_z_mat); + mxSetField(plhs[1], 0, "impl_dae_jac_x_xdot_u_z", impl_dae_jac_x_xdot_u_z_mat); + mxSetField(plhs[1], 0, "impl_dae_hess", impl_dae_hess_mat); + + mxSetField(plhs[1], 0, "disc_phi_fun", disc_phi_fun_mat); + mxSetField(plhs[1], 0, "disc_phi_fun_jac", disc_phi_fun_jac_mat); + mxSetField(plhs[1], 0, "disc_phi_fun_jac_hess", disc_phi_fun_jac_hess_mat); +/* constaints */ + mxArray *phi_constraint_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(phi_constraint_mat); +{%- if constraints.constr_type == "BGP" %} + l_ptr[0] = (long long) acados_ocp_capsule->phi_constraint; +{% endif %} +{% if constraints.constr_type_e == "BGP" %} + l_ptr[1] = (long long) &acados_ocp_capsule->phi_e_constraint; +{% endif %} + mxSetField(plhs[1], 0, "phi_constraint", phi_constraint_mat); + + mxArray *nl_constr_h_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(nl_constr_h_fun_jac_mat); +{% if constraints.constr_type == "BGH" and dims.nh > 0 %} + l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac; +{% endif %} +{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac; +{%- endif %} + mxSetField(plhs[1], 0, "nl_constr_h_fun_jac", nl_constr_h_fun_jac_mat); + + mxArray *nl_constr_h_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(nl_constr_h_fun_mat); +{% if constraints.constr_type == "BGH" and dims.nh > 0 %} + l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun; +{% endif %} +{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun; +{%- endif %} + mxSetField(plhs[1], 0, "nl_constr_h_fun", nl_constr_h_fun_mat); + + mxArray *nl_constr_h_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(nl_constr_h_fun_jac_hess_mat); +{% if constraints.constr_type == "BGH" and dims.nh > 0 and solver_options.hessian_approx == "EXACT" %} + l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac_hess; +{% endif %} +{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 and solver_options.hessian_approx == "EXACT" %} + l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac_hess; +{%- endif %} + mxSetField(plhs[1], 0, "nl_constr_h_fun_jac_hess", nl_constr_h_fun_jac_hess_mat); + +/* cost */ + mxArray *cost_y_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(cost_y_fun_mat); +{% if cost.cost_type == "NONLINEAR_LS" %} + l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun; +{% endif %} +{% if cost.cost_type_e == "NONLINEAR_LS" %} + l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun; +{%- endif %} + mxSetField(plhs[1], 0, "cost_y_fun", cost_y_fun_mat); + + mxArray *cost_y_fun_jac_ut_xt_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(cost_y_fun_jac_ut_xt_mat); +{% if cost.cost_type == "NONLINEAR_LS" %} + l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun_jac_ut_xt; +{% endif %} +{% if cost.cost_type_e == "NONLINEAR_LS" %} + l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun_jac_ut_xt; +{%- endif %} + mxSetField(plhs[1], 0, "cost_y_fun_jac_ut_xt", cost_y_fun_jac_ut_xt_mat); + + mxArray *cost_y_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(cost_y_hess_mat); +{% if cost.cost_type == "NONLINEAR_LS" %} + l_ptr[0] = (long long) acados_ocp_capsule->cost_y_hess; +{% endif %} +{% if cost.cost_type_e == "NONLINEAR_LS" %} + l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_hess; +{%- endif %} + mxSetField(plhs[1], 0, "cost_y_hess", cost_y_hess_mat); + + mxArray *ext_cost_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(ext_cost_fun_mat); +{% if cost.cost_type == "EXTERNAL" %} + l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun; +{% endif -%} +{% if cost.cost_type_e == "EXTERNAL" %} + l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun; +{%- endif %} + mxSetField(plhs[1], 0, "ext_cost_fun", ext_cost_fun_mat); + + mxArray *ext_cost_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(ext_cost_fun_jac_mat); +{% if cost.cost_type == "EXTERNAL" %} + l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac; +{% endif -%} +{% if cost.cost_type_e == "EXTERNAL" %} + l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac; +{%- endif %} + mxSetField(plhs[1], 0, "ext_cost_fun_jac", ext_cost_fun_jac_mat); + + mxArray *ext_cost_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); + l_ptr = mxGetData(ext_cost_fun_jac_hess_mat); +{% if cost.cost_type == "EXTERNAL" %} + l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac_hess; +{% endif -%} +{% if cost.cost_type_e == "EXTERNAL" %} + l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac_hess; +{%- endif %} + mxSetField(plhs[1], 0, "ext_cost_fun_jac_hess", ext_cost_fun_jac_hess_mat); + + + return; +} diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_free.in.c b/pyextra/acados_template/c_templates_tera/acados_mex_free.in.c new file mode 100644 index 000000000..560adb0b9 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_mex_free.in.c @@ -0,0 +1,70 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// system +#include +#include +#include +// acados +#include "acados_solver_{{ model.name }}.h" + +// mex +#include "mex.h" + + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) +{ + int status = 0; + long long *ptr; + + // mexPrintf("\nin mex_acados_free\n"); + const mxArray *C_ocp = prhs[0]; + // capsule + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) ); + {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0]; + + status = {{ model.name }}_acados_free(capsule); + if (status) + { + mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status); + } + + status = {{ model.name }}_acados_free_capsule(capsule); + if (status) + { + mexPrintf("{{ model.name }}_acados_free_capsule() returned status %d.\n", status); + } + + return; +} + diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_set.in.c b/pyextra/acados_template/c_templates_tera/acados_mex_set.in.c new file mode 100644 index 000000000..f8e1e5e44 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_mex_set.in.c @@ -0,0 +1,570 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +#include + +// acados +#include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_{{ model.name }}.h" + +// mex +#include "mex.h" +#include "mex_macros.h" + + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) +{ + + long long *ptr; + int acados_size; + mxArray *mex_field; + char fun_name[20] = "ocp_set"; + char buffer [500]; // for error messages + + /* RHS */ + int min_nrhs = 6; + + char *ext_fun_type = mxArrayToString( prhs[0] ); + char *ext_fun_type_e = mxArrayToString( prhs[1] ); + + // C ocp + const mxArray *C_ocp = prhs[2]; + // capsule + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) ); + {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0]; + // plan + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) ); + ocp_nlp_plan_t *plan = (ocp_nlp_plan_t *) ptr[0]; + // config + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) ); + ocp_nlp_config *config = (ocp_nlp_config *) ptr[0]; + // dims + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "dims" ) ); + ocp_nlp_dims *dims = (ocp_nlp_dims *) ptr[0]; + // opts + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "opts" ) ); + void *opts = (void *) ptr[0]; + // in + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "in" ) ); + ocp_nlp_in *in = (ocp_nlp_in *) ptr[0]; + // out + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "out" ) ); + ocp_nlp_out *out = (ocp_nlp_out *) ptr[0]; + // solver + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "solver" ) ); + ocp_nlp_solver *solver = (ocp_nlp_solver *) ptr[0]; + + const mxArray *C_ext_fun_pointers = prhs[3]; + // field + char *field = mxArrayToString( prhs[4] ); + // value + double *value = mxGetPr( prhs[5] ); + + // for checks + int matlab_size = (int) mxGetNumberOfElements( prhs[5] ); + int nrow = (int) mxGetM( prhs[5] ); + int ncol = (int) mxGetN( prhs[5] ); + + int N = dims->N; + int nu = dims->nu[0]; + int nx = dims->nx[0]; + + // stage + int s0, se; + if (nrhs==min_nrhs) + { + s0 = 0; + se = N; + } + else if (nrhs==min_nrhs+1) + { + s0 = mxGetScalar( prhs[6] ); + if (s0 > N) + { + sprintf(buffer, "ocp_set: N < specified stage = %d\n", s0); + mexErrMsgTxt(buffer); + } + se = s0 + 1; + } + else + { + sprintf(buffer, "ocp_set: wrong nrhs: %d\n", nrhs); + mexErrMsgTxt(buffer); + } + + /* Set value */ + // constraints + if (!strcmp(field, "constr_x0")) + { + acados_size = nx; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_constraints_model_set(config, dims, in, 0, "lbx", value); + ocp_nlp_constraints_model_set(config, dims, in, 0, "ubx", value); + } + else if (!strcmp(field, "constr_C")) + { + for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) + { + acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref"); + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_cost_model_set(config, dims, in, ii, "y_ref", value); + } + else + { + MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); + } + } + } + else if (!strcmp(field, "cost_y_ref_e")) + { + acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, N, "y_ref"); + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_cost_model_set(config, dims, in, N, "y_ref", value); + } + else if (!strcmp(field, "cost_Vu")) + { + for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) + { + int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref"); + int nu = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "u"); + acados_size = ny * nu; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_cost_model_set(config, dims, in, ii, "Vu", value); + } + else + { + MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); + } + } + } + else if (!strcmp(field, "cost_Vx")) + { + for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) + { + int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref"); + int nx = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "x"); + acados_size = ny * nx; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_cost_model_set(config, dims, in, ii, "Vx", value); + } + else + { + MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); + } + } + } + else if (!strcmp(field, "cost_W")) + { + for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) + { + int ny = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "y_ref"); + acados_size = ny * ny; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_cost_model_set(config, dims, in, ii, "W", value); + } + else + { + MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); + } + } + } + else if (!strcmp(field, "cost_Z")) + { + acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_Z"); + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + for (int ii=s0; iisim_solver_plan[0]; + sim_solver_t type = sim_plan.sim_solver; + if (type == IRK) + { + int nz = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "z"); + if (nrhs!=min_nrhs) + MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field) + + acados_size = N*nz; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + for (int ii=0; iisim_solver_plan[0]; + sim_solver_t type = sim_plan.sim_solver; + if (type == IRK) + { + int nx = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "x"); + if (nrhs!=min_nrhs) + MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field) + + acados_size = N*nx; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + for (int ii=0; iisim_solver_plan[0]; + sim_solver_t type = sim_plan.sim_solver; + if (type == GNSF) + { + int nout = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "init_gnsf_phi"); + + if (nrhs!=min_nrhs) + MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field) + + acados_size = N*nout; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + for (int ii=0; iinlp_solver == SQP && rti_phase != 0) + { + MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, field, "sqp_rti") + } + ocp_nlp_solver_opts_set(config, opts, "rti_phase", &rti_phase); + } + else if (!strcmp(field, "qp_warm_start")) + { + acados_size = 1; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + int qp_warm_start = (int) value[0]; + ocp_nlp_solver_opts_set(config, opts, "qp_warm_start", &qp_warm_start); + } + else if (!strcmp(field, "warm_start_first_qp")) + { + acados_size = 1; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + int warm_start_first_qp = (int) value[0]; + ocp_nlp_solver_opts_set(config, opts, "warm_start_first_qp", &warm_start_first_qp); + } + else if (!strcmp(field, "print_level")) + { + acados_size = 1; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + int print_level = (int) value[0]; + ocp_nlp_solver_opts_set(config, opts, "print_level", &print_level); + } + else + { + MEX_FIELD_NOT_SUPPORTED_SUGGEST(fun_name, field, "p, constr_x0,\ + constr_lbx, constr_ubx, constr_C, constr_D, constr_lg, constr_ug, constr_lh, constr_uh\ + constr_lbu, constr_ubu, cost_y_ref[_e],\ + cost_Vu, cost_Vx, cost_Vz, cost_W, cost_Z, cost_Zl, cost_Zu, cost_z,\ + cost_zl, cost_zu, init_x, init_u, init_z, init_xdot, init_gnsf_phi,\ + init_pi, nlp_solver_max_iter, qp_warm_start, warm_start_first_qp, print_level"); + } + + return; +} + diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c b/pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c new file mode 100644 index 000000000..c673d4bf2 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c @@ -0,0 +1,59 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// system +#include +#include +#include +// acados +#include "acados_solver_{{ model.name }}.h" + +// mex +#include "mex.h" + + + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) +{ + // C_ocp + long long *ptr; + const mxArray *C_ocp = prhs[0]; + + // capsule + ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) ); + {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0]; + + // solve + {{ model.name }}_acados_solve(capsule); + +} diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c new file mode 100644 index 000000000..f2e75058c --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c @@ -0,0 +1,508 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +{%- if solver_options.hessian_approx %} + {%- set hessian_approx = solver_options.hessian_approx %} +{%- elif solver_options.sens_hess %} + {%- set hessian_approx = "EXACT" %} +{%- else %} + {%- set hessian_approx = "GAUSS_NEWTON" %} +{%- endif %} +// standard +#include +#include + +// acados +#include "acados_c/external_function_interface.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#include "acados/sim/sim_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/print.h" + + +// example specific +#include "{{ model.name }}_model/{{ model.name }}_model.h" +#include "acados_sim_solver_{{ model.name }}.h" + + +// ** solver data ** + +sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule() +{ + void* capsule_mem = malloc(sizeof(sim_solver_capsule)); + sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; + + return capsule; +} + + +int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) +{ + free(capsule); + return 0; +} + + +int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) +{ + // initialize + const int nx = {{ model.name | upper }}_NX; + const int nu = {{ model.name | upper }}_NU; + const int nz = {{ model.name | upper }}_NZ; + const int np = {{ model.name | upper }}_NP; + bool tmp_bool; + + {#// double Tsim = {{ solver_options.tf / dims.N }};#} + double Tsim = {{ solver_options.Tsim }}; + + {% if solver_options.integrator_type == "IRK" %} + capsule->sim_impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + + // external functions (implicit model) + capsule->sim_impl_dae_fun->casadi_fun = &{{ model.name }}_impl_dae_fun; + capsule->sim_impl_dae_fun->casadi_work = &{{ model.name }}_impl_dae_fun_work; + capsule->sim_impl_dae_fun->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in; + capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out; + capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in; + capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out; + external_function_param_casadi_create(capsule->sim_impl_dae_fun, np); + + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z; + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work; + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in; + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out; + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in; + capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out; + external_function_param_casadi_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np); + + // external_function_param_casadi impl_dae_jac_x_xdot_u_z; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in; + capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out; + external_function_param_casadi_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np); + +{%- if hessian_approx == "EXACT" %} + capsule->sim_impl_dae_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + // external_function_param_casadi impl_dae_jac_x_xdot_u_z; + capsule->sim_impl_dae_hess->casadi_fun = &{{ model.name }}_impl_dae_hess; + capsule->sim_impl_dae_hess->casadi_work = &{{ model.name }}_impl_dae_hess_work; + capsule->sim_impl_dae_hess->casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in; + capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out; + capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in; + capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out; + external_function_param_casadi_create(capsule->sim_impl_dae_hess, np); +{%- endif %} + + {% elif solver_options.integrator_type == "ERK" %} + // explicit ode + capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + + capsule->sim_forw_vde_casadi->casadi_fun = &{{ model.name }}_expl_vde_forw; + capsule->sim_forw_vde_casadi->casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in; + capsule->sim_forw_vde_casadi->casadi_n_out = &{{ model.name }}_expl_vde_forw_n_out; + capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in; + capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out; + capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work; + external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); + + capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun; + capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in; + capsule->sim_expl_ode_fun_casadi->casadi_n_out = &{{ model.name }}_expl_ode_fun_n_out; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out; + capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work; + external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); + +{%- if hessian_approx == "EXACT" %} + capsule->sim_expl_ode_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + // external_function_param_casadi impl_dae_jac_x_xdot_u_z; + capsule->sim_expl_ode_hess->casadi_fun = &{{ model.name }}_expl_ode_hess; + capsule->sim_expl_ode_hess->casadi_work = &{{ model.name }}_expl_ode_hess_work; + capsule->sim_expl_ode_hess->casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in; + capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out; + capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in; + capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out; + external_function_param_casadi_create(capsule->sim_expl_ode_hess, np); +{%- endif %} + + {% elif solver_options.integrator_type == "GNSF" -%} + {% if model.gnsf.purely_linear != 1 %} + capsule->sim_gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + {%- endif %} + {%- endif %} + capsule->sim_gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + + {% if model.gnsf.purely_linear != 1 %} + capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun; + capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in; + capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out; + capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in; + capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out; + capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work; + external_function_param_casadi_create(capsule->sim_gnsf_phi_fun, np); + + capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y; + capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in; + capsule->sim_gnsf_phi_fun_jac_y->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_jac_y_n_out; + capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in; + capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out; + capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work; + external_function_param_casadi_create(capsule->sim_gnsf_phi_fun_jac_y, np); + + capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat; + capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in; + capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_out; + capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in; + capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out; + capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work; + external_function_param_casadi_create(capsule->sim_gnsf_phi_jac_y_uhat, np); + + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz; + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in; + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out; + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in; + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out; + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work; + external_function_param_casadi_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np); + {%- endif %} + {%- endif %} + + capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun; + capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in; + capsule->sim_gnsf_get_matrices_fun->casadi_n_out = &{{ model.name }}_gnsf_get_matrices_fun_n_out; + capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in; + capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out; + capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work; + external_function_param_casadi_create(capsule->sim_gnsf_get_matrices_fun, np); + {% endif %} + + // sim plan & config + sim_solver_plan_t plan; + plan.sim_solver = {{ solver_options.integrator_type }}; + + // create correct config based on plan + sim_config * {{ model.name }}_sim_config = sim_config_create(plan); + capsule->acados_sim_config = {{ model.name }}_sim_config; + + // sim dims + void *{{ model.name }}_sim_dims = sim_dims_create({{ model.name }}_sim_config); + capsule->acados_sim_dims = {{ model.name }}_sim_dims; + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx", &nx); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nu", &nu); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz", &nz); +{% if solver_options.integrator_type == "GNSF" %} + int gnsf_nx1 = {{ dims.gnsf_nx1 }}; + int gnsf_nz1 = {{ dims.gnsf_nz1 }}; + int gnsf_nout = {{ dims.gnsf_nout }}; + int gnsf_ny = {{ dims.gnsf_ny }}; + int gnsf_nuhat = {{ dims.gnsf_nuhat }}; + + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx1", &gnsf_nx1); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz1", &gnsf_nz1); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nout", &gnsf_nout); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "ny", &gnsf_ny); + sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nuhat", &gnsf_nuhat); +{% endif %} + + // sim opts + sim_opts *{{ model.name }}_sim_opts = sim_opts_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims); + capsule->acados_sim_opts = {{ model.name }}_sim_opts; + int tmp_int = {{ solver_options.sim_method_newton_iter }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int); + sim_collocation_type collocation_type = {{ solver_options.collocation_type }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type); + +{% if problem_class == "SIM" %} + tmp_int = {{ solver_options.sim_method_num_stages }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int); + tmp_int = {{ solver_options.sim_method_num_steps }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int); + + // options that are not available to AcadosOcpSolver + // (in OCP they will be determined by other options, like exact_hessian) + tmp_bool = {{ solver_options.sens_forw }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_forw", &tmp_bool); + tmp_bool = {{ solver_options.sens_adj }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_adj", &tmp_bool); + tmp_bool = {{ solver_options.sens_algebraic }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_algebraic", &tmp_bool); + tmp_bool = {{ solver_options.sens_hess }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_hess", &tmp_bool); + tmp_bool = {{ solver_options.output_z }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "output_z", &tmp_bool); + +{% else %} {# num_stages and num_steps of first shooting interval are used #} + tmp_int = {{ solver_options.sim_method_num_stages[0] }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int); + tmp_int = {{ solver_options.sim_method_num_steps[0] }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int); + tmp_bool = {{ solver_options.sim_method_jac_reuse[0] }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "jac_reuse", &tmp_bool); +{% endif %} + + // sim in / out + sim_in *{{ model.name }}_sim_in = sim_in_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims); + capsule->acados_sim_in = {{ model.name }}_sim_in; + sim_out *{{ model.name }}_sim_out = sim_out_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims); + capsule->acados_sim_out = {{ model.name }}_sim_out; + + sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, + {{ model.name }}_sim_in, "T", &Tsim); + + // model functions +{%- if solver_options.integrator_type == "IRK" %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "impl_ode_fun", capsule->sim_impl_dae_fun); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "impl_ode_fun_jac_x_xdot", capsule->sim_impl_dae_fun_jac_x_xdot_z); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "impl_ode_jac_x_xdot_u", capsule->sim_impl_dae_jac_x_xdot_u_z); +{%- if hessian_approx == "EXACT" %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "impl_dae_hess", capsule->sim_impl_dae_hess); +{%- endif %} + +{%- elif solver_options.integrator_type == "ERK" %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "expl_vde_for", capsule->sim_forw_vde_casadi); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); +{%- if hessian_approx == "EXACT" %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "expl_ode_hess", capsule->sim_expl_ode_hess); +{%- endif %} +{%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "phi_fun", capsule->sim_gnsf_phi_fun); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat); + {% if model.gnsf.nontrivial_f_LO == 1 %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z); + {%- endif %} + {%- endif %} + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun); +{%- endif %} + + // sim solver + sim_solver *{{ model.name }}_sim_solver = sim_solver_create({{ model.name }}_sim_config, + {{ model.name }}_sim_dims, {{ model.name }}_sim_opts); + capsule->acados_sim_solver = {{ model.name }}_sim_solver; + +{% if dims.np > 0 %} + /* initialize parameter values */ + double* p = calloc(np, sizeof(double)); + {% for item in parameter_values %} + {%- if item != 0 %} + p[{{ loop.index0 }}] = {{ item }}; + {%- endif %} + {%- endfor %} + + {{ model.name }}_acados_sim_update_params(capsule, p, np); + free(p); +{% endif %}{# if dims.np #} + + /* initialize input */ + // x + double x0[{{ dims.nx }}]; + for (int ii = 0; ii < {{ dims.nx }}; ii++) + x0[ii] = 0.0; + + sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, + {{ model.name }}_sim_in, "x", x0); + + + // u + double u0[{{ dims.nu }}]; + for (int ii = 0; ii < {{ dims.nu }}; ii++) + u0[ii] = 0.0; + + sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, + {{ model.name }}_sim_in, "u", u0); + + // S_forw + double S_forw[{{ dims.nx * (dims.nx + dims.nu) }}]; + for (int ii = 0; ii < {{ dims.nx * (dims.nx + dims.nu) }}; ii++) + S_forw[ii] = 0.0; + for (int ii = 0; ii < {{ dims.nx }}; ii++) + S_forw[ii + ii * {{ dims.nx }} ] = 1.0; + + + sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, + {{ model.name }}_sim_in, "S_forw", S_forw); + + int status = sim_precompute({{ model.name }}_sim_solver, {{ model.name }}_sim_in, {{ model.name }}_sim_out); + + return status; +} + + +int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule) +{ + // integrate dynamics using acados sim_solver + int status = sim_solve(capsule->acados_sim_solver, + capsule->acados_sim_in, capsule->acados_sim_out); + if (status != 0) + printf("error in {{ model.name }}_acados_sim_solve()! Exiting.\n"); + + return status; +} + + +int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule) +{ + // free memory + sim_solver_destroy(capsule->acados_sim_solver); + sim_in_destroy(capsule->acados_sim_in); + sim_out_destroy(capsule->acados_sim_out); + sim_opts_destroy(capsule->acados_sim_opts); + sim_dims_destroy(capsule->acados_sim_dims); + sim_config_destroy(capsule->acados_sim_config); + + // free external function +{%- if solver_options.integrator_type == "IRK" %} + external_function_param_casadi_free(capsule->sim_impl_dae_fun); + external_function_param_casadi_free(capsule->sim_impl_dae_fun_jac_x_xdot_z); + external_function_param_casadi_free(capsule->sim_impl_dae_jac_x_xdot_u_z); +{%- if hessian_approx == "EXACT" %} + external_function_param_casadi_free(capsule->sim_impl_dae_hess); +{%- endif %} +{%- elif solver_options.integrator_type == "ERK" %} + external_function_param_casadi_free(capsule->sim_forw_vde_casadi); + external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); +{%- if hessian_approx == "EXACT" %} + external_function_param_casadi_free(capsule->sim_expl_ode_hess); +{%- endif %} +{%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + external_function_param_casadi_free(capsule->sim_gnsf_phi_fun); + external_function_param_casadi_free(capsule->sim_gnsf_phi_fun_jac_y); + external_function_param_casadi_free(capsule->sim_gnsf_phi_jac_y_uhat); + {% if model.gnsf.nontrivial_f_LO == 1 %} + external_function_param_casadi_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z); + {%- endif %} + {%- endif %} + external_function_param_casadi_free(capsule->sim_gnsf_get_matrices_fun); +{% endif %} + + return 0; +} + + +int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) +{ + int status = 0; + int casadi_np = {{ model.name | upper }}_NP; + + if (casadi_np != np) { + printf("{{ model.name }}_acados_sim_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + +{%- if solver_options.integrator_type == "ERK" %} + capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); + capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); +{%- if hessian_approx == "EXACT" %} + capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p); +{%- endif %} +{%- elif solver_options.integrator_type == "IRK" %} + capsule->sim_impl_dae_fun[0].set_param(capsule->sim_impl_dae_fun, p); + capsule->sim_impl_dae_fun_jac_x_xdot_z[0].set_param(capsule->sim_impl_dae_fun_jac_x_xdot_z, p); + capsule->sim_impl_dae_jac_x_xdot_u_z[0].set_param(capsule->sim_impl_dae_jac_x_xdot_u_z, p); +{%- if hessian_approx == "EXACT" %} + capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p); +{%- endif %} +{%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p); + capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p); + capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p); + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p); + {%- endif %} + {%- endif %} + capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p); +{% endif %} + + return status; +} + +/* getters pointers to C objects*/ +sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_config; +}; + +sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_in; +}; + +sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_out; +}; + +void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_dims; +}; + +sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_opts; +}; + +sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_solver; +}; + diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h new file mode 100644 index 000000000..7306491ba --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h @@ -0,0 +1,103 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SIM_{{ model.name }}_H_ +#define ACADOS_SIM_{{ model.name }}_H_ + +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#define {{ model.name | upper }}_NX {{ dims.nx }} +#define {{ model.name | upper }}_NZ {{ dims.nz }} +#define {{ model.name | upper }}_NU {{ dims.nu }} +#define {{ model.name | upper }}_NP {{ dims.np }} + +#ifdef __cplusplus +extern "C" { +#endif + + +// ** capsule for solver data ** +typedef struct sim_solver_capsule +{ + // acados objects + sim_in *acados_sim_in; + sim_out *acados_sim_out; + sim_solver *acados_sim_solver; + sim_opts *acados_sim_opts; + sim_config *acados_sim_config; + void *acados_sim_dims; + + /* external functions */ + // ERK + external_function_param_casadi * sim_forw_vde_casadi; + external_function_param_casadi * sim_expl_ode_fun_casadi; + external_function_param_casadi * sim_expl_ode_hess; + + // IRK + external_function_param_casadi * sim_impl_dae_fun; + external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z; + external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z; + external_function_param_casadi * sim_impl_dae_hess; + + // GNSF + external_function_param_casadi * sim_gnsf_phi_fun; + external_function_param_casadi * sim_gnsf_phi_fun_jac_y; + external_function_param_casadi * sim_gnsf_phi_jac_y_uhat; + external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z; + external_function_param_casadi * sim_gnsf_get_matrices_fun; + +} sim_solver_capsule; + + +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np); + +ACADOS_SYMBOL_EXPORT sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule); + + +ACADOS_SYMBOL_EXPORT sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule); + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_SIM_{{ model.name }}_H_ diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c b/pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c new file mode 100644 index 000000000..68a6a3f80 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c @@ -0,0 +1,233 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#define S_FUNCTION_NAME acados_sim_solver_sfunction_{{ model.name }} +#define S_FUNCTION_LEVEL 2 + +#define MDL_START + +// acados +// #include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "{{ model.name }}_model/{{ model.name }}_model.h" +#include "acados_sim_solver_{{ model.name }}.h" + +#include "simstruc.h" + +#define SAMPLINGTIME {{ solver_options.Tsim }} + + +static void mdlInitializeSizes (SimStruct *S) +{ + // specify the number of continuous and discrete states + ssSetNumContStates(S, 0); + ssSetNumDiscStates(S, 0); + + {# compute number of input ports #} + {%- set n_inputs = 1 %} {# x0 #} + {%- if dims.nu > 0 %} {# u0 -#} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif %} + {%- if dims.np > 0 %} {# parameters #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif %} + + // specify the number of input ports + if ( !ssSetNumInputPorts(S, {{ n_inputs }}) ) + return; + + // specify the number of output ports + if ( !ssSetNumOutputPorts(S, 1) ) + return; + + // specify dimension information for the input ports + {%- set i_input = 0 %} + // x0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx }}); + + {%- if dims.nu > 0 %} + {%- set i_input = i_input + 1 %} + // u0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu }}); + {%- endif %} + + {%- if dims.np > 0 %} + {%- set i_input = i_input + 1 %} + // parameters + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.np }}); + {%- endif %} + + // specify dimension information for the output ports + ssSetOutputPortVectorDimension(S, 0, {{ dims.nx }} ); // xnext + + // specify the direct feedthrough status + // should be set to 1 for all inputs used in mdlOutputs + {%- for i in range(end=n_inputs) %} + ssSetInputPortDirectFeedThrough(S, {{ i }}, 1); + {%- endfor %} + + // one sample time + ssSetNumSampleTimes(S, 1); +} + + +#if defined(MATLAB_MEX_FILE) + +#define MDL_SET_INPUT_PORT_DIMENSION_INFO +#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO + +static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +#endif /* MATLAB_MEX_FILE */ + + +static void mdlInitializeSampleTimes(SimStruct *S) +{ + ssSetSampleTime(S, 0, SAMPLINGTIME); + ssSetOffsetTime(S, 0, 0.0); +} + + +static void mdlStart(SimStruct *S) +{ + sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule(); + {{ model.name }}_acados_sim_create(capsule); + + ssSetUserData(S, (void*)capsule); +} + +static void mdlOutputs(SimStruct *S, int_T tid) +{ + sim_solver_capsule *capsule = ssGetUserData(S); + + sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule); + sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule); + sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule); + void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule); + // sim_opts * {{ model.name }}_acados_get_sim_opts(capsule); + // sim_solver * {{ model.name }}_acados_get_sim_solver(capsule); + + InputRealPtrsType in_sign; + {% set input_sizes = [dims.nx, dims.nu, dims.np] %} + + // local buffer + {%- set buffer_size = input_sizes | sort | last %} + real_t buffer[{{ buffer_size }}]; + + + /* go through inputs */ + {%- set i_input = 0 %} + // initial condition + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.nx }}; i++) + buffer[i] = (double)(*in_sign[i]); + + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "x", buffer); + + + // ssPrintf("\nin acados sim:\n"); + // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x0[%d] = %f\n", i, buffer[i]); + // ssPrintf("\n"); + +{% if dims.nu > 0 %} + // control input - u + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.nu }}; i++) + buffer[i] = (double)(*in_sign[i]); + + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "u", buffer); +{%- endif %} + + +{% if dims.np > 0 %} + // parameters + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.np }}; i++) + buffer[i] = (double)(*in_sign[i]); + + // update value of parameters + {{ model.name }}_acados_sim_update_params(capsule, buffer, {{ dims.np }}); +{%- endif %} + + + /* call solver */ + int acados_status = {{ model.name }}_acados_sim_solve(capsule); + + + /* set outputs */ + real_t *out_x = ssGetOutputPortRealSignal(S, 0); + + // get simulated state + sim_out_get(acados_sim_config, acados_sim_dims, acados_sim_out, + "xn", (void *) out_x); + + // ssPrintf("\nacados sim solve: returned %d\n", acados_status); + // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x_sim[%d] = %f\n", i, out_x[i]); + // ssPrintf("\n"); + +} + + +static void mdlTerminate(SimStruct *S) +{ + sim_solver_capsule *capsule = ssGetUserData(S); + + {{ model.name }}_acados_sim_free(capsule); + {{ model.name }}_acados_sim_solver_free_capsule(capsule); +} + + +#ifdef MATLAB_MEX_FILE +#include "simulink.c" +#else +#include "cg_sfun.h" +#endif diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.c b/pyextra/acados_template/c_templates_tera/acados_solver.in.c new file mode 100644 index 000000000..0af812770 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_solver.in.c @@ -0,0 +1,2495 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// standard +#include +#include +#include +// acados +// #include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "{{ model.name }}_model/{{ model.name }}_model.h" +{% if constraints.constr_type == "BGP" and dims.nphi %} +#include "{{ model.name }}_constraints/{{ model.name }}_phi_constraint.h" +{% endif %} +{% if constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %} +#include "{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.h" +{% endif %} +{% if constraints.constr_type == "BGH" and dims.nh > 0 %} +#include "{{ model.name }}_constraints/{{ model.name }}_h_constraint.h" +{% endif %} +{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} +#include "{{ model.name }}_constraints/{{ model.name }}_h_e_constraint.h" +{% endif %} +{%- if cost.cost_type == "NONLINEAR_LS" %} +#include "{{ model.name }}_cost/{{ model.name }}_cost_y_fun.h" +{%- elif cost.cost_type == "EXTERNAL" %} +#include "{{ model.name }}_cost/{{ model.name }}_external_cost.h" +{%- endif %} +{%- if cost.cost_type_0 == "NONLINEAR_LS" %} +#include "{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.h" +{%- elif cost.cost_type_0 == "EXTERNAL" %} +#include "{{ model.name }}_cost/{{ model.name }}_external_cost_0.h" +{%- endif %} +{%- if cost.cost_type_e == "NONLINEAR_LS" %} +#include "{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.h" +{%- elif cost.cost_type_e == "EXTERNAL" %} +#include "{{ model.name }}_cost/{{ model.name }}_external_cost_e.h" +{%- endif %} + +#include "acados_solver_{{ model.name }}.h" + +#define NX {{ model.name | upper }}_NX +#define NZ {{ model.name | upper }}_NZ +#define NU {{ model.name | upper }}_NU +#define NP {{ model.name | upper }}_NP +#define NBX {{ model.name | upper }}_NBX +#define NBX0 {{ model.name | upper }}_NBX0 +#define NBU {{ model.name | upper }}_NBU +#define NSBX {{ model.name | upper }}_NSBX +#define NSBU {{ model.name | upper }}_NSBU +#define NSH {{ model.name | upper }}_NSH +#define NSG {{ model.name | upper }}_NSG +#define NSPHI {{ model.name | upper }}_NSPHI +#define NSHN {{ model.name | upper }}_NSHN +#define NSGN {{ model.name | upper }}_NSGN +#define NSPHIN {{ model.name | upper }}_NSPHIN +#define NSBXN {{ model.name | upper }}_NSBXN +#define NS {{ model.name | upper }}_NS +#define NSN {{ model.name | upper }}_NSN +#define NG {{ model.name | upper }}_NG +#define NBXN {{ model.name | upper }}_NBXN +#define NGN {{ model.name | upper }}_NGN +#define NY0 {{ model.name | upper }}_NY0 +#define NY {{ model.name | upper }}_NY +#define NYN {{ model.name | upper }}_NYN +// #define N {{ model.name | upper }}_N +#define NH {{ model.name | upper }}_NH +#define NPHI {{ model.name | upper }}_NPHI +#define NHN {{ model.name | upper }}_NHN +#define NPHIN {{ model.name | upper }}_NPHIN +#define NR {{ model.name | upper }}_NR + + +// ** solver data ** + +{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void) +{ + void* capsule_mem = malloc(sizeof({{ model.name }}_solver_capsule)); + {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) capsule_mem; + + return capsule; +} + + +int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule) +{ + free(capsule); + return 0; +} + + +int {{ model.name }}_acados_create({{ model.name }}_solver_capsule* capsule) +{ + int N_shooting_intervals = {{ model.name | upper }}_N; + double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps + return {{ model.name }}_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); +} + + +int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps) +{ + if (N != capsule->nlp_solver_plan->N) { + fprintf(stderr, "{{ model.name }}_acados_update_time_steps: given number of time steps (= %d) " \ + "differs from the currently allocated number of " \ + "time steps (= %d)!\n" \ + "Please recreate with new discretization and provide a new vector of time_stamps!\n", + N, capsule->nlp_solver_plan->N); + return 1; + } + + ocp_nlp_config * nlp_config = capsule->nlp_config; + ocp_nlp_dims * nlp_dims = capsule->nlp_dims; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); + } + return 0; +} + +/** + * Internal function for {{ model.name }}_acados_create: step 1 + */ +void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) +{ + assert(N == nlp_solver_plan->N); + + /************************************************ + * plan + ************************************************/ + + {%- if solver_options.nlp_solver_type == "SQP" %} + nlp_solver_plan->nlp_solver = SQP; + {%- else %} + nlp_solver_plan->nlp_solver = SQP_RTI; + {%- endif %} + + nlp_solver_plan->ocp_qp_solver_plan.qp_solver = {{ solver_options.qp_solver }}; + + nlp_solver_plan->nlp_cost[0] = {{ cost.cost_type_0 }}; + for (int i = 1; i < N; i++) + nlp_solver_plan->nlp_cost[i] = {{ cost.cost_type }}; + + nlp_solver_plan->nlp_cost[N] = {{ cost.cost_type_e }}; + + for (int i = 0; i < N; i++) + { + {%- if solver_options.integrator_type == "DISCRETE" %} + nlp_solver_plan->nlp_dynamics[i] = DISCRETE_MODEL; + // discrete dynamics does not need sim solver option, this field is ignored + nlp_solver_plan->sim_solver_plan[i].sim_solver = INVALID_SIM_SOLVER; + {%- else %} + nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; + nlp_solver_plan->sim_solver_plan[i].sim_solver = {{ solver_options.integrator_type }}; + {%- endif %} + } + + for (int i = 0; i < N; i++) + { + {%- if constraints.constr_type == "BGP" %} + nlp_solver_plan->nlp_constraints[i] = BGP; + {%- else -%} + nlp_solver_plan->nlp_constraints[i] = BGH; + {%- endif %} + } + + {%- if constraints.constr_type_e == "BGP" %} + nlp_solver_plan->nlp_constraints[N] = BGP; + {%- else %} + nlp_solver_plan->nlp_constraints[N] = BGH; + {%- endif %} + +{%- if solver_options.hessian_approx == "EXACT" %} + {%- if solver_options.regularize_method == "NO_REGULARIZE" %} + nlp_solver_plan->regularization = NO_REGULARIZE; + {%- elif solver_options.regularize_method == "MIRROR" %} + nlp_solver_plan->regularization = MIRROR; + {%- elif solver_options.regularize_method == "PROJECT" %} + nlp_solver_plan->regularization = PROJECT; + {%- elif solver_options.regularize_method == "PROJECT_REDUC_HESS" %} + nlp_solver_plan->regularization = PROJECT_REDUC_HESS; + {%- elif solver_options.regularize_method == "CONVEXIFY" %} + nlp_solver_plan->regularization = CONVEXIFY; + {%- endif %} +{%- endif %} +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 2 + */ +ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ model.name }}_solver_capsule* capsule) +{ + ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; + const int N = nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * dimensions + ************************************************/ + #define NINTNP1MEMS 17 + int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); + + int* nx = intNp1mem + (N+1)*0; + int* nu = intNp1mem + (N+1)*1; + int* nbx = intNp1mem + (N+1)*2; + int* nbu = intNp1mem + (N+1)*3; + int* nsbx = intNp1mem + (N+1)*4; + int* nsbu = intNp1mem + (N+1)*5; + int* nsg = intNp1mem + (N+1)*6; + int* nsh = intNp1mem + (N+1)*7; + int* nsphi = intNp1mem + (N+1)*8; + int* ns = intNp1mem + (N+1)*9; + int* ng = intNp1mem + (N+1)*10; + int* nh = intNp1mem + (N+1)*11; + int* nphi = intNp1mem + (N+1)*12; + int* nz = intNp1mem + (N+1)*13; + int* ny = intNp1mem + (N+1)*14; + int* nr = intNp1mem + (N+1)*15; + int* nbxe = intNp1mem + (N+1)*16; + + for (int i = 0; i < N+1; i++) + { + // common + nx[i] = NX; + nu[i] = NU; + nz[i] = NZ; + ns[i] = NS; + // cost + ny[i] = NY; + // constraints + nbx[i] = NBX; + nbu[i] = NBU; + nsbx[i] = NSBX; + nsbu[i] = NSBU; + nsg[i] = NSG; + nsh[i] = NSH; + nsphi[i] = NSPHI; + ng[i] = NG; + nh[i] = NH; + nphi[i] = NPHI; + nr[i] = NR; + nbxe[i] = 0; + } + + // for initial state + nbx[0] = NBX0; + nsbx[0] = 0; + ns[0] = NS - NSBX; + nbxe[0] = {{ dims.nbxe_0 }}; + ny[0] = NY0; + + // terminal - common + nu[N] = 0; + nz[N] = 0; + ns[N] = NSN; + // cost + ny[N] = NYN; + // constraint + nbx[N] = NBXN; + nbu[N] = 0; + ng[N] = NGN; + nh[N] = NHN; + nphi[N] = NPHIN; + nr[N] = {{ dims.nr_e }}; + + nsbx[N] = NSBXN; + nsbu[N] = 0; + nsg[N] = NSGN; + nsh[N] = NSHN; + nsphi[N] = NSPHIN; + + /* create and set ocp_nlp_dims */ + ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); + + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); + + for (int i = 0; i <= N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); + } + +{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %} + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); +{%- endif %} + +{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %} + for (int i = 1; i < N; i++) + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); +{%- endif %} + + for (int i = 0; i < N; i++) + { + {%- if constraints.constr_type == "BGH" and dims.nh > 0 %} + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]); + {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %} + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nr", &nr[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nphi", &nphi[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsphi", &nsphi[i]); + {%- endif %} + } + +{%- if constraints.constr_type_e == "BGH" %} + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); +{%- elif constraints.constr_type_e == "BGP" %} + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nr", &nr[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nphi", &nphi[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsphi", &nsphi[N]); +{%- endif %} +{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %} + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); +{%- endif %} + free(intNp1mem); + +{%- if solver_options.integrator_type == "GNSF" -%} + // GNSF specific dimensions + int gnsf_nx1 = {{ dims.gnsf_nx1 }}; + int gnsf_nz1 = {{ dims.gnsf_nz1 }}; + int gnsf_nout = {{ dims.gnsf_nout }}; + int gnsf_ny = {{ dims.gnsf_ny }}; + int gnsf_nuhat = {{ dims.gnsf_nuhat }}; + + for (int i = 0; i < N; i++) + { + if (nlp_solver_plan->sim_solver_plan[i].sim_solver == GNSF) + { + ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nx1", &gnsf_nx1); + ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nz1", &gnsf_nz1); + ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nout", &gnsf_nout); + ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_ny", &gnsf_ny); + ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nuhat", &gnsf_nuhat); + } + } +{%- endif %} +return nlp_dims; +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 3 + */ +void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * external functions + ************************************************/ + +#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ + capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ + capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ + capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ + capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ + external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , {{ dims.np }}); \ + }while(false) + +{% if constraints.constr_type == "BGP" %} + // constraints.constr_type == "BGP" + capsule->phi_constraint = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) + { + // nonlinear part of convex-composite constraint + MAP_CASADI_FNC(phi_constraint[i], {{ model.name }}_phi_constraint); + } +{%- endif %} + +{%- if constraints.constr_type_e == "BGP" %} + // constraints.constr_type_e == "BGP" + // nonlinear part of convex-composite constraint + MAP_CASADI_FNC(phi_e_constraint, {{ model.name }}_phi_e_constraint); +{%- endif %} + +{%- if constraints.constr_type == "BGH" and dims.nh > 0 %} + // constraints.constr_type == "BGH" and dims.nh > 0 + capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun_jac[i], {{ model.name }}_constr_h_fun_jac_uxt_zt); + } + capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun[i], {{ model.name }}_constr_h_fun); + } + {% if solver_options.hessian_approx == "EXACT" %} + capsule->nl_constr_h_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun_jac_hess[i], {{ model.name }}_constr_h_fun_jac_uxt_zt_hess); + } + {% endif %} +{% endif %} + +{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + MAP_CASADI_FNC(nl_constr_h_e_fun_jac, {{ model.name }}_constr_h_e_fun_jac_uxt_zt); + MAP_CASADI_FNC(nl_constr_h_e_fun, {{ model.name }}_constr_h_e_fun); + + {%- if solver_options.hessian_approx == "EXACT" %} + MAP_CASADI_FNC(nl_constr_h_e_fun_jac_hess, {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess); + {% endif %} +{%- endif %} + +{% if solver_options.integrator_type == "ERK" %} + // explicit ode + capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(forw_vde_casadi[i], {{ model.name }}_expl_vde_forw); + } + + capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(expl_ode_fun[i], {{ model.name }}_expl_ode_fun); + } + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->hess_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(hess_vde_casadi[i], {{ model.name }}_expl_ode_hess); + } + {%- endif %} + +{% elif solver_options.integrator_type == "IRK" %} + // implicit dae + capsule->impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun); + } + + capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_z[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_z); + } + + capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(impl_dae_jac_x_xdot_u_z[i], {{ model.name }}_impl_dae_jac_x_xdot_u_z); + } + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->impl_dae_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(impl_dae_hess[i], {{ model.name }}_impl_dae_hess); + } + {%- endif %} +{% elif solver_options.integrator_type == "LIFTED_IRK" %} + // external functions (implicit model) + capsule->impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun); + } + + capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_u[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_u); + } + +{% elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + capsule->gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(gnsf_phi_fun[i], {{ model.name }}_gnsf_phi_fun); + } + + capsule->gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(gnsf_phi_fun_jac_y[i], {{ model.name }}_gnsf_phi_fun_jac_y); + } + + capsule->gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(gnsf_phi_jac_y_uhat[i], {{ model.name }}_gnsf_phi_jac_y_uhat); + } + + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(gnsf_f_lo_jac_x1_x1dot_u_z[i], {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz); + } + {%- endif %} + {%- endif %} + capsule->gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(gnsf_get_matrices_fun[i], {{ model.name }}_gnsf_get_matrices_fun); + } +{% elif solver_options.integrator_type == "DISCRETE" %} + // discrete dynamics + capsule->discr_dyn_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) + { + {%- if model.dyn_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(discr_dyn_phi_fun[i], {{ model.name }}_dyn_disc_phi_fun); + {%- else %} + capsule->discr_dyn_phi_fun[i].fun = &{{ model.dyn_disc_fun }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun[i], {{ dims.np }}); + {%- endif %} + } + + capsule->discr_dyn_phi_fun_jac_ut_xt = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) + { + {%- if model.dyn_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt[i], {{ model.name }}_dyn_disc_phi_fun_jac); + {%- else %} + capsule->discr_dyn_phi_fun_jac_ut_xt[i].fun = &{{ model.dyn_disc_fun_jac }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt[i], {{ dims.np }}); + {%- endif %} + } + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->discr_dyn_phi_fun_jac_ut_xt_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); + for (int i = 0; i < N; i++) + { + {%- if model.dyn_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ model.name }}_dyn_disc_phi_fun_jac_hess); + {%- else %} + capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].fun = &{{ model.dyn_disc_fun_jac_hess }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ dims.np }}); + {%- endif %} + } + {%- endif %} +{%- endif %} + + +{%- if cost.cost_type_0 == "NONLINEAR_LS" %} + // nonlinear least squares function + MAP_CASADI_FNC(cost_y_0_fun, {{ model.name }}_cost_y_0_fun); + MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, {{ model.name }}_cost_y_0_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_0_hess, {{ model.name }}_cost_y_0_hess); + +{%- elif cost.cost_type_0 == "EXTERNAL" %} + // external cost + {%- if cost.cost_ext_fun_type_0 == "casadi" %} + MAP_CASADI_FNC(ext_cost_0_fun, {{ model.name }}_cost_ext_cost_0_fun); + {%- else %} + capsule->ext_cost_0_fun.fun = &{{ cost.cost_function_ext_cost_0 }}; + external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun, {{ dims.np }}); + {%- endif %} + + // external cost + {%- if cost.cost_ext_fun_type_0 == "casadi" %} + MAP_CASADI_FNC(ext_cost_0_fun_jac, {{ model.name }}_cost_ext_cost_0_fun_jac); + {%- else %} + capsule->ext_cost_0_fun_jac.fun = &{{ cost.cost_function_ext_cost_0 }}; + external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac, {{ dims.np }}); + {%- endif %} + + // external cost + {%- if cost.cost_ext_fun_type_0 == "casadi" %} + MAP_CASADI_FNC(ext_cost_0_fun_jac_hess, {{ model.name }}_cost_ext_cost_0_fun_jac_hess); + {%- else %} + capsule->ext_cost_0_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_0 }}; + external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac_hess, {{ dims.np }}); + {%- endif %} +{%- endif %} + +{%- if cost.cost_type == "NONLINEAR_LS" %} + // nonlinear least squares cost + capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun[i], {{ model.name }}_cost_y_fun); + } + + capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], {{ model.name }}_cost_y_fun_jac_ut_xt); + } + + capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_hess[i], {{ model.name }}_cost_y_hess); + } +{%- elif cost.cost_type == "EXTERNAL" %} + // external cost + capsule->ext_cost_fun = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N); + for (int i = 0; i < N-1; i++) + { + {%- if cost.cost_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(ext_cost_fun[i], {{ model.name }}_cost_ext_cost_fun); + {%- else %} + capsule->ext_cost_fun[i].fun = &{{ cost.cost_function_ext_cost }}; + external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun[i], {{ dims.np }}); + {%- endif %} + } + + capsule->ext_cost_fun_jac = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N); + for (int i = 0; i < N-1; i++) + { + {%- if cost.cost_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(ext_cost_fun_jac[i], {{ model.name }}_cost_ext_cost_fun_jac); + {%- else %} + capsule->ext_cost_fun_jac[i].fun = &{{ cost.cost_function_ext_cost }}; + external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac[i], {{ dims.np }}); + {%- endif %} + } + + capsule->ext_cost_fun_jac_hess = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N); + for (int i = 0; i < N-1; i++) + { + {%- if cost.cost_ext_fun_type == "casadi" %} + MAP_CASADI_FNC(ext_cost_fun_jac_hess[i], {{ model.name }}_cost_ext_cost_fun_jac_hess); + {%- else %} + capsule->ext_cost_fun_jac_hess[i].fun = &{{ cost.cost_function_ext_cost }}; + external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac_hess[i], {{ dims.np }}); + {%- endif %} + } +{%- endif %} + +{%- if cost.cost_type_e == "NONLINEAR_LS" %} + // nonlinear least square function + MAP_CASADI_FNC(cost_y_e_fun, {{ model.name }}_cost_y_e_fun); + MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, {{ model.name }}_cost_y_e_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_e_hess, {{ model.name }}_cost_y_e_hess); +{%- elif cost.cost_type_e == "EXTERNAL" %} + // external cost - function + {%- if cost.cost_ext_fun_type_e == "casadi" %} + MAP_CASADI_FNC(ext_cost_e_fun, {{ model.name }}_cost_ext_cost_e_fun); + {% else %} + capsule->ext_cost_e_fun.fun = &{{ cost.cost_function_ext_cost_e }}; + external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun, {{ dims.np }}); + {%- endif %} + + // external cost - jacobian + {%- if cost.cost_ext_fun_type_e == "casadi" %} + MAP_CASADI_FNC(ext_cost_e_fun_jac, {{ model.name }}_cost_ext_cost_e_fun_jac); + {%- else %} + capsule->ext_cost_e_fun_jac.fun = &{{ cost.cost_function_ext_cost_e }}; + external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac, {{ dims.np }}); + {%- endif %} + + // external cost - hessian + {%- if cost.cost_ext_fun_type_e == "casadi" %} + MAP_CASADI_FNC(ext_cost_e_fun_jac_hess, {{ model.name }}_cost_ext_cost_e_fun_jac_hess); + {%- else %} + capsule->ext_cost_e_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_e }}; + external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac_hess, {{ dims.np }}); + {%- endif %} +{%- endif %} + +#undef MAP_CASADI_FNC +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 4 + */ +void {{ model.name }}_acados_create_4_set_default_parameters({{ model.name }}_solver_capsule* capsule) { +{%- if dims.np > 0 %} + const int N = capsule->nlp_solver_plan->N; + // initialize parameters to nominal value + double* p = calloc(NP, sizeof(double)); + {%- for item in parameter_values %} + {%- if item != 0 %} + p[{{ loop.index0 }}] = {{ item }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i <= N; i++) { + {{ model.name }}_acados_update_params(capsule, i, p, NP); + } + free(p); +{%- else %} + // no parameters defined +{%- endif %}{# if dims.np #} +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 5 + */ +void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule* capsule, const int N, double* new_time_steps) +{ + assert(N == capsule->nlp_solver_plan->N); + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + + /************************************************ + * nlp_in + ************************************************/ +// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); +// capsule->nlp_in = nlp_in; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + // set up time_steps + {% set all_equal = true -%} + {%- set val = solver_options.time_steps[0] %} + {%- for j in range(start=1, end=dims.N) %} + {%- if val != solver_options.time_steps[j] %} + {%- set_global all_equal = false %} + {%- break %} + {%- endif %} + {%- endfor %} + + if (new_time_steps) { + {{ model.name }}_acados_update_time_steps(capsule, N, new_time_steps); + } else { + {%- if all_equal == true -%} + // all time_steps are identical + double time_step = {{ solver_options.time_steps[0] }}; + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step); + } + {%- else -%} + // time_steps are different + double* time_steps = malloc(N*sizeof(double)); + {%- for j in range(end=dims.N) %} + time_steps[{{ j }}] = {{ solver_options.time_steps[j] }}; + {%- endfor %} + {{ model.name }}_acados_update_time_steps(capsule, N, time_steps); + free(time_steps); + {%- endif %} + } + + /**** Dynamics ****/ + for (int i = 0; i < N; i++) + { + {%- if solver_options.integrator_type == "ERK" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_hess", &capsule->hess_vde_casadi[i]); + {%- endif %} + {% elif solver_options.integrator_type == "IRK" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, + "impl_dae_fun_jac_x_xdot_z", &capsule->impl_dae_fun_jac_x_xdot_z[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, + "impl_dae_jac_x_xdot_u", &capsule->impl_dae_jac_x_xdot_u_z[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_hess", &capsule->impl_dae_hess[i]); + {%- endif %} + {% elif solver_options.integrator_type == "LIFTED_IRK" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, + "impl_dae_fun_jac_x_xdot_u", &capsule->impl_dae_fun_jac_x_xdot_u[i]); + {% elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun", &capsule->gnsf_phi_fun[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun_jac_y", &capsule->gnsf_phi_fun_jac_y[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_jac_y_uhat", &capsule->gnsf_phi_jac_y_uhat[i]); + {% if model.gnsf.nontrivial_f_LO == 1 %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "f_lo_jac_x1_x1dot_u_z", + &capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]); + {%- endif %} + {%- endif %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "gnsf_get_matrices_fun", + &capsule->gnsf_get_matrices_fun[i]); + {% elif solver_options.integrator_type == "DISCRETE" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun", &capsule->discr_dyn_phi_fun[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac", + &capsule->discr_dyn_phi_fun_jac_ut_xt[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac_hess", + &capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]); + {%- endif %} + {%- endif %} + } + + /**** Cost ****/ +{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %} + {%- if dims.ny_0 > 0 %} + double* W_0 = calloc(NY0*NY0, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_0) %} + {%- for k in range(end=dims.ny_0) %} + {%- if cost.W_0[j][k] != 0 %} + W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); + free(W_0); + + double* yref_0 = calloc(NY0, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_0) %} + {%- if cost.yref_0[j] != 0 %} + yref_0[{{ j }}] = {{ cost.yref_0[j] }}; + {%- endif %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); + free(yref_0); + {%- endif %} +{%- endif %} + +{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %} + {%- if dims.ny > 0 %} + double* W = calloc(NY*NY, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny) %} + {%- for k in range(end=dims.ny) %} + {%- if cost.W[j][k] != 0 %} + W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + double* yref = calloc(NY, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny) %} + {%- if cost.yref[j] != 0 %} + yref[{{ j }}] = {{ cost.yref[j] }}; + {%- endif %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); + } + free(W); + free(yref); + {%- endif %} +{%- endif %} + +{%- if cost.cost_type_0 == "LINEAR_LS" %} + double* Vx_0 = calloc(NY0*NX, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_0) %} + {%- for k in range(end=dims.nx) %} + {%- if cost.Vx_0[j][k] != 0 %} + Vx_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vx_0[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vx", Vx_0); + free(Vx_0); + + {%- if dims.ny_0 > 0 and dims.nu > 0 %} + double* Vu_0 = calloc(NY0*NU, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_0) %} + {%- for k in range(end=dims.nu) %} + {%- if cost.Vu_0[j][k] != 0 %} + Vu_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vu_0[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vu", Vu_0); + free(Vu_0); + {%- endif %} + + {%- if dims.ny_0 > 0 and dims.nz > 0 %} + double* Vz_0 = calloc(NY0*NZ, sizeof(double)); + // change only the non-zero elements: + {% for j in range(end=dims.ny_0) %} + {%- for k in range(end=dims.nz) %} + {%- if cost.Vz_0[j][k] != 0 %} + Vz_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vz_0[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vz", Vz_0); + free(Vz_0); + {%- endif %} +{%- endif %}{# LINEAR LS #} + + +{%- if cost.cost_type == "LINEAR_LS" %} + double* Vx = calloc(NY*NX, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny) %} + {%- for k in range(end=dims.nx) %} + {%- if cost.Vx[j][k] != 0 %} + Vx[{{ j }}+(NY) * {{ k }}] = {{ cost.Vx[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vx", Vx); + } + free(Vx); + + {% if dims.ny > 0 and dims.nu > 0 %} + double* Vu = calloc(NY*NU, sizeof(double)); + // change only the non-zero elements: + {% for j in range(end=dims.ny) %} + {%- for k in range(end=dims.nu) %} + {%- if cost.Vu[j][k] != 0 %} + Vu[{{ j }}+(NY) * {{ k }}] = {{ cost.Vu[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vu", Vu); + } + free(Vu); + {%- endif %} + + {%- if dims.ny > 0 and dims.nz > 0 %} + double* Vz = calloc(NY*NZ, sizeof(double)); + // change only the non-zero elements: + {% for j in range(end=dims.ny) %} + {%- for k in range(end=dims.nz) %} + {%- if cost.Vz[j][k] != 0 %} + Vz[{{ j }}+(NY) * {{ k }}] = {{ cost.Vz[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vz", Vz); + } + free(Vz); + {%- endif %} +{%- endif %}{# LINEAR LS #} + + +{%- if cost.cost_type_0 == "NONLINEAR_LS" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); +{%- elif cost.cost_type_0 == "EXTERNAL" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun", &capsule->ext_cost_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac", &capsule->ext_cost_0_fun_jac); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac_hess", &capsule->ext_cost_0_fun_jac_hess); +{%- endif %} + +{%- if cost.cost_type == "NONLINEAR_LS" %} + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); + } +{%- elif cost.cost_type == "EXTERNAL" %} + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun", &capsule->ext_cost_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac", &capsule->ext_cost_fun_jac[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac_hess", &capsule->ext_cost_fun_jac_hess[i-1]); + } +{%- endif %} + +{%- if dims.ns > 0 %} + double* zlumem = calloc(4*NS, sizeof(double)); + double* Zl = zlumem+NS*0; + double* Zu = zlumem+NS*1; + double* zl = zlumem+NS*2; + double* zu = zlumem+NS*3; + // change only the non-zero elements: + {%- for j in range(end=dims.ns) %} + {%- if cost.Zl[j] != 0 %} + Zl[{{ j }}] = {{ cost.Zl[j] }}; + {%- endif %} + {%- endfor %} + + {%- for j in range(end=dims.ns) %} + {%- if cost.Zu[j] != 0 %} + Zu[{{ j }}] = {{ cost.Zu[j] }}; + {%- endif %} + {%- endfor %} + + {%- for j in range(end=dims.ns) %} + {%- if cost.zl[j] != 0 %} + zl[{{ j }}] = {{ cost.zl[j] }}; + {%- endif %} + {%- endfor %} + + {%- for j in range(end=dims.ns) %} + {%- if cost.zu[j] != 0 %} + zu[{{ j }}] = {{ cost.zu[j] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu); + } + free(zlumem); +{%- endif %} + + // terminal cost +{%- if cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "NONLINEAR_LS" %} + {%- if dims.ny_e > 0 %} + double* yref_e = calloc(NYN, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_e) %} + {%- if cost.yref_e[j] != 0 %} + yref_e[{{ j }}] = {{ cost.yref_e[j] }}; + {%- endif %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); + free(yref_e); + + double* W_e = calloc(NYN*NYN, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_e) %} + {%- for k in range(end=dims.ny_e) %} + {%- if cost.W_e[j][k] != 0 %} + W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); + free(W_e); + + {%- if cost.cost_type_e == "LINEAR_LS" %} + double* Vx_e = calloc(NYN*NX, sizeof(double)); + // change only the non-zero elements: + {% for j in range(end=dims.ny_e) %} + {%- for k in range(end=dims.nx) %} + {%- if cost.Vx_e[j][k] != 0 %} + Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e); + free(Vx_e); + {%- endif %} + + {%- if cost.cost_type_e == "NONLINEAR_LS" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); + {%- endif %} + {%- endif %}{# ny_e > 0 #} + +{%- elif cost.cost_type_e == "EXTERNAL" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess); +{%- endif %} + +{% if dims.ns_e > 0 %} + double* zluemem = calloc(4*NSN, sizeof(double)); + double* Zl_e = zluemem+NSN*0; + double* Zu_e = zluemem+NSN*1; + double* zl_e = zluemem+NSN*2; + double* zu_e = zluemem+NSN*3; + + // change only the non-zero elements: + {% for j in range(end=dims.ns_e) %} + {%- if cost.Zl_e[j] != 0 %} + Zl_e[{{ j }}] = {{ cost.Zl_e[j] }}; + {%- endif %} + {%- endfor %} + + {% for j in range(end=dims.ns_e) %} + {%- if cost.Zu_e[j] != 0 %} + Zu_e[{{ j }}] = {{ cost.Zu_e[j] }}; + {%- endif %} + {%- endfor %} + + {% for j in range(end=dims.ns_e) %} + {%- if cost.zl_e[j] != 0 %} + zl_e[{{ j }}] = {{ cost.zl_e[j] }}; + {%- endif %} + {%- endfor %} + + {% for j in range(end=dims.ns_e) %} + {%- if cost.zu_e[j] != 0 %} + zu_e[{{ j }}] = {{ cost.zu_e[j] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zl", Zl_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zu", Zu_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zl", zl_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zu", zu_e); + free(zluemem); +{%- endif %} + + /**** Constraints ****/ + + // bounds for initial stage +{%- if dims.nbx_0 > 0 %} + // x0 + int* idxbx0 = malloc(NBX0 * sizeof(int)); + {%- for i in range(end=dims.nbx_0) %} + idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }}; + {%- endfor %} + + double* lubx0 = calloc(2*NBX0, sizeof(double)); + double* lbx0 = lubx0; + double* ubx0 = lubx0 + NBX0; + // change only the non-zero elements: + {%- for i in range(end=dims.nbx_0) %} + {%- if constraints.lbx_0[i] != 0 %} + lbx0[{{ i }}] = {{ constraints.lbx_0[i] }}; + {%- endif %} + {%- if constraints.ubx_0[i] != 0 %} + ubx0[{{ i }}] = {{ constraints.ubx_0[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + free(idxbx0); + free(lubx0); +{%- endif %} + +{%- if dims.nbxe_0 > 0 %} + // idxbxe_0 + int* idxbxe_0 = malloc({{ dims.nbxe_0 }} * sizeof(int)); + {% for i in range(end=dims.nbxe_0) %} + idxbxe_0[{{ i }}] = {{ constraints.idxbxe_0[i] }}; + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); + free(idxbxe_0); +{%- endif %} + + /* constraints that are the same for initial and intermediate */ +{%- if dims.nsbx > 0 %} +{# TODO: introduce nsbx0 & move this block down!! #} + // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxsbx", idxsbx); + // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lsbx", lsbx); + // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "usbx", usbx); + + // soft bounds on x + int* idxsbx = malloc(NSBX * sizeof(int)); + {%- for i in range(end=dims.nsbx) %} + idxsbx[{{ i }}] = {{ constraints.idxsbx[i] }}; + {%- endfor %} + + double* lusbx = calloc(2*NSBX, sizeof(double)); + double* lsbx = lusbx; + double* usbx = lusbx + NSBX; + {%- for i in range(end=dims.nsbx) %} + {%- if constraints.lsbx[i] != 0 %} + lsbx[{{ i }}] = {{ constraints.lsbx[i] }}; + {%- endif %} + {%- if constraints.usbx[i] != 0 %} + usbx[{{ i }}] = {{ constraints.usbx[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbx", idxsbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbx", lsbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbx", usbx); + } + free(idxsbx); + free(lusbx); +{%- endif %} + + +{%- if dims.nbu > 0 %} + // u + int* idxbu = malloc(NBU * sizeof(int)); + {% for i in range(end=dims.nbu) %} + idxbu[{{ i }}] = {{ constraints.idxbu[i] }}; + {%- endfor %} + double* lubu = calloc(2*NBU, sizeof(double)); + double* lbu = lubu; + double* ubu = lubu + NBU; + {% for i in range(end=dims.nbu) %} + {%- if constraints.lbu[i] != 0 %} + lbu[{{ i }}] = {{ constraints.lbu[i] }}; + {%- endif %} + {%- if constraints.ubu[i] != 0 %} + ubu[{{ i }}] = {{ constraints.ubu[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbu", idxbu); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbu", lbu); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubu", ubu); + } + free(idxbu); + free(lubu); +{%- endif %} + +{%- if dims.nsbu > 0 %} + // set up soft bounds for u + int* idxsbu = malloc(NSBU * sizeof(int)); + {% for i in range(end=dims.nsbu) %} + idxsbu[{{ i }}] = {{ constraints.idxsbu[i] }}; + {%- endfor %} + double* lusbu = calloc(2*NSBU, sizeof(double)); + double* lsbu = lusbu; + double* usbu = lusbu + NSBU; + {% for i in range(end=dims.nsbu) %} + {%- if constraints.lsbu[i] != 0 %} + lsbu[{{ i }}] = {{ constraints.lsbu[i] }}; + {%- endif %} + {%- if constraints.usbu[i] != 0 %} + usbu[{{ i }}] = {{ constraints.usbu[i] }}; + {%- endif %} + {%- endfor %} + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbu", idxsbu); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbu", lsbu); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbu", usbu); + } + free(idxsbu); + free(lusbu); +{%- endif %} + +{% if dims.nsg > 0 %} + // set up soft bounds for general linear constraints + int* idxsg = malloc(NSG * sizeof(int)); + {% for i in range(end=dims.nsg) %} + idxsg[{{ i }}] = {{ constraints.idxsg[i] }}; + {%- endfor %} + double* lusg = calloc(2*NSG, sizeof(double)); + double* lsg = lusg; + double* usg = lusg + NSG; + {% for i in range(end=dims.nsg) %} + {%- if constraints.lsg[i] != 0 %} + lsg[{{ i }}] = {{ constraints.lsg[i] }}; + {%- endif %} + {%- if constraints.usg[i] != 0 %} + usg[{{ i }}] = {{ constraints.usg[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsg", idxsg); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsg", lsg); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usg", usg); + } + free(idxsg); + free(lusg); +{%- endif %} + +{% if dims.nsh > 0 %} + // set up soft bounds for nonlinear constraints + int* idxsh = malloc(NSH * sizeof(int)); + {% for i in range(end=dims.nsh) %} + idxsh[{{ i }}] = {{ constraints.idxsh[i] }}; + {%- endfor %} + double* lush = calloc(2*NSH, sizeof(double)); + double* lsh = lush; + double* ush = lush + NSH; + {% for i in range(end=dims.nsh) %} + {%- if constraints.lsh[i] != 0 %} + lsh[{{ i }}] = {{ constraints.lsh[i] }}; + {%- endif %} + {%- if constraints.ush[i] != 0 %} + ush[{{ i }}] = {{ constraints.ush[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush); + } + free(idxsh); + free(lush); +{%- endif %} + +{% if dims.nsphi > 0 %} + // set up soft bounds for convex-over-nonlinear constraints + int* idxsphi = malloc(NSPHI * sizeof(int)); + {% for i in range(end=dims.nsphi) %} + idxsphi[{{ i }}] = {{ constraints.idxsphi[i] }}; + {%- endfor %} + double* lusphi = calloc(2*NSPHI, sizeof(double)); + double* lsphi = lusphi; + double* usphi = lusphi + NSPHI; + {% for i in range(end=dims.nsphi) %} + {%- if constraints.lsphi[i] != 0 %} + lsphi[{{ i }}] = {{ constraints.lsphi[i] }}; + {%- endif %} + {%- if constraints.usphi[i] != 0 %} + usphi[{{ i }}] = {{ constraints.usphi[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsphi", idxsphi); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsphi", lsphi); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usphi", usphi); + } + free(idxsphi); + free(lusphi); +{%- endif %} + +{% if dims.nbx > 0 %} + // x + int* idxbx = malloc(NBX * sizeof(int)); + {% for i in range(end=dims.nbx) %} + idxbx[{{ i }}] = {{ constraints.idxbx[i] }}; + {%- endfor %} + double* lubx = calloc(2*NBX, sizeof(double)); + double* lbx = lubx; + double* ubx = lubx + NBX; + {% for i in range(end=dims.nbx) %} + {%- if constraints.lbx[i] != 0 %} + lbx[{{ i }}] = {{ constraints.lbx[i] }}; + {%- endif %} + {%- if constraints.ubx[i] != 0 %} + ubx[{{ i }}] = {{ constraints.ubx[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx); + } + free(idxbx); + free(lubx); +{%- endif %} + +{% if dims.ng > 0 %} + // set up general constraints for stage 0 to N-1 + double* D = calloc(NG*NU, sizeof(double)); + double* C = calloc(NG*NX, sizeof(double)); + double* lug = calloc(2*NG, sizeof(double)); + double* lg = lug; + double* ug = lug + NG; + + {% for j in range(end=dims.ng) -%} + {% for k in range(end=dims.nu) %} + {%- if constraints.D[j][k] != 0 %} + D[{{ j }}+NG * {{ k }}] = {{ constraints.D[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + {% for j in range(end=dims.ng) -%} + {% for k in range(end=dims.nx) %} + {%- if constraints.C[j][k] != 0 %} + C[{{ j }}+NG * {{ k }}] = {{ constraints.C[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + {% for i in range(end=dims.ng) %} + {%- if constraints.lg[i] != 0 %} + lg[{{ i }}] = {{ constraints.lg[i] }}; + {%- endif %} + {%- endfor %} + + {% for i in range(end=dims.ng) %} + {%- if constraints.ug[i] != 0 %} + ug[{{ i }}] = {{ constraints.ug[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "D", D); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "C", C); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lg", lg); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ug", ug); + } + free(D); + free(C); + free(lug); +{%- endif %} + +{% if dims.nh > 0 %} + // set up nonlinear constraints for stage 0 to N-1 + double* luh = calloc(2*NH, sizeof(double)); + double* lh = luh; + double* uh = luh + NH; + + {% for i in range(end=dims.nh) %} + {%- if constraints.lh[i] != 0 %} + lh[{{ i }}] = {{ constraints.lh[i] }}; + {%- endif %} + {%- endfor %} + + {% for i in range(end=dims.nh) %} + {%- if constraints.uh[i] != 0 %} + uh[{{ i }}] = {{ constraints.uh[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + // nonlinear constraints for stages 0 to N-1 + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac", + &capsule->nl_constr_h_fun_jac[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun", + &capsule->nl_constr_h_fun[i]); + {% if solver_options.hessian_approx == "EXACT" %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, + "nl_constr_h_fun_jac_hess", &capsule->nl_constr_h_fun_jac_hess[i]); + {% endif %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh); + } + free(luh); +{%- endif %} + +{% if dims.nphi > 0 and constraints.constr_type == "BGP" %} + // set up convex-over-nonlinear constraints for stage 0 to N-1 + double* luphi = calloc(2*NPHI, sizeof(double)); + double* lphi = luphi; + double* uphi = luphi + NPHI; + {% for i in range(end=dims.nphi) %} + {%- if constraints.lphi[i] != 0 %} + lphi[{{ i }}] = {{ constraints.lphi[i] }}; + {%- endif %} + {%- endfor %} + + {% for i in range(end=dims.nphi) %} + {%- if constraints.uphi[i] != 0 %} + uphi[{{ i }}] = {{ constraints.uphi[i] }}; + {%- endif %} + {%- endfor %} + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, + "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_constraint[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lphi", lphi); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uphi", uphi); + } + free(luphi); +{%- endif %} + + /* terminal constraints */ +{% if dims.nbx_e > 0 %} + // set up bounds for last stage + // x + int* idxbx_e = malloc(NBXN * sizeof(int)); + {% for i in range(end=dims.nbx_e) %} + idxbx_e[{{ i }}] = {{ constraints.idxbx_e[i] }}; + {%- endfor %} + double* lubx_e = calloc(2*NBXN, sizeof(double)); + double* lbx_e = lubx_e; + double* ubx_e = lubx_e + NBXN; + {% for i in range(end=dims.nbx_e) %} + {%- if constraints.lbx_e[i] != 0 %} + lbx_e[{{ i }}] = {{ constraints.lbx_e[i] }}; + {%- endif %} + {%- if constraints.ubx_e[i] != 0 %} + ubx_e[{{ i }}] = {{ constraints.ubx_e[i] }}; + {%- endif %} + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxbx", idxbx_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", lbx_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", ubx_e); + free(idxbx_e); + free(lubx_e); +{%- endif %} + +{% if dims.nsg_e > 0 %} + // set up soft bounds for general linear constraints + int* idxsg_e = calloc(NSGN, sizeof(int)); + {% for i in range(end=dims.nsg_e) %} + idxsg_e[{{ i }}] = {{ constraints.idxsg_e[i] }}; + {%- endfor %} + double* lusg_e = calloc(2*NSGN, sizeof(double)); + double* lsg_e = lusg_e; + double* usg_e = lusg_e + NSGN; + {% for i in range(end=dims.nsg_e) %} + {%- if constraints.lsg_e[i] != 0 %} + lsg_e[{{ i }}] = {{ constraints.lsg_e[i] }}; + {%- endif %} + {%- if constraints.usg_e[i] != 0 %} + usg_e[{{ i }}] = {{ constraints.usg_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsg", idxsg_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsg", lsg_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usg", usg_e); + free(idxsg_e); + free(lusg_e); +{%- endif %} + +{% if dims.nsh_e > 0 %} + // set up soft bounds for nonlinear constraints + int* idxsh_e = malloc(NSHN * sizeof(int)); + {% for i in range(end=dims.nsh_e) %} + idxsh_e[{{ i }}] = {{ constraints.idxsh_e[i] }}; + {%- endfor %} + double* lush_e = calloc(2*NSHN, sizeof(double)); + double* lsh_e = lush_e; + double* ush_e = lush_e + NSHN; + {% for i in range(end=dims.nsh_e) %} + {%- if constraints.lsh_e[i] != 0 %} + lsh_e[{{ i }}] = {{ constraints.lsh_e[i] }}; + {%- endif %} + {%- if constraints.ush_e[i] != 0 %} + ush_e[{{ i }}] = {{ constraints.ush_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsh", idxsh_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsh", lsh_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ush", ush_e); + free(idxsh_e); + free(lush_e); +{%- endif %} + +{% if dims.nsphi_e > 0 %} + // set up soft bounds for convex-over-nonlinear constraints + int* idxsphi_e = malloc(NSPHIN * sizeof(int)); + {% for i in range(end=dims.nsphi_e) %} + idxsphi_e[{{ i }}] = {{ constraints.idxsphi_e[i] }}; + {%- endfor %} + double* lusphi_e = calloc(2*NSPHIN, sizeof(double)); + double* lsphi_e = lusphi_e; + double* usphi_e = lusphi_e + NSPHIN; + {% for i in range(end=dims.nsphi_e) %} + {%- if constraints.lsphi_e[i] != 0 %} + lsphi_e[{{ i }}] = {{ constraints.lsphi_e[i] }}; + {%- endif %} + {%- if constraints.usphi_e[i] != 0 %} + usphi_e[{{ i }}] = {{ constraints.usphi_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsphi", idxsphi_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsphi", lsphi_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usphi", usphi_e); + free(idxsphi_e); + free(lusphi_e); +{%- endif %} + +{% if dims.nsbx_e > 0 %} + // soft bounds on x + int* idxsbx_e = malloc(NSBXN * sizeof(int)); + {% for i in range(end=dims.nsbx_e) %} + idxsbx_e[{{ i }}] = {{ constraints.idxsbx_e[i] }}; + {%- endfor %} + double* lusbx_e = calloc(2*NSBXN, sizeof(double)); + double* lsbx_e = lusbx_e; + double* usbx_e = lusbx_e + NSBXN; + {% for i in range(end=dims.nsbx_e) %} + {%- if constraints.lsbx_e[i] != 0 %} + lsbx_e[{{ i }}] = {{ constraints.lsbx_e[i] }}; + {%- endif %} + {%- if constraints.usbx_e[i] != 0 %} + usbx_e[{{ i }}] = {{ constraints.usbx_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsbx", idxsbx_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsbx", lsbx_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usbx", usbx_e); + free(idxsbx_e); + free(lusbx_e); +{% endif %} + +{% if dims.ng_e > 0 %} + // set up general constraints for last stage + double* C_e = calloc(NGN*NX, sizeof(double)); + double* lug_e = calloc(2*NGN, sizeof(double)); + double* lg_e = lug_e; + double* ug_e = lug_e + NGN; + + {% for j in range(end=dims.ng) %} + {%- for k in range(end=dims.nx) %} + {%- if constraints.C_e[j][k] != 0 %} + C_e[{{ j }}+NG * {{ k }}] = {{ constraints.C_e[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + {% for i in range(end=dims.ng_e) %} + {%- if constraints.lg_e[i] != 0 %} + lg_e[{{ i }}] = {{ constraints.lg_e[i] }}; + {%- endif %} + {%- if constraints.ug_e[i] != 0 %} + ug_e[{{ i }}] = {{ constraints.ug_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "C", C_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", lg_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", ug_e); + free(C_e); + free(lug_e); +{%- endif %} + +{% if dims.nh_e > 0 %} + // set up nonlinear constraints for last stage + double* luh_e = calloc(2*NHN, sizeof(double)); + double* lh_e = luh_e; + double* uh_e = luh_e + NHN; + {% for i in range(end=dims.nh_e) %} + {%- if constraints.lh_e[i] != 0 %} + lh_e[{{ i }}] = {{ constraints.lh_e[i] }}; + {%- endif %} + {%- endfor %} + + {% for i in range(end=dims.nh_e) %} + {%- if constraints.uh_e[i] != 0 %} + uh_e[{{ i }}] = {{ constraints.uh_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac", &capsule->nl_constr_h_e_fun_jac); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun", &capsule->nl_constr_h_e_fun); + {% if solver_options.hessian_approx == "EXACT" %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac_hess", + &capsule->nl_constr_h_e_fun_jac_hess); + {% endif %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", lh_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", uh_e); + free(luh_e); +{%- endif %} + +{% if dims.nphi_e > 0 and constraints.constr_type_e == "BGP" %} + // set up convex-over-nonlinear constraints for last stage + double* luphi_e = calloc(2*NPHIN, sizeof(double)); + double* lphi_e = luphi_e; + double* uphi_e = luphi_e + NPHIN; + {% for i in range(end=dims.nphi_e) %} + {%- if constraints.lphi_e[i] != 0 %} + lphi_e[{{ i }}] = {{ constraints.lphi_e[i] }}; + {%- endif %} + {%- if constraints.uphi_e[i] != 0 %} + uphi_e[{{ i }}] = {{ constraints.uphi_e[i] }}; + {%- endif %} + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lphi", lphi_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uphi", uphi_e); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, + "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_e_constraint); + free(luphi_e); +{% endif %} +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 6 + */ +void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + void *nlp_opts = capsule->nlp_opts; + + /************************************************ + * opts + ************************************************/ + +{% if solver_options.hessian_approx == "EXACT" %} + bool nlp_solver_exact_hessian = true; + // TODO: this if should not be needed! however, calling the setter with false leads to weird behavior. Investigate! + if (nlp_solver_exact_hessian) + { + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian); + } + int exact_hess_dyn = {{ solver_options.exact_hess_dyn }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_dyn", &exact_hess_dyn); + + int exact_hess_cost = {{ solver_options.exact_hess_cost }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_cost", &exact_hess_cost); + + int exact_hess_constr = {{ solver_options.exact_hess_constr }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_constr", &exact_hess_constr); +{%- endif -%} + +{%- if solver_options.globalization == "FIXED_STEP" %} + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step"); +{%- elif solver_options.globalization == "MERIT_BACKTRACKING" %} + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "merit_backtracking"); + + double alpha_min = {{ solver_options.alpha_min }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_min", &alpha_min); + + double alpha_reduction = {{ solver_options.alpha_reduction }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_reduction", &alpha_reduction); + + int line_search_use_sufficient_descent = {{ solver_options.line_search_use_sufficient_descent }}; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "line_search_use_sufficient_descent", &line_search_use_sufficient_descent); + + int globalization_use_SOC = {{ solver_options.globalization_use_SOC }}; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "globalization_use_SOC", &globalization_use_SOC); + + double eps_sufficient_descent = {{ solver_options.eps_sufficient_descent }}; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "eps_sufficient_descent", &eps_sufficient_descent); +{%- endif -%} + int full_step_dual = {{ solver_options.full_step_dual }}; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); + +{%- if dims.nz > 0 %} + // TODO: these options are lower level -> should be encapsulated! maybe through hessian approx option. + bool output_z_val = true; + bool sens_algebraic_val = true; + + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_output_z", &output_z_val); + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_sens_algebraic", &sens_algebraic_val); +{%- endif %} + +{%- if solver_options.integrator_type != "DISCRETE" %} + + // set collocation type (relevant for implicit integrators) + sim_collocation_type collocation_type = {{ solver_options.collocation_type }}; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); + + // set up sim_method_num_steps + {%- set all_equal = true %} + {%- set val = solver_options.sim_method_num_steps[0] %} + {%- for j in range(start=1, end=dims.N) %} + {%- if val != solver_options.sim_method_num_steps[j] %} + {%- set_global all_equal = false %} + {%- break %} + {%- endif %} + {%- endfor %} + + {%- if all_equal == true %} + // all sim_method_num_steps are identical + int sim_method_num_steps = {{ solver_options.sim_method_num_steps[0] }}; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); + {%- else %} + // sim_method_num_steps are different + int* sim_method_num_steps = malloc(N*sizeof(int)); + {%- for j in range(end=dims.N) %} + sim_method_num_steps[{{ j }}] = {{ solver_options.sim_method_num_steps[j] }}; + {%- endfor %} + + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps[i]); + free(sim_method_num_steps); + {%- endif %} + + // set up sim_method_num_stages + {%- set all_equal = true %} + {%- set val = solver_options.sim_method_num_stages[0] %} + {%- for j in range(start=1, end=dims.N) %} + {%- if val != solver_options.sim_method_num_stages[j] %} + {%- set_global all_equal = false %} + {%- break %} + {%- endif %} + {%- endfor %} + + {%- if all_equal == true %} + // all sim_method_num_stages are identical + int sim_method_num_stages = {{ solver_options.sim_method_num_stages[0] }}; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); + {%- else %} + int* sim_method_num_stages = malloc(N*sizeof(int)); + {%- for j in range(end=dims.N) %} + sim_method_num_stages[{{ j }}] = {{ solver_options.sim_method_num_stages[j] }}; + {%- endfor %} + + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages[i]); + free(sim_method_num_stages); + {%- endif %} + + int newton_iter_val = {{ solver_options.sim_method_newton_iter }}; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); + + + // set up sim_method_jac_reuse + {%- set all_equal = true %} + {%- set val = solver_options.sim_method_jac_reuse[0] %} + {%- for j in range(start=1, end=dims.N) %} + {%- if val != solver_options.sim_method_jac_reuse[j] %} + {%- set_global all_equal = false %} + {%- break %} + {%- endif %} + {%- endfor %} + {%- if all_equal == true %} + bool tmp_bool = (bool) {{ solver_options.sim_method_jac_reuse[0] }}; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); + {%- else %} + bool* sim_method_jac_reuse = malloc(N*sizeof(bool)); + {%- for j in range(end=dims.N) %} + sim_method_jac_reuse[{{ j }}] = (bool){{ solver_options.sim_method_jac_reuse[j] }}; + {%- endfor %} + + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &sim_method_jac_reuse[i]); + free(sim_method_jac_reuse); + {%- endif %} + +{%- endif %} + + double nlp_solver_step_length = {{ solver_options.nlp_solver_step_length }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); + + {%- if solver_options.nlp_solver_warm_start_first_qp %} + int nlp_solver_warm_start_first_qp = {{ solver_options.nlp_solver_warm_start_first_qp }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "warm_start_first_qp", &nlp_solver_warm_start_first_qp); + {%- endif %} + + double levenberg_marquardt = {{ solver_options.levenberg_marquardt }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); + + /* options QP solver */ +{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %} + int qp_solver_cond_N; + + {% if solver_options.qp_solver_cond_N -%} + const int qp_solver_cond_N_ori = {{ solver_options.qp_solver_cond_N }}; + qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here + {%- else %} + // NOTE: there is no condensing happening here! + qp_solver_cond_N = N; + {%- endif %} + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); +{%- endif %} + + +{%- if solver_options.qp_solver is containing("HPIPM") %} + // set HPIPM mode: should be done before setting other QP solver options + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "{{ solver_options.hpipm_mode }}"); +{%- endif %} + +{% if solver_options.nlp_solver_type == "SQP" %} + // set SQP specific options + double nlp_solver_tol_stat = {{ solver_options.nlp_solver_tol_stat }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_stat", &nlp_solver_tol_stat); + + double nlp_solver_tol_eq = {{ solver_options.nlp_solver_tol_eq }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_eq", &nlp_solver_tol_eq); + + double nlp_solver_tol_ineq = {{ solver_options.nlp_solver_tol_ineq }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_ineq", &nlp_solver_tol_ineq); + + double nlp_solver_tol_comp = {{ solver_options.nlp_solver_tol_comp }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_comp", &nlp_solver_tol_comp); + + int nlp_solver_max_iter = {{ solver_options.nlp_solver_max_iter }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "max_iter", &nlp_solver_max_iter); + + int initialize_t_slacks = {{ solver_options.initialize_t_slacks }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "initialize_t_slacks", &initialize_t_slacks); +{%- endif %} + + int qp_solver_iter_max = {{ solver_options.qp_solver_iter_max }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); + +{# NOTE: qp_solver tolerances must be set after NLP ones, since the setter for NLP tolerances sets the QP tolerances to the sam values. #} + {%- if solver_options.qp_solver_tol_stat %} + double qp_solver_tol_stat = {{ solver_options.qp_solver_tol_stat }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat); + {%- endif -%} + + {%- if solver_options.qp_solver_tol_eq %} + double qp_solver_tol_eq = {{ solver_options.qp_solver_tol_eq }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq); + {%- endif -%} + + {%- if solver_options.qp_solver_tol_ineq %} + double qp_solver_tol_ineq = {{ solver_options.qp_solver_tol_ineq }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq); + {%- endif -%} + + {%- if solver_options.qp_solver_tol_comp %} + double qp_solver_tol_comp = {{ solver_options.qp_solver_tol_comp }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp); + {%- endif -%} + + {%- if solver_options.qp_solver_warm_start %} + int qp_solver_warm_start = {{ solver_options.qp_solver_warm_start }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_warm_start", &qp_solver_warm_start); + {%- endif -%} + + int print_level = {{ solver_options.print_level }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); + + + int ext_cost_num_hess = {{ solver_options.ext_cost_num_hess }}; +{%- if cost.cost_type == "EXTERNAL" %} + for (int i = 0; i < N; i++) + { + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "cost_numerical_hessian", &ext_cost_num_hess); + } +{%- endif %} +{%- if cost.cost_type_e == "EXTERNAL" %} + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, N, "cost_numerical_hessian", &ext_cost_num_hess); +{%- endif %} +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 7 + */ +void {{ model.name }}_acados_create_7_set_nlp_out({{ model.name }}_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + + // initialize primal solution + double* xu0 = calloc(NX+NU, sizeof(double)); + double* x0 = xu0; +{% if dims.nbx_0 == dims.nx %} + // initialize with x0 + {% for item in constraints.lbx_0 %} + {%- if item != 0 %} + x0[{{ loop.index0 }}] = {{ item }}; + {%- endif %} + {%- endfor %} +{% else %} + // initialize with zeros +{%- endif %} + + double* u0 = xu0 + NX; + + for (int i = 0; i < N; i++) + { + // x0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); + // u0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); + free(xu0); +} + + +/** + * Internal function for {{ model.name }}_acados_create: step 8 + */ +//void {{ model.name }}_acados_create_8_create_solver({{ model.name }}_solver_capsule* capsule) +//{ +// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); +//} + +/** + * Internal function for {{ model.name }}_acados_create: step 9 + */ +int {{ model.name }}_acados_create_9_precompute({{ model.name }}_solver_capsule* capsule) { + int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + if (status != ACADOS_SUCCESS) { + printf("\nocp_nlp_precompute failed!\n\n"); + exit(1); + } + + return status; +} + + +int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps) +{ + // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. + if (N != {{ model.name | upper }}_N && !new_time_steps) { + fprintf(stderr, "{{ model.name }}_acados_create_with_discretization: new_time_steps is NULL " \ + "but the number of shooting intervals (= %d) differs from the number of " \ + "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ + N, {{ model.name | upper }}_N); + return 1; + } + + // number of expected runtime parameters + capsule->nlp_np = NP; + + // 1) create and set nlp_solver_plan; create nlp_config + capsule->nlp_solver_plan = ocp_nlp_plan_create(N); + {{ model.name }}_acados_create_1_set_plan(capsule->nlp_solver_plan, N); + capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); + + // 3) create and set dimensions + capsule->nlp_dims = {{ model.name }}_acados_create_2_create_and_set_dimensions(capsule); + {{ model.name }}_acados_create_3_create_and_set_functions(capsule); + + // 4) set default parameters in functions + {{ model.name }}_acados_create_4_set_default_parameters(capsule); + + // 5) create and set nlp_in + capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); + {{ model.name }}_acados_create_5_set_nlp_in(capsule, N, new_time_steps); + + // 6) create and set nlp_opts + capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); + {{ model.name }}_acados_create_6_set_opts(capsule); + + // 7) create and set nlp_out + // 7.1) nlp_out + capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + // 7.2) sens_out + capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + {{ model.name }}_acados_create_7_set_nlp_out(capsule); + + // 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + //{{ model.name }}_acados_create_8_create_solver(capsule); + + // 9) do precomputations + int status = {{ model.name }}_acados_create_9_precompute(capsule); + return status; +} + +/** + * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. + */ +int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule* capsule, int qp_solver_cond_N) +{ +{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %} + // 1) destroy solver + ocp_nlp_solver_destroy(capsule->nlp_solver); + + // 2) set new value for "qp_cond_N" + const int N = capsule->nlp_solver_plan->N; + if(qp_solver_cond_N > N) + printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); + ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + // 3) continue with the remaining steps from {{ model.name }}_acados_create_with_discretization(...): + // -> 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + + // -> 9) do precomputations + int status = {{ model.name }}_acados_create_9_precompute(capsule); + return status; +{%- else %} + printf("\nacados_update_qp_solver_cond_N() failed, since no partial condensing solver is used!\n\n"); + // Todo: what is an adequate behavior here? + exit(1); + return -1; +{%- endif %} +} + + +int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule) +{ + + // set initialization to all zeros +{# TODO: use guess values / initial state value from json instead?! #} + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + ocp_nlp_in* nlp_in = capsule->nlp_in; + ocp_nlp_solver* nlp_solver = capsule->nlp_solver; + + int nx, nu, nv, ns, nz, ni, dim; + + double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); + + for(int i=0; i reset memory + int qp_status; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); + if (qp_status == 3) + { + // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); + ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); + } +{%- endif %} + + free(buffer); + return 0; +} + + + + +int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsule, int stage, double *p, int np) +{ + int solver_status = 0; + + int casadi_np = {{ dims.np }}; + if (casadi_np != np) { + printf("acados_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + +{%- if dims.np > 0 %} + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + {%- if solver_options.integrator_type == "IRK" %} + capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p); + capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_z+stage, p); + capsule->impl_dae_jac_x_xdot_u_z[stage].set_param(capsule->impl_dae_jac_x_xdot_u_z+stage, p); + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->impl_dae_hess[stage].set_param(capsule->impl_dae_hess+stage, p); + {%- endif %} + {% elif solver_options.integrator_type == "LIFTED_IRK" %} + capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p); + capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_u+stage, p); + {% elif solver_options.integrator_type == "ERK" %} + capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); + capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->hess_vde_casadi[stage].set_param(capsule->hess_vde_casadi+stage, p); + {%- endif %} + {% elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + capsule->gnsf_phi_fun[stage].set_param(capsule->gnsf_phi_fun+stage, p); + capsule->gnsf_phi_fun_jac_y[stage].set_param(capsule->gnsf_phi_fun_jac_y+stage, p); + capsule->gnsf_phi_jac_y_uhat[stage].set_param(capsule->gnsf_phi_jac_y_uhat+stage, p); + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, p); + {%- endif %} + {%- endif %} + {% elif solver_options.integrator_type == "DISCRETE" %} + capsule->discr_dyn_phi_fun[stage].set_param(capsule->discr_dyn_phi_fun+stage, p); + capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, p); + {% endif %} + {%- endif %}{# integrator_type #} + + // constraints + {% if constraints.constr_type == "BGP" %} + capsule->phi_constraint[stage].set_param(capsule->phi_constraint+stage, p); + {% elif constraints.constr_type == "BGH" and dims.nh > 0 %} + capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p); + capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->nl_constr_h_fun_jac_hess[stage].set_param(capsule->nl_constr_h_fun_jac_hess+stage, p); + {%- endif %} + {%- endif %} + + // cost + if (stage == 0) + { + {%- if cost.cost_type_0 == "NONLINEAR_LS" %} + capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); + capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); + {%- elif cost.cost_type_0 == "EXTERNAL" %} + capsule->ext_cost_0_fun.set_param(&capsule->ext_cost_0_fun, p); + capsule->ext_cost_0_fun_jac.set_param(&capsule->ext_cost_0_fun_jac, p); + capsule->ext_cost_0_fun_jac_hess.set_param(&capsule->ext_cost_0_fun_jac_hess, p); + {% endif %} + } + else // 0 < stage < N + { + {%- if cost.cost_type == "NONLINEAR_LS" %} + capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); + capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); + {%- elif cost.cost_type == "EXTERNAL" %} + capsule->ext_cost_fun[stage-1].set_param(capsule->ext_cost_fun+stage-1, p); + capsule->ext_cost_fun_jac[stage-1].set_param(capsule->ext_cost_fun_jac+stage-1, p); + capsule->ext_cost_fun_jac_hess[stage-1].set_param(capsule->ext_cost_fun_jac_hess+stage-1, p); + {%- endif %} + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + {%- if cost.cost_type_e == "NONLINEAR_LS" %} + capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); + capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); + {%- elif cost.cost_type_e == "EXTERNAL" %} + capsule->ext_cost_e_fun.set_param(&capsule->ext_cost_e_fun, p); + capsule->ext_cost_e_fun_jac.set_param(&capsule->ext_cost_e_fun_jac, p); + capsule->ext_cost_e_fun_jac_hess.set_param(&capsule->ext_cost_e_fun_jac_hess, p); + {% endif %} + // constraints + {% if constraints.constr_type_e == "BGP" %} + capsule->phi_e_constraint.set_param(&capsule->phi_e_constraint, p); + {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + capsule->nl_constr_h_e_fun_jac.set_param(&capsule->nl_constr_h_e_fun_jac, p); + capsule->nl_constr_h_e_fun.set_param(&capsule->nl_constr_h_e_fun, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->nl_constr_h_e_fun_jac_hess.set_param(&capsule->nl_constr_h_e_fun_jac_hess, p); + {%- endif %} + {% endif %} + } +{% endif %}{# if dims.np #} + + return solver_status; +} + + + +int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule* capsule) +{ + // solve NLP + int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + return solver_status; +} + + +int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) +{ + // before destroying, keep some info + const int N = capsule->nlp_solver_plan->N; + // free memory + ocp_nlp_solver_opts_destroy(capsule->nlp_opts); + ocp_nlp_in_destroy(capsule->nlp_in); + ocp_nlp_out_destroy(capsule->nlp_out); + ocp_nlp_out_destroy(capsule->sens_out); + ocp_nlp_solver_destroy(capsule->nlp_solver); + ocp_nlp_dims_destroy(capsule->nlp_dims); + ocp_nlp_config_destroy(capsule->nlp_config); + ocp_nlp_plan_destroy(capsule->nlp_solver_plan); + + /* free external function */ + // dynamics +{%- if solver_options.integrator_type == "IRK" %} + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->impl_dae_fun[i]); + external_function_param_casadi_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]); + external_function_param_casadi_free(&capsule->impl_dae_jac_x_xdot_u_z[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_casadi_free(&capsule->impl_dae_hess[i]); + {%- endif %} + } + free(capsule->impl_dae_fun); + free(capsule->impl_dae_fun_jac_x_xdot_z); + free(capsule->impl_dae_jac_x_xdot_u_z); + {%- if solver_options.hessian_approx == "EXACT" %} + free(capsule->impl_dae_hess); + {%- endif %} + +{%- elif solver_options.integrator_type == "LIFTED_IRK" %} + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->impl_dae_fun[i]); + external_function_param_casadi_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]); + } + free(capsule->impl_dae_fun); + free(capsule->impl_dae_fun_jac_x_xdot_u); + +{%- elif solver_options.integrator_type == "ERK" %} + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); + external_function_param_casadi_free(&capsule->expl_ode_fun[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_casadi_free(&capsule->hess_vde_casadi[i]); + {%- endif %} + } + free(capsule->forw_vde_casadi); + free(capsule->expl_ode_fun); + {%- if solver_options.hessian_approx == "EXACT" %} + free(capsule->hess_vde_casadi); + {%- endif %} + +{%- elif solver_options.integrator_type == "GNSF" %} + for (int i = 0; i < N; i++) + { + {% if model.gnsf.purely_linear != 1 %} + external_function_param_casadi_free(&capsule->gnsf_phi_fun[i]); + external_function_param_casadi_free(&capsule->gnsf_phi_fun_jac_y[i]); + external_function_param_casadi_free(&capsule->gnsf_phi_jac_y_uhat[i]); + {% if model.gnsf.nontrivial_f_LO == 1 %} + external_function_param_casadi_free(&capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]); + {%- endif %} + {%- endif %} + external_function_param_casadi_free(&capsule->gnsf_get_matrices_fun[i]); + } + {% if model.gnsf.purely_linear != 1 %} + free(capsule->gnsf_phi_fun); + free(capsule->gnsf_phi_fun_jac_y); + free(capsule->gnsf_phi_jac_y_uhat); + {% if model.gnsf.nontrivial_f_LO == 1 %} + free(capsule->gnsf_f_lo_jac_x1_x1dot_u_z); + {%- endif %} + {%- endif %} + free(capsule->gnsf_get_matrices_fun); +{%- elif solver_options.integrator_type == "DISCRETE" %} + for (int i = 0; i < N; i++) + { + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt[i]); + {%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]); + {%- endif %} + } + free(capsule->discr_dyn_phi_fun); + free(capsule->discr_dyn_phi_fun_jac_ut_xt); + {%- if solver_options.hessian_approx == "EXACT" %} + free(capsule->discr_dyn_phi_fun_jac_ut_xt_hess); + {%- endif %} + +{%- endif %} + + // cost +{%- if cost.cost_type_0 == "NONLINEAR_LS" %} + external_function_param_casadi_free(&capsule->cost_y_0_fun); + external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_0_hess); +{%- elif cost.cost_type_0 == "EXTERNAL" %} + external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun); + external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac); + external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac_hess); +{%- endif %} +{%- if cost.cost_type == "NONLINEAR_LS" %} + for (int i = 0; i < N - 1; i++) + { + external_function_param_casadi_free(&capsule->cost_y_fun[i]); + external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); + external_function_param_casadi_free(&capsule->cost_y_hess[i]); + } + free(capsule->cost_y_fun); + free(capsule->cost_y_fun_jac_ut_xt); + free(capsule->cost_y_hess); +{%- elif cost.cost_type == "EXTERNAL" %} + for (int i = 0; i < N - 1; i++) + { + external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun[i]); + external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac[i]); + external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac_hess[i]); + } + free(capsule->ext_cost_fun); + free(capsule->ext_cost_fun_jac); + free(capsule->ext_cost_fun_jac_hess); +{%- endif %} +{%- if cost.cost_type_e == "NONLINEAR_LS" %} + external_function_param_casadi_free(&capsule->cost_y_e_fun); + external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_e_hess); +{%- elif cost.cost_type_e == "EXTERNAL" %} + external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun); + external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac); + external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac_hess); +{%- endif %} + + // constraints +{%- if constraints.constr_type == "BGH" and dims.nh > 0 %} + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]); + external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]); + } + {%- if solver_options.hessian_approx == "EXACT" %} + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac_hess[i]); + } + {%- endif %} + free(capsule->nl_constr_h_fun_jac); + free(capsule->nl_constr_h_fun); + {%- if solver_options.hessian_approx == "EXACT" %} + free(capsule->nl_constr_h_fun_jac_hess); + {%- endif %} + +{%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %} + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->phi_constraint[i]); + } + free(capsule->phi_constraint); +{%- endif %} + +{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac); + external_function_param_casadi_free(&capsule->nl_constr_h_e_fun); +{%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac_hess); +{%- endif %} +{%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %} + external_function_param_casadi_free(&capsule->phi_e_constraint); +{%- endif %} + + return 0; +} + +ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; } +ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; } +ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; } +ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; } +ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; } +void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; } +ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; } +ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; } + + +void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsule) +{ + int sqp_iter, stat_m, stat_n, tmp_int; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); + + {% set stat_n_max = 12 %} + double stat[{{ solver_options.nlp_solver_max_iter * stat_n_max }}]; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); + + int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; + +{%- if solver_options.nlp_solver_type == "SQP" %} + printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha\n"); + for (int i = 0; i < nrow; i++) + { + for (int j = 0; j < stat_n + 1; j++) + { + if (j == 0 || j == 5 || j == 6) + { + tmp_int = (int) stat[i + j * nrow]; + printf("%d\t", tmp_int); + } + else + { + printf("%e\t", stat[i + j * nrow]); + } + } + printf("\n"); + } +{% else %} + printf("iter\tqp_stat\tqp_iter\n"); + for (int i = 0; i < nrow; i++) + { + for (int j = 0; j < stat_n + 1; j++) + { + tmp_int = (int) stat[i + j * nrow]; + printf("%d\t", tmp_int); + } + printf("\n"); + } +{%- endif %} +} + diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.h b/pyextra/acados_template/c_templates_tera/acados_solver.in.h new file mode 100644 index 000000000..1c82ef3ba --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_solver.in.h @@ -0,0 +1,217 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SOLVER_{{ model.name }}_H_ +#define ACADOS_SOLVER_{{ model.name }}_H_ + +#include "acados/utils/types.h" + +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +#define {{ model.name | upper }}_NX {{ dims.nx }} +#define {{ model.name | upper }}_NZ {{ dims.nz }} +#define {{ model.name | upper }}_NU {{ dims.nu }} +#define {{ model.name | upper }}_NP {{ dims.np }} +#define {{ model.name | upper }}_NBX {{ dims.nbx }} +#define {{ model.name | upper }}_NBX0 {{ dims.nbx_0 }} +#define {{ model.name | upper }}_NBU {{ dims.nbu }} +#define {{ model.name | upper }}_NSBX {{ dims.nsbx }} +#define {{ model.name | upper }}_NSBU {{ dims.nsbu }} +#define {{ model.name | upper }}_NSH {{ dims.nsh }} +#define {{ model.name | upper }}_NSG {{ dims.nsg }} +#define {{ model.name | upper }}_NSPHI {{ dims.nsphi }} +#define {{ model.name | upper }}_NSHN {{ dims.nsh_e }} +#define {{ model.name | upper }}_NSGN {{ dims.nsg_e }} +#define {{ model.name | upper }}_NSPHIN {{ dims.nsphi_e }} +#define {{ model.name | upper }}_NSBXN {{ dims.nsbx_e }} +#define {{ model.name | upper }}_NS {{ dims.ns }} +#define {{ model.name | upper }}_NSN {{ dims.ns_e }} +#define {{ model.name | upper }}_NG {{ dims.ng }} +#define {{ model.name | upper }}_NBXN {{ dims.nbx_e }} +#define {{ model.name | upper }}_NGN {{ dims.ng_e }} +#define {{ model.name | upper }}_NY0 {{ dims.ny_0 }} +#define {{ model.name | upper }}_NY {{ dims.ny }} +#define {{ model.name | upper }}_NYN {{ dims.ny_e }} +#define {{ model.name | upper }}_N {{ dims.N }} +#define {{ model.name | upper }}_NH {{ dims.nh }} +#define {{ model.name | upper }}_NPHI {{ dims.nphi }} +#define {{ model.name | upper }}_NHN {{ dims.nh_e }} +#define {{ model.name | upper }}_NPHIN {{ dims.nphi_e }} +#define {{ model.name | upper }}_NR {{ dims.nr }} + +#ifdef __cplusplus +extern "C" { +#endif + +// ** capsule for solver data ** +typedef struct {{ model.name }}_solver_capsule +{ + // acados objects + ocp_nlp_in *nlp_in; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_solver *nlp_solver; + void *nlp_opts; + ocp_nlp_plan_t *nlp_solver_plan; + ocp_nlp_config *nlp_config; + ocp_nlp_dims *nlp_dims; + + // number of expected runtime parameters + unsigned int nlp_np; + + /* external functions */ + // dynamics +{% if solver_options.integrator_type == "ERK" %} + external_function_param_casadi *forw_vde_casadi; + external_function_param_casadi *expl_ode_fun; +{% if solver_options.hessian_approx == "EXACT" %} + external_function_param_casadi *hess_vde_casadi; +{%- endif %} +{% elif solver_options.integrator_type == "IRK" %} + external_function_param_casadi *impl_dae_fun; + external_function_param_casadi *impl_dae_fun_jac_x_xdot_z; + external_function_param_casadi *impl_dae_jac_x_xdot_u_z; +{% if solver_options.hessian_approx == "EXACT" %} + external_function_param_casadi *impl_dae_hess; +{%- endif %} +{% elif solver_options.integrator_type == "LIFTED_IRK" %} + external_function_param_casadi *impl_dae_fun; + external_function_param_casadi *impl_dae_fun_jac_x_xdot_u; +{% elif solver_options.integrator_type == "GNSF" %} + external_function_param_casadi *gnsf_phi_fun; + external_function_param_casadi *gnsf_phi_fun_jac_y; + external_function_param_casadi *gnsf_phi_jac_y_uhat; + external_function_param_casadi *gnsf_f_lo_jac_x1_x1dot_u_z; + external_function_param_casadi *gnsf_get_matrices_fun; +{% elif solver_options.integrator_type == "DISCRETE" %} + external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun; + external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt; +{%- if solver_options.hessian_approx == "EXACT" %} + external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt_hess; +{%- endif %} +{%- endif %} + + + // cost +{% if cost.cost_type == "NONLINEAR_LS" %} + external_function_param_casadi *cost_y_fun; + external_function_param_casadi *cost_y_fun_jac_ut_xt; + external_function_param_casadi *cost_y_hess; +{%- elif cost.cost_type == "EXTERNAL" %} + external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun; + external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac; + external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac_hess; +{% endif %} + +{% if cost.cost_type_0 == "NONLINEAR_LS" %} + external_function_param_casadi cost_y_0_fun; + external_function_param_casadi cost_y_0_fun_jac_ut_xt; + external_function_param_casadi cost_y_0_hess; +{% elif cost.cost_type_0 == "EXTERNAL" %} + external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun; + external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac; + external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac_hess; +{%- endif %} + +{% if cost.cost_type_e == "NONLINEAR_LS" %} + external_function_param_casadi cost_y_e_fun; + external_function_param_casadi cost_y_e_fun_jac_ut_xt; + external_function_param_casadi cost_y_e_hess; +{% elif cost.cost_type_e == "EXTERNAL" %} + external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun; + external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac; + external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac_hess; +{%- endif %} + + // constraints +{%- if constraints.constr_type == "BGP" %} + external_function_param_casadi *phi_constraint; +{% elif constraints.constr_type == "BGH" and dims.nh > 0 %} + external_function_param_casadi *nl_constr_h_fun_jac; + external_function_param_casadi *nl_constr_h_fun; + external_function_param_casadi *nl_constr_h_fun_jac_hess; +{%- endif %} + + +{% if constraints.constr_type_e == "BGP" %} + external_function_param_casadi phi_e_constraint; +{% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + external_function_param_casadi nl_constr_h_e_fun_jac; + external_function_param_casadi nl_constr_h_e_fun; + external_function_param_casadi nl_constr_h_e_fun_jac_hess; +{%- endif %} + +} {{ model.name }}_solver_capsule; + +ACADOS_SYMBOL_EXPORT {{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule); + +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule); + +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule); + +/** + * Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than + * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code + * generation, the time-steps from code generation is used. + */ +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps); +/** + * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the + * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0. + */ +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps); +/** + * This function is used for updating an already initialized solver with a different number of qp_cond_N. + */ +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule); + +ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SOLVER_{{ model.name }}_H_ diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.pxd b/pyextra/acados_template/c_templates_tera/acados_solver.in.pxd new file mode 100644 index 000000000..09f8755cb --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_solver.in.pxd @@ -0,0 +1,62 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_solver_common + +cdef extern from "acados_solver_{{ model.name }}.h": + ctypedef struct nlp_solver_capsule "{{ model.name }}_solver_capsule": + pass + + nlp_solver_capsule * acados_create_capsule "{{ model.name }}_acados_create_capsule"() + int acados_free_capsule "{{ model.name }}_acados_free_capsule"(nlp_solver_capsule *capsule) + + int acados_create "{{ model.name }}_acados_create"(nlp_solver_capsule * capsule) + + int acados_create_with_discretization "{{ model.name }}_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps) + int acados_update_time_steps "{{ model.name }}_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps) + int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) + + int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) + int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule) + int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule) + int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule) + void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule) + + acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "{{ model.name }}_acados_get_nlp_solver"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_config *acados_get_nlp_config "{{ model.name }}_acados_get_nlp_config"(nlp_solver_capsule * capsule) + void *acados_get_nlp_opts "{{ model.name }}_acados_get_nlp_opts"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "{{ model.name }}_acados_get_nlp_dims"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "{{ model.name }}_acados_get_nlp_plan"(nlp_solver_capsule * capsule) diff --git a/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c b/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c new file mode 100644 index 000000000..96e0983de --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c @@ -0,0 +1,782 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#define S_FUNCTION_NAME acados_solver_sfunction_{{ model.name }} +#define S_FUNCTION_LEVEL 2 + +#define MDL_START + +// acados +// #include "acados/utils/print.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "{{ model.name }}_model/{{ model.name }}_model.h" +#include "acados_solver_{{ model.name }}.h" + +#include "simstruc.h" + +{% if simulink_opts.samplingtime == "t0" -%} +#define SAMPLINGTIME {{ solver_options.time_steps[0] }} +{%- elif simulink_opts.samplingtime == "-1" -%} +#define SAMPLINGTIME -1 +{%- else -%} + {{ throw(message = "simulink_opts.samplingtime must be '-1' or 't0', got val") }} +{%- endif %} + +static void mdlInitializeSizes (SimStruct *S) +{ + // specify the number of continuous and discrete states + ssSetNumContStates(S, 0); + ssSetNumDiscStates(S, 0); + + {%- for key, val in simulink_opts.inputs -%} + {%- if val != 0 and val != 1 -%} + {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }} + {%- endif -%} + {%- endfor -%} + + {#- compute number of input ports #} + {%- set n_inputs = 0 -%} + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 -%} {#- y_ref_0 -#} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref -%} {#- y_ref -#} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e -%} {#- y_ref_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + + {%- for key, val in simulink_opts.inputs -%} + {%- if val != 0 and val != 1 -%} + {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }} + {%- endif -%} + {%- endfor -%} + {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} + {%- set n_inputs = n_inputs + 1 %} + {%- endif -%} + {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} + {%- set n_inputs = n_inputs + 1 %} + {%- endif -%} + {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + + {%- if simulink_opts.inputs.reset_solver -%} {#- reset_solver #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + + {%- if simulink_opts.inputs.x_init -%} {#- x_init #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + + {%- if simulink_opts.inputs.u_init -%} {#- u_init #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + + // specify the number of input ports + if ( !ssSetNumInputPorts(S, {{ n_inputs }}) ) + return; + + // specify the number of output ports + {%- set_global n_outputs = 0 %} + {%- for key, val in simulink_opts.outputs %} + {%- if val == 1 %} + {%- set_global n_outputs = n_outputs + val %} + {%- elif val != 0 %} + {{ throw(message = "simulink_opts.outputs must be 0 or 1, got val") }} + {%- endif %} + {%- endfor %} + if ( !ssSetNumOutputPorts(S, {{ n_outputs }}) ) + return; + + // specify dimension information for the input ports + {%- set i_input = -1 %}{# note here i_input is 0-based #} + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} + {%- set i_input = i_input + 1 %} + // lbx_0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }}); + {%- endif %} + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} + {%- set i_input = i_input + 1 %} + // ubx_0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }}); + {%- endif %} + + {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} + {%- set i_input = i_input + 1 %} + // parameters + ssSetInputPortVectorDimension(S, {{ i_input }}, ({{ dims.N }}+1) * {{ dims.np }}); + {%- endif %} + + {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %} + {%- set i_input = i_input + 1 %} + // y_ref_0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 }}); + {%- endif %} + + {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} + {%- set i_input = i_input + 1 %} + // y_ref + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.ny }}); + {%- endif %} + + {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} + {%- set i_input = i_input + 1 %} + // y_ref_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e }}); + {%- endif %} + + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} + {%- set i_input = i_input + 1 %} + // lbx + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }}); + {%- endif %} + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} + {%- set i_input = i_input + 1 %} + // ubx + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }}); + {%- endif %} + + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} + {%- set i_input = i_input + 1 %} + // lbx_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }}); + {%- endif %} + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} + {%- set i_input = i_input + 1 %} + // ubx_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }}); + {%- endif %} + + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} + {%- set i_input = i_input + 1 %} + // lbu + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }}); + {%- endif -%} + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} + {%- set i_input = i_input + 1 %} + // ubu + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }}); + {%- endif -%} + + + {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} + {%- set i_input = i_input + 1 %} + // lg + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ng }}); + {%- endif -%} + {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} + {%- set i_input = i_input + 1 %} + // ug + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ng }}); + {%- endif -%} + + {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} + {%- set i_input = i_input + 1 %} + // lh + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh }}); + {%- endif -%} + {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} + {%- set i_input = i_input + 1 %} + // uh + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh }}); + {%- endif -%} + + {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} + {%- set i_input = i_input + 1 %} + // cost_W_0 + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 * dims.ny_0 }}); + {%- endif %} + + {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} + {%- set i_input = i_input + 1 %} + // cost_W + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny * dims.ny }}); + {%- endif %} + + {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} + {%- set i_input = i_input + 1 %} + // cost_W_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e * dims.ny_e }}); + {%- endif %} + + {%- if simulink_opts.inputs.reset_solver -%} {#- reset_solver #} + {%- set i_input = i_input + 1 %} + // reset_solver + ssSetInputPortVectorDimension(S, {{ i_input }}, 1); + {%- endif -%} + + {%- if simulink_opts.inputs.x_init -%} {#- x_init #} + {%- set i_input = i_input + 1 %} + // x_init + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx * (dims.N+1) }}); + {%- endif -%} + + {%- if simulink_opts.inputs.u_init -%} {#- u_init #} + {%- set i_input = i_input + 1 %} + // u_init + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu * (dims.N) }}); + {%- endif -%} + + /* specify dimension information for the OUTPUT ports */ + {%- set i_output = -1 %}{# note here i_output is 0-based #} + {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu }} ); + {%- endif %} + + {%- if simulink_opts.outputs.utraj == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu * dims.N }} ); + {%- endif %} + + {%- if simulink_opts.outputs.xtraj == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx * (dims.N+1) }} ); + {%- endif %} + + {%- if simulink_opts.outputs.solver_status == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); + {%- endif %} + + {%- if simulink_opts.outputs.KKT_residual == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); + {%- endif %} + + {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx }} ); // state at shooting node 1 + {%- endif %} + + {%- if simulink_opts.outputs.CPU_time == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); + {%- endif %} + + {%- if simulink_opts.outputs.CPU_time_sim == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); + {%- endif %} + + {%- if simulink_opts.outputs.CPU_time_qp == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); + {%- endif %} + + {%- if simulink_opts.outputs.CPU_time_lin == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); + {%- endif %} + + {%- if simulink_opts.outputs.sqp_iter == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); + {%- endif %} + + // specify the direct feedthrough status + // should be set to 1 for all inputs used in mdlOutputs + {%- for i in range(end=n_inputs) %} + ssSetInputPortDirectFeedThrough(S, {{ i }}, 1); + {%- endfor %} + + // one sample time + ssSetNumSampleTimes(S, 1); +} + + +#if defined(MATLAB_MEX_FILE) + +#define MDL_SET_INPUT_PORT_DIMENSION_INFO +#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO + +static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +#endif /* MATLAB_MEX_FILE */ + + +static void mdlInitializeSampleTimes(SimStruct *S) +{ + ssSetSampleTime(S, 0, SAMPLINGTIME); + ssSetOffsetTime(S, 0, 0.0); +} + + +static void mdlStart(SimStruct *S) +{ + {{ model.name }}_solver_capsule *capsule = {{ model.name }}_acados_create_capsule(); + {{ model.name }}_acados_create(capsule); + + ssSetUserData(S, (void*)capsule); +} + + +static void mdlOutputs(SimStruct *S, int_T tid) +{ + {{ model.name }}_solver_capsule *capsule = ssGetUserData(S); + ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule); + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); + ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule); + ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule); + + InputRealPtrsType in_sign; + + {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbu, dims.ng, dims.nh, dims.nx] -%} + + {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} {# y_ref_0 #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0)) %} + {%- endif %} + {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} {# y_ref #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny)) %} + {%- endif %} + {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} {# y_ref_e #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e)) %} + {%- endif %} + + {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0 * dims.ny_0)) %} + {%- endif %} + {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny * dims.ny)) %} + {%- endif %} + {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} + {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e * dims.ny_e)) %} + {%- endif %} + + // local buffer + {%- set buffer_size = buffer_sizes | sort | last %} + real_t buffer[{{ buffer_size }}]; + + /* go through inputs */ + {%- set i_input = -1 %} + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} + // lbx_0 + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.nbx_0 }}; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer); + {%- endif %} + + {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} + // ubx_0 + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.nbx_0 }}; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer); + {%- endif %} + + {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} + // parameters - stage-variant !!! + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + // update value of parameters + for (int ii = 0; ii <= {{ dims.N }}; ii++) + { + for (int jj = 0; jj < {{ dims.np }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{dims.np}}+jj]); + {{ model.name }}_acados_update_params(capsule, ii, buffer, {{ dims.np }}); + } + {%- endif %} + + {% if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} + // y_ref_0 + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.ny_0 }}; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer); + {%- endif %} + + {% if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} + // y_ref - for stages 1 to N-1 + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int ii = 1; ii < {{ dims.N }}; ii++) + { + for (int jj = 0; jj < {{ dims.ny }}; jj++) + buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.ny }}+jj]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer); + } + {%- endif %} + + {% if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} + // y_ref_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.ny_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "yref", (void *) buffer); + {%- endif %} + + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} + // lbx + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 1; ii < {{ dims.N }}; ii++) + { + for (int jj = 0; jj < {{ dims.nbx }}; jj++) + buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer); + } + {%- endif %} + {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} + // ubx + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 1; ii < {{ dims.N }}; ii++) + { + for (int jj = 0; jj < {{ dims.nbx }}; jj++) + buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer); + } + {%- endif %} + + + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} + // lbx_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.nbx_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "lbx", buffer); + {%- endif %} + {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} + // ubx_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.nbx_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "ubx", buffer); + {%- endif %} + + + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} + // lbu + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 0; ii < {{ dims.N }}; ii++) + { + for (int jj = 0; jj < {{ dims.nbu }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbu", (void *) buffer); + } + {%- endif -%} + {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} + // ubu + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 0; ii < {{ dims.N }}; ii++) + { + for (int jj = 0; jj < {{ dims.nbu }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubu", (void *) buffer); + } + {%- endif -%} + + {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} + // lg + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.ng }}; i++) + buffer[i] = (double)(*in_sign[i]); + + for (int ii = 0; ii < {{ dims.N }}; ii++) + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", buffer); + {%- endif -%} + {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} + // ug + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.ng }}; i++) + buffer[i] = (double)(*in_sign[i]); + + for (int ii = 0; ii < {{ dims.N }}; ii++) + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", buffer); + {%- endif -%} + {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} + // lh + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.nh }}; i++) + buffer[i] = (double)(*in_sign[i]); + + for (int ii = 0; ii < {{ dims.N }}; ii++) + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", buffer); + {%- endif -%} + {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} + // uh + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + + for (int i = 0; i < {{ dims.nh }}; i++) + buffer[i] = (double)(*in_sign[i]); + + for (int ii = 0; ii < {{ dims.N }}; ii++) + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", buffer); + {%- endif -%} + + {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} + // cost_W_0 + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.ny_0 * dims.ny_0 }}; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", buffer); + {%- endif %} + + {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} + // cost_W + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.ny * dims.ny }}; i++) + buffer[i] = (double)(*in_sign[i]); + + for (int ii = 1; ii < {{ dims.N }}; ii++) + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "W", buffer); + {%- endif %} + + {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} + // cost_W_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.ny_e * dims.ny_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "W", buffer); + {%- endif %} + + {%- if simulink_opts.inputs.reset_solver %} {#- reset_solver #} + // reset_solver + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + double reset = (double)(*in_sign[0]); + if (reset) + { + {{ model.name }}_acados_reset(capsule); + } + {%- endif %} + + {%- if simulink_opts.inputs.x_init %} {#- x_init #} + // x_init + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 0; ii < {{ dims.N + 1 }}; ii++) + { + for (int jj = 0; jj < {{ dims.nx }}; jj++) + buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nx }}+jj]); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "x", (void *) buffer); + } + {%- endif %} + + {%- if simulink_opts.inputs.u_init %} {#- u_init #} + // u_init + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int ii = 0; ii < {{ dims.N }}; ii++) + { + for (int jj = 0; jj < {{ dims.nu }}; jj++) + buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nu }}+jj]); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "u", (void *) buffer); + } + {%- endif %} + + /* call solver */ + int rti_phase = 0; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase); + int acados_status = {{ model.name }}_acados_solve(capsule); + + + /* set outputs */ + // assign pointers to output signals + real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin; + int tmp_int; + + {%- set i_output = -1 -%}{# note here i_output is 0-based #} + {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %} + {%- set i_output = i_output + 1 %} + out_u0 = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0); + {%- endif %} + + {%- if simulink_opts.outputs.utraj == 1 %} + {%- set i_output = i_output + 1 %} + out_utraj = ssGetOutputPortRealSignal(S, {{ i_output }}); + for (int ii = 0; ii < {{ dims.N }}; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, + "u", (void *) (out_utraj + ii * {{ dims.nu }})); + {%- endif %} + + {% if simulink_opts.outputs.xtraj == 1 %} + {%- set i_output = i_output + 1 %} + + out_xtraj = ssGetOutputPortRealSignal(S, {{ i_output }}); + for (int ii = 0; ii < {{ dims.N + 1 }}; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, + "x", (void *) (out_xtraj + ii * {{ dims.nx }})); + {%- endif %} + + {%- if simulink_opts.outputs.solver_status == 1 %} + {%- set i_output = i_output + 1 %} + out_status = ssGetOutputPortRealSignal(S, {{ i_output }}); + *out_status = (real_t) acados_status; + {%- endif %} + + {%- if simulink_opts.outputs.KKT_residual == 1 %} + {%- set i_output = i_output + 1 %} + out_KKT_res = ssGetOutputPortRealSignal(S, {{ i_output }}); + *out_KKT_res = (real_t) nlp_out->inf_norm_res; + {%- endif %} + + {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} + {%- set i_output = i_output + 1 %} + out_x1 = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1); + {%- endif %} + + {%- if simulink_opts.outputs.CPU_time == 1 %} + {%- set i_output = i_output + 1 %} + out_cpu_time = ssGetOutputPortRealSignal(S, {{ i_output }}); + // get solution time + ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time); + {%- endif -%} + + {%- if simulink_opts.outputs.CPU_time_sim == 1 %} + {%- set i_output = i_output + 1 %} + out_cpu_time_sim = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_sim", (void *) out_cpu_time_sim); + {%- endif -%} + + {%- if simulink_opts.outputs.CPU_time_qp == 1 %} + {%- set i_output = i_output + 1 %} + out_cpu_time_qp = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_qp", (void *) out_cpu_time_qp); + {%- endif -%} + + {%- if simulink_opts.outputs.CPU_time_lin == 1 %} + {%- set i_output = i_output + 1 %} + out_cpu_time_lin = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_lin", (void *) out_cpu_time_lin); + {%- endif -%} + + {%- if simulink_opts.outputs.sqp_iter == 1 %} + {%- set i_output = i_output + 1 %} + out_sqp_iter = ssGetOutputPortRealSignal(S, {{ i_output }}); + // get sqp iter + ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int); + *out_sqp_iter = (real_t) tmp_int; + {%- endif %} + +} + +static void mdlTerminate(SimStruct *S) +{ + {{ model.name }}_solver_capsule *capsule = ssGetUserData(S); + + {{ model.name }}_acados_free(capsule); + {{ model.name }}_acados_free_capsule(capsule); +} + + +#ifdef MATLAB_MEX_FILE +#include "simulink.c" +#else +#include "cg_sfun.h" +#endif diff --git a/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h new file mode 100644 index 000000000..347446e3f --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef {{ model.name }}_Y_0_COST +#define {{ model.name }}_Y_0_COST + +#ifdef __cplusplus +extern "C" { +#endif + +{% if cost.cost_type_0 == "NONLINEAR_LS" %} +int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int); +const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int); +int {{ model.name }}_cost_y_0_fun_n_in(void); +int {{ model.name }}_cost_y_0_fun_n_out(void); + +int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int); +const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int); +int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void); +int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void); + +int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int); +const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int); +int {{ model.name }}_cost_y_0_hess_n_in(void); +int {{ model.name }}_cost_y_0_hess_n_out(void); +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_Y_0_COST diff --git a/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h new file mode 100644 index 000000000..acc99009f --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef {{ model.name }}_Y_E_COST +#define {{ model.name }}_Y_E_COST + +#ifdef __cplusplus +extern "C" { +#endif + +{% if cost.cost_type_e == "NONLINEAR_LS" %} +int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int); +const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int); +int {{ model.name }}_cost_y_e_fun_n_in(void); +int {{ model.name }}_cost_y_e_fun_n_out(void); + +int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int); +const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int); +int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void); +int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void); + +int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int); +const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int); +int {{ model.name }}_cost_y_e_hess_n_in(void); +int {{ model.name }}_cost_y_e_hess_n_out(void); +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_Y_E_COST diff --git a/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h new file mode 100644 index 000000000..1e03780cc --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef {{ model.name }}_Y_COST +#define {{ model.name }}_Y_COST + +#ifdef __cplusplus +extern "C" { +#endif + +{% if cost.cost_type == "NONLINEAR_LS" %} +int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_fun_sparsity_in(int); +const int *{{ model.name }}_cost_y_fun_sparsity_out(int); +int {{ model.name }}_cost_y_fun_n_in(void); +int {{ model.name }}_cost_y_fun_n_out(void); + +int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int); +const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int); +int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void); +int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void); + +int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_hess_sparsity_in(int); +const int *{{ model.name }}_cost_y_hess_sparsity_out(int); +int {{ model.name }}_cost_y_hess_n_in(void); +int {{ model.name }}_cost_y_hess_n_out(void); +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_Y_COST diff --git a/pyextra/acados_template/c_templates_tera/external_cost.in.h b/pyextra/acados_template/c_templates_tera/external_cost.in.h new file mode 100644 index 000000000..d200dba45 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/external_cost.in.h @@ -0,0 +1,74 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef {{ model.name }}_EXT_COST +#define {{ model.name }}_EXT_COST + +#ifdef __cplusplus +extern "C" { +#endif + +{% if cost.cost_ext_fun_type == "casadi" %} +{% if cost.cost_type == "EXTERNAL" %} +int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_fun_n_in(void); +int {{ model.name }}_cost_ext_cost_fun_n_out(void); + +int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void); +int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void); + +int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void); +int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void); +{% endif %} + +{% else %} +int {{ cost.cost_function_ext_cost }}(void **, void **, void *); +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_EXT_COST diff --git a/pyextra/acados_template/c_templates_tera/external_cost_0.in.h b/pyextra/acados_template/c_templates_tera/external_cost_0.in.h new file mode 100644 index 000000000..8152447e5 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/external_cost_0.in.h @@ -0,0 +1,75 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef {{ model.name }}_EXT_COST_0 +#define {{ model.name }}_EXT_COST_0 + +#ifdef __cplusplus +extern "C" { +#endif + +{% if cost.cost_ext_fun_type_0 == "casadi" %} + +{% if cost.cost_type_0 == "EXTERNAL" %} +int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_0_fun_n_in(void); +int {{ model.name }}_cost_ext_cost_0_fun_n_out(void); + +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void); +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void); + +int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void); +int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void); +{% endif %} + +{% else %} +int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *); +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_EXT_COST_0 diff --git a/pyextra/acados_template/c_templates_tera/external_cost_e.in.h b/pyextra/acados_template/c_templates_tera/external_cost_e.in.h new file mode 100644 index 000000000..56485db4c --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/external_cost_e.in.h @@ -0,0 +1,74 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef {{ model.name }}_EXT_COST_E +#define {{ model.name }}_EXT_COST_E + +#ifdef __cplusplus +extern "C" { +#endif + +{% if cost.cost_ext_fun_type_e == "casadi" %} +{% if cost.cost_type_e == "EXTERNAL" %} +int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_e_fun_n_in(void); +int {{ model.name }}_cost_ext_cost_e_fun_n_out(void); + +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void); +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void); + +int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void); +int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void); +{% endif %} + +{% else %} +int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *); +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_EXT_COST_E diff --git a/pyextra/acados_template/c_templates_tera/h_constraint.in.h b/pyextra/acados_template/c_templates_tera/h_constraint.in.h new file mode 100644 index 000000000..e49176c6e --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/h_constraint.in.h @@ -0,0 +1,70 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef {{ model.name }}_H_CONSTRAINT +#define {{ model.name }}_H_CONSTRAINT + +#ifdef __cplusplus +extern "C" { +#endif + +{% if dims.nh > 0 %} +int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void); + +int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_fun_sparsity_in(int); +const int *{{ model.name }}_constr_h_fun_sparsity_out(int); +int {{ model.name }}_constr_h_fun_n_in(void); +int {{ model.name }}_constr_h_fun_n_out(void); + +{% if solver_options.hessian_approx == "EXACT" -%} +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void); +{% endif %} +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_H_CONSTRAINT diff --git a/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h b/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h new file mode 100644 index 000000000..a5dd71164 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h @@ -0,0 +1,71 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef {{ model.name }}_H_E_CONSTRAINT +#define {{ model.name }}_H_E_CONSTRAINT + +#ifdef __cplusplus +extern "C" { +#endif + +{% if dims.nh_e > 0 %} +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int); +const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void); + +int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int); +const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int); +int {{ model.name }}_constr_h_e_fun_n_in(void); +int {{ model.name }}_constr_h_e_fun_n_out(void); + +{% if solver_options.hessian_approx == "EXACT" -%} +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int); +const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void); +int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void); +{% endif %} +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_H_E_CONSTRAINT diff --git a/pyextra/acados_template/c_templates_tera/main.in.c b/pyextra/acados_template/c_templates_tera/main.in.c new file mode 100644 index 000000000..99c4f13be --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/main.in.c @@ -0,0 +1,216 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" +#include "acados_solver_{{ model.name }}.h" + +#define NX {{ model.name | upper }}_NX +#define NZ {{ model.name | upper }}_NZ +#define NU {{ model.name | upper }}_NU +#define NP {{ model.name | upper }}_NP +#define NBX {{ model.name | upper }}_NBX +#define NBX0 {{ model.name | upper }}_NBX0 +#define NBU {{ model.name | upper }}_NBU +#define NSBX {{ model.name | upper }}_NSBX +#define NSBU {{ model.name | upper }}_NSBU +#define NSH {{ model.name | upper }}_NSH +#define NSG {{ model.name | upper }}_NSG +#define NSPHI {{ model.name | upper }}_NSPHI +#define NSHN {{ model.name | upper }}_NSHN +#define NSGN {{ model.name | upper }}_NSGN +#define NSPHIN {{ model.name | upper }}_NSPHIN +#define NSBXN {{ model.name | upper }}_NSBXN +#define NS {{ model.name | upper }}_NS +#define NSN {{ model.name | upper }}_NSN +#define NG {{ model.name | upper }}_NG +#define NBXN {{ model.name | upper }}_NBXN +#define NGN {{ model.name | upper }}_NGN +#define NY0 {{ model.name | upper }}_NY0 +#define NY {{ model.name | upper }}_NY +#define NYN {{ model.name | upper }}_NYN +#define NH {{ model.name | upper }}_NH +#define NPHI {{ model.name | upper }}_NPHI +#define NHN {{ model.name | upper }}_NHN +#define NPHIN {{ model.name | upper }}_NPHIN +#define NR {{ model.name | upper }}_NR + + +int main() +{ + + {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule(); + // there is an opportunity to change the number of shooting intervals in C without new code generation + int N = {{ model.name | upper }}_N; + // allocate the array and fill it accordingly + double* new_time_steps = NULL; + int status = {{ model.name }}_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); + + if (status) + { + printf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule); + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule); + ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule); + ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule); + ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule); + void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule); + + // initial condition + int idxbx0[NBX0]; + {%- for i in range(end=dims.nbx_0) %} + idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }}; + {%- endfor %} + + double lbx0[NBX0]; + double ubx0[NBX0]; + {%- for i in range(end=dims.nbx_0) %} + lbx0[{{ i }}] = {{ constraints.lbx_0[i] }}; + ubx0[{{ i }}] = {{ constraints.ubx_0[i] }}; + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + + // initialization for state values + double x_init[NX]; + {%- for i in range(end=dims.nx) %} + x_init[{{ i }}] = 0.0; + {%- endfor %} + + // initial value for control input + double u0[NU]; + {%- for i in range(end=dims.nu) %} + u0[{{ i }}] = 0.0; + {%- endfor %} + + + {%- if dims.np > 0 %} + // set parameters + double p[NP]; + {%- for item in parameter_values %} + p[{{ loop.index0 }}] = {{ item }}; + {%- endfor %} + + for (int ii = 0; ii <= N; ii++) + { + {{ model.name }}_acados_update_params(acados_ocp_capsule, ii, p, NP); + } + {% endif %}{# if np > 0 #} + + // prepare evaluation + int NTIMINGS = 1; + double min_time = 1e12; + double kkt_norm_inf; + double elapsed_time; + int sqp_iter; + + double xtraj[NX * (N+1)]; + double utraj[NU * N]; + + + // solve ocp in loop + int rti_phase = 0; + + for (int ii = 0; ii < NTIMINGS; ii++) + { + // initialize solution + for (int i = 0; i < N; i++) + { + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); + status = {{ model.name }}_acados_solve(acados_ocp_capsule); + ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); + min_time = MIN(elapsed_time, min_time); + } + + /* print solution and statistics */ + for (int ii = 0; ii <= nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); + for (int ii = 0; ii < nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); + + printf("\n--- xtraj ---\n"); + d_print_exp_tran_mat( NX, N+1, xtraj, NX); + printf("\n--- utraj ---\n"); + d_print_exp_tran_mat( NU, N, utraj, NU ); + // ocp_nlp_out_print(nlp_solver->dims, nlp_out); + + printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); + + if (status == ACADOS_SUCCESS) + { + printf("{{ model.name }}_acados_solve(): SUCCESS!\n"); + } + else + { + printf("{{ model.name }}_acados_solve() failed with status %d.\n", status); + } + + // get solution + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); + ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); + + {{ model.name }}_acados_print_stats(acados_ocp_capsule); + + printf("\nSolver info:\n"); + printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", + sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); + + // free solver + status = {{ model.name }}_acados_free(acados_ocp_capsule); + if (status) { + printf("{{ model.name }}_acados_free() returned status %d. \n", status); + } + // free solver capsule + status = {{ model.name }}_acados_free_capsule(acados_ocp_capsule); + if (status) { + printf("{{ model.name }}_acados_free_capsule() returned status %d. \n", status); + } + + return status; +} diff --git a/pyextra/acados_template/c_templates_tera/main_mex.in.c b/pyextra/acados_template/c_templates_tera/main_mex.in.c new file mode 100644 index 000000000..8da5db29a --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/main_mex.in.c @@ -0,0 +1,184 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_{{ model.name }}.h" +// mex +#include "mex.h" + +/* auxilary mex */ +// prints a matrix in column-major format (exponential notation) +void MEX_print_exp_mat(int m, int n, double *A, int lda) +{ + for (int i=0; iN; i++) + { + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + status = {{ model.name }}_acados_solve(); + ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); + min_time = MIN(elapsed_time, min_time); + } + + /* print solution and statistics */ + for (int ii = 0; ii <= nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*{{ dims.nx }}]); + for (int ii = 0; ii < nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*{{ dims.nu }}]); + + mexPrintf("\n--- xtraj ---\n"); + MEX_print_exp_tran_mat( {{ dims.nx }}, {{ dims.N }}+1, xtraj, {{ dims.nx }} ); + mexPrintf("\n--- utraj ---\n"); + MEX_print_exp_tran_mat( {{ dims.nu }}, {{ dims.N }}, utraj, {{ dims.nu }} ); + + mexPrintf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); + + if (status == ACADOS_SUCCESS) + mexPrintf("{{ model.name }}_acados_solve(): SUCCESS!\n"); + else + mexPrintf("{{ model.name }}_acados_solve() failed with status %d.\n", status); + + // get solution + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); + ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); + + mexPrintf("\nSolver info:\n"); + mexPrintf(" SQP iterations %2d\n minimum time for 1 solve %f [ms]\n KKT %e\n", + sqp_iter, min_time*1000, kkt_norm_inf); + + // free solver + status = {{ model.name }}_acados_free(); + if (status) + { + mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status); + } + + return; +} diff --git a/pyextra/acados_template/c_templates_tera/main_sim.in.c b/pyextra/acados_template/c_templates_tera/main_sim.in.c new file mode 100644 index 000000000..743e81d59 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/main_sim.in.c @@ -0,0 +1,135 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/sim_interface.h" +#include "acados_sim_solver_{{ model.name }}.h" + +#define NX {{ model.name | upper }}_NX +#define NZ {{ model.name | upper }}_NZ +#define NU {{ model.name | upper }}_NU +#define NP {{ model.name | upper }}_NP + + +int main() +{ + int status = 0; + sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule(); + status = {{ model.name }}_acados_sim_create(capsule); + + if (status) + { + printf("acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule); + sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule); + sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule); + void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule); + + // initial condition + double x_current[NX]; + {%- for i in range(end=dims.nx) %} + x_current[{{ i }}] = 0.0; + {%- endfor %} + + {% if constraints.lbx_0 %} + {%- for i in range(end=dims.nbx_0) %} + x_current[{{ constraints.idxbx_0[i] }}] = {{ constraints.lbx_0[i] }}; + {%- endfor %} + {% if dims.nbx_0 != dims.nx %} + printf("main_sim: NOTE: initial state not fully defined via lbx_0, using 0.0 for indices that are not in idxbx_0."); + {%- endif %} + {% else %} + printf("main_sim: initial state not defined, should be in lbx_0, using zero vector."); + {%- endif %} + + + // initial value for control input + double u0[NU]; + {%- for i in range(end=dims.nu) %} + u0[{{ i }}] = 0.0; + {%- endfor %} + + {%- if dims.np > 0 %} + // set parameters + double p[NP]; + {%- for item in parameter_values %} + p[{{ loop.index0 }}] = {{ item }}; + {%- endfor %} + + {{ model.name }}_acados_sim_update_params(capsule, p, NP); + {% endif %}{# if np > 0 #} + + int n_sim_steps = 3; + // solve ocp in loop + for (int ii = 0; ii < n_sim_steps; ii++) + { + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "x", x_current); + status = {{ model.name }}_acados_sim_solve(capsule); + + if (status != ACADOS_SUCCESS) + { + printf("acados_solve() failed with status %d.\n", status); + } + + sim_out_get(acados_sim_config, acados_sim_dims, + acados_sim_out, "x", x_current); + + printf("\nx_current, %d\n", ii); + for (int jj = 0; jj < NX; jj++) + { + printf("%e\n", x_current[jj]); + } + } + + printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); + + // free solver + status = {{ model.name }}_acados_sim_free(capsule); + if (status) { + printf("{{ model.name }}_acados_sim_free() returned status %d. \n", status); + } + + {{ model.name }}_acados_sim_solver_free_capsule(capsule); + + return status; +} diff --git a/pyextra/acados_template/c_templates_tera/make_main_mex.in.m b/pyextra/acados_template/c_templates_tera/make_main_mex.in.m new file mode 100644 index 000000000..9188686a0 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/make_main_mex.in.m @@ -0,0 +1,105 @@ +% +% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; +% + +function make_main_mex_{{ model.name }}() + + opts.output_dir = pwd; + + % get acados folder + acados_folder = getenv('ACADOS_INSTALL_DIR'); + + % set paths + acados_include = ['-I' fullfile(acados_folder, 'include')]; + template_lib_include = ['-l' 'acados_solver_{{ model.name }}']; + template_lib_path = ['-L' fullfile(pwd)]; + + acados_lib_path = ['-L' fullfile(acados_folder, 'lib')]; + external_include = ['-I', fullfile(acados_folder, 'external')]; + blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')]; + hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')]; + + mex_names = { ... + 'main_mex_{{ model.name }}' ... + }; + + mex_files = cell(length(mex_names), 1); + for k=1:length(mex_names) + mex_files{k} = fullfile([mex_names{k}, '.c']); + end + + %% octave C flags + if is_octave() + if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file') + diary(fullfile(opts.output_dir, 'cflags_octave.txt')); + diary on + mkoctfile -p CFLAGS + diary off + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); + cflags_tmp = fscanf(input_file, '%[^\n]s'); + fclose(input_file); + if ~ismac() + cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp']; + else + cflags_tmp = [cflags_tmp, ' -std=c99']; + end + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w'); + fprintf(input_file, '%s', cflags_tmp); + fclose(input_file); + end + % read cflags from file + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); + cflags_tmp = fscanf(input_file, '%[^\n]s'); + fclose(input_file); + setenv('CFLAGS', cflags_tmp); + end + + %% compile mex + for ii=1:length(mex_files) + disp(['compiling ', mex_files{ii}]) + if is_octave() + % mkoctfile -p CFLAGS + mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... + acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii}) + else + if ismac() + FLAGS = 'CFLAGS=$CFLAGS -std=c99'; + else + FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp'; + end + mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... + acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii}) + end + end + + +end \ No newline at end of file diff --git a/pyextra/acados_template/c_templates_tera/make_mex.in.m b/pyextra/acados_template/c_templates_tera/make_mex.in.m new file mode 100644 index 000000000..cde30f6f4 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/make_mex.in.m @@ -0,0 +1,110 @@ +% +% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; +% + +function make_mex_{{ model.name }}() + + opts.output_dir = pwd; + + % get acados folder + acados_folder = getenv('ACADOS_INSTALL_DIR'); + + % set paths + acados_include = ['-I' fullfile(acados_folder, 'include')]; + template_lib_include = ['-l' 'acados_ocp_solver_{{ model.name }}']; + template_lib_path = ['-L' fullfile(pwd)]; + + acados_lib_path = ['-L' fullfile(acados_folder, 'lib')]; + external_include = ['-I', fullfile(acados_folder, 'external')]; + blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')]; + hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')]; + + mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')]; + + mex_names = { ... + 'acados_mex_create_{{ model.name }}' ... + 'acados_mex_free_{{ model.name }}' ... + 'acados_mex_solve_{{ model.name }}' ... + 'acados_mex_set_{{ model.name }}' ... + }; + + mex_files = cell(length(mex_names), 1); + for k=1:length(mex_names) + mex_files{k} = fullfile([mex_names{k}, '.c']); + end + + %% octave C flags + if is_octave() + if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file') + diary(fullfile(opts.output_dir, 'cflags_octave.txt')); + diary on + mkoctfile -p CFLAGS + diary off + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); + cflags_tmp = fscanf(input_file, '%[^\n]s'); + fclose(input_file); + if ~ismac() + cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp']; + else + cflags_tmp = [cflags_tmp, ' -std=c99']; + end + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w'); + fprintf(input_file, '%s', cflags_tmp); + fclose(input_file); + end + % read cflags from file + input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); + cflags_tmp = fscanf(input_file, '%[^\n]s'); + fclose(input_file); + setenv('CFLAGS', cflags_tmp); + end + + %% compile mex + for ii=1:length(mex_files) + disp(['compiling ', mex_files{ii}]) + if is_octave() + % mkoctfile -p CFLAGS + mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... + acados_lib_path, template_lib_path, mex_include, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii}) + else + if ismac() + FLAGS = 'CFLAGS=$CFLAGS -std=c99'; + else + FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp'; + end + mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... + acados_lib_path, template_lib_path, mex_include, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii}) + end + end + + +end \ No newline at end of file diff --git a/pyextra/acados_template/c_templates_tera/make_sfun.in.m b/pyextra/acados_template/c_templates_tera/make_sfun.in.m new file mode 100644 index 000000000..77603a78f --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/make_sfun.in.m @@ -0,0 +1,344 @@ +% +% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; +% + +SOURCES = { ... + {%- if solver_options.integrator_type == 'ERK' %} + '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c', ... + '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c',... + {%- if solver_options.hessian_approx == 'EXACT' %} + '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c',... + {%- endif %} + {%- elif solver_options.integrator_type == "IRK" %} + '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c', ... + '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c', ... + '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c', ... + {%- if solver_options.hessian_approx == 'EXACT' %} + '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',... + {%- endif %} + {%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',... + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',... + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',... + {% if model.gnsf.nontrivial_f_LO == 1 %} + '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',... + {%- endif %} + {%- endif %} + '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',... + {%- elif solver_options.integrator_type == "DISCRETE" %} + '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',... + '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c',... + {%- if solver_options.hessian_approx == "EXACT" %} + '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c',... + {%- endif %} + {%- endif %} + {%- if cost.cost_type_0 == "NONLINEAR_LS" %} + '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c',... + {%- elif cost.cost_type_0 == "EXTERNAL" %} + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c',... + {%- endif %} + + {%- if cost.cost_type == "NONLINEAR_LS" %} + '{{ model.name }}_cost/{{ model.name }}_cost_y_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_hess.c',... + {%- elif cost.cost_type == "EXTERNAL" %} + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c',... + {%- endif %} + {%- if cost.cost_type_e == "NONLINEAR_LS" %} + '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c',... + {%- elif cost.cost_type_e == "EXTERNAL" %} + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c',... + '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c',... + {%- endif %} + {%- if constraints.constr_type == "BGH" and dims.nh > 0 %} + '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c', ... + '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c', ... + '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c', ... + {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %} + '{{ model.name }}_constraints/{{ model.name }}_phi_constraint.c', ... + {%- endif %} + {%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c', ... + '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c', ... + '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c', ... + {%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %} + '{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c', ... + {%- endif %} + 'acados_solver_sfunction_{{ model.name }}.c', ... + 'acados_solver_{{ model.name }}.c' + }; + +INC_PATH = '{{ acados_include_path }}'; + +INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ... + ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ... + ['-I', fullfile(INC_PATH, 'acados')], ... + ['-I', fullfile(INC_PATH)]}; + +{% if solver_options.qp_solver is containing("QPOASES") %} +INCS{end+1} = ['-I', fullfile(INC_PATH, 'qpOASES_e')]; +{% endif %} + +CFLAGS = 'CFLAGS=$CFLAGS'; +LDFLAGS = 'LDFLAGS=$LDFLAGS'; +COMPFLAGS = 'COMPFLAGS=$COMPFLAGS'; +COMPDEFINES = 'COMPDEFINES=$COMPDEFINES'; + +{% if solver_options.qp_solver is containing("QPOASES") %} +CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPOASES ' ]; +COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPOASES ' ]; +{%- elif solver_options.qp_solver is containing("OSQP") %} +CFLAGS = [ CFLAGS, ' -DACADOS_WITH_OSQP ' ]; +COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_OSQP ' ]; +{%- elif solver_options.qp_solver is containing("QPDUNES") %} +CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPDUNES ' ]; +COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPDUNES ' ]; +{%- elif solver_options.qp_solver is containing("HPMPC") %} +CFLAGS = [ CFLAGS, ' -DACADOS_WITH_HPMPC ' ]; +COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_HPMPC ' ]; +{% endif %} + +LIB_PATH = ['-L', fullfile('{{ acados_lib_path }}')]; + +LIBS = {'-lacados', '-lhpipm', '-lblasfeo'}; + +% acados linking libraries and flags +{%- if acados_link_libs and os and os == "pc" %} +LDFLAGS = [LDFLAGS ' {{ acados_link_libs.openmp }}']; +COMPFLAGS = [COMPFLAGS ' {{ acados_link_libs.openmp }}']; +LIBS{end+1} = '{{ acados_link_libs.qpoases }}'; +LIBS{end+1} = '{{ acados_link_libs.hpmpc }}'; +LIBS{end+1} = '{{ acados_link_libs.osqp }}'; +{%- else %} + {% if solver_options.qp_solver is containing("QPOASES") %} +LIBS{end+1} = '-lqpOASES_e'; + {% endif %} +{%- endif %} + +mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... + LIB_PATH, LIBS{:}, SOURCES{:}, ... + '-output', 'acados_solver_sfunction_{{ model.name }}' ); + +fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_{{ model.name }}', '.', ... + eval('mexext')] ); + + +%% print note on usage of s-function +fprintf('\n\nNote: Usage of Sfunction is as follows:\n') +input_note = 'Inputs are:\n'; +i_in = 1; + + +{%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} +input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',... + ' size [{{ dims.nbx_0 }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} +input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',... + ' size [{{ dims.nbx_0 }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} +input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',... + ' size [{{ (dims.N+1)*dims.np }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} +input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [{{ dims.ny_0 }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} +input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',... + ' size [{{ (dims.N-1) * dims.ny }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} +input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [{{ dims.ny_e }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} +input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n '); +i_in = i_in + 1; +{%- endif %} +{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} +input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n '); +i_in = i_in + 1; +{%- endif %} + + +{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} +input_note = strcat(input_note, num2str(i_in), ') lbx_e (lbx at shooting node N), size [{{ dims.nbx_e }}]\n '); +i_in = i_in + 1; +{%- endif %} +{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} +input_note = strcat(input_note, num2str(i_in), ') ubx_e (ubx at shooting node N), size [{{ dims.nbx_e }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} +input_note = strcat(input_note, num2str(i_in), ') lbu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n '); +i_in = i_in + 1; +{%- endif -%} +{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} +input_note = strcat(input_note, num2str(i_in), ') ubu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n '); +i_in = i_in + 1; +{%- endif -%} + +{%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} +input_note = strcat(input_note, num2str(i_in), ') lg, size [{{ dims.ng }}]\n '); +i_in = i_in + 1; +{%- endif %} +{%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} +input_note = strcat(input_note, num2str(i_in), ') ug, size [{{ dims.ng }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} +input_note = strcat(input_note, num2str(i_in), ') lh, size [{{ dims.nh }}]\n '); +i_in = i_in + 1; +{%- endif %} +{%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} +input_note = strcat(input_note, num2str(i_in), ') uh, size [{{ dims.nh }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} +input_note = strcat(input_note, num2str(i_in), ') cost_W_0 in column-major format, size [{{ dims.ny_0 * dims.ny_0 }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} +input_note = strcat(input_note, num2str(i_in), ') cost_W in column-major format, that is set for all intermediate shooting nodes: 1 to N-1, size [{{ dims.ny * dims.ny }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} +input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major format, size [{{ dims.ny_e * dims.ny_e }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if simulink_opts.inputs.reset_solver %} {#- reset_solver #} +input_note = strcat(input_note, num2str(i_in), ') reset_solver determines if iterate is set to all zeros before other initializations (x_init, u_init) are set and before solver is called, size [1]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if simulink_opts.inputs.x_init %} {#- x_init #} +input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if simulink_opts.inputs.u_init %} {#- u_init #} +input_note = strcat(input_note, num2str(i_in), ') initialization of u for shooting nodes 0 to N-1, size [{{ dims.nu * (dims.N) }}]\n '); +i_in = i_in + 1; +{%- endif %} + +fprintf(input_note) + +disp(' ') + +output_note = 'Outputs are:\n'; +i_out = 0; + +{%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [{{ dims.nu }}]\n '); +{%- endif %} + +{%- if simulink_opts.outputs.utraj == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') utraj, control input concatenated for nodes 0 to N-1, size [{{ dims.nu * dims.N }}]\n '); +{%- endif %} + +{%- if simulink_opts.outputs.xtraj == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') xtraj, state concatenated for nodes 0 to N, size [{{ dims.nx * (dims.N + 1) }}]\n '); +{%- endif %} + +{%- if simulink_opts.outputs.solver_status == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n '); +{%- endif %} + +{%- if simulink_opts.outputs.KKT_residual == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') KKT residual\n '); +{%- endif %} + +{%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n '); +{%- endif %} + +{%- if simulink_opts.outputs.CPU_time == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') CPU time\n '); +{%- endif %} + +{%- if simulink_opts.outputs.CPU_time_sim == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n '); +{%- endif %} + +{%- if simulink_opts.outputs.CPU_time_qp == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n '); +{%- endif %} + +{%- if simulink_opts.outputs.CPU_time_lin == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n '); +{%- endif %} + +{%- if simulink_opts.outputs.sqp_iter == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n '); +{%- endif %} + +fprintf(output_note) diff --git a/pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m b/pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m new file mode 100644 index 000000000..a0c503e41 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m @@ -0,0 +1,103 @@ +% +% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; +% + +SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ... + 'acados_sim_solver_{{ model.name }}.c ', ... + {%- if solver_options.integrator_type == 'ERK' %} + '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ', ... + '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',... + {%- if solver_options.hessian_approx == 'EXACT' %} + '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',... + {%- endif %} + {%- elif solver_options.integrator_type == "IRK" %} + '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ... + '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ... + '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ... + {%- if solver_options.hessian_approx == 'EXACT' %} + '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',... + {%- endif %} + {%- elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c ' + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c ' + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c ' + {% if model.gnsf.nontrivial_f_LO == 1 %} + '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c ' + {%- endif %} + {%- endif %} + '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c ' + {%- endif %} + ]; + +INC_PATH = '{{ acados_include_path }}'; + +INCS = [ ' -I', fullfile(INC_PATH, 'blasfeo', 'include'), ... + ' -I', fullfile(INC_PATH, 'hpipm', 'include'), ... + ' -I', INC_PATH, ' -I', fullfile(INC_PATH, 'acados'), ' ']; + +CFLAGS = ' -O'; + +LIB_PATH = '{{ acados_lib_path }}'; + +LIBS = '-lacados -lblasfeo -lhpipm'; + +eval( [ 'mex -v -output acados_sim_solver_sfunction_{{ model.name }} ', ... + CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]); + +fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ... + eval('mexext')] ); + + +%% print note on usage of s-function +fprintf('\n\nNote: Usage of Sfunction is as follows:\n') +input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n '; +i_in = 2; +{%- if dims.nu > 0 %} +input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n '); +i_in = i_in + 1; +{%- endif %} + +{%- if dims.np > 0 %} +input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n '); +i_in = i_in + 1; +{%- endif %} + + +fprintf(input_note) + +disp(' ') + +output_note = strcat('Outputs are:\n', ... + '1) x1 - simulated state, size [{{ dims.nx }}]\n'); + +fprintf(output_note) diff --git a/pyextra/acados_template/c_templates_tera/mex_solver.in.m b/pyextra/acados_template/c_templates_tera/mex_solver.in.m new file mode 100644 index 000000000..278e0a605 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/mex_solver.in.m @@ -0,0 +1,166 @@ +% +% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; +% + +classdef {{ model.name }}_mex_solver < handle + + properties + C_ocp + C_ocp_ext_fun + cost_ext_fun_type + cost_ext_fun_type_e + end % properties + + + + methods + + % constructor + function obj = {{ model.name }}_mex_solver() + make_mex_{{ model.name }}(); + [obj.C_ocp, obj.C_ocp_ext_fun] = acados_mex_create_{{ model.name }}(); + % to have path to destructor when changing directory + addpath('.') + obj.cost_ext_fun_type = '{{ cost.cost_ext_fun_type }}'; + obj.cost_ext_fun_type_e = '{{ cost.cost_ext_fun_type_e }}'; + end + + % destructor + function delete(obj) + if ~isempty(obj.C_ocp) + acados_mex_free_{{ model.name }}(obj.C_ocp); + end + end + + % solve + function solve(obj) + acados_mex_solve_{{ model.name }}(obj.C_ocp); + end + + % set -- borrowed from MEX interface + function set(varargin) + obj = varargin{1}; + field = varargin{2}; + value = varargin{3}; + if ~isa(field, 'char') + error('field must be a char vector, use '' '''); + end + if nargin==3 + acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value); + elseif nargin==4 + stage = varargin{4}; + acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value, stage); + else + disp('acados_ocp.set: wrong number of input arguments (2 or 3 allowed)'); + end + end + + function value = get_cost(obj) + value = ocp_get_cost(obj.C_ocp); + end + + % get -- borrowed from MEX interface + function value = get(varargin) + % usage: + % obj.get(field, value, [stage]) + obj = varargin{1}; + field = varargin{2}; + if any(strfind('sens', field)) + error('field sens* (sensitivities of optimal solution) not yet supported for templated MEX.') + end + if ~isa(field, 'char') + error('field must be a char vector, use '' '''); + end + + if nargin==2 + value = ocp_get(obj.C_ocp, field); + elseif nargin==3 + stage = varargin{3}; + value = ocp_get(obj.C_ocp, field, stage); + else + disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)'); + end + end + + + % print + function print(varargin) + if nargin < 2 + field = 'stat'; + else + field = varargin{2}; + end + + obj = varargin{1}; + + if strcmp(field, 'stat') + stat = obj.get('stat'); + {%- if solver_options.nlp_solver_type == "SQP" %} + fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha'); + if size(stat,2)>8 + fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp'); + end + fprintf('\n'); + for jj=1:size(stat,1) + fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d\t%e', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7), stat(jj, 8)); + if size(stat,2)>8 + fprintf('\t%e\t%e\t%e\t%e', stat(jj,9), stat(jj,10), stat(jj,11), stat(jj,12)); + end + fprintf('\n'); + end + fprintf('\n'); + {%- else %} + fprintf('\niter\tqp_status\tqp_iter'); + if size(stat,2)>3 + fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp'); + end + fprintf('\n'); + for jj=1:size(stat,1) + fprintf('%d\t%d\t\t%d', stat(jj,1), stat(jj,2), stat(jj,3)); + if size(stat,2)>3 + fprintf('\t%e\t%e\t%e\t%e', stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7)); + end + fprintf('\n'); + end + {% endif %} + + else + fprintf('unsupported field in function print of acados_ocp.print, got %s', field); + keyboard + end + + end + + end % methods + +end % class + diff --git a/pyextra/acados_template/c_templates_tera/model.in.h b/pyextra/acados_template/c_templates_tera/model.in.h new file mode 100644 index 000000000..918e2bc29 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/model.in.h @@ -0,0 +1,211 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef {{ model.name }}_MODEL +#define {{ model.name }}_MODEL + +#ifdef __cplusplus +extern "C" { +#endif + +{%- if solver_options.hessian_approx %} + {%- set hessian_approx = solver_options.hessian_approx %} +{%- elif solver_options.sens_hess %} + {%- set hessian_approx = "EXACT" %} +{%- else %} + {%- set hessian_approx = "GAUSS_NEWTON" %} +{%- endif %} + +{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %} +// implicit ODE +int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_impl_dae_fun_sparsity_in(int); +const int *{{ model.name }}_impl_dae_fun_sparsity_out(int); +int {{ model.name }}_impl_dae_fun_n_in(void); +int {{ model.name }}_impl_dae_fun_n_out(void); + +// implicit ODE +int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *); +const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int); +const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void); + +// implicit ODE +int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *); +const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int); +const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int); +int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void); +int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void); + +// implicit ODE - for lifted_irk +int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *); +const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int); +const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void); +int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void); + +{%- if hessian_approx == "EXACT" %} +int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_impl_dae_hess_sparsity_in(int); +const int *{{ model.name }}_impl_dae_hess_sparsity_out(int); +int {{ model.name }}_impl_dae_hess_n_in(void); +int {{ model.name }}_impl_dae_hess_n_out(void); +{%- endif %} + +{% elif solver_options.integrator_type == "GNSF" %} +/* GNSF Functions */ + {% if model.gnsf.purely_linear != 1 %} +// phi_fun +int {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem); +int {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int); +const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int); +int {{ model.name }}_gnsf_phi_fun_n_in(void); +int {{ model.name }}_gnsf_phi_fun_n_out(void); + +// phi_fun_jac_y +int {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem); +int {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *); +const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int); +const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int); +int {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void); +int {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void); + +// phi_jac_y_uhat +int {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem); +int {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *); +const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int); +const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int); +int {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void); +int {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void); + {% if model.gnsf.nontrivial_f_LO == 1 %} +// f_lo_fun_jac_x1k1uz +int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem); +int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *); +const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int); +const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int); +int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void); +int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void); + {%- endif %} + {%- endif %} +// used to import model matrices +int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem); +int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int); +const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int); +int {{ model.name }}_gnsf_get_matrices_fun_n_in(void); +int {{ model.name }}_gnsf_get_matrices_fun_n_out(void); + +{% elif solver_options.integrator_type == "ERK" %} +/* explicit ODE */ + +// explicit ODE +int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_expl_ode_fun_sparsity_in(int); +const int *{{ model.name }}_expl_ode_fun_sparsity_out(int); +int {{ model.name }}_expl_ode_fun_n_in(void); +int {{ model.name }}_expl_ode_fun_n_out(void); + +// explicit forward VDE +int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *); +const int *{{ model.name }}_expl_vde_forw_sparsity_in(int); +const int *{{ model.name }}_expl_vde_forw_sparsity_out(int); +int {{ model.name }}_expl_vde_forw_n_in(void); +int {{ model.name }}_expl_vde_forw_n_out(void); + +// explicit adjoint VDE +int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *); +const int *{{ model.name }}_expl_vde_adj_sparsity_in(int); +const int *{{ model.name }}_expl_vde_adj_sparsity_out(int); +int {{ model.name }}_expl_vde_adj_n_in(void); +int {{ model.name }}_expl_vde_adj_n_out(void); + +{%- if hessian_approx == "EXACT" %} +int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_expl_ode_hess_sparsity_in(int); +const int *{{ model.name }}_expl_ode_hess_sparsity_out(int); +int {{ model.name }}_expl_ode_hess_n_in(void); +int {{ model.name }}_expl_ode_hess_n_out(void); +{%- endif %} + +{% elif solver_options.integrator_type == "DISCRETE" %} + +{% if model.dyn_ext_fun_type == "casadi" %} +int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int); +const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int); +int {{ model.name }}_dyn_disc_phi_fun_n_in(void); +int {{ model.name }}_dyn_disc_phi_fun_n_out(void); + +int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int); +const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int); +int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void); +int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void); + +{%- if hessian_approx == "EXACT" %} +int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void); +int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void); +{%- endif %} +{% else %} + {%- if hessian_approx == "EXACT" %} +int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *); + {% endif %} +int {{ model.dyn_disc_fun_jac }}(void **, void **, void *); +int {{ model.dyn_disc_fun }}(void **, void **, void *); +{% endif %} + + +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_MODEL diff --git a/pyextra/acados_template/c_templates_tera/phi_constraint.in.h b/pyextra/acados_template/c_templates_tera/phi_constraint.in.h new file mode 100644 index 000000000..283ed7f88 --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/phi_constraint.in.h @@ -0,0 +1,55 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef {{ model.name }}_PHI_CONSTRAINT +#define {{ model.name }}_PHI_CONSTRAINT + +#ifdef __cplusplus +extern "C" { +#endif + +{% if dims.nphi > 0 %} +// implicit ODE +int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *); +const int *{{ model.name }}_phi_constraint_sparsity_in(int); +const int *{{ model.name }}_phi_constraint_sparsity_out(int); +int {{ model.name }}_phi_constraint_n_in(void); +int {{ model.name }}_phi_constraint_n_out(void); +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_PHI_CONSTRAINT diff --git a/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h b/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h new file mode 100644 index 000000000..dc8e293ad --- /dev/null +++ b/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h @@ -0,0 +1,21 @@ +#ifndef {{ model.name }}_PHI_E_CONSTRAINT +#define {{ model.name }}_PHI_E_CONSTRAINT + +#ifdef __cplusplus +extern "C" { +#endif + +{% if dims.nphi_e > 0 %} +int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *); +const int *{{ model.name }}_phi_e_constraint_sparsity_in(int); +const int *{{ model.name }}_phi_e_constraint_sparsity_out(int); +int {{ model.name }}_phi_e_constraint_n_in(void); +int {{ model.name }}_phi_e_constraint_n_out(void); +{% endif %} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_PHI_E_CONSTRAINT diff --git a/pyextra/acados_template/generate_c_code_constraint.py b/pyextra/acados_template/generate_c_code_constraint.py new file mode 100644 index 000000000..c79ddc129 --- /dev/null +++ b/pyextra/acados_template/generate_c_code_constraint.py @@ -0,0 +1,180 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os +from casadi import * +from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_length, casadi_version_warning + +def generate_c_code_constraint( model, con_name, is_terminal, opts ): + + casadi_version = CasadiMeta.version() + casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + if casadi_version not in (ALLOWED_CASADI_VERSIONS): + casadi_version_warning(casadi_version) + + # load constraint variables and expression + x = model.x + p = model.p + + if isinstance(x, casadi.MX): + symbol = MX.sym + else: + symbol = SX.sym + + if is_terminal: + con_h_expr = model.con_h_expr_e + con_phi_expr = model.con_phi_expr_e + # create dummy u, z + u = symbol('u', 0, 0) + z = symbol('z', 0, 0) + else: + con_h_expr = model.con_h_expr + con_phi_expr = model.con_phi_expr + u = model.u + z = model.z + + if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)): + raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.") + + if not (is_empty(con_h_expr) and is_empty(con_phi_expr)): + if is_empty(con_h_expr): + constr_type = 'BGP' + else: + constr_type = 'BGH' + + if is_empty(p): + p = symbol('p', 0, 0) + + if is_empty(z): + z = symbol('z', 0, 0) + + if not (is_empty(con_h_expr)) and opts['generate_hess']: + # multipliers for hessian + nh = casadi_length(con_h_expr) + lam_h = symbol('lam_h', nh, 1) + + # set up & change directory + code_export_dir = opts["code_export_directory"] + if not os.path.exists(code_export_dir): + os.makedirs(code_export_dir) + + cwd = os.getcwd() + os.chdir(code_export_dir) + gen_dir = con_name + '_constraints' + if not os.path.exists(gen_dir): + os.mkdir(gen_dir) + gen_dir_location = os.path.join('.', gen_dir) + os.chdir(gen_dir_location) + + # export casadi functions + if constr_type == 'BGH': + if is_terminal: + fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt' + else: + fun_name = con_name + '_constr_h_fun_jac_uxt_zt' + + jac_ux_t = transpose(jacobian(con_h_expr, vertcat(u,x))) + jac_z_t = jacobian(con_h_expr, z) + constraint_fun_jac_tran = Function(fun_name, [x, u, z, p], \ + [con_h_expr, jac_ux_t, jac_z_t]) + + constraint_fun_jac_tran.generate(fun_name, casadi_opts) + if opts['generate_hess']: + + if is_terminal: + fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess' + else: + fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess' + + # adjoint + adj_ux = jtimes(con_h_expr, vertcat(u, x), lam_h, True) + # hessian + hess_ux = jacobian(adj_ux, vertcat(u, x)) + + adj_z = jtimes(con_h_expr, z, lam_h, True) + hess_z = jacobian(adj_z, z) + + # set up functions + constraint_fun_jac_tran_hess = \ + Function(fun_name, [x, u, lam_h, z, p], \ + [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z]) + + # generate C code + constraint_fun_jac_tran_hess.generate(fun_name, casadi_opts) + + if is_terminal: + fun_name = con_name + '_constr_h_e_fun' + else: + fun_name = con_name + '_constr_h_fun' + h_fun = Function(fun_name, [x, u, z, p], [con_h_expr]) + h_fun.generate(fun_name, casadi_opts) + + else: # BGP constraint + if is_terminal: + fun_name = con_name + '_phi_e_constraint' + r = model.con_r_in_phi_e + con_r_expr = model.con_r_expr_e + else: + fun_name = con_name + '_phi_constraint' + r = model.con_r_in_phi + con_r_expr = model.con_r_expr + + nphi = casadi_length(con_phi_expr) + con_phi_expr_x_u_z = substitute(con_phi_expr, r, con_r_expr) + phi_jac_u = jacobian(con_phi_expr_x_u_z, u) + phi_jac_x = jacobian(con_phi_expr_x_u_z, x) + phi_jac_z = jacobian(con_phi_expr_x_u_z, z) + + hess = hessian(con_phi_expr[0], r)[0] + for i in range(1, nphi): + hess = vertcat(hess, hessian(con_phi_expr[i], r)[0]) + + r_jac_u = jacobian(con_r_expr, u) + r_jac_x = jacobian(con_r_expr, x) + + constraint_phi = \ + Function(fun_name, [x, u, z, p], \ + [con_phi_expr_x_u_z, \ + vertcat(transpose(phi_jac_u), \ + transpose(phi_jac_x)), \ + transpose(phi_jac_z), \ + hess, vertcat(transpose(r_jac_u), \ + transpose(r_jac_x))]) + + constraint_phi.generate(fun_name, casadi_opts) + + # change directory back + os.chdir(cwd) + + return diff --git a/pyextra/acados_template/generate_c_code_discrete_dynamics.py b/pyextra/acados_template/generate_c_code_discrete_dynamics.py new file mode 100644 index 000000000..c6a245ff8 --- /dev/null +++ b/pyextra/acados_template/generate_c_code_discrete_dynamics.py @@ -0,0 +1,98 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES LOSS OF USE, DATA, OR PROFITS OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# + +import os +import casadi as ca +from .utils import ALLOWED_CASADI_VERSIONS, casadi_length, casadi_version_warning + +def generate_c_code_discrete_dynamics( model, opts ): + + casadi_version = ca.CasadiMeta.version() + casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + if casadi_version not in (ALLOWED_CASADI_VERSIONS): + casadi_version_warning(casadi_version) + + # load model + x = model.x + u = model.u + p = model.p + phi = model.disc_dyn_expr + model_name = model.name + nx = casadi_length(x) + + if isinstance(phi, ca.MX): + symbol = ca.MX.sym + elif isinstance(phi, ca.SX): + symbol = ca.SX.sym + else: + Exception("generate_c_code_disc_dyn: disc_dyn_expr must be a CasADi expression, you have type: {}".format(type(phi))) + + # assume nx1 = nx !!! + lam = symbol('lam', nx, 1) + + # generate jacobians + ux = ca.vertcat(u,x) + jac_ux = ca.jacobian(phi, ux) + # generate adjoint + adj_ux = ca.jtimes(phi, ux, lam, True) + # generate hessian + hess_ux = ca.jacobian(adj_ux, ux) + + ## change directory + code_export_dir = opts["code_export_directory"] + if not os.path.exists(code_export_dir): + os.makedirs(code_export_dir) + + cwd = os.getcwd() + os.chdir(code_export_dir) + model_dir = model_name + '_model' + if not os.path.exists(model_dir): + os.mkdir(model_dir) + model_dir_location = os.path.join('.', model_dir) + os.chdir(model_dir_location) + + # set up & generate Functions + fun_name = model_name + '_dyn_disc_phi_fun' + phi_fun = ca.Function(fun_name, [x, u, p], [phi]) + phi_fun.generate(fun_name, casadi_opts) + + fun_name = model_name + '_dyn_disc_phi_fun_jac' + phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T]) + phi_fun_jac_ut_xt.generate(fun_name, casadi_opts) + + fun_name = model_name + '_dyn_disc_phi_fun_jac_hess' + phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux]) + phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_opts) + + os.chdir(cwd) diff --git a/pyextra/acados_template/generate_c_code_explicit_ode.py b/pyextra/acados_template/generate_c_code_explicit_ode.py new file mode 100644 index 000000000..76e640053 --- /dev/null +++ b/pyextra/acados_template/generate_c_code_explicit_ode.py @@ -0,0 +1,124 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os +from casadi import * +from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_version_warning + +def generate_c_code_explicit_ode( model, opts ): + + casadi_version = CasadiMeta.version() + casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') + if casadi_version not in (ALLOWED_CASADI_VERSIONS): + casadi_version_warning(casadi_version) + + + generate_hess = opts["generate_hess"] + code_export_dir = opts["code_export_directory"] + + # load model + x = model.x + u = model.u + p = model.p + f_expl = model.f_expl_expr + model_name = model.name + + ## get model dimensions + nx = x.size()[0] + nu = u.size()[0] + + if isinstance(f_expl, casadi.MX): + symbol = MX.sym + elif isinstance(f_expl, casadi.SX): + symbol = SX.sym + else: + raise Exception("Invalid type for f_expl! Possible types are 'SX' and 'MX'. Exiting.") + ## set up functions to be exported + Sx = symbol('Sx', nx, nx) + Sp = symbol('Sp', nx, nu) + lambdaX = symbol('lambdaX', nx, 1) + + fun_name = model_name + '_expl_ode_fun' + + ## Set up functions + expl_ode_fun = Function(fun_name, [x, u, p], [f_expl]) + + vdeX = jtimes(f_expl,x,Sx) + vdeP = jacobian(f_expl,u) + jtimes(f_expl,x,Sp) + + fun_name = model_name + '_expl_vde_forw' + + expl_vde_forw = Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP]) + + adj = jtimes(f_expl, vertcat(x, u), lambdaX, True) + + fun_name = model_name + '_expl_vde_adj' + expl_vde_adj = Function(fun_name, [x, lambdaX, u, p], [adj]) + + if generate_hess: + S_forw = vertcat(horzcat(Sx, Sp), horzcat(DM.zeros(nu,nx), DM.eye(nu))) + hess = mtimes(transpose(S_forw),jtimes(adj, vertcat(x,u), S_forw)) + hess2 = [] + for j in range(nx+nu): + for i in range(j,nx+nu): + hess2 = vertcat(hess2, hess[i,j]) + + fun_name = model_name + '_expl_ode_hess' + expl_ode_hess = Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2]) + + ## generate C code + if not os.path.exists(code_export_dir): + os.makedirs(code_export_dir) + + cwd = os.getcwd() + os.chdir(code_export_dir) + model_dir = model_name + '_model' + if not os.path.exists(model_dir): + os.mkdir(model_dir) + model_dir_location = os.path.join('.', model_dir) + os.chdir(model_dir_location) + fun_name = model_name + '_expl_ode_fun' + expl_ode_fun.generate(fun_name, casadi_opts) + + fun_name = model_name + '_expl_vde_forw' + expl_vde_forw.generate(fun_name, casadi_opts) + + fun_name = model_name + '_expl_vde_adj' + expl_vde_adj.generate(fun_name, casadi_opts) + + if generate_hess: + fun_name = model_name + '_expl_ode_hess' + expl_ode_hess.generate(fun_name, casadi_opts) + os.chdir(cwd) + + return diff --git a/pyextra/acados_template/generate_c_code_external_cost.py b/pyextra/acados_template/generate_c_code_external_cost.py new file mode 100644 index 000000000..839652261 --- /dev/null +++ b/pyextra/acados_template/generate_c_code_external_cost.py @@ -0,0 +1,116 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os +from casadi import SX, MX, Function, transpose, vertcat, horzcat, hessian, CasadiMeta +from .utils import ALLOWED_CASADI_VERSIONS, casadi_version_warning + + +def generate_c_code_external_cost(model, stage_type, opts): + + casadi_version = CasadiMeta.version() + casadi_opts = dict(mex=False, casadi_int="int", casadi_real="double") + + if casadi_version not in (ALLOWED_CASADI_VERSIONS): + casadi_version_warning(casadi_version) + + x = model.x + p = model.p + + if isinstance(x, MX): + symbol = MX.sym + else: + symbol = SX.sym + + if stage_type == 'terminal': + suffix_name = "_cost_ext_cost_e_fun" + suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess" + suffix_name_jac = "_cost_ext_cost_e_fun_jac" + u = symbol("u", 0, 0) + ext_cost = model.cost_expr_ext_cost_e + custom_hess = model.cost_expr_ext_cost_custom_hess_e + + elif stage_type == 'path': + suffix_name = "_cost_ext_cost_fun" + suffix_name_hess = "_cost_ext_cost_fun_jac_hess" + suffix_name_jac = "_cost_ext_cost_fun_jac" + u = model.u + ext_cost = model.cost_expr_ext_cost + custom_hess = model.cost_expr_ext_cost_custom_hess + + elif stage_type == 'initial': + suffix_name = "_cost_ext_cost_0_fun" + suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess" + suffix_name_jac = "_cost_ext_cost_0_fun_jac" + u = model.u + ext_cost = model.cost_expr_ext_cost_0 + custom_hess = model.cost_expr_ext_cost_custom_hess_0 + + # set up functions to be exported + fun_name = model.name + suffix_name + fun_name_hess = model.name + suffix_name_hess + fun_name_jac = model.name + suffix_name_jac + + # generate expression for full gradient and Hessian + full_hess, grad = hessian(ext_cost, vertcat(u, x)) + + if custom_hess is not None: + full_hess = custom_hess + + ext_cost_fun = Function(fun_name, [x, u, p], [ext_cost]) + ext_cost_fun_jac_hess = Function( + fun_name_hess, [x, u, p], [ext_cost, grad, full_hess] + ) + ext_cost_fun_jac = Function( + fun_name_jac, [x, u, p], [ext_cost, grad] + ) + + # generate C code + code_export_dir = opts["code_export_directory"] + if not os.path.exists(code_export_dir): + os.makedirs(code_export_dir) + + cwd = os.getcwd() + os.chdir(code_export_dir) + gen_dir = model.name + '_cost' + if not os.path.exists(gen_dir): + os.mkdir(gen_dir) + gen_dir_location = "./" + gen_dir + os.chdir(gen_dir_location) + + ext_cost_fun.generate(fun_name, casadi_opts) + ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_opts) + ext_cost_fun_jac.generate(fun_name_jac, casadi_opts) + + os.chdir(cwd) + return diff --git a/pyextra/acados_template/generate_c_code_gnsf.py b/pyextra/acados_template/generate_c_code_gnsf.py new file mode 100644 index 000000000..97acb8e33 --- /dev/null +++ b/pyextra/acados_template/generate_c_code_gnsf.py @@ -0,0 +1,131 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os +from casadi import * +from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_version_warning + +def generate_c_code_gnsf( model, opts ): + + casadi_version = CasadiMeta.version() + casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') + if casadi_version not in (ALLOWED_CASADI_VERSIONS): + casadi_version_warning(casadi_version) + + model_name = model.name + code_export_dir = opts["code_export_directory"] + + # set up directory + if not os.path.exists(code_export_dir): + os.makedirs(code_export_dir) + + cwd = os.getcwd() + os.chdir(code_export_dir) + model_dir = model_name + '_model' + if not os.path.exists(model_dir): + os.mkdir(model_dir) + model_dir_location = os.path.join('.', model_dir) + os.chdir(model_dir_location) + + # obtain gnsf dimensions + get_matrices_fun = model.get_matrices_fun + phi_fun = model.phi_fun + + size_gnsf_A = get_matrices_fun.size_out(0) + gnsf_nx1 = size_gnsf_A[1] + gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1] + gnsf_nuhat = max(phi_fun.size_in(1)) + gnsf_ny = max(phi_fun.size_in(0)) + gnsf_nout = max(phi_fun.size_out(0)) + + # set up expressions + # if the model uses MX because of cost/constraints + # the DAE can be exported as SX -> detect GNSF in Matlab + # -> evaluated SX GNSF functions with MX. + u = model.u + + if isinstance(u, casadi.MX): + symbol = MX.sym + else: + symbol = SX.sym + + y = symbol("y", gnsf_ny, 1) + uhat = symbol("uhat", gnsf_nuhat, 1) + p = model.p + x1 = symbol("gnsf_x1", gnsf_nx1, 1) + x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1) + z1 = symbol("gnsf_z1", gnsf_nz1, 1) + dummy = symbol("gnsf_dummy", 1, 1) + empty_var = symbol("gnsf_empty_var", 0, 0) + + ## generate C code + fun_name = model_name + '_gnsf_phi_fun' + phi_fun_ = Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)]) + phi_fun_.generate(fun_name, casadi_opts) + + fun_name = model_name + '_gnsf_phi_fun_jac_y' + phi_fun_jac_y = model.phi_fun_jac_y + phi_fun_jac_y_ = Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p)) + phi_fun_jac_y_.generate(fun_name, casadi_opts) + + fun_name = model_name + '_gnsf_phi_jac_y_uhat' + phi_jac_y_uhat = model.phi_jac_y_uhat + phi_jac_y_uhat_ = Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p)) + phi_jac_y_uhat_.generate(fun_name, casadi_opts) + + fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz' + f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz + f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p) + + # avoid codegeneration issue + if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval): + f_lo_fun_jac_x1k1uz_eval = [empty_var] + + f_lo_fun_jac_x1k1uz_ = Function(fun_name, [x1, x1dot, z1, u, p], + f_lo_fun_jac_x1k1uz_eval) + f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_opts) + + fun_name = model_name + '_gnsf_get_matrices_fun' + get_matrices_fun_ = Function(fun_name, [dummy], get_matrices_fun(1)) + get_matrices_fun_.generate(fun_name, casadi_opts) + + # remove fields for json dump + del model.phi_fun + del model.phi_fun_jac_y + del model.phi_jac_y_uhat + del model.f_lo_fun_jac_x1k1uz + del model.get_matrices_fun + + os.chdir(cwd) + + return diff --git a/pyextra/acados_template/generate_c_code_implicit_ode.py b/pyextra/acados_template/generate_c_code_implicit_ode.py new file mode 100644 index 000000000..f2d50b43a --- /dev/null +++ b/pyextra/acados_template/generate_c_code_implicit_ode.py @@ -0,0 +1,139 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os +from casadi import * +from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_length, casadi_version_warning + +def generate_c_code_implicit_ode( model, opts ): + + casadi_version = CasadiMeta.version() + casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') + if casadi_version not in (ALLOWED_CASADI_VERSIONS): + casadi_version_warning(casadi_version) + + generate_hess = opts["generate_hess"] + code_export_dir = opts["code_export_directory"] + + ## load model + x = model.x + xdot = model.xdot + u = model.u + z = model.z + p = model.p + f_impl = model.f_impl_expr + model_name = model.name + + ## get model dimensions + nx = casadi_length(x) + nu = casadi_length(u) + nz = casadi_length(z) + + ## generate jacobians + jac_x = jacobian(f_impl, x) + jac_xdot = jacobian(f_impl, xdot) + jac_u = jacobian(f_impl, u) + jac_z = jacobian(f_impl, z) + + ## generate hessian + x_xdot_z_u = vertcat(x, xdot, z, u) + + if isinstance(x, casadi.MX): + symbol = MX.sym + else: + symbol = SX.sym + + multiplier = symbol('multiplier', nx + nz) + + ADJ = jtimes(f_impl, x_xdot_z_u, multiplier, True) + HESS = jacobian(ADJ, x_xdot_z_u) + + ## Set up functions + p = model.p + fun_name = model_name + '_impl_dae_fun' + impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl]) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z' + impl_dae_fun_jac_x_xdot_z = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z]) + + # fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z' + # impl_dae_fun_jac_x_xdot = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z]) + + # fun_name = model_name + '_impl_dae_jac_x_xdot_u' + # impl_dae_jac_x_xdot_u = Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z]) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z' + impl_dae_fun_jac_x_xdot_u_z = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z]) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u' + impl_dae_fun_jac_x_xdot_u = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u]) + + fun_name = model_name + '_impl_dae_jac_x_xdot_u_z' + impl_dae_jac_x_xdot_u_z = Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z]) + + + fun_name = model_name + '_impl_dae_hess' + impl_dae_hess = Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS]) + + # generate C code + if not os.path.exists(code_export_dir): + os.makedirs(code_export_dir) + + cwd = os.getcwd() + os.chdir(code_export_dir) + model_dir = model_name + '_model' + if not os.path.exists(model_dir): + os.mkdir(model_dir) + model_dir_location = os.path.join('.', model_dir) + os.chdir(model_dir_location) + + fun_name = model_name + '_impl_dae_fun' + impl_dae_fun.generate(fun_name, casadi_opts) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z' + impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_opts) + + fun_name = model_name + '_impl_dae_jac_x_xdot_u_z' + impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_opts) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z' + impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_opts) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u' + impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_opts) + + if generate_hess: + fun_name = model_name + '_impl_dae_hess' + impl_dae_hess.generate(fun_name, casadi_opts) + + os.chdir(cwd) diff --git a/pyextra/acados_template/generate_c_code_nls_cost.py b/pyextra/acados_template/generate_c_code_nls_cost.py new file mode 100644 index 000000000..ffcd78ca7 --- /dev/null +++ b/pyextra/acados_template/generate_c_code_nls_cost.py @@ -0,0 +1,113 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os +from casadi import * +from .utils import ALLOWED_CASADI_VERSIONS, casadi_length, casadi_version_warning + +def generate_c_code_nls_cost( model, cost_name, stage_type, opts ): + + casadi_version = CasadiMeta.version() + casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + if casadi_version not in (ALLOWED_CASADI_VERSIONS): + casadi_version_warning(casadi_version) + + x = model.x + p = model.p + + if isinstance(x, casadi.MX): + symbol = MX.sym + else: + symbol = SX.sym + + if stage_type == 'terminal': + middle_name = '_cost_y_e' + u = symbol('u', 0, 0) + cost_expr = model.cost_y_expr_e + + elif stage_type == 'initial': + middle_name = '_cost_y_0' + u = model.u + cost_expr = model.cost_y_expr_0 + + elif stage_type == 'path': + middle_name = '_cost_y' + u = model.u + cost_expr = model.cost_y_expr + + # set up directory + code_export_dir = opts["code_export_directory"] + if not os.path.exists(code_export_dir): + os.makedirs(code_export_dir) + + cwd = os.getcwd() + os.chdir(code_export_dir) + gen_dir = cost_name + '_cost' + if not os.path.exists(gen_dir): + os.mkdir(gen_dir) + gen_dir_location = os.path.join('.', gen_dir) + os.chdir(gen_dir_location) + + # set up expressions + cost_jac_expr = transpose(jacobian(cost_expr, vertcat(u, x))) + + ny = casadi_length(cost_expr) + + y = symbol('y', ny, 1) + + y_adj = jtimes(cost_expr, vertcat(u, x), y, True) + y_hess = jacobian(y_adj, vertcat(u, x)) + + ## generate C code + suffix_name = '_fun' + fun_name = cost_name + middle_name + suffix_name + y_fun = Function( fun_name, [x, u, p], \ + [ cost_expr ]) + y_fun.generate( fun_name, casadi_opts ) + + suffix_name = '_fun_jac_ut_xt' + fun_name = cost_name + middle_name + suffix_name + y_fun_jac_ut_xt = Function(fun_name, [x, u, p], \ + [ cost_expr, cost_jac_expr ]) + y_fun_jac_ut_xt.generate( fun_name, casadi_opts ) + + suffix_name = '_hess' + fun_name = cost_name + middle_name + suffix_name + y_hess = Function(fun_name, [x, u, y, p], [ y_hess ]) + y_hess.generate( fun_name, casadi_opts ) + + os.chdir(cwd) + + return + diff --git a/pyextra/acados_template/simulink_default_opts.json b/pyextra/acados_template/simulink_default_opts.json new file mode 100644 index 000000000..70c939cb8 --- /dev/null +++ b/pyextra/acados_template/simulink_default_opts.json @@ -0,0 +1,40 @@ +{ + "outputs": { + "u0": 1, + "utraj": 0, + "xtraj": 0, + "solver_status": 1, + "KKT_residual": 1, + "x1": 1, + "CPU_time": 1, + "CPU_time_sim": 0, + "CPU_time_qp": 0, + "CPU_time_lin": 0, + "sqp_iter": 1 + }, + "inputs": { + "lbx_0": 1, + "ubx_0": 1, + "parameter_traj": 1, + "y_ref_0": 1, + "y_ref": 1, + "y_ref_e": 1, + "lbx": 1, + "ubx": 1, + "lbx_e": 1, + "ubx_e": 1, + "lbu": 1, + "ubu": 1, + "lg": 1, + "ug": 1, + "lh": 1, + "uh": 1, + "cost_W_0": 0, + "cost_W": 0, + "cost_W_e": 0, + "reset_solver": 0, + "x_init": 0, + "u_init": 0 + }, + "samplingtime": "t0" +} diff --git a/pyextra/acados_template/utils.py b/pyextra/acados_template/utils.py new file mode 100644 index 000000000..8f44f61e7 --- /dev/null +++ b/pyextra/acados_template/utils.py @@ -0,0 +1,440 @@ +# -*- coding: future_fstrings -*- +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os, sys, json +import urllib.request +import shutil +import numpy as np +from casadi import SX, MX, DM, Function, CasadiMeta + +ALLOWED_CASADI_VERSIONS = ('3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0') + +TERA_VERSION = "0.0.34" + +def get_acados_path(): + ACADOS_PATH = os.environ.get('ACADOS_SOURCE_DIR') + if not ACADOS_PATH: + acados_template_path = os.path.dirname(os.path.abspath(__file__)) + acados_path = os.path.join(acados_template_path, '..','..','..') + ACADOS_PATH = os.path.realpath(acados_path) + msg = 'Warning: Did not find environment variable ACADOS_SOURCE_DIR, ' + msg += 'guessed ACADOS_PATH to be {}.\n'.format(ACADOS_PATH) + msg += 'Please export ACADOS_SOURCE_DIR to avoid this warning.' + print(msg) + return ACADOS_PATH + + +def get_python_interface_path(): + ACADOS_PYTHON_INTERFACE_PATH = os.environ.get('ACADOS_PYTHON_INTERFACE_PATH') + if not ACADOS_PYTHON_INTERFACE_PATH: + acados_path = get_acados_path() + ACADOS_PYTHON_INTERFACE_PATH = os.path.join(acados_path, 'interfaces', 'acados_template', 'acados_template') + return ACADOS_PYTHON_INTERFACE_PATH + + +def get_tera_exec_path(): + TERA_PATH = os.environ.get('TERA_PATH') + if not TERA_PATH: + TERA_PATH = os.path.join(get_acados_path(), 'bin', 't_renderer') + if os.name == 'nt': + TERA_PATH += '.exe' + return TERA_PATH + + +platform2tera = { + "linux": "linux", + "darwin": "osx", + "win32": "windows" +} + + +def casadi_version_warning(casadi_version): + msg = 'Warning: Please note that the following versions of CasADi are ' + msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS)) + msg += 'If there is an incompatibility with the CasADi generated code, ' + msg += 'please consider changing your CasADi version.\n' + msg += 'Version {} currently in use.'.format(casadi_version) + print(msg) + + +def is_column(x): + if isinstance(x, np.ndarray): + if x.ndim == 1: + return True + elif x.ndim == 2 and x.shape[1] == 1: + return True + else: + return False + elif isinstance(x, (MX, SX, DM)): + if x.shape[1] == 1: + return True + elif x.shape[0] == 0 and x.shape[1] == 0: + return True + else: + return False + elif x == None or x == []: + return False + else: + raise Exception("is_column expects one of the following types: np.ndarray, casadi.MX, casadi.SX." + + " Got: " + str(type(x))) + + +def is_empty(x): + if isinstance(x, (MX, SX, DM)): + return x.is_empty() + elif isinstance(x, np.ndarray): + if np.prod(x.shape) == 0: + return True + else: + return False + elif x == None or x == []: + return True + else: + raise Exception("is_empty expects one of the following types: casadi.MX, casadi.SX, " + + "None, numpy array empty list. Got: " + str(type(x))) + + +def casadi_length(x): + if isinstance(x, (MX, SX, DM)): + return int(np.prod(x.shape)) + else: + raise Exception("casadi_length expects one of the following types: casadi.MX, casadi.SX." + + " Got: " + str(type(x))) + + +def make_model_consistent(model): + x = model.x + xdot = model.xdot + u = model.u + z = model.z + p = model.p + + if isinstance(x, MX): + symbol = MX.sym + elif isinstance(x, SX): + symbol = SX.sym + else: + raise Exception("model.x must be casadi.SX or casadi.MX, got {}".format(type(x))) + + if is_empty(p): + model.p = symbol('p', 0, 0) + + if is_empty(z): + model.z = symbol('z', 0, 0) + + return model + + +def get_tera(): + tera_path = get_tera_exec_path() + acados_path = get_acados_path() + + if os.path.exists(tera_path) and os.access(tera_path, os.X_OK): + return tera_path + + repo_url = "https://github.com/acados/tera_renderer/releases" + url = "{}/download/v{}/t_renderer-v{}-{}".format( + repo_url, TERA_VERSION, TERA_VERSION, platform2tera[sys.platform]) + + manual_install = 'For manual installation follow these instructions:\n' + manual_install += '1 Download binaries from {}\n'.format(url) + manual_install += '2 Copy them in {}/bin\n'.format(acados_path) + manual_install += '3 Strip the version and platform from the binaries: ' + manual_install += 'as t_renderer-v0.0.34-X -> t_renderer)\n' + manual_install += '4 Enable execution privilege on the file "t_renderer" with:\n' + manual_install += '"chmod +x {}"\n\n'.format(tera_path) + + msg = "\n" + msg += 'Tera template render executable not found, ' + msg += 'while looking in path:\n{}\n'.format(tera_path) + msg += 'In order to be able to render the templates, ' + msg += 'you need to download the tera renderer binaries from:\n' + msg += '{}\n\n'.format(repo_url) + msg += 'Do you wish to set up Tera renderer automatically?\n' + msg += 'y/N? (press y to download tera or any key for manual installation)\n' + + if input(msg) == 'y': + print("Dowloading {}".format(url)) + with urllib.request.urlopen(url) as response, open(tera_path, 'wb') as out_file: + shutil.copyfileobj(response, out_file) + print("Successfully downloaded t_renderer.") + os.chmod(tera_path, 0o755) + return tera_path + + msg_cancel = "\nYou cancelled automatic download.\n\n" + msg_cancel += manual_install + msg_cancel += "Once installed re-run your script.\n\n" + print(msg_cancel) + + sys.exit(1) + + +def render_template(in_file, out_file, template_dir, json_path): + cwd = os.getcwd() + if not os.path.exists(template_dir): + os.mkdir(template_dir) + os.chdir(template_dir) + + tera_path = get_tera() + + # setting up loader and environment + acados_path = os.path.dirname(os.path.abspath(__file__)) + template_glob = os.path.join(acados_path, 'c_templates_tera', '*') + + # call tera as system cmd + os_cmd = f"{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'" + # Windows cmd.exe can not cope with '...', so use "..." instead: + if os.name == 'nt': + os_cmd = os_cmd.replace('\'', '\"') + + status = os.system(os_cmd) + if (status != 0): + raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\nExiting.\n') + + os.chdir(cwd) + + +## Conversion functions +def np_array_to_list(np_array): + if isinstance(np_array, (np.ndarray)): + return np_array.tolist() + elif isinstance(np_array, (SX)): + return DM(np_array).full() + elif isinstance(np_array, (DM)): + return np_array.full() + else: + raise(Exception(f"Cannot convert to list type {type(np_array)}")) + + +def format_class_dict(d): + """ + removes the __ artifact from class to dict conversion + """ + out = {} + for k, v in d.items(): + if isinstance(v, dict): + v = format_class_dict(v) + + out_key = k.split('__', 1)[-1] + out[k.replace(k, out_key)] = v + return out + + +def get_ocp_nlp_layout(): + python_interface_path = get_python_interface_path() + abs_path = os.path.join(python_interface_path, 'acados_layout.json') + with open(abs_path, 'r') as f: + ocp_nlp_layout = json.load(f) + return ocp_nlp_layout + + +def ocp_check_against_layout(ocp_nlp, ocp_dims): + """ + Check dimensions against layout + Parameters + --------- + ocp_nlp : dict + dictionary loaded from JSON to be post-processed. + + ocp_dims : instance of AcadosOcpDims + """ + + ocp_nlp_layout = get_ocp_nlp_layout() + + ocp_check_against_layout_recursion(ocp_nlp, ocp_dims, ocp_nlp_layout) + return + + +def ocp_check_against_layout_recursion(ocp_nlp, ocp_dims, layout): + + for key, item in ocp_nlp.items(): + + try: + layout_of_key = layout[key] + except KeyError: + raise Exception("ocp_check_against_layout_recursion: field" \ + " '{0}' is not in layout but in OCP description.".format(key)) + + if isinstance(item, dict): + ocp_check_against_layout_recursion(item, ocp_dims, layout_of_key) + + if 'ndarray' in layout_of_key: + if isinstance(item, int) or isinstance(item, float): + item = np.array([item]) + if isinstance(item, (list, np.ndarray)) and (layout_of_key[0] != 'str'): + dim_layout = [] + dim_names = layout_of_key[1] + + for dim_name in dim_names: + dim_layout.append(ocp_dims[dim_name]) + + dims = tuple(dim_layout) + + item = np.array(item) + item_dims = item.shape + if len(item_dims) != len(dims): + raise Exception('Mismatching dimensions for field {0}. ' \ + 'Expected {1} dimensional array, got {2} dimensional array.' \ + .format(key, len(dims), len(item_dims))) + + if np.prod(item_dims) != 0 or np.prod(dims) != 0: + if dims != item_dims: + raise Exception('acados -- mismatching dimensions for field {0}. ' \ + 'Provided data has dimensions {1}, ' \ + 'while associated dimensions {2} are {3}' \ + .format(key, item_dims, dim_names, dims)) + return + + +def J_to_idx(J): + nrows = J.shape[0] + idx = np.zeros((nrows, )) + for i in range(nrows): + this_idx = np.nonzero(J[i,:])[0] + if len(this_idx) != 1: + raise Exception('Invalid J matrix structure detected, ' \ + 'must contain one nonzero element per row. Exiting.') + if this_idx.size > 0 and J[i,this_idx[0]] != 1: + raise Exception('J matrices can only contain 1s. Exiting.') + idx[i] = this_idx[0] + return idx + + +def J_to_idx_slack(J): + nrows = J.shape[0] + ncol = J.shape[1] + idx = np.zeros((ncol, )) + i_idx = 0 + for i in range(nrows): + this_idx = np.nonzero(J[i,:])[0] + if len(this_idx) == 1: + idx[i_idx] = i + i_idx = i_idx + 1 + elif len(this_idx) > 1: + raise Exception('J_to_idx_slack: Invalid J matrix. Exiting. ' \ + 'Found more than one nonzero in row ' + str(i)) + if this_idx.size > 0 and J[i,this_idx[0]] != 1: + raise Exception('J_to_idx_slack: J matrices can only contain 1s, ' \ + 'got J(' + str(i) + ', ' + str(this_idx[0]) + ') = ' + str(J[i,this_idx[0]]) ) + if not i_idx == ncol: + raise Exception('J_to_idx_slack: J must contain a 1 in every column!') + return idx + + +def acados_dae_model_json_dump(model): + + # load model + x = model.x + xdot = model.xdot + u = model.u + z = model.z + p = model.p + + f_impl = model.f_impl_expr + model_name = model.name + + # create struct with impl_dae_fun, casadi_version + fun_name = model_name + '_impl_dae_fun' + impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl]) + + casadi_version = CasadiMeta.version() + str_impl_dae_fun = impl_dae_fun.serialize() + + dae_dict = {"str_impl_dae_fun": str_impl_dae_fun, "casadi_version": casadi_version} + + # dump + json_file = model_name + '_acados_dae.json' + with open(json_file, 'w') as f: + json.dump(dae_dict, f, default=np_array_to_list, indent=4, sort_keys=True) + print("dumped ", model_name, " dae to file:", json_file, "\n") + + +def set_up_imported_gnsf_model(acados_formulation): + + gnsf = acados_formulation.gnsf_model + + # check CasADi version + # dump_casadi_version = gnsf['casadi_version'] + # casadi_version = CasadiMeta.version() + + # if not casadi_version == dump_casadi_version: + # print("WARNING: GNSF model was dumped with another CasADi version.\n" + # + "This might yield errors. Please use the same version for compatibility, serialize version: " + # + dump_casadi_version + " current Python CasADi verison: " + casadi_version) + # input("Press any key to attempt to continue...") + + # load model + phi_fun = Function.deserialize(gnsf['phi_fun']) + phi_fun_jac_y = Function.deserialize(gnsf['phi_fun_jac_y']) + phi_jac_y_uhat = Function.deserialize(gnsf['phi_jac_y_uhat']) + get_matrices_fun = Function.deserialize(gnsf['get_matrices_fun']) + + # obtain gnsf dimensions + size_gnsf_A = get_matrices_fun.size_out(0) + acados_formulation.dims.gnsf_nx1 = size_gnsf_A[1] + acados_formulation.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1] + acados_formulation.dims.gnsf_nuhat = max(phi_fun.size_in(1)) + acados_formulation.dims.gnsf_ny = max(phi_fun.size_in(0)) + acados_formulation.dims.gnsf_nout = max(phi_fun.size_out(0)) + + # save gnsf functions in model + acados_formulation.model.phi_fun = phi_fun + acados_formulation.model.phi_fun_jac_y = phi_fun_jac_y + acados_formulation.model.phi_jac_y_uhat = phi_jac_y_uhat + acados_formulation.model.get_matrices_fun = get_matrices_fun + + # get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},... + # {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,... + # nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO}); + get_matrices_out = get_matrices_fun(0) + acados_formulation.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12]) + acados_formulation.model.gnsf['purely_linear'] = int(get_matrices_out[13]) + + if "f_lo_fun_jac_x1k1uz" in gnsf: + f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz']) + acados_formulation.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz + else: + dummy_var_x1 = SX.sym('dummy_var_x1', acados_formulation.dims.gnsf_nx1) + dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_formulation.dims.gnsf_nx1) + dummy_var_z1 = SX.sym('dummy_var_z1', acados_formulation.dims.gnsf_nz1) + dummy_var_u = SX.sym('dummy_var_z1', acados_formulation.dims.nu) + dummy_var_p = SX.sym('dummy_var_z1', acados_formulation.dims.np) + empty_var = SX.sym('empty_var', 0, 0) + + empty_fun = Function('empty_fun', \ + [dummy_var_x1, dummy_var_x1dot, dummy_var_z1, dummy_var_u, dummy_var_p], + [empty_var]) + acados_formulation.model.f_lo_fun_jac_x1k1uz = empty_fun + + del acados_formulation.gnsf_model diff --git a/rednose/.gitignore b/rednose/.gitignore new file mode 100644 index 000000000..d771ae601 --- /dev/null +++ b/rednose/.gitignore @@ -0,0 +1,5 @@ +# Cython intermediates +*_pyx.cpp +*_pyx.h +*_pyx_api.h +*.os diff --git a/rednose/helpers/__init__.py b/rednose/helpers/__init__.py new file mode 100644 index 000000000..bbd239b77 --- /dev/null +++ b/rednose/helpers/__init__.py @@ -0,0 +1,35 @@ +import os +import platform +from cffi import FFI + +TEMPLATE_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'templates')) + + +def write_code(folder, name, code, header): + if not os.path.exists(folder): + os.mkdir(folder) + + open(os.path.join(folder, f"{name}.cpp"), 'w').write(code) + open(os.path.join(folder, f"{name}.h"), 'w').write(header) + + +def load_code(folder, name, lib_name=None): + if lib_name is None: + lib_name = name + shared_ext = "dylib" if platform.system() == "Darwin" else "so" + shared_fn = os.path.join(folder, f"lib{lib_name}.{shared_ext}") + header_fn = os.path.join(folder, f"{name}.h") + + with open(header_fn) as f: + header = f.read() + + # is the only thing that can be parsed by cffi + header = "\n".join([line for line in header.split("\n") if line.startswith("void ")]) + + ffi = FFI() + ffi.cdef(header) + return (ffi, ffi.dlopen(shared_fn)) + + +class KalmanError(Exception): + pass diff --git a/rednose/helpers/chi2_lookup.py b/rednose/helpers/chi2_lookup.py new file mode 100644 index 000000000..e22cc9729 --- /dev/null +++ b/rednose/helpers/chi2_lookup.py @@ -0,0 +1,22 @@ +import os + +import numpy as np + + +def gen_chi2_ppf_lookup(max_dim=200): + from scipy.stats import chi2 + table = np.zeros((max_dim, 98)) + for dim in range(1, max_dim): + table[dim] = chi2.ppf(np.arange(.01, .99, .01), dim) + + np.save('chi2_lookup_table', table) + + +def chi2_ppf(p, dim): + table = np.load(os.path.dirname(os.path.realpath(__file__)) + '/chi2_lookup_table.npy') + result = np.interp(p, np.arange(.01, .99, .01), table[dim]) + return result + + +if __name__ == "__main__": + gen_chi2_ppf_lookup() diff --git a/rednose/helpers/chi2_lookup_table.npy b/rednose/helpers/chi2_lookup_table.npy new file mode 100644 index 000000000..6f1bd959c Binary files /dev/null and b/rednose/helpers/chi2_lookup_table.npy differ diff --git a/rednose/helpers/common_ekf.h b/rednose/helpers/common_ekf.h new file mode 100644 index 000000000..5dfdd448b --- /dev/null +++ b/rednose/helpers/common_ekf.h @@ -0,0 +1,43 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +typedef void (*extra_routine_t)(double *, double *); + +struct EKF { + std::string name; + std::vector kinds; + std::vector feature_kinds; + + void (*f_fun)(double *, double, double *); + void (*F_fun)(double *, double, double *); + void (*err_fun)(double *, double *, double *); + void (*inv_err_fun)(double *, double *, double *); + void (*H_mod_fun)(double *, double *); + void (*predict)(double *, double *, double *, double); + std::unordered_map hs = {}; + std::unordered_map Hs = {}; + std::unordered_map updates = {}; + std::unordered_map Hes = {}; + std::unordered_map sets = {}; + std::unordered_map extra_routines = {}; +}; + +std::vector& get_ekfs(); +const EKF* ekf_lookup(const std::string& ekf_name); + +void ekf_register(const EKF* ekf); + +#define ekf_init(ekf) \ +static void __attribute__((constructor)) do_ekf_init_ ## ekf(void) { \ + ekf_register(&ekf); \ +} diff --git a/rednose/helpers/ekf_sym.h b/rednose/helpers/ekf_sym.h new file mode 100644 index 000000000..86d6ca193 --- /dev/null +++ b/rednose/helpers/ekf_sym.h @@ -0,0 +1,112 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "common_ekf.h" + +#define REWIND_TO_KEEP 512 + +namespace EKFS { + +typedef Eigen::Matrix MatrixXdr; + +typedef struct Observation { + double t; + int kind; + std::vector z; + std::vector R; + std::vector> extra_args; +} Observation; + +typedef struct Estimate { + Eigen::VectorXd xk1; + Eigen::VectorXd xk; + MatrixXdr Pk1; + MatrixXdr Pk; + double t; + int kind; + std::vector y; + std::vector z; + std::vector> extra_args; +} Estimate; + +class EKFSym { +public: + EKFSym(std::string name, Eigen::Map Q, Eigen::Map x_initial, + Eigen::Map P_initial, int dim_main, int dim_main_err, int N = 0, int dim_augment = 0, + int dim_augment_err = 0, std::vector maha_test_kinds = std::vector(), + std::vector quaternion_idxs = std::vector(), + std::vector global_vars = std::vector(), double max_rewind_age = 1.0); + void init_state(Eigen::Map state, Eigen::Map covs, double filter_time); + + Eigen::VectorXd state(); + MatrixXdr covs(); + void set_filter_time(double t); + double get_filter_time(); + void normalize_quaternions(); + void normalize_slice(int slice_start, int slice_end_ex); + void set_global(std::string global_var, double val); + void reset_rewind(); + + void predict(double t); + std::optional predict_and_update_batch(double t, int kind, std::vector> z, + std::vector> R, std::vector> extra_args = {{}}, bool augment = false); + + extra_routine_t get_extra_routine(const std::string& routine); + +private: + std::deque rewind(double t); + void checkpoint(Observation& obs); + + Estimate predict_and_update_batch(Observation& obs, bool augment); + Eigen::VectorXd update(int kind, Eigen::VectorXd z, MatrixXdr R, std::vector extra_args); + + // stuct with linked sympy generated functions + const EKF *ekf = NULL; + + Eigen::VectorXd x; // state + MatrixXdr P; // covs + + bool msckf; + int N; + int dim_augment; + int dim_augment_err; + int dim_main; + int dim_main_err; + + // state + int dim_x; + int dim_err; + + double filter_time; + + std::vector maha_test_kinds; + std::vector quaternion_idxs; + + std::vector global_vars; + + // process noise + MatrixXdr Q; + + // rewind stuff + double max_rewind_age; + std::deque rewind_t; + std::deque> rewind_states; + std::deque rewind_obscache; + + Eigen::VectorXd augment_times; + + std::vector feature_track_kinds; +}; + +} diff --git a/rednose/helpers/ekf_sym.py b/rednose/helpers/ekf_sym.py new file mode 100644 index 000000000..c9cf0bc22 --- /dev/null +++ b/rednose/helpers/ekf_sym.py @@ -0,0 +1,687 @@ +import os +import logging +from bisect import bisect_right + +import numpy as np +import sympy as sp +from numpy import dot + +from rednose.helpers.sympy_helpers import sympy_into_c +from rednose.helpers import TEMPLATE_DIR, load_code +from rednose.helpers.chi2_lookup import chi2_ppf + + +def solve(a, b): + if a.shape[0] == 1 and a.shape[1] == 1: + return b / a[0][0] + else: + return np.linalg.solve(a, b) + + +def null(H, eps=1e-12): + _, s, vh = np.linalg.svd(H) + padding = max(0, np.shape(H)[1] - np.shape(s)[0]) + null_mask = np.concatenate(((s <= eps), np.ones((padding,), dtype=bool)), axis=0) + null_space = np.compress(null_mask, vh, axis=0) + return np.transpose(null_space) + + +def gen_code(folder, name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_params=None, msckf_params=None, # pylint: disable=dangerous-default-value + maha_test_kinds=[], quaternion_idxs=[], global_vars=None, extra_routines=[]): + # optional state transition matrix, H modifier + # and err_function if an error-state kalman filter (ESKF) + # is desired. Best described in "Quaternion kinematics + # for the error-state Kalman filter" by Joan Sola + + if eskf_params: + err_eqs = eskf_params[0] + inv_err_eqs = eskf_params[1] + H_mod_sym = eskf_params[2] + f_err_sym = eskf_params[3] + x_err_sym = eskf_params[4] + else: + nom_x = sp.MatrixSymbol('nom_x', dim_x, 1) + true_x = sp.MatrixSymbol('true_x', dim_x, 1) + delta_x = sp.MatrixSymbol('delta_x', dim_x, 1) + err_function_sym = sp.Matrix(nom_x + delta_x) + inv_err_function_sym = sp.Matrix(true_x - nom_x) + err_eqs = [err_function_sym, nom_x, delta_x] + inv_err_eqs = [inv_err_function_sym, nom_x, true_x] + + H_mod_sym = sp.Matrix(np.eye(dim_x)) + f_err_sym = f_sym + x_err_sym = x_sym + + # This configures the multi-state augmentation + # needed for EKF-SLAM with MSCKF (Mourikis et al 2007) + if msckf_params: + msckf = True + dim_main = msckf_params[0] # size of the main state + dim_augment = msckf_params[1] # size of one augment state chunk + dim_main_err = msckf_params[2] + dim_augment_err = msckf_params[3] + N = msckf_params[4] + feature_track_kinds = msckf_params[5] + assert dim_main + dim_augment * N == dim_x + assert dim_main_err + dim_augment_err * N == dim_err + else: + msckf = False + dim_main = dim_x + dim_augment = 0 + dim_main_err = dim_err + dim_augment_err = 0 + N = 0 + + # linearize with jacobians + F_sym = f_err_sym.jacobian(x_err_sym) + + if eskf_params: + for sym in x_err_sym: + F_sym = F_sym.subs(sym, 0) + + assert dt_sym in F_sym.free_symbols + + for i in range(len(obs_eqs)): + obs_eqs[i].append(obs_eqs[i][0].jacobian(x_sym)) + if msckf and obs_eqs[i][1] in feature_track_kinds: + obs_eqs[i].append(obs_eqs[i][0].jacobian(obs_eqs[i][2])) + else: + obs_eqs[i].append(None) + + # collect sympy functions + sympy_functions = [] + + # extra routines + sympy_functions += extra_routines + + # error functions + sympy_functions.append(('err_fun', err_eqs[0], [err_eqs[1], err_eqs[2]])) + sympy_functions.append(('inv_err_fun', inv_err_eqs[0], [inv_err_eqs[1], inv_err_eqs[2]])) + + # H modifier for ESKF updates + sympy_functions.append(('H_mod_fun', H_mod_sym, [x_sym])) + + # state propagation function + sympy_functions.append(('f_fun', f_sym, [x_sym, dt_sym])) + sympy_functions.append(('F_fun', F_sym, [x_sym, dt_sym])) + + # observation functions + for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs: + sympy_functions.append(('h_%d' % kind, h_sym, [x_sym, ea_sym])) + sympy_functions.append(('H_%d' % kind, H_sym, [x_sym, ea_sym])) + if msckf and kind in feature_track_kinds: + sympy_functions.append(('He_%d' % kind, He_sym, [x_sym, ea_sym])) + + # Generate and wrap all th c code + sympy_header, code = sympy_into_c(sympy_functions, global_vars) + + header = "#pragma once\n" + header += "#include \"rednose/helpers/common_ekf.h\"\n" + header += "extern \"C\" {\n" + + pre_code = f"#include \"{name}.h\"\n" + pre_code += "\nnamespace {\n" + pre_code += "#define DIM %d\n" % dim_x + pre_code += "#define EDIM %d\n" % dim_err + pre_code += "#define MEDIM %d\n" % dim_main_err + pre_code += "typedef void (*Hfun)(double *, double *, double *);\n" + + if global_vars is not None: + for var in global_vars: + pre_code += f"\ndouble {var.name};\n" + pre_code += f"\nvoid set_{var.name}(double x){{ {var.name} = x;}}\n" + + post_code = "\n}\n" # namespace + post_code += "extern \"C\" {\n\n" + + for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs: + if msckf and kind in feature_track_kinds: + He_str = 'He_%d' % kind + # ea_dim = ea_sym.shape[0] + else: + He_str = 'NULL' + # ea_dim = 1 # not really dim of ea but makes c function work + maha_thresh = chi2_ppf(0.95, int(h_sym.shape[0])) # mahalanobis distance for outlier detection + maha_test = kind in maha_test_kinds + + pre_code += f"const static double MAHA_THRESH_{kind} = {maha_thresh};\n" + + header += f"void {name}_update_{kind}(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);\n" + post_code += f"void {name}_update_{kind}(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {{\n" + post_code += f" update<{h_sym.shape[0]}, 3, {int(maha_test)}>(in_x, in_P, h_{kind}, H_{kind}, {He_str}, in_z, in_R, in_ea, MAHA_THRESH_{kind});\n" + post_code += "}\n" + + # For ffi loading of specific functions + for line in sympy_header.split("\n"): + if line.startswith("void "): # sympy functions + func_call = line[5: line.index(')') + 1] + header += f"void {name}_{func_call};\n" + post_code += f"void {name}_{func_call} {{\n" + post_code += f" {func_call.replace('double *', '').replace('double', '')};\n" + post_code += "}\n" + header += f"void {name}_predict(double *in_x, double *in_P, double *in_Q, double dt);\n" + post_code += f"void {name}_predict(double *in_x, double *in_P, double *in_Q, double dt) {{\n" + post_code += " predict(in_x, in_P, in_Q, dt);\n" + post_code += "}\n" + if global_vars is not None: + for var in global_vars: + header += f"void {name}_set_{var.name}(double x);\n" + post_code += f"void {name}_set_{var.name}(double x) {{\n" + post_code += f" set_{var.name}(x);\n" + post_code += "}\n" + + post_code += "}\n\n" # extern c + + funcs = ['f_fun', 'F_fun', 'err_fun', 'inv_err_fun', 'H_mod_fun', 'predict'] + func_lists = { + 'h': [kind for _, kind, _, _, _ in obs_eqs], + 'H': [kind for _, kind, _, _, _ in obs_eqs], + 'update': [kind for _, kind, _, _, _ in obs_eqs], + 'He': [kind for _, kind, _, _, _ in obs_eqs if msckf and kind in feature_track_kinds], + 'set': [var.name for var in global_vars] if global_vars is not None else [], + } + func_extra = [x[0] for x in extra_routines] + + # For dynamic loading of specific functions + post_code += f"const EKF {name} = {{\n" + post_code += f" .name = \"{name}\",\n" + post_code += f" .kinds = {{ {', '.join([str(kind) for _, kind, _, _, _ in obs_eqs])} }},\n" + post_code += f" .feature_kinds = {{ {', '.join([str(kind) for _, kind, _, _, _ in obs_eqs if msckf and kind in feature_track_kinds])} }},\n" + for func in funcs: + post_code += f" .{func} = {name}_{func},\n" + for group, kinds in func_lists.items(): + post_code += f" .{group}s = {{\n" + for kind in kinds: + str_kind = f"\"{kind}\"" if type(kind) == str else kind + post_code += f" {{ {str_kind}, {name}_{group}_{kind} }},\n" + post_code += " },\n" + post_code += " .extra_routines = {\n" + for f in func_extra: + post_code += f" {{ \"{f}\", {name}_{f} }},\n" + post_code += " },\n" + post_code += "};\n\n" + post_code += f"ekf_init({name});\n" + + # merge code blocks + header += "}" + code = "\n".join([pre_code, code, open(os.path.join(TEMPLATE_DIR, "ekf_c.c")).read(), post_code]) + + # write to file + if not os.path.exists(folder): + os.mkdir(folder) + + open(os.path.join(folder, f"{name}.h"), 'w').write(header) # header is used for ffi import + open(os.path.join(folder, f"{name}.cpp"), 'w').write(code) + + +class EKF_sym(): + def __init__(self, folder, name, Q, x_initial, P_initial, dim_main, dim_main_err, # pylint: disable=dangerous-default-value + N=0, dim_augment=0, dim_augment_err=0, maha_test_kinds=[], quaternion_idxs=[], global_vars=None, max_rewind_age=1.0, logger=logging): + """Generates process function and all observation functions for the kalman filter.""" + self.msckf = N > 0 + self.N = N + self.dim_augment = dim_augment + self.dim_augment_err = dim_augment_err + self.dim_main = dim_main + self.dim_main_err = dim_main_err + + self.logger = logger + + # state + x_initial = x_initial.reshape((-1, 1)) + self.dim_x = x_initial.shape[0] + self.dim_err = P_initial.shape[0] + assert dim_main + dim_augment * N == self.dim_x + assert dim_main_err + dim_augment_err * N == self.dim_err + assert Q.shape == P_initial.shape + + # kinds that should get mahalanobis distance + # tested for outlier rejection + self.maha_test_kinds = maha_test_kinds + + # quaternions need normalization + self.quaternion_idxs = quaternion_idxs + + # process noise + self.Q = Q + + # rewind stuff + self.max_rewind_age = max_rewind_age + self.rewind_t = [] + self.rewind_states = [] + self.rewind_obscache = [] + self.init_state(x_initial, P_initial, None) + + ffi, lib = load_code(folder, name, "kf") + kinds, self.feature_track_kinds = [], [] + for func in dir(lib): + if func[:len(name) + 3] == f'{name}_h_': + kinds.append(int(func[len(name) + 3:])) + if func[:len(name) + 4] == f'{name}_He_': + self.feature_track_kinds.append(int(func[len(name) + 4:])) + + # wrap all the sympy functions + def wrap_1lists(func_name): + func = eval(f"lib.{name}_{func_name}", {"lib": lib}) # pylint: disable=eval-used + + def ret(lst1, out): + func(ffi.cast("double *", lst1.ctypes.data), + ffi.cast("double *", out.ctypes.data)) + return ret + + def wrap_2lists(func_name): + func = eval(f"lib.{name}_{func_name}", {"lib": lib}) # pylint: disable=eval-used + + def ret(lst1, lst2, out): + func(ffi.cast("double *", lst1.ctypes.data), + ffi.cast("double *", lst2.ctypes.data), + ffi.cast("double *", out.ctypes.data)) + return ret + + def wrap_1list_1float(func_name): + func = eval(f"lib.{name}_{func_name}", {"lib": lib}) # pylint: disable=eval-used + + def ret(lst1, fl, out): + func(ffi.cast("double *", lst1.ctypes.data), + ffi.cast("double", fl), + ffi.cast("double *", out.ctypes.data)) + return ret + + self.f = wrap_1list_1float("f_fun") + self.F = wrap_1list_1float("F_fun") + + self.err_function = wrap_2lists("err_fun") + self.inv_err_function = wrap_2lists("inv_err_fun") + self.H_mod = wrap_1lists("H_mod_fun") + + self.hs, self.Hs, self.Hes = {}, {}, {} + for kind in kinds: + self.hs[kind] = wrap_2lists(f"h_{kind}") + self.Hs[kind] = wrap_2lists(f"H_{kind}") + if self.msckf and kind in self.feature_track_kinds: + self.Hes[kind] = wrap_2lists(f"He_{kind}") + + self.set_globals = {} + if global_vars is not None: + for global_var in global_vars: + self.set_globals[global_var] = getattr(lib, f"{name}_set_{global_var}") + + # wrap the C++ predict function + def _predict_blas(x, P, dt): + func = eval(f"lib.{name}_predict", {"lib": lib}) # pylint: disable=eval-used + func(ffi.cast("double *", x.ctypes.data), + ffi.cast("double *", P.ctypes.data), + ffi.cast("double *", self.Q.ctypes.data), + ffi.cast("double", dt)) + return x, P + + # wrap the C++ update function + def fun_wrapper(f, kind): + f = eval(f"lib.{name}_{f}", {"lib": lib}) # pylint: disable=eval-used + + def _update_inner_blas(x, P, z, R, extra_args): + f(ffi.cast("double *", x.ctypes.data), + ffi.cast("double *", P.ctypes.data), + ffi.cast("double *", z.ctypes.data), + ffi.cast("double *", R.ctypes.data), + ffi.cast("double *", extra_args.ctypes.data)) + if self.msckf and kind in self.feature_track_kinds: + y = z[:-len(extra_args)] + else: + y = z + return x, P, y + return _update_inner_blas + + self._updates = {} + for kind in kinds: + self._updates[kind] = fun_wrapper("update_%d" % kind, kind) + + def _update_blas(x, P, kind, z, R, extra_args=[]): # pylint: disable=dangerous-default-value + return self._updates[kind](x, P, z, R, extra_args) + + # assign the functions + self._predict = _predict_blas + # self._predict = self._predict_python + self._update = _update_blas + # self._update = self._update_python + + def init_state(self, state, covs, filter_time): + self.x = np.array(state.reshape((-1, 1))).astype(np.float64) + self.P = np.array(covs).astype(np.float64) + self.filter_time = filter_time + self.augment_times = [0] * self.N + self.rewind_obscache = [] + self.rewind_t = [] + self.rewind_states = [] + + def reset_rewind(self): + self.rewind_obscache = [] + self.rewind_t = [] + self.rewind_states = [] + + def augment(self): + # TODO this is not a generalized way of doing this and implies that the augmented states + # are simply the first (dim_augment_state) elements of the main state. + assert self.msckf + d1 = self.dim_main + d2 = self.dim_main_err + d3 = self.dim_augment + d4 = self.dim_augment_err + + # push through augmented states + self.x[d1:-d3] = self.x[d1 + d3:] + self.x[-d3:] = self.x[:d3] + assert self.x.shape == (self.dim_x, 1) + + # push through augmented covs + assert self.P.shape == (self.dim_err, self.dim_err) + P_reduced = self.P + P_reduced = np.delete(P_reduced, np.s_[d2:d2 + d4], axis=1) + P_reduced = np.delete(P_reduced, np.s_[d2:d2 + d4], axis=0) + assert P_reduced.shape == (self.dim_err - d4, self.dim_err - d4) + to_mult = np.zeros((self.dim_err, self.dim_err - d4)) + to_mult[:-d4, :] = np.eye(self.dim_err - d4) + to_mult[-d4:, :d4] = np.eye(d4) + self.P = to_mult.dot(P_reduced.dot(to_mult.T)) + self.augment_times = self.augment_times[1:] + self.augment_times.append(self.filter_time) + assert self.P.shape == (self.dim_err, self.dim_err) + + def state(self): + return np.array(self.x).flatten() + + def covs(self): + return self.P + + def set_filter_time(self, t): + self.filter_time = t + + def get_filter_time(self): + return self.filter_time + + def normalize_quaternions(self): + for idx in self.quaternion_idxs: + self.normalize_slice(idx, idx+4) + + def normalize_slice(self, slice_start, slice_end_ex): + self.x[slice_start:slice_end_ex] /= np.linalg.norm(self.x[slice_start:slice_end_ex]) + + def get_augment_times(self): + return self.augment_times + + def set_global(self, global_var, val): + self.set_globals[global_var](val) + + def rewind(self, t): + # find where we are rewinding to + idx = bisect_right(self.rewind_t, t) + assert self.rewind_t[idx - 1] <= t + assert self.rewind_t[idx] > t # must be true, or rewind wouldn't be called + + # set the state to the time right before that + self.filter_time = self.rewind_t[idx - 1] + self.x[:] = self.rewind_states[idx - 1][0] + self.P[:] = self.rewind_states[idx - 1][1] + + # return the observations we rewound over for fast forwarding + ret = self.rewind_obscache[idx:] + + # throw away the old future + # TODO: is this making a copy? + self.rewind_t = self.rewind_t[:idx] + self.rewind_states = self.rewind_states[:idx] + self.rewind_obscache = self.rewind_obscache[:idx] + + return ret + + def checkpoint(self, obs): + # push to rewinder + self.rewind_t.append(self.filter_time) + self.rewind_states.append((np.copy(self.x), np.copy(self.P))) + self.rewind_obscache.append(obs) + + # only keep a certain number around + REWIND_TO_KEEP = 512 + self.rewind_t = self.rewind_t[-REWIND_TO_KEEP:] + self.rewind_states = self.rewind_states[-REWIND_TO_KEEP:] + self.rewind_obscache = self.rewind_obscache[-REWIND_TO_KEEP:] + + def predict(self, t): + # initialize time + if self.filter_time is None: + self.filter_time = t + + # predict + dt = t - self.filter_time + assert dt >= 0 + self.x, self.P = self._predict(self.x, self.P, dt) + self.normalize_quaternions() + self.filter_time = t + + def predict_and_update_batch(self, t, kind, z, R, extra_args=[[]], augment=False): # pylint: disable=dangerous-default-value + # TODO handle rewinding at this level" + + # rewind + if self.filter_time is not None and t < self.filter_time: + if len(self.rewind_t) == 0 or t < self.rewind_t[0] or t < self.rewind_t[-1] - self.max_rewind_age: + self.logger.error("observation too old at %.3f with filter at %.3f, ignoring" % (t, self.filter_time)) + return None + rewound = self.rewind(t) + else: + rewound = [] + + ret = self._predict_and_update_batch(t, kind, z, R, extra_args, augment) + + # optional fast forward + for r in rewound: + self._predict_and_update_batch(*r) + + return ret + + def _predict_and_update_batch(self, t, kind, z, R, extra_args, augment=False): + """The main kalman filter function + Predicts the state and then updates a batch of observations + dim_x: dimensionality of the state space + dim_z: dimensionality of the observation and depends on kind + n: number of observations + Args: + t (float): Time of observation + kind (int): Type of observation + z (vec [n,dim_z]): Measurements + R (mat [n,dim_z, dim_z]): Measurement Noise + extra_args (list, [n]): Values used in H computations + """ + assert z.shape[0] == R.shape[0] + assert z.shape[1] == R.shape[1] + assert z.shape[1] == R.shape[2] + + # initialize time + if self.filter_time is None: + self.filter_time = t + + # predict + dt = t - self.filter_time + assert dt >= 0 + self.x, self.P = self._predict(self.x, self.P, dt) + self.filter_time = t + xk_km1, Pk_km1 = np.copy(self.x).flatten(), np.copy(self.P) + + # update batch + y = [] + for i in range(len(z)): + # these are from the user, so we canonicalize them + z_i = np.array(z[i], dtype=np.float64, order='F') + R_i = np.array(R[i], dtype=np.float64, order='F') + extra_args_i = np.array(extra_args[i], dtype=np.float64, order='F') + # update + self.x, self.P, y_i = self._update(self.x, self.P, kind, z_i, R_i, extra_args=extra_args_i) + self.normalize_quaternions() + y.append(y_i) + xk_k, Pk_k = np.copy(self.x).flatten(), np.copy(self.P) + + if augment: + self.augment() + + # checkpoint + self.checkpoint((t, kind, z, R, extra_args)) + + return xk_km1, xk_k, Pk_km1, Pk_k, t, kind, y, z, extra_args + + def _predict_python(self, x, P, dt): + x_new = np.zeros(x.shape, dtype=np.float64) + self.f(x, dt, x_new) + + F = np.zeros(P.shape, dtype=np.float64) + self.F(x, dt, F) + + if not self.msckf: + P = dot(dot(F, P), F.T) + else: + # Update the predicted state covariance: + # Pk+1|k = |F*Pii*FT + Q*dt F*Pij | + # |PijT*FT Pjj | + # Where F is the jacobian of the main state + # predict function, Pii is the main state's + # covariance and Q its process noise. Pij + # is the covariance between the augmented + # states and the main state. + # + d2 = self.dim_main_err # known at compile time + F_curr = F[:d2, :d2] + P[:d2, :d2] = (F_curr.dot(P[:d2, :d2])).dot(F_curr.T) + P[:d2, d2:] = F_curr.dot(P[:d2, d2:]) + P[d2:, :d2] = P[d2:, :d2].dot(F_curr.T) + + P += dt * self.Q + return x_new, P + + def _update_python(self, x, P, kind, z, R, extra_args=[]): # pylint: disable=dangerous-default-value + # init vars + z = z.reshape((-1, 1)) + h = np.zeros(z.shape, dtype=np.float64) + H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64) + + # C functions + self.hs[kind](x, extra_args, h) + self.Hs[kind](x, extra_args, H) + + # y is the "loss" + y = z - h + + # *** same above this line *** + + if self.msckf and kind in self.Hes: + # Do some algebraic magic to decorrelate + He = np.zeros((z.shape[0], len(extra_args)), dtype=np.float64) + self.Hes[kind](x, extra_args, He) + + # TODO: Don't call a function here, do projection locally + A = null(He.T) + + y = A.T.dot(y) + H = A.T.dot(H) + R = A.T.dot(R.dot(A)) + + # TODO If nullspace isn't the dimension we want + if A.shape[1] + He.shape[1] != A.shape[0]: + self.logger.warning('Warning: null space projection failed, measurement ignored') + return x, P, np.zeros(A.shape[0] - He.shape[1]) + + # if using eskf + H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64) + self.H_mod(x, H_mod) + H = H.dot(H_mod) + + # Do mahalobis distance test + # currently just runs on msckf observations + # could run on anything if needed + if self.msckf and kind in self.maha_test_kinds: + a = np.linalg.inv(H.dot(P).dot(H.T) + R) + maha_dist = y.T.dot(a.dot(y)) + if maha_dist > chi2_ppf(0.95, y.shape[0]): + R = 10e16 * R + + # *** same below this line *** + + # Outlier resilient weighting as described in: + # "A Kalman Filter for Robust Outlier Detection - Jo-Anne Ting, ..." + weight = 1 # (1.5)/(1 + np.sum(y**2)/np.sum(R)) + + S = dot(dot(H, P), H.T) + R / weight + K = solve(S, dot(H, P.T)).T + I_KH = np.eye(P.shape[0]) - dot(K, H) + + # update actual state + delta_x = dot(K, y) + P = dot(dot(I_KH, P), I_KH.T) + dot(dot(K, R), K.T) + + # inject observed error into state + x_new = np.zeros(x.shape, dtype=np.float64) + self.err_function(x, delta_x, x_new) + return x_new, P, y.flatten() + + def maha_test(self, x, P, kind, z, R, extra_args=[], maha_thresh=0.95): # pylint: disable=dangerous-default-value + # init vars + z = z.reshape((-1, 1)) + h = np.zeros(z.shape, dtype=np.float64) + H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64) + + # C functions + self.hs[kind](x, extra_args, h) + self.Hs[kind](x, extra_args, H) + + # y is the "loss" + y = z - h + + # if using eskf + H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64) + self.H_mod(x, H_mod) + H = H.dot(H_mod) + + a = np.linalg.inv(H.dot(P).dot(H.T) + R) + maha_dist = y.T.dot(a.dot(y)) + if maha_dist > chi2_ppf(maha_thresh, y.shape[0]): + return False + else: + return True + + def rts_smooth(self, estimates, norm_quats=False): + ''' + Returns rts smoothed results of + kalman filter estimates + If the kalman state is augmented with + old states only the main state is smoothed + ''' + xk_n = estimates[-1][0] + Pk_n = estimates[-1][2] + Fk_1 = np.zeros(Pk_n.shape, dtype=np.float64) + + states_smoothed = [xk_n] + covs_smoothed = [Pk_n] + for k in range(len(estimates) - 2, -1, -1): + xk1_n = xk_n + if norm_quats: + xk1_n[3:7] /= np.linalg.norm(xk1_n[3:7]) + Pk1_n = Pk_n + + xk1_k, _, Pk1_k, _, t2, _, _, _, _ = estimates[k + 1] + _, xk_k, _, Pk_k, t1, _, _, _, _ = estimates[k] + dt = t2 - t1 + self.F(xk_k, dt, Fk_1) + + d1 = self.dim_main + d2 = self.dim_main_err + Ck = np.linalg.solve(Pk1_k[:d2, :d2], Fk_1[:d2, :d2].dot(Pk_k[:d2, :d2].T)).T + xk_n = xk_k + delta_x = np.zeros((Pk_n.shape[0], 1), dtype=np.float64) + self.inv_err_function(xk1_k, xk1_n, delta_x) + delta_x[:d2] = Ck.dot(delta_x[:d2]) + x_new = np.zeros((xk_n.shape[0], 1), dtype=np.float64) + self.err_function(xk_k, delta_x, x_new) + xk_n[:d1] = x_new[:d1, 0] + Pk_n = Pk_k + Pk_n[:d2, :d2] = Pk_k[:d2, :d2] + Ck.dot(Pk1_n[:d2, :d2] - Pk1_k[:d2, :d2]).dot(Ck.T) + states_smoothed.append(xk_n) + covs_smoothed.append(Pk_n) + + return np.flipud(np.vstack(states_smoothed)), np.stack(covs_smoothed, 0)[::-1] diff --git a/rednose/helpers/ekf_sym_pyx.cpp b/rednose/helpers/ekf_sym_pyx.cpp new file mode 100644 index 000000000..df548f6e0 --- /dev/null +++ b/rednose/helpers/ekf_sym_pyx.cpp @@ -0,0 +1,28140 @@ +/* Generated by Cython 0.29.26 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "rednose/helpers/ekf_sym.h" + ], + "language": "c++", + "name": "helpers.ekf_sym_pyx", + "sources": [ + "/data/openpilot/rednose/helpers/ekf_sym_pyx.pyx" + ] + }, + "module_name": "helpers.ekf_sym_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(U other) { return *ptr == other; } + template bool operator !=(U other) { return *ptr != other; } + private: + T *ptr; +}; + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__helpers__ekf_sym_pyx +#define __PYX_HAVE_API__helpers__ekf_sym_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" + + /* NumPy API declarations from "numpy/__init__.pxd" */ + +#include +#include "rednose/helpers/ekf_sym.h" +#include "pythread.h" +#include +#include "pystate.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +static PyObject *__pyx_m = NULL; +static PyObject *__pyx_d; +static PyObject *__pyx_b; +static PyObject *__pyx_cython_runtime = NULL; +static PyObject *__pyx_empty_tuple; +static PyObject *__pyx_empty_bytes; +static PyObject *__pyx_empty_unicode; +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm= __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif defined(_Complex_I) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + + +static const char *__pyx_f[] = { + "rednose/helpers/ekf_sym_pyx.pyx", + "stringsource", + "__init__.pxd", + "type.pxd", +}; +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __pyx_atomic_int_type int +#if CYTHON_ATOMICS && __GNUC__ >= 4 && (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL >= 2)) &&\ + !defined(__i386__) + #define __pyx_atomic_incr_aligned(value, lock) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value, lock) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) && 0 + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type LONG + #define __pyx_atomic_incr_aligned(value, lock) InterlockedIncrement(value) + #define __pyx_atomic_decr_aligned(value, lock) InterlockedDecrement(value) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#elif CYTHON_ATOMICS && (defined(__ICC) || defined(__INTEL_COMPILER)) && 0 + #define __pyx_atomic_incr_aligned(value, lock) _InterlockedIncrement(value) + #define __pyx_atomic_decr_aligned(value, lock) _InterlockedDecrement(value) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using Intel atomics" + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +typedef volatile __pyx_atomic_int_type __pyx_atomic_int; +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview), memview->lock) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* BufferFormatStructs.proto */ +#define IS_UNSIGNED(type) (((type) -1) > 0) +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":690 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":691 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":692 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":693 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":697 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":698 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":699 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":700 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":704 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":705 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":714 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong long_t + * ctypedef npy_longlong longlong_t + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":715 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong long_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_longlong __pyx_t_5numpy_long_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":716 + * ctypedef npy_long int_t + * ctypedef npy_longlong long_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":718 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulong_t + * ctypedef npy_ulonglong ulonglong_t + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":719 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulong_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulonglong __pyx_t_5numpy_ulong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":720 + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulong_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":722 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":723 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":725 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":726 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":727 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* Declarations.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + + +/*--- Type declarations ---*/ +struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":729 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":730 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":731 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":733 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "helpers/ekf_sym_pyx.pyx":81 + * return np.copy(np.asarray(mem_view, dtype=np.double, order="C")) + * + * cdef class EKF_sym_pyx: # <<<<<<<<<<<<<< + * cdef EKFSym* ekf + * def __cinit__(self, str gen_dir, str name, np.ndarray[np.float64_t, ndim=2] Q, + */ +struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx { + PyObject_HEAD + EKFS::EKFSym *ekf; +}; + + +/* "View.MemoryView":105 + * + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":279 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":330 + * + * @cname('__pyx_memoryview') + * cdef class memoryview(object): # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; 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+ PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":965 + * + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; +}; +static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice; + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, int); 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}} while(0) + #define __Pyx_XDECREF(r) do { if((r) != NULL) {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) != NULL) {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) != NULL) {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* Profile.proto */ +#ifndef CYTHON_PROFILE +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_PYSTON + #define CYTHON_PROFILE 0 +#else + #define CYTHON_PROFILE 1 +#endif +#endif +#ifndef CYTHON_TRACE_NOGIL + #define CYTHON_TRACE_NOGIL 0 +#else + #if CYTHON_TRACE_NOGIL && !defined(CYTHON_TRACE) + #define CYTHON_TRACE 1 + #endif +#endif +#ifndef CYTHON_TRACE + #define CYTHON_TRACE 0 +#endif +#if CYTHON_TRACE + #undef CYTHON_PROFILE_REUSE_FRAME +#endif +#ifndef CYTHON_PROFILE_REUSE_FRAME + #define CYTHON_PROFILE_REUSE_FRAME 0 +#endif +#if CYTHON_PROFILE || CYTHON_TRACE + #include "compile.h" + #include "frameobject.h" + #include "traceback.h" + #if CYTHON_PROFILE_REUSE_FRAME + #define CYTHON_FRAME_MODIFIER static + #define CYTHON_FRAME_DEL(frame) + #else + #define CYTHON_FRAME_MODIFIER + #define CYTHON_FRAME_DEL(frame) Py_CLEAR(frame) + #endif + #define __Pyx_TraceDeclarations\ + static PyCodeObject *__pyx_frame_code = NULL;\ + CYTHON_FRAME_MODIFIER PyFrameObject *__pyx_frame = NULL;\ + int __Pyx_use_tracing = 0; + #define __Pyx_TraceFrameInit(codeobj)\ + if (codeobj) __pyx_frame_code = (PyCodeObject*) codeobj; +#if PY_VERSION_HEX >= 0x030b00a2 + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + (unlikely((tstate)->cframe->use_tracing) &&\ + (!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #define __Pyx_EnterTracing(tstate) PyThreadState_EnterTracing(tstate) + #define __Pyx_LeaveTracing(tstate) PyThreadState_LeaveTracing(tstate) +#elif PY_VERSION_HEX >= 0x030a00b1 + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + (unlikely((tstate)->cframe->use_tracing) &&\ + (!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #define __Pyx_EnterTracing(tstate)\ + do { tstate->tracing++; tstate->cframe->use_tracing = 0; } while (0) + #define __Pyx_LeaveTracing(tstate)\ + do {\ + tstate->tracing--;\ + tstate->cframe->use_tracing = ((CYTHON_TRACE && tstate->c_tracefunc != NULL)\ + || tstate->c_profilefunc != NULL);\ + } while (0) +#else + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + (unlikely((tstate)->use_tracing) &&\ + (!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #define __Pyx_EnterTracing(tstate)\ + do { tstate->tracing++; tstate->use_tracing = 0; } while (0) + #define __Pyx_LeaveTracing(tstate)\ + do {\ + tstate->tracing--;\ + tstate->use_tracing = ((CYTHON_TRACE && tstate->c_tracefunc != NULL)\ + || tstate->c_profilefunc != NULL);\ + } while (0) +#endif + #ifdef WITH_THREAD + #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error)\ + if (nogil) {\ + if (CYTHON_TRACE_NOGIL) {\ + PyThreadState *tstate;\ + PyGILState_STATE state = PyGILState_Ensure();\ + tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 1, 1)) {\ + __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ + }\ + PyGILState_Release(state);\ + if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ + }\ + } else {\ + PyThreadState* tstate = PyThreadState_GET();\ + if (__Pyx_IsTracing(tstate, 1, 1)) {\ + __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ + if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ + }\ + } + #else + #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error)\ + { PyThreadState* tstate = PyThreadState_GET();\ + if (__Pyx_IsTracing(tstate, 1, 1)) {\ + __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ + if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ + }\ + } + #endif + #define __Pyx_TraceException()\ + if (likely(!__Pyx_use_tracing)); else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 1)) {\ + __Pyx_EnterTracing(tstate);\ + PyObject *exc_info = __Pyx_GetExceptionTuple(tstate);\ + if (exc_info) {\ + if (CYTHON_TRACE && tstate->c_tracefunc)\ + tstate->c_tracefunc(\ + tstate->c_traceobj, __pyx_frame, PyTrace_EXCEPTION, exc_info);\ + tstate->c_profilefunc(\ + tstate->c_profileobj, __pyx_frame, PyTrace_EXCEPTION, exc_info);\ + Py_DECREF(exc_info);\ + }\ + __Pyx_LeaveTracing(tstate);\ + }\ + } + static void __Pyx_call_return_trace_func(PyThreadState *tstate, PyFrameObject *frame, PyObject *result) { + PyObject *type, *value, *traceback; + __Pyx_ErrFetchInState(tstate, &type, &value, &traceback); + __Pyx_EnterTracing(tstate); + if (CYTHON_TRACE && tstate->c_tracefunc) + tstate->c_tracefunc(tstate->c_traceobj, frame, PyTrace_RETURN, result); + if (tstate->c_profilefunc) + tstate->c_profilefunc(tstate->c_profileobj, frame, PyTrace_RETURN, result); + CYTHON_FRAME_DEL(frame); + __Pyx_LeaveTracing(tstate); + __Pyx_ErrRestoreInState(tstate, type, value, traceback); + } + #ifdef WITH_THREAD + #define __Pyx_TraceReturn(result, nogil)\ + if (likely(!__Pyx_use_tracing)); else {\ + if (nogil) {\ + if (CYTHON_TRACE_NOGIL) {\ + PyThreadState *tstate;\ + PyGILState_STATE state = PyGILState_Ensure();\ + tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0)) {\ + __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ + }\ + PyGILState_Release(state);\ + }\ + } else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0)) {\ + __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ + }\ + }\ + } + #else + #define __Pyx_TraceReturn(result, nogil)\ + if (likely(!__Pyx_use_tracing)); else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0)) {\ + __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ + }\ + } + #endif + static PyCodeObject *__Pyx_createFrameCodeObject(const char *funcname, const char *srcfile, int firstlineno); + static int __Pyx_TraceSetupAndCall(PyCodeObject** code, PyFrameObject** frame, PyThreadState* tstate, const char *funcname, const char *srcfile, int firstlineno); +#else + #define __Pyx_TraceDeclarations + #define __Pyx_TraceFrameInit(codeobj) + #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error) if ((1)); else goto_error; + #define __Pyx_TraceException() + #define __Pyx_TraceReturn(result, nogil) +#endif +#if CYTHON_TRACE + static int __Pyx_call_line_trace_func(PyThreadState *tstate, PyFrameObject *frame, int lineno) { + int ret; + PyObject *type, *value, *traceback; + __Pyx_ErrFetchInState(tstate, &type, &value, &traceback); + __Pyx_PyFrame_SetLineNumber(frame, lineno); + __Pyx_EnterTracing(tstate); + ret = tstate->c_tracefunc(tstate->c_traceobj, frame, PyTrace_LINE, NULL); + __Pyx_LeaveTracing(tstate); + if (likely(!ret)) { + __Pyx_ErrRestoreInState(tstate, type, value, traceback); + } else { + Py_XDECREF(type); + Py_XDECREF(value); + Py_XDECREF(traceback); + } + return ret; + } + #ifdef WITH_THREAD + #define __Pyx_TraceLine(lineno, nogil, goto_error)\ + if (likely(!__Pyx_use_tracing)); else {\ + if (nogil) {\ + if (CYTHON_TRACE_NOGIL) {\ + int ret = 0;\ + PyThreadState *tstate;\ + PyGILState_STATE state = PyGILState_Ensure();\ + tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ + ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ + }\ + PyGILState_Release(state);\ + if (unlikely(ret)) goto_error;\ + }\ + } else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ + int ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ + if (unlikely(ret)) goto_error;\ + }\ + }\ + } + #else + #define __Pyx_TraceLine(lineno, nogil, goto_error)\ + if (likely(!__Pyx_use_tracing)); else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ + int ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ + if (unlikely(ret)) goto_error;\ + }\ + } + #endif +#else + #define __Pyx_TraceLine(lineno, nogil, goto_error) if ((1)); else goto_error; +#endif + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyCFunctionFastCall.proto */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); +#else +#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#else +#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if CYTHON_FAST_PYCALL + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif // CYTHON_FAST_PYCALL +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (memview->acquisition_count_aligned_p) +#define __pyx_get_slice_count(memview) (*__pyx_get_slice_count_pointer(memview)) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XDEC_MEMVIEW(slice, have_gil) __Pyx_XDEC_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely((Py_TYPE(obj) == type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + PyList_SET_ITEM(list, len, x); + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* BufferFallbackError.proto */ +static void __Pyx_RaiseBufferFallbackError(void); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallNoArg.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); +#else +#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL) +#endif + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* WriteUnraisableException.proto */ +static void __Pyx_WriteUnraisable(const char *name, int clineno, + int lineno, const char *filename, + int full_traceback, int nogil); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* None.proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +static CYTHON_UNUSED int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +static CYTHON_UNUSED int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* PyIntBinop.proto */ +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); +#else +#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ + (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) +#endif + +/* ListExtend.proto */ +static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) { +#if CYTHON_COMPILING_IN_CPYTHON + PyObject* none = _PyList_Extend((PyListObject*)L, v); + if (unlikely(!none)) + return -1; + Py_DECREF(none); + return 0; +#else + return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v); +#endif +} + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + PyList_SET_ITEM(list, len, x); + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* None.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* None.proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); + +/* StringJoin.proto */ +#if PY_MAJOR_VERSION < 3 +#define __Pyx_PyString_Join __Pyx_PyBytes_Join +#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v)) +#else +#define __Pyx_PyString_Join PyUnicode_Join +#define __Pyx_PyBaseString_Join PyUnicode_Join +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #if PY_MAJOR_VERSION < 3 + #define __Pyx_PyBytes_Join _PyString_Join + #else + #define __Pyx_PyBytes_Join _PyBytes_Join + #endif +#else +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values); +#endif + +/* PyObject_Unicode.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyObject_Unicode(obj)\ + (likely(PyUnicode_CheckExact(obj)) ? __Pyx_NewRef(obj) : PyObject_Str(obj)) +#else +#define __Pyx_PyObject_Unicode(obj)\ + (likely(PyUnicode_CheckExact(obj)) ? __Pyx_NewRef(obj) : PyObject_Unicode(obj)) +#endif + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* SetupReduce.proto */ +static int __Pyx_setup_reduce(PyObject* type_obj); + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable); + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto +#define __PYX_HAVE_RT_ImportType_proto +enum __Pyx_ImportType_CheckSize { + __Pyx_ImportType_CheckSize_Error = 0, + __Pyx_ImportType_CheckSize_Warn = 1, + __Pyx_ImportType_CheckSize_Ignore = 2 +}; +static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size); +#endif + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* Capsule.proto */ +static CYTHON_INLINE PyObject *__pyx_capsule_create(void *p, const char *sig); + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsds_double(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_double(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_double(const char *itemp, PyObject *obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_double(PyObject *, int writable_flag); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* TypeInfoToFormat.proto */ +struct __pyx_typeinfo_string { + char string[3]; +}; +static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ + +/* Module declarations from 'cython.view' */ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ + +/* Module declarations from 'cython' */ + +/* Module declarations from 'libc.string' */ + +/* Module declarations from 'libcpp.string' */ + +/* Module declarations from 'libcpp.vector' */ + +/* Module declarations from 'libcpp' */ + +/* Module declarations from 'cpython.buffer' */ + +/* Module declarations from 'libc.stdio' */ + +/* Module declarations from '__builtin__' */ + +/* Module declarations from 'cpython.type' */ +static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; + +/* Module declarations from 'cpython' */ + +/* Module declarations from 'cpython.object' */ + +/* Module declarations from 'cpython.ref' */ + +/* Module declarations from 'cpython.mem' */ + +/* Module declarations from 'numpy' */ + +/* Module declarations from 'numpy' */ +static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; +static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; +static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; +static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; +static PyTypeObject *__pyx_ptype_5numpy_generic = 0; +static PyTypeObject *__pyx_ptype_5numpy_number = 0; +static PyTypeObject *__pyx_ptype_5numpy_integer = 0; +static PyTypeObject *__pyx_ptype_5numpy_signedinteger = 0; +static PyTypeObject *__pyx_ptype_5numpy_unsignedinteger = 0; +static PyTypeObject *__pyx_ptype_5numpy_inexact = 0; +static PyTypeObject *__pyx_ptype_5numpy_floating = 0; +static PyTypeObject *__pyx_ptype_5numpy_complexfloating = 0; +static PyTypeObject *__pyx_ptype_5numpy_flexible = 0; +static PyTypeObject *__pyx_ptype_5numpy_character = 0; +static PyTypeObject *__pyx_ptype_5numpy_ufunc = 0; + +/* Module declarations from 'helpers.ekf_sym_pyx' */ +static PyTypeObject *__pyx_ptype_7helpers_11ekf_sym_pyx_EKF_sym_pyx = 0; +static PyTypeObject *__pyx_array_type = 0; +static PyTypeObject *__pyx_MemviewEnum_type = 0; +static PyTypeObject *__pyx_memoryview_type = 0; +static PyTypeObject *__pyx_memoryviewslice_type = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static PyArrayObject *__pyx_f_7helpers_11ekf_sym_pyx_matrix_to_numpy(Eigen::Matrix); /*proto*/ +static PyArrayObject *__pyx_f_7helpers_11ekf_sym_pyx_vector_to_numpy(Eigen::VectorXd); /*proto*/ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static std::vector __pyx_convert_vector_from_py_int(PyObject *); /*proto*/ +static std::vector __pyx_convert_vector_from_py_std_3a__3a_string(PyObject *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static void *__pyx_align_pointer(void *, size_t); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static PyObject *assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, char *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, char *); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static PyObject *__pyx_format_from_typeinfo(__Pyx_TypeInfo *); /*proto*/ +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; +#define __Pyx_MODULE_NAME "helpers.ekf_sym_pyx" +extern int __pyx_module_is_main_helpers__ekf_sym_pyx; +int __pyx_module_is_main_helpers__ekf_sym_pyx = 0; + +/* Implementation of 'helpers.ekf_sym_pyx' */ +static PyObject *__pyx_builtin_NotImplementedError; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_ImportError; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static const char __pyx_k_C[] = "C"; +static const char __pyx_k_N[] = "N"; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_P[] = "P"; +static const char __pyx_k_Q[] = "Q"; +static const char __pyx_k_R[] = "R"; +static const char __pyx_k_T[] = "T{"; + static const char __pyx_k_c[] = "c"; + static const char __pyx_k_s[] = "(%s)"; + static const char __pyx_k_t[] = "t"; + static const char __pyx_k_x[] = "x"; + static const char __pyx_k_z[] = "z"; + static const char __pyx_k_id[] = "id"; + static const char __pyx_k_np[] = "np"; + static const char __pyx_k__29[] = "^"; + static const char __pyx_k__30[] = ""; + static const char __pyx_k__31[] = ":"; +static const char __pyx_k__32[] = "}"; +static const char __pyx_k__33[] = ","; +static const char __pyx_k_nan[] = "nan"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_val[] = "val"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_copy[] = "copy"; +static const char __pyx_k_covs[] = "covs"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_kind[] = "kind"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_utf8[] = "utf8"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_order[] = "order"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_state[] = "state"; +static const char __pyx_k_double[] = "double"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_logger[] = "logger"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_asarray[] = "asarray"; +static const char __pyx_k_augment[] = "augment"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_gen_dir[] = "gen_dir"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_dim_main[] = "dim_main"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_P_initial[] = "P_initial"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_estimates[] = "estimates"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_x_initial[] = "x_initial"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_extra_args[] = "extra_args"; +static const char __pyx_k_global_var[] = "global_var"; +static const char __pyx_k_norm_quats[] = "norm_quats"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_EKF_sym_pyx[] = "EKF_sym_pyx"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_dim_augment[] = "dim_augment"; +static const char __pyx_k_filter_time[] = "filter_time"; +static const char __pyx_k_global_vars[] = "global_vars"; +static const char __pyx_k_maha_thresh[] = "maha_thresh"; +static const char __pyx_k_dim_main_err[] = "dim_main_err"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = "stringsource"; +static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_max_rewind_age[] = "max_rewind_age"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_dim_augment_err[] = "dim_augment_err"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_maha_test_kinds[] = "maha_test_kinds"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_quaternion_idxs[] = "quaternion_idxs"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'"; +static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d."; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_s_vs_0xb0[] = "Incompatible checksums (%s vs 0xb068931 = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s"; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)"; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)"; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static PyObject *__pyx_n_s_ASCII; +static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; +static PyObject *__pyx_n_u_C; +static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; +static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; +static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; +static PyObject *__pyx_kp_s_Cannot_index_with_type_s; +static PyObject *__pyx_n_s_EKF_sym_pyx; +static PyObject *__pyx_n_s_Ellipsis; +static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; +static PyObject *__pyx_n_s_ImportError; +static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0; +static PyObject *__pyx_n_s_IndexError; +static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; +static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr; +static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d; +static PyObject *__pyx_n_s_MemoryError; +static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; +static PyObject *__pyx_kp_s_MemoryView_of_r_object; +static PyObject *__pyx_n_s_N; +static PyObject *__pyx_n_s_NotImplementedError; +static PyObject *__pyx_n_b_O; +static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a; +static PyObject *__pyx_n_s_P; +static PyObject *__pyx_n_s_P_initial; +static PyObject *__pyx_n_s_PickleError; +static PyObject *__pyx_n_s_Q; +static PyObject *__pyx_n_s_R; +static PyObject *__pyx_kp_b_T; +static PyObject *__pyx_n_s_TypeError; +static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; +static PyObject *__pyx_n_s_ValueError; +static PyObject *__pyx_n_s_View_MemoryView; +static PyObject *__pyx_kp_b__29; +static PyObject *__pyx_kp_b__30; +static PyObject *__pyx_kp_b__31; +static PyObject *__pyx_kp_b__32; +static PyObject *__pyx_kp_u__33; +static PyObject *__pyx_n_s_allocate_buffer; +static PyObject *__pyx_n_s_asarray; +static PyObject *__pyx_n_s_ascontiguousarray; +static PyObject *__pyx_n_s_augment; +static PyObject *__pyx_n_s_base; +static PyObject *__pyx_n_s_c; +static PyObject *__pyx_n_u_c; +static PyObject *__pyx_n_s_class; +static PyObject *__pyx_n_s_cline_in_traceback; +static PyObject *__pyx_kp_s_contiguous_and_direct; +static PyObject *__pyx_kp_s_contiguous_and_indirect; +static PyObject *__pyx_n_s_copy; +static PyObject *__pyx_n_s_covs; +static PyObject *__pyx_n_s_dict; +static PyObject *__pyx_n_s_dim_augment; +static PyObject *__pyx_n_s_dim_augment_err; +static PyObject *__pyx_n_s_dim_main; +static PyObject *__pyx_n_s_dim_main_err; +static PyObject *__pyx_n_s_double; +static PyObject *__pyx_n_s_dtype; +static PyObject *__pyx_n_s_dtype_is_object; +static PyObject *__pyx_n_s_encode; +static PyObject *__pyx_n_s_enumerate; +static PyObject *__pyx_n_s_error; +static PyObject *__pyx_n_s_estimates; +static PyObject *__pyx_n_s_extra_args; +static PyObject *__pyx_n_s_filter_time; +static PyObject *__pyx_n_s_flags; +static PyObject *__pyx_n_s_format; +static PyObject *__pyx_n_s_fortran; +static PyObject *__pyx_n_u_fortran; +static PyObject *__pyx_n_s_gen_dir; +static PyObject *__pyx_n_s_getstate; +static PyObject *__pyx_n_s_global_var; +static PyObject *__pyx_n_s_global_vars; +static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; +static PyObject *__pyx_n_s_id; +static PyObject *__pyx_n_s_import; +static PyObject *__pyx_n_s_itemsize; +static PyObject *__pyx_kp_s_itemsize_0_for_cython_array; +static PyObject *__pyx_n_s_join; +static PyObject *__pyx_n_s_kind; +static PyObject *__pyx_n_s_logger; +static PyObject *__pyx_n_s_maha_test_kinds; +static PyObject *__pyx_n_s_maha_thresh; +static PyObject *__pyx_n_s_main; +static PyObject *__pyx_n_s_max_rewind_age; +static PyObject *__pyx_n_s_memview; +static PyObject *__pyx_n_s_mode; +static PyObject *__pyx_n_s_name; +static PyObject *__pyx_n_s_name_2; +static PyObject *__pyx_n_s_nan; +static PyObject *__pyx_n_s_ndim; +static PyObject *__pyx_n_s_new; +static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; +static PyObject *__pyx_n_s_norm_quats; +static PyObject *__pyx_n_s_np; +static PyObject *__pyx_n_s_numpy; +static PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; +static PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; +static PyObject *__pyx_n_s_obj; +static PyObject *__pyx_n_s_order; +static PyObject *__pyx_n_s_pack; +static PyObject *__pyx_n_s_pickle; +static PyObject *__pyx_n_s_pyx_PickleError; +static PyObject *__pyx_n_s_pyx_checksum; +static PyObject *__pyx_n_s_pyx_getbuffer; +static PyObject *__pyx_n_s_pyx_result; +static PyObject *__pyx_n_s_pyx_state; +static PyObject *__pyx_n_s_pyx_type; +static PyObject *__pyx_n_s_pyx_unpickle_Enum; +static PyObject *__pyx_n_s_pyx_vtable; +static PyObject *__pyx_n_s_quaternion_idxs; +static PyObject *__pyx_n_s_range; +static PyObject *__pyx_n_s_reduce; +static PyObject *__pyx_n_s_reduce_cython; +static PyObject *__pyx_n_s_reduce_ex; +static PyObject *__pyx_kp_u_s; +static PyObject *__pyx_n_s_setstate; +static PyObject *__pyx_n_s_setstate_cython; +static PyObject *__pyx_n_s_shape; +static PyObject *__pyx_n_s_size; +static PyObject *__pyx_n_s_start; +static PyObject *__pyx_n_s_state; +static PyObject *__pyx_n_s_step; +static PyObject *__pyx_n_s_stop; +static PyObject *__pyx_kp_s_strided_and_direct; +static PyObject *__pyx_kp_s_strided_and_direct_or_indirect; +static PyObject *__pyx_kp_s_strided_and_indirect; +static PyObject *__pyx_kp_s_stringsource; +static PyObject *__pyx_n_s_struct; +static PyObject *__pyx_n_s_t; +static PyObject *__pyx_n_s_test; +static PyObject *__pyx_kp_s_unable_to_allocate_array_data; +static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; +static PyObject *__pyx_n_s_unpack; +static PyObject *__pyx_n_s_update; +static PyObject *__pyx_n_u_utf8; +static PyObject *__pyx_n_s_val; +static PyObject *__pyx_n_s_x; +static PyObject *__pyx_n_s_x_initial; +static PyObject *__pyx_n_s_z; +static int __pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx___cinit__(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_gen_dir, PyObject *__pyx_v_name, PyArrayObject *__pyx_v_Q, PyArrayObject *__pyx_v_x_initial, PyArrayObject *__pyx_v_P_initial, int __pyx_v_dim_main, int __pyx_v_dim_main_err, int __pyx_v_N, int __pyx_v_dim_augment, int __pyx_v_dim_augment_err, PyObject *__pyx_v_maha_test_kinds, PyObject *__pyx_v_quaternion_idxs, PyObject *__pyx_v_global_vars, double __pyx_v_max_rewind_age, CYTHON_UNUSED PyObject *__pyx_v_logger); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_2init_state(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, PyArrayObject *__pyx_v_state, PyArrayObject *__pyx_v_covs, PyObject *__pyx_v_filter_time); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_4state(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_6covs(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_8set_filter_time(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_10get_filter_time(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_12set_global(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, PyObject *__pyx_v_global_var, double __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_14reset_rewind(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_16predict(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_18predict_and_update_batch(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t, int __pyx_v_kind, PyObject *__pyx_v_z, PyObject *__pyx_v_R, PyObject *__pyx_v_extra_args, bool __pyx_v_augment); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_20augment(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_22get_augment_times(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_24rts_smooth(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_estimates, CYTHON_UNUSED PyObject *__pyx_v_norm_quats); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_26maha_test(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_x, CYTHON_UNUSED PyObject *__pyx_v_P, CYTHON_UNUSED PyObject *__pyx_v_kind, CYTHON_UNUSED PyObject *__pyx_v_z, CYTHON_UNUSED PyObject *__pyx_v_R, CYTHON_UNUSED PyObject *__pyx_v_extra_args, CYTHON_UNUSED PyObject *__pyx_v_maha_thresh); /* proto */ +static void __pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_28__dealloc__(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_30__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_32__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); 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<<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":829 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":831 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = ((!(__pyx_t_1 != 0)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * start += shape + * if not 0 <= start < shape: + * _err_dim(IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_IndexError, ((char *)"Index out of bounds (axis %d)"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 832, __pyx_L1_error) + + /* "View.MemoryView":831 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":827 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":835 + * else: + * + * negative_step = have_step != 0 and step < 0 # <<<<<<<<<<<<<< + * + * if have_step and step == 0: + */ + /*else*/ { + __pyx_t_1 = ((__pyx_v_have_step != 0) != 0); + if (__pyx_t_1) { + } else { + __pyx_t_2 = __pyx_t_1; + goto __pyx_L6_bool_binop_done; + } + __pyx_t_1 = ((__pyx_v_step < 0) != 0); + __pyx_t_2 = __pyx_t_1; + __pyx_L6_bool_binop_done:; + __pyx_v_negative_step = __pyx_t_2; + + /* "View.MemoryView":837 + * negative_step = have_step != 0 and step < 0 + * + * if have_step and step == 0: # <<<<<<<<<<<<<< + * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) + * + */ + __pyx_t_1 = (__pyx_v_have_step != 0); + if (__pyx_t_1) { + } else { + __pyx_t_2 = __pyx_t_1; + goto __pyx_L9_bool_binop_done; + } + __pyx_t_1 = ((__pyx_v_step == 0) != 0); + __pyx_t_2 = __pyx_t_1; + __pyx_L9_bool_binop_done:; + if (__pyx_t_2) { + + /* "View.MemoryView":838 + * + * if have_step and step == 0: + * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Step may not be zero (axis %d)"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 838, __pyx_L1_error) + + /* "View.MemoryView":837 + * negative_step = have_step != 0 and step < 0 + * + * if have_step and step == 0: # <<<<<<<<<<<<<< + * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) + * + */ + } + + /* "View.MemoryView":841 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":842 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = ((__pyx_v_start < 0) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":843 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":844 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = ((__pyx_v_start < 0) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":845 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":844 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":842 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":846 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = ((__pyx_v_start >= __pyx_v_shape) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + __pyx_t_2 = (__pyx_v_negative_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":847 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":850 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L14:; + + /* "View.MemoryView":846 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L12:; + + /* "View.MemoryView":841 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L11; + } + + /* "View.MemoryView":852 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_negative_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":853 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":852 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L15; + } + + /* "View.MemoryView":855 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * 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memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_5 = 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abs_py_ssize_t(Py_ssize_t arg) nogil: # <<<<<<<<<<<<<< + * if arg < 0: + * return -arg + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + __Pyx_TraceDeclarations + int __pyx_t_1; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_TraceCall("abs_py_ssize_t", __pyx_f[1], 1109, 1, __PYX_ERR(1, 1109, __pyx_L1_error)); + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: + * if arg < 0: # <<<<<<<<<<<<<< + * return -arg + * else: + */ + __pyx_t_1 = ((__pyx_v_arg < 0) != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":1111 + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: + * if arg < 0: + * return -arg # <<<<<<<<<<<<<< + * else: + * return arg + */ + __pyx_r = (-__pyx_v_arg); + goto __pyx_L0; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: + * if arg < 0: # <<<<<<<<<<<<<< + * return -arg + * else: + */ + } + + /* "View.MemoryView":1113 + * return -arg + * else: + * return arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + /*else*/ { + __pyx_r = __pyx_v_arg; + goto __pyx_L0; + } + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: # <<<<<<<<<<<<<< + * if arg < 0: + * return -arg + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_WriteUnraisable("View.MemoryView.abs_py_ssize_t", __pyx_clineno, __pyx_lineno, __pyx_filename, 1, 1); + __pyx_r = 0; + __pyx_L0:; + __Pyx_TraceReturn(Py_None, 1); + return __pyx_r; +} + +/* "View.MemoryView":1116 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + __Pyx_TraceDeclarations + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_TraceCall("get_best_order", __pyx_f[1], 1116, 1, __PYX_ERR(1, 1116, __pyx_L1_error)); + + /* "View.MemoryView":1121 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1122 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1124 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1125 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = (((__pyx_v_mslice->shape[__pyx_v_i]) > 1) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1126 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1127 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1125 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1129 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1130 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = (((__pyx_v_mslice->shape[__pyx_v_i]) > 1) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1131 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1132 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1130 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1134 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = ((abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1135 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1134 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1137 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1116 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_WriteUnraisable("View.MemoryView.get_best_order", __pyx_clineno, __pyx_lineno, __pyx_filename, 1, 1); + __pyx_r = 0; + __pyx_L0:; + __Pyx_TraceReturn(Py_None, 1); + return __pyx_r; +} + +/* "View.MemoryView":1140 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + Py_ssize_t __pyx_t_6; + + /* "View.MemoryView":1147 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1148 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1150 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1152 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = ((__pyx_v_ndim == 1) != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = ((__pyx_v_src_stride > 0) != 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = ((__pyx_v_dst_stride > 0) != 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1154 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_3 = (__pyx_t_2 != 0); + __pyx_t_1 = __pyx_t_3; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1155 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_4 = __pyx_v_dst_extent; + __pyx_t_5 = __pyx_t_4; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1158 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1159 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1160 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1152 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1162 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_4 = __pyx_v_dst_extent; + __pyx_t_5 = __pyx_t_4; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1163 + * else: + 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if (__pyx_t_2) { + + /* "View.MemoryView":1316 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1315 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1318 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + */ + __pyx_t_2 = (__pyx_v_direct_copy != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1320 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, 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/*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "helpers.ekf_sym_pyx.array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + (*Py_TYPE(o)->tp_free)(o); +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "helpers.ekf_sym_pyx.Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + (*Py_TYPE(o)->tp_free)(o); +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by %.200s", Py_TYPE(o)->tp_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"is_c_contig", (PyCFunction)__pyx_memoryview_is_c_contig, METH_NOARGS, 0}, + {"is_f_contig", (PyCFunction)__pyx_memoryview_is_f_contig, METH_NOARGS, 0}, + {"copy", (PyCFunction)__pyx_memoryview_copy, METH_NOARGS, 0}, + {"copy_fortran", (PyCFunction)__pyx_memoryview_copy_fortran, METH_NOARGS, 0}, + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "helpers.ekf_sym_pyx.memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XDEC_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyObject *__pyx_getprop___pyx_memoryviewslice_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_16_memoryviewslice_4base_1__get__(o); +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets__memoryviewslice[] = { + {(char *)"base", __pyx_getprop___pyx_memoryviewslice_base, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "helpers.ekf_sym_pyx._memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + "Internal class for passing memoryview slices to Python", /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, 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__pyx_pymod_create(PyObject *spec, PyModuleDef *def); /*proto*/ +static int __pyx_pymod_exec_ekf_sym_pyx(PyObject* module); /*proto*/ +static PyModuleDef_Slot __pyx_moduledef_slots[] = { + {Py_mod_create, (void*)__pyx_pymod_create}, + {Py_mod_exec, (void*)__pyx_pymod_exec_ekf_sym_pyx}, + {0, NULL} +}; +#endif + +static struct PyModuleDef __pyx_moduledef = { + PyModuleDef_HEAD_INIT, + "ekf_sym_pyx", + 0, /* m_doc */ + #if CYTHON_PEP489_MULTI_PHASE_INIT + 0, /* m_size */ + #else + -1, /* m_size */ + #endif + __pyx_methods /* m_methods */, + #if CYTHON_PEP489_MULTI_PHASE_INIT + __pyx_moduledef_slots, /* m_slots */ + #else + NULL, /* m_reload */ + #endif + NULL, /* m_traverse */ + NULL, /* m_clear */ + NULL /* m_free */ +}; +#endif +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif 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+ if (retval && tstate->c_profilefunc) + #endif + retval = tstate->c_profilefunc(tstate->c_profileobj, *frame, PyTrace_CALL, NULL) == 0; + __Pyx_LeaveTracing(tstate); + if (retval) { + __Pyx_ErrRestoreInState(tstate, type, value, traceback); + return __Pyx_IsTracing(tstate, 0, 0) && retval; + } else { + Py_XDECREF(type); + Py_XDECREF(value); + Py_XDECREF(traceback); + return -1; + } +} +static PyCodeObject *__Pyx_createFrameCodeObject(const char *funcname, const char *srcfile, int firstlineno) { + PyCodeObject *py_code = 0; +#if PY_MAJOR_VERSION >= 3 + py_code = PyCode_NewEmpty(srcfile, funcname, firstlineno); + if (likely(py_code)) { + py_code->co_flags |= CO_OPTIMIZED | CO_NEWLOCALS; + } +#else + PyObject *py_srcfile = 0; + PyObject *py_funcname = 0; + py_funcname = PyString_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + py_srcfile = PyString_FromString(srcfile); + if (unlikely(!py_srcfile)) goto bad; + py_code = PyCode_New( + 0, + 0, + 0, + CO_OPTIMIZED | CO_NEWLOCALS, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + firstlineno, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); +bad: + Py_XDECREF(py_srcfile); + Py_XDECREF(py_funcname); +#endif + return py_code; +} +#endif + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyCFunctionFastCall */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); + } else { + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); + } +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { + return NULL; + } + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif +#endif + +/* PyObjectCall2Args */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); + } + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); + } + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; +} + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallOneArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); + } +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (__Pyx_PyFastCFunction_Check(func)) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } + } + return __Pyx__PyObject_CallOneArg(func, arg); +} +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +#endif + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", + Py_TYPE(obj)->tp_name, type->tp_name); + return 0; +} + +/* MemviewSliceInit */ +static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#ifdef HAVE_STDARG_PROTOTYPES + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + int first_time; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) + return; + if (unlikely(__pyx_get_slice_count(memview) < 0)) + __pyx_fatalerror("Acquisition count is %d (line %d)", + __pyx_get_slice_count(memview), lineno); + first_time = __pyx_add_acquisition_count(memview) == 0; + if (unlikely(first_time)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } +} +static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + int last_time; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + if (unlikely(__pyx_get_slice_count(memview) <= 0)) + __pyx_fatalerror("Acquisition count is %d (line %d)", + __pyx_get_slice_count(memview), lineno); + last_time = __pyx_sub_acquisition_count(memview) == 1; + memslice->data = NULL; + if (unlikely(last_time)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + memslice->memview = NULL; + } +} + +/* RaiseArgTupleInvalid */ +static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* RaiseDoubleKeywords */ +static void __Pyx_RaiseDoubleKeywordsError( + const char* func_name, + PyObject* kw_name) +{ + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION >= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + while (PyDict_Next(kwds, &pos, &key, &value)) { + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; + continue; + } + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = (**name == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", + name, type->tp_name, Py_TYPE(obj)->tp_name); + return 0; +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparseable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static PyObject * +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) + return PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + if (*ts != ',' && *ts != ')') + return PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + if (*ts == ',') ts++; + i++; + } + if (i != ndim) + return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return NULL; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return Py_None; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* BufferFallbackError */ + static void __Pyx_RaiseBufferFallbackError(void) { + PyErr_SetString(PyExc_ValueError, + "Buffer acquisition failed on assignment; and then reacquiring the old buffer failed too!"); +} + +/* GetItemInt */ + static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (!j) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; + if (likely(m && m->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { + Py_ssize_t l = m->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return m->sq_item(o, i); + } + } +#else + if (is_list || PySequence_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallNoArg */ + #if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, NULL, 0); + } +#endif +#ifdef __Pyx_CyFunction_USED + if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) +#else + if (likely(PyCFunction_Check(func))) +#endif + { + if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { + return __Pyx_PyObject_CallMethO(func, NULL); + } + } + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); +} +#endif + +/* RaiseException */ + #if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* WriteUnraisableException */ + static void __Pyx_WriteUnraisable(const char *name, CYTHON_UNUSED int clineno, + CYTHON_UNUSED int lineno, CYTHON_UNUSED const char *filename, + int full_traceback, CYTHON_UNUSED int nogil) { + PyObject *old_exc, *old_val, *old_tb; + PyObject *ctx; + __Pyx_PyThreadState_declare +#ifdef WITH_THREAD + PyGILState_STATE state; + if (nogil) + state = PyGILState_Ensure(); +#ifdef _MSC_VER + else state = (PyGILState_STATE)-1; +#endif +#endif + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&old_exc, &old_val, &old_tb); + if (full_traceback) { + Py_XINCREF(old_exc); + Py_XINCREF(old_val); + Py_XINCREF(old_tb); + __Pyx_ErrRestore(old_exc, old_val, old_tb); + PyErr_PrintEx(1); + } + #if PY_MAJOR_VERSION < 3 + ctx = PyString_FromString(name); + #else + ctx = PyUnicode_FromString(name); + #endif + __Pyx_ErrRestore(old_exc, old_val, old_tb); + if (!ctx) { + PyErr_WriteUnraisable(Py_None); + } else { + PyErr_WriteUnraisable(ctx); + Py_DECREF(ctx); + } +#ifdef WITH_THREAD + if (nogil) + PyGILState_Release(state); +#endif +} + +/* GetTopmostException */ + #if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ + #if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + #endif + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +#endif + +/* PyErrExceptionMatches */ + #if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); +} +#endif + +/* GetException */ + #if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type, *local_value, *local_tb; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* BytesEquals */ + static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ + static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* None */ + static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr */ + static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* ObjectGetItem */ + #if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { + PyObject *runerr; + Py_ssize_t key_value; + PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; + if (unlikely(!(m && m->sq_item))) { + PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); + return NULL; + } + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { + PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; + if (likely(m && m->mp_subscript)) { + return m->mp_subscript(obj, key); + } + return __Pyx_PyObject_GetIndex(obj, key); +} +#endif + +/* decode_c_string */ + static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + Py_ssize_t length; + if (unlikely((start < 0) | (stop < 0))) { + size_t slen = strlen(cstring); + if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, + "c-string too long to convert to Python"); + return NULL; + } + length = (Py_ssize_t) slen; + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* GetAttr3 */ + static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r = __Pyx_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +} + +/* RaiseTooManyValuesToUnpack */ + static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ + static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ + static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* SwapException */ + #if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ + static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *empty_list = 0; + PyObject *module = 0; + PyObject *global_dict = 0; + PyObject *empty_dict = 0; + PyObject *list; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (!py_import) + goto bad; + #endif + if (from_list) + list = from_list; + else { + empty_list = PyList_New(0); + if (!empty_list) + goto bad; + list = empty_list; + } + global_dict = PyModule_GetDict(__pyx_m); + if (!global_dict) + goto bad; + empty_dict = PyDict_New(); + if (!empty_dict) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, 1); + if (!module) { + if (!PyErr_ExceptionMatches(PyExc_ImportError)) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (!py_level) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, level); + #endif + } + } +bad: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + Py_XDECREF(empty_list); + Py_XDECREF(empty_dict); + return module; +} + +/* FastTypeChecks */ + #if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0 || (x^b) >= 0)) + return PyInt_FromLong(x); + return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + const long b = intval; + long a, x; +#ifdef HAVE_LONG_LONG + const PY_LONG_LONG llb = intval; + PY_LONG_LONG lla, llx; +#endif + const digit* digits = ((PyLongObject*)op1)->ob_digit; + const Py_ssize_t size = Py_SIZE(op1); + if (likely(__Pyx_sst_abs(size) <= 1)) { + a = likely(size) ? digits[0] : 0; + if (size == -1) a = -a; + } else { + switch (size) { + case -2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case -3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case -4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + default: return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + } + x = a + b; + return PyLong_FromLong(x); +#ifdef HAVE_LONG_LONG + long_long: + llx = lla + llb; + return PyLong_FromLongLong(llx); +#endif + + + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; + double a = PyFloat_AS_DOUBLE(op1); + double result; + PyFPE_START_PROTECT("add", return NULL) + result = ((double)a) + (double)b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); + } + return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); +} +#endif + +/* None */ + static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* None */ + static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ + static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ + static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (unlikely(!r)) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} + +/* StringJoin */ + #if !CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) { + return PyObject_CallMethodObjArgs(sep, __pyx_n_s_join, values, NULL); +} +#endif + +/* PyObject_GenericGetAttrNoDict */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ + static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +} + +/* SetupReduce */ + static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* SetVTable */ + static int __Pyx_SetVtable(PyObject *dict, void *vtable) { +#if PY_VERSION_HEX >= 0x02070000 + PyObject *ob = PyCapsule_New(vtable, 0, 0); +#else + PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); +#endif + if (!ob) + goto bad; + if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType +#define __PYX_HAVE_RT_ImportType +static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, + size_t size, enum __Pyx_ImportType_CheckSize check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; +#ifdef Py_LIMITED_API + PyObject *py_basicsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#ifndef Py_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if ((size_t)basicsize < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* MemviewSliceIsContig */ + static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ + static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* Capsule */ + static CYTHON_INLINE PyObject * +__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) +{ + PyObject *cobj; +#if PY_VERSION_HEX >= 0x02070000 + cobj = PyCapsule_New(p, sig, NULL); +#else + cobj = PyCObject_FromVoidPtr(p, NULL); +#endif + return cobj; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) +{ + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsds_double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 2, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_double(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(double *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_double(const char *itemp, PyObject *obj) { + double value = __pyx_PyFloat_AsDouble(obj); + if ((value == (double)-1) && PyErr_Occurred()) + return 0; + *(double *) itemp = value; + return 1; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if (b.imag == 0) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if (b.imag == 0) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* TypeInfoToFormat */ + static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type) { + struct __pyx_typeinfo_string result = { {0} }; + char *buf = (char *) result.string; + size_t size = type->size; + switch (type->typegroup) { + case 'H': + *buf = 'c'; + break; + case 'I': + case 'U': + if (size == 1) + *buf = (type->is_unsigned) ? 'B' : 'b'; + else if (size == 2) + *buf = (type->is_unsigned) ? 'H' : 'h'; + else if (size == 4) + *buf = (type->is_unsigned) ? 'I' : 'i'; + else if (size == 8) + *buf = (type->is_unsigned) ? 'Q' : 'q'; + break; + case 'P': + *buf = 'P'; + break; + case 'C': + { + __Pyx_TypeInfo complex_type = *type; + complex_type.typegroup = 'R'; + complex_type.size /= 2; + *buf++ = 'Z'; + *buf = __Pyx_TypeInfoToFormat(&complex_type).string[0]; + break; + } + case 'R': + if (size == 4) + *buf = 'f'; + else if (size == 8) + *buf = 'd'; + else + *buf = 'g'; + break; + } + return result; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(char) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (char) 0; + case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) + case 2: + if (8 * sizeof(char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(char) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (char) 0; + case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) + case -2: + if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } +#endif + if (sizeof(char) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(char) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* CheckBinaryVersion */ + static int __Pyx_check_binary_version(void) { + char ctversion[4], rtversion[4]; + PyOS_snprintf(ctversion, 4, "%d.%d", PY_MAJOR_VERSION, PY_MINOR_VERSION); + PyOS_snprintf(rtversion, 4, "%s", Py_GetVersion()); + if (ctversion[0] != rtversion[0] || ctversion[2] != rtversion[2]) { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compiletime version %s of module '%.100s' " + "does not match runtime version %s", + ctversion, __Pyx_MODULE_NAME, rtversion); + return PyErr_WarnEx(NULL, message, 1); + } + return 0; +} + +/* InitStrings */ + static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/rednose/helpers/ekf_sym_pyx.pyx b/rednose/helpers/ekf_sym_pyx.pyx new file mode 100644 index 000000000..e7461285a --- /dev/null +++ b/rednose/helpers/ekf_sym_pyx.pyx @@ -0,0 +1,190 @@ +# cython: language_level=3 +# cython: profile=True +# distutils: language = c++ + +cimport cython + +from libcpp.string cimport string +from libcpp.vector cimport vector +from libcpp cimport bool +cimport numpy as np + +import numpy as np + +cdef extern from "" namespace "std" nogil: + cdef cppclass optional[T]: + ctypedef T value_type + bool has_value() + T& value() + +cdef extern from "rednose/helpers/ekf_sym.h" namespace "EKFS": + cdef cppclass MapVectorXd "Eigen::Map": + MapVectorXd(double*, int) + + cdef cppclass MapMatrixXdr "Eigen::Map >": + MapMatrixXdr(double*, int, int) + + cdef cppclass VectorXd "Eigen::VectorXd": + VectorXd() + double* data() + int rows() + + cdef cppclass MatrixXdr "Eigen::Matrix": + MatrixXdr() + double* data() + int rows() + int cols() + + ctypedef struct Estimate: + VectorXd xk1 + VectorXd xk + MatrixXdr Pk1 + MatrixXdr Pk + double t + int kind + vector[VectorXd] y + vector[VectorXd] z + vector[vector[double]] extra_args + + cdef cppclass EKFSym: + EKFSym(string name, MapMatrixXdr Q, MapVectorXd x_initial, MapMatrixXdr P_initial, int dim_main, + int dim_main_err, int N, int dim_augment, int dim_augment_err, vector[int] maha_test_kinds, + vector[int] quaternion_idxs, vector[string] global_vars, double max_rewind_age) + void init_state(MapVectorXd state, MapMatrixXdr covs, double filter_time) + + VectorXd state() + MatrixXdr covs() + void set_filter_time(double t) + double get_filter_time() + void set_global(string name, double val) + void reset_rewind() + + void predict(double t) + optional[Estimate] predict_and_update_batch(double t, int kind, vector[MapVectorXd] z, vector[MapMatrixXdr] z, + vector[vector[double]] extra_args, bool augment) + +# Functions like `numpy_to_matrix` are not possible, cython requires default +# constructor for return variable types which aren't available with Eigen::Map + +@cython.wraparound(False) +@cython.boundscheck(False) +cdef np.ndarray[np.float64_t, ndim=2, mode="c"] matrix_to_numpy(MatrixXdr arr): + cdef double[:,:] mem_view = arr.data() + return np.copy(np.asarray(mem_view, dtype=np.double, order="C")) + +@cython.wraparound(False) +@cython.boundscheck(False) +cdef np.ndarray[np.float64_t, ndim=1, mode="c"] vector_to_numpy(VectorXd arr): + cdef double[:] mem_view = arr.data() + return np.copy(np.asarray(mem_view, dtype=np.double, order="C")) + +cdef class EKF_sym_pyx: + cdef EKFSym* ekf + def __cinit__(self, str gen_dir, str name, np.ndarray[np.float64_t, ndim=2] Q, + np.ndarray[np.float64_t, ndim=1] x_initial, np.ndarray[np.float64_t, ndim=2] P_initial, int dim_main, + int dim_main_err, int N=0, int dim_augment=0, int dim_augment_err=0, list maha_test_kinds=[], + list quaternion_idxs=[], list global_vars=[], double max_rewind_age=1.0, logger=None): + # TODO logger + + cdef np.ndarray[np.float64_t, ndim=2, mode='c'] Q_b = np.ascontiguousarray(Q, dtype=np.double) + cdef np.ndarray[np.float64_t, ndim=1, mode='c'] x_initial_b = np.ascontiguousarray(x_initial, dtype=np.double) + cdef np.ndarray[np.float64_t, ndim=2, mode='c'] P_initial_b = np.ascontiguousarray(P_initial, dtype=np.double) + self.ekf = new EKFSym( + name.encode('utf8'), + MapMatrixXdr( Q_b.data, Q.shape[0], Q.shape[1]), + MapVectorXd( x_initial_b.data, x_initial.shape[0]), + MapMatrixXdr( P_initial_b.data, P_initial.shape[0], P_initial.shape[1]), + dim_main, + dim_main_err, + N, + dim_augment, + dim_augment_err, + maha_test_kinds, + quaternion_idxs, + [x.encode('utf8') for x in global_vars], + max_rewind_age + ) + + def init_state(self, np.ndarray[np.float64_t, ndim=1] state, np.ndarray[np.float64_t, ndim=2] covs, filter_time): + cdef np.ndarray[np.float64_t, ndim=1, mode='c'] state_b = np.ascontiguousarray(state, dtype=np.double) + cdef np.ndarray[np.float64_t, ndim=2, mode='c'] covs_b = np.ascontiguousarray(covs, dtype=np.double) + self.ekf.init_state( + MapVectorXd( state_b.data, state.shape[0]), + MapMatrixXdr( covs_b.data, covs.shape[0], covs.shape[1]), + np.nan if filter_time is None else filter_time + ) + + def state(self): + cdef np.ndarray res = vector_to_numpy(self.ekf.state()) + return res + + def covs(self): + return matrix_to_numpy(self.ekf.covs()) + + def set_filter_time(self, double t): + self.ekf.set_filter_time(t) + + def get_filter_time(self): + return self.ekf.get_filter_time() + + def set_global(self, str global_var, double val): + self.ekf.set_global(global_var.encode('utf8'), val) + + def reset_rewind(self): + self.ekf.reset_rewind() + + def predict(self, double t): + self.ekf.predict(t) + + def predict_and_update_batch(self, double t, int kind, z, R, extra_args=[[]], bool augment=False): + cdef vector[MapVectorXd] z_map + cdef np.ndarray[np.float64_t, ndim=1, mode='c'] zi_b + for zi in z: + zi_b = np.ascontiguousarray(zi, dtype=np.double) + z_map.push_back(MapVectorXd( zi_b.data, zi.shape[0])) + + cdef vector[MapMatrixXdr] R_map + cdef np.ndarray[np.float64_t, ndim=2, mode='c'] Ri_b + for Ri in R: + Ri_b = np.ascontiguousarray(Ri, dtype=np.double) + R_map.push_back(MapMatrixXdr( Ri_b.data, Ri.shape[0], Ri.shape[1])) + + cdef vector[vector[double]] extra_args_map + cdef vector[double] args_map + for args in extra_args: + args_map.clear() + for a in args: + args_map.push_back(a) + extra_args_map.push_back(args_map) + + cdef optional[Estimate] res = self.ekf.predict_and_update_batch(t, kind, z_map, R_map, extra_args_map, augment) + if not res.has_value(): + return None + + cdef VectorXd tmpvec + return ( + vector_to_numpy(res.value().xk1), + vector_to_numpy(res.value().xk), + matrix_to_numpy(res.value().Pk1), + matrix_to_numpy(res.value().Pk), + res.value().t, + res.value().kind, + [vector_to_numpy(tmpvec) for tmpvec in res.value().y], + z, # TODO: take return values? + extra_args, + ) + + def augment(self): + raise NotImplementedError() # TODO + + def get_augment_times(self): + raise NotImplementedError() # TODO + + def rts_smooth(self, estimates, norm_quats=False): + raise NotImplementedError() # TODO + + def maha_test(self, x, P, kind, z, R, extra_args=[], maha_thresh=0.95): + raise NotImplementedError() # TODO + + def __dealloc__(self): + del self.ekf diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so new file mode 100755 index 000000000..fedfa587e Binary files /dev/null and b/rednose/helpers/ekf_sym_pyx.so differ diff --git a/rednose/helpers/feature_handler.py b/rednose/helpers/feature_handler.py new file mode 100755 index 000000000..6a20b85e1 --- /dev/null +++ b/rednose/helpers/feature_handler.py @@ -0,0 +1,160 @@ +#!/usr/bin/env python3 + +import os +import sys + +import numpy as np + +from rednose.helpers import TEMPLATE_DIR, load_code, write_code +from rednose.helpers.sympy_helpers import quat_matrix_l, rot_matrix + + +def sane(track): + img_pos = track[1:, 2:4] + diffs_x = abs(img_pos[1:, 0] - img_pos[:-1, 0]) + diffs_y = abs(img_pos[1:, 1] - img_pos[:-1, 1]) + for i in range(1, len(diffs_x)): + if ((diffs_x[i] > 0.05 or diffs_x[i - 1] > 0.05) and + (diffs_x[i] > 2 * diffs_x[i - 1] or + diffs_x[i] < .5 * diffs_x[i - 1])) or \ + ((diffs_y[i] > 0.05 or diffs_y[i - 1] > 0.05) and + (diffs_y[i] > 2 * diffs_y[i - 1] or + diffs_y[i] < .5 * diffs_y[i - 1])): + return False + return True + + +class FeatureHandler(): + name = 'feature_handler' + + @staticmethod + def generate_code(generated_dir, K=5): + # Wrap c code for slow matching + c_header = "\nvoid merge_features(double *tracks, double *features, long long *empty_idxs);" + + c_code = "#include \n" + c_code += "#include \n" + c_code += "#define K %d\n" % K + c_code += "extern \"C\" {\n" + c_code += "\n" + open(os.path.join(TEMPLATE_DIR, "feature_handler.c")).read() + c_code += "\n}\n" + + filename = f"{FeatureHandler.name}_{K}" + write_code(generated_dir, filename, c_code, c_header) + + def __init__(self, generated_dir, K=5): + self.MAX_TRACKS = 6000 + self.K = K + + # Array of tracks, each track has K 5D features preceded + # by 5 params that inidicate [f_idx, last_idx, updated, complete, valid] + # f_idx: idx of current last feature in track + # idx of of last feature in frame + # bool for whether this track has been update + # bool for whether this track is complete + # bool for whether this track is valid + self.tracks = np.zeros((self.MAX_TRACKS, K + 1, 5)) + self.tracks[:] = np.nan + + name = f"{FeatureHandler.name}_{K}" + ffi, lib = load_code(generated_dir, name) + + def merge_features_c(tracks, features, empty_idxs): + lib.merge_features(ffi.cast("double *", tracks.ctypes.data), + ffi.cast("double *", features.ctypes.data), + ffi.cast("long long *", empty_idxs.ctypes.data)) + + # self.merge_features = self.merge_features_python + self.merge_features = merge_features_c + + def reset(self): + self.tracks[:] = np.nan + + def merge_features_python(self, tracks, features, empty_idxs): + empty_idx = 0 + for f in features: + match_idx = int(f[4]) + if tracks[match_idx, 0, 1] == match_idx and tracks[match_idx, 0, 2] == 0: + tracks[match_idx, 0, 0] += 1 + tracks[match_idx, 0, 1] = f[1] + tracks[match_idx, 0, 2] = 1 + tracks[match_idx, int(tracks[match_idx, 0, 0])] = f + if tracks[match_idx, 0, 0] == self.K: + tracks[match_idx, 0, 3] = 1 + if sane(tracks[match_idx]): + tracks[match_idx, 0, 4] = 1 + else: + if empty_idx == len(empty_idxs): + print('need more empty space') + continue + tracks[empty_idxs[empty_idx], 0, 0] = 1 + tracks[empty_idxs[empty_idx], 0, 1] = f[1] + tracks[empty_idxs[empty_idx], 0, 2] = 1 + tracks[empty_idxs[empty_idx], 1] = f + empty_idx += 1 + + def update_tracks(self, features): + last_idxs = np.copy(self.tracks[:, 0, 1]) + real = np.isfinite(last_idxs) + self.tracks[last_idxs[real].astype(int)] = self.tracks[real] + + mask = np.ones(self.MAX_TRACKS, np.bool) + mask[last_idxs[real].astype(int)] = 0 + empty_idxs = np.arange(self.MAX_TRACKS)[mask] + + self.tracks[empty_idxs] = np.nan + self.tracks[:, 0, 2] = 0 + self.merge_features(self.tracks, features, empty_idxs) + + def handle_features(self, features): + self.update_tracks(features) + valid_idxs = self.tracks[:, 0, 4] == 1 + complete_idxs = self.tracks[:, 0, 3] == 1 + stale_idxs = self.tracks[:, 0, 2] == 0 + valid_tracks = self.tracks[valid_idxs] + self.tracks[complete_idxs] = np.nan + self.tracks[stale_idxs] = np.nan + return valid_tracks[:, 1:, :4].reshape((len(valid_tracks), self.K * 4)) + + +def generate_orient_error_jac(K): + import sympy as sp + from rednose.helpers.sympy_helpers import quat_rotate + + x_sym = sp.MatrixSymbol('abr', 3, 1) + dtheta = sp.MatrixSymbol('dtheta', 3, 1) + delta_quat = sp.Matrix(np.ones(4)) + delta_quat[1:, :] = sp.Matrix(0.5 * dtheta[0:3, :]) + poses_sym = sp.MatrixSymbol('poses', 7 * K, 1) + img_pos_sym = sp.MatrixSymbol('img_positions', 2 * K, 1) + alpha, beta, rho = x_sym + to_c = sp.Matrix(rot_matrix(-np.pi / 2, -np.pi / 2, 0)) + pos_0 = sp.Matrix(np.array(poses_sym[K * 7 - 7:K * 7 - 4])[:, 0]) + q = quat_matrix_l(poses_sym[K * 7 - 4:K * 7]) * delta_quat + quat_rot = quat_rotate(*q) + rot_g_to_0 = to_c * quat_rot.T + rows = [] + for i in range(K): + pos_i = sp.Matrix(np.array(poses_sym[i * 7:i * 7 + 3])[:, 0]) + q = quat_matrix_l(poses_sym[7 * i + 3:7 * i + 7]) * delta_quat + quat_rot = quat_rotate(*q) + rot_g_to_i = to_c * quat_rot.T + rot_0_to_i = rot_g_to_i * (rot_g_to_0.T) + trans_0_to_i = rot_g_to_i * (pos_0 - pos_i) + funct_vec = rot_0_to_i * sp.Matrix([alpha, beta, 1]) + rho * trans_0_to_i + h1, h2, h3 = funct_vec + rows.append(h1 / h3 - img_pos_sym[i * 2 + 0]) + rows.append(h2 / h3 - img_pos_sym[i * 2 + 1]) + img_pos_residual_sym = sp.Matrix(rows) + + # sympy into c + sympy_functions = [] + sympy_functions.append(('orient_error_jac', img_pos_residual_sym.jacobian(dtheta), [x_sym, poses_sym, img_pos_sym, dtheta])) + + return sympy_functions + + +if __name__ == "__main__": + K = int(sys.argv[1].split("_")[-1]) + generated_dir = sys.argv[2] + FeatureHandler.generate_code(generated_dir, K=K) diff --git a/rednose/helpers/kalmanfilter.py b/rednose/helpers/kalmanfilter.py new file mode 100644 index 000000000..0c30e4916 --- /dev/null +++ b/rednose/helpers/kalmanfilter.py @@ -0,0 +1,51 @@ +from typing import Any, Dict + +import numpy as np + + +class KalmanFilter: + name = "" + initial_x = np.zeros((0, 0)) + initial_P_diag = np.zeros((0, 0)) + Q = np.zeros((0, 0)) + obs_noise: Dict[int, Any] = {} + + filter = None # Should be initialized when initializating a KalmanFilter implementation + + @property + def x(self): + return self.filter.state() + + @property + def t(self): + return self.filter.get_filter_time() + + @property + def P(self): + return self.filter.covs() + + def init_state(self, state, covs_diag=None, covs=None, filter_time=None): + if covs_diag is not None: + P = np.diag(covs_diag) + elif covs is not None: + P = covs + else: + P = self.filter.covs() + self.filter.init_state(state, P, filter_time) + + def get_R(self, kind, n): + obs_noise = self.obs_noise[kind] + dim = obs_noise.shape[0] + R = np.zeros((n, dim, dim)) + for i in range(n): + R[i, :, :] = obs_noise + return R + + def predict_and_observe(self, t, kind, data, R=None): + if len(data) > 0: + data = np.atleast_2d(data) + + if R is None: + R = self.get_R(kind, len(data)) + + self.filter.predict_and_update_batch(t, kind, data, R) diff --git a/rednose/helpers/lst_sq_computer.py b/rednose/helpers/lst_sq_computer.py new file mode 100755 index 000000000..56c3bc8c4 --- /dev/null +++ b/rednose/helpers/lst_sq_computer.py @@ -0,0 +1,175 @@ +#!/usr/bin/env python3 +import os +import sys + +import numpy as np +import sympy as sp + +from rednose.helpers import TEMPLATE_DIR, load_code, write_code +from rednose.helpers.sympy_helpers import quat_rotate, sympy_into_c, rot_matrix, rotations_from_quats + + +def generate_residual(K): + x_sym = sp.MatrixSymbol('abr', 3, 1) + poses_sym = sp.MatrixSymbol('poses', 7 * K, 1) + img_pos_sym = sp.MatrixSymbol('img_positions', 2 * K, 1) + alpha, beta, rho = x_sym + to_c = sp.Matrix(rot_matrix(-np.pi / 2, -np.pi / 2, 0)) + pos_0 = sp.Matrix(np.array(poses_sym[K * 7 - 7:K * 7 - 4])[:, 0]) + q = poses_sym[K * 7 - 4:K * 7] + quat_rot = quat_rotate(*q) + rot_g_to_0 = to_c * quat_rot.T + rows = [] + + for i in range(K): + pos_i = sp.Matrix(np.array(poses_sym[i * 7:i * 7 + 3])[:, 0]) + q = poses_sym[7 * i + 3:7 * i + 7] + quat_rot = quat_rotate(*q) + rot_g_to_i = to_c * quat_rot.T + rot_0_to_i = rot_g_to_i * rot_g_to_0.T + trans_0_to_i = rot_g_to_i * (pos_0 - pos_i) + funct_vec = rot_0_to_i * sp.Matrix([alpha, beta, 1]) + rho * trans_0_to_i + h1, h2, h3 = funct_vec + rows.append(h1 / h3 - img_pos_sym[i * 2 + 0]) + rows.append(h2 / h3 - img_pos_sym[i * 2 + 1]) + img_pos_residual_sym = sp.Matrix(rows) + + # sympy into c + sympy_functions = [] + sympy_functions.append(('res_fun', img_pos_residual_sym, [x_sym, poses_sym, img_pos_sym])) + sympy_functions.append(('jac_fun', img_pos_residual_sym.jacobian(x_sym), [x_sym, poses_sym, img_pos_sym])) + + return sympy_functions + + +class LstSqComputer(): + name = 'pos_computer' + + @staticmethod + def generate_code(generated_dir, K=4): + sympy_functions = generate_residual(K) + header, sympy_code = sympy_into_c(sympy_functions) + + code = "\n#include \"rednose/helpers/common_ekf.h\"\n" + code += "\n#define KDIM %d\n" % K + code += "extern \"C\" {\n" + code += sympy_code + code += "\n" + open(os.path.join(TEMPLATE_DIR, "compute_pos.c")).read() + "\n" + code += "}\n" + + header += "\nvoid compute_pos(double *to_c, double *in_poses, double *in_img_positions, double *param, double *pos);\n" + + filename = f"{LstSqComputer.name}_{K}" + write_code(generated_dir, filename, code, header) + + def __init__(self, generated_dir, K=4, MIN_DEPTH=2, MAX_DEPTH=500): + self.to_c = rot_matrix(-np.pi / 2, -np.pi / 2, 0) + self.MAX_DEPTH = MAX_DEPTH + self.MIN_DEPTH = MIN_DEPTH + + name = f"{LstSqComputer.name}_{K}" + ffi, lib = load_code(generated_dir, name) + + # wrap c functions + def residual_jac(x, poses, img_positions): + out = np.zeros(((K * 2, 3)), dtype=np.float64) + lib.jac_fun(ffi.cast("double *", x.ctypes.data), + ffi.cast("double *", poses.ctypes.data), + ffi.cast("double *", img_positions.ctypes.data), + ffi.cast("double *", out.ctypes.data)) + return out + self.residual_jac = residual_jac + + def residual(x, poses, img_positions): + out = np.zeros((K * 2), dtype=np.float64) + lib.res_fun(ffi.cast("double *", x.ctypes.data), + ffi.cast("double *", poses.ctypes.data), + ffi.cast("double *", img_positions.ctypes.data), + ffi.cast("double *", out.ctypes.data)) + return out + self.residual = residual + + def compute_pos_c(poses, img_positions): + pos = np.zeros(3, dtype=np.float64) + param = np.zeros(3, dtype=np.float64) + # Can't be a view for the ctype + img_positions = np.copy(img_positions) + lib.compute_pos(ffi.cast("double *", self.to_c.ctypes.data), + ffi.cast("double *", poses.ctypes.data), + ffi.cast("double *", img_positions.ctypes.data), + ffi.cast("double *", param.ctypes.data), + ffi.cast("double *", pos.ctypes.data)) + return pos, param + self.compute_pos_c = compute_pos_c + + def compute_pos(self, poses, img_positions, debug=False): + pos, param = self.compute_pos_c(poses, img_positions) + # pos, param = self.compute_pos_python(poses, img_positions) + + depth = 1 / param[2] + if debug: + # orient_err_jac = self.orient_error_jac(param, poses, img_positions, np.zeros(3)).reshape((-1,2,3)) + jac = self.residual_jac(param, poses, img_positions).reshape((-1, 2, 3)) + res = self.residual(param, poses, img_positions).reshape((-1, 2)) + return pos, param, res, jac # , orient_err_jac + elif (self.MIN_DEPTH < depth < self.MAX_DEPTH): + return pos + else: + return None + + def gauss_newton(self, fun, jac, x, args): + poses, img_positions = args + delta = 1 + counter = 0 + while abs(np.linalg.norm(delta)) > 1e-4 and counter < 30: + delta = np.linalg.pinv(jac(x, poses, img_positions)).dot(fun(x, poses, img_positions)) + x = x - delta + counter += 1 + return [x] + + def compute_pos_python(self, poses, img_positions, check_quality=False): + import scipy.optimize as opt + + # This procedure is also described + # in the MSCKF paper (Mourikis et al. 2007) + x = np.array([img_positions[-1][0], + img_positions[-1][1], 0.1]) + res = opt.leastsq(self.residual, x, Dfun=self.residual_jac, args=(poses, img_positions)) # scipy opt + # res = self.gauss_newton(self.residual, self.residual_jac, x, (poses, img_positions)) # diy gauss_newton + + alpha, beta, rho = res[0] + rot_0_to_g = (rotations_from_quats(poses[-1, 3:])).dot(self.to_c.T) + return (rot_0_to_g.dot(np.array([alpha, beta, 1]))) / rho + poses[-1, :3] + + +# EXPERIMENTAL CODE +def unroll_shutter(img_positions, poses, v, rot_rates, ecef_pos): + # only speed correction for now + t_roll = 0.016 # 16ms rolling shutter? + vroll, vpitch, vyaw = rot_rates + A = 0.5 * np.array([[-1, -vroll, -vpitch, -vyaw], + [vroll, 0, vyaw, -vpitch], + [vpitch, -vyaw, 0, vroll], + [vyaw, vpitch, -vroll, 0]]) + q_dot = A.dot(poses[-1][3:7]) + v = np.append(v, q_dot) + v = np.array([v[0], v[1], v[2], 0, 0, 0, 0]) + current_pose = poses[-1] + v * 0.05 + poses = np.vstack((current_pose, poses)) + dt = -img_positions[:, 1] * t_roll / 0.48 + errs = project(poses, ecef_pos) - project(poses + np.atleast_2d(dt).T.dot(np.atleast_2d(v)), ecef_pos) + return img_positions - errs + + +def project(poses, ecef_pos): + img_positions = np.zeros((len(poses), 2)) + for i, p in enumerate(poses): + cam_frame = rotations_from_quats(p[3:]).T.dot(ecef_pos - p[:3]) + img_positions[i] = np.array([cam_frame[1] / cam_frame[0], cam_frame[2] / cam_frame[0]]) + return img_positions + + +if __name__ == "__main__": + K = int(sys.argv[1].split("_")[-1]) + generated_dir = sys.argv[2] + LstSqComputer.generate_code(generated_dir, K=K) diff --git a/rednose/helpers/sympy_helpers.py b/rednose/helpers/sympy_helpers.py new file mode 100644 index 000000000..716e94e01 --- /dev/null +++ b/rednose/helpers/sympy_helpers.py @@ -0,0 +1,155 @@ +#!/usr/bin/env python3 +import sympy as sp +import numpy as np + +# TODO: remove code duplication between openpilot.common.orientation +def quat2rot(quats): + quats = np.array(quats) + input_shape = quats.shape + quats = np.atleast_2d(quats) + Rs = np.zeros((quats.shape[0], 3, 3)) + q0 = quats[:, 0] + q1 = quats[:, 1] + q2 = quats[:, 2] + q3 = quats[:, 3] + Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3 + Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3) + Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3) + Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3) + Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3 + Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1) + Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2) + Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3) + Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3 + + if len(input_shape) < 2: + return Rs[0] + else: + return Rs + + +def euler2quat(eulers): + eulers = np.array(eulers) + if len(eulers.shape) > 1: + output_shape = (-1,4) + else: + output_shape = (4,) + eulers = np.atleast_2d(eulers) + gamma, theta, psi = eulers[:,0], eulers[:,1], eulers[:,2] + + q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \ + np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2) + q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \ + np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2) + q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \ + np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) + q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \ + np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + + quats = np.array([q0, q1, q2, q3]).T + for i in range(len(quats)): + if quats[i,0] < 0: # pylint: disable=unsubscriptable-object + quats[i] = -quats[i] # pylint: disable=unsupported-assignment-operation,unsubscriptable-object + return quats.reshape(output_shape) + + +def euler2rot(eulers): + return quat2rot(euler2quat(eulers)) + +rotations_from_quats = quat2rot + + +def cross(x): + ret = sp.Matrix(np.zeros((3, 3))) + ret[0, 1], ret[0, 2] = -x[2], x[1] + ret[1, 0], ret[1, 2] = x[2], -x[0] + ret[2, 0], ret[2, 1] = -x[1], x[0] + return ret + + +def rot_matrix(roll, pitch, yaw): + cr, sr = np.cos(roll), np.sin(roll) + cp, sp = np.cos(pitch), np.sin(pitch) + cy, sy = np.cos(yaw), np.sin(yaw) + rr = np.array([[1,0,0],[0, cr,-sr],[0, sr, cr]]) + rp = np.array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]]) + ry = np.array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]]) + return ry.dot(rp.dot(rr)) + + +def euler_rotate(roll, pitch, yaw): + # make symbolic rotation matrix from eulers + matrix_roll = sp.Matrix([[1, 0, 0], + [0, sp.cos(roll), -sp.sin(roll)], + [0, sp.sin(roll), sp.cos(roll)]]) + matrix_pitch = sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)], + [0, 1, 0], + [-sp.sin(pitch), 0, sp.cos(pitch)]]) + matrix_yaw = sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0], + [sp.sin(yaw), sp.cos(yaw), 0], + [0, 0, 1]]) + return matrix_yaw * matrix_pitch * matrix_roll + + +def quat_rotate(q0, q1, q2, q3): + # make symbolic rotation matrix from quat + return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2 * (q1 * q2 + q0 * q3), 2 * (q1 * q3 - q0 * q2)], + [2 * (q1 * q2 - q0 * q3), q0**2 - q1**2 + q2**2 - q3**2, 2 * (q2 * q3 + q0 * q1)], + [2 * (q1 * q3 + q0 * q2), 2 * (q2 * q3 - q0 * q1), q0**2 - q1**2 - q2**2 + q3**2]]).T + + +def quat_matrix_l(p): + return sp.Matrix([[p[0], -p[1], -p[2], -p[3]], + [p[1], p[0], -p[3], p[2]], + [p[2], p[3], p[0], -p[1]], + [p[3], -p[2], p[1], p[0]]]) + + +def quat_matrix_r(p): + return sp.Matrix([[p[0], -p[1], -p[2], -p[3]], + [p[1], p[0], p[3], -p[2]], + [p[2], -p[3], p[0], p[1]], + [p[3], p[2], -p[1], p[0]]]) + + +def sympy_into_c(sympy_functions, global_vars=None): + from sympy.utilities import codegen + routines = [] + for name, expr, args in sympy_functions: + r = codegen.make_routine(name, expr, language="C99", global_vars=global_vars) + + # argument ordering input to sympy is broken with function with output arguments + nargs = [] + + # reorder the input arguments + for aa in args: + if aa is None: + nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1, 1])) + continue + found = False + for a in r.arguments: + if str(aa.name) == str(a.name): + nargs.append(a) + found = True + break + if not found: + # [1,1] is a hack for Matrices + nargs.append(codegen.InputArgument(aa, dimensions=[1, 1])) + + # add the output arguments + for a in r.arguments: + if type(a) == codegen.OutputArgument: + nargs.append(a) + + # assert len(r.arguments) == len(args)+1 + r.arguments = nargs + + # add routine to list + routines.append(r) + + [(_, c_code), (_, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf") + c_header = '\n'.join(x for x in c_header.split("\n") if len(x) > 0 and x[0] != '#') + + c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#') + + return c_header, c_code diff --git a/rednose/logger/logger.h b/rednose/logger/logger.h new file mode 100644 index 000000000..8f541a2b4 --- /dev/null +++ b/rednose/logger/logger.h @@ -0,0 +1,20 @@ +#pragma once + +#ifdef SWAGLOG +#include SWAGLOG +#else + +#define CLOUDLOG_DEBUG 10 +#define CLOUDLOG_INFO 20 +#define CLOUDLOG_WARNING 30 +#define CLOUDLOG_ERROR 40 +#define CLOUDLOG_CRITICAL 50 + +#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__) + +#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) +#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) +#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) +#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) + +#endif diff --git a/rednose/templates/compute_pos.c b/rednose/templates/compute_pos.c new file mode 100644 index 000000000..742c7d618 --- /dev/null +++ b/rednose/templates/compute_pos.c @@ -0,0 +1,52 @@ +#include +#include +#include + +typedef Eigen::Matrix R3M; +typedef Eigen::Matrix R1M; +typedef Eigen::Matrix O1M; +typedef Eigen::Matrix M3D; + +void gauss_newton(double *in_x, double *in_poses, double *in_img_positions) { + + double res[KDIM*2] = {0}; + double jac[KDIM*6] = {0}; + + O1M x(in_x); + O1M delta; + int counter = 0; + while ((delta.squaredNorm() > 0.0001 and counter < 30) or counter == 0){ + res_fun(in_x, in_poses, in_img_positions, res); + jac_fun(in_x, in_poses, in_img_positions, jac); + R1M E(res); R3M J(jac); + delta = (J.transpose()*J).inverse() * J.transpose() * E; + x = x - delta; + memcpy(in_x, x.data(), 3 * sizeof(double)); + counter = counter + 1; + } +} + + +void compute_pos(double *to_c, double *poses, double *img_positions, double *param, double *pos) { + param[0] = img_positions[KDIM*2-2]; + param[1] = img_positions[KDIM*2-1]; + param[2] = 0.1; + gauss_newton(param, poses, img_positions); + + Eigen::Quaterniond q; + q.w() = poses[KDIM*7-4]; + q.x() = poses[KDIM*7-3]; + q.y() = poses[KDIM*7-2]; + q.z() = poses[KDIM*7-1]; + M3D RC(to_c); + Eigen::Matrix3d R = q.normalized().toRotationMatrix(); + Eigen::Matrix3d rot = R * RC.transpose(); + + pos[0] = param[0]/param[2]; + pos[1] = param[1]/param[2]; + pos[2] = 1.0/param[2]; + O1M ecef_offset(poses + KDIM*7-7); + O1M ecef_output(pos); + ecef_output = rot*ecef_output + ecef_offset; + memcpy(pos, ecef_output.data(), 3 * sizeof(double)); +} diff --git a/rednose/templates/ekf_c.c b/rednose/templates/ekf_c.c new file mode 100644 index 000000000..3b4acdfe3 --- /dev/null +++ b/rednose/templates/ekf_c.c @@ -0,0 +1,123 @@ +#include +#include + +typedef Eigen::Matrix DDM; +typedef Eigen::Matrix EEM; +typedef Eigen::Matrix DEM; + +void predict(double *in_x, double *in_P, double *in_Q, double dt) { + typedef Eigen::Matrix RRM; + + double nx[DIM] = {0}; + double in_F[EDIM*EDIM] = {0}; + + // functions from sympy + f_fun(in_x, dt, nx); + F_fun(in_x, dt, in_F); + + + EEM F(in_F); + EEM P(in_P); + EEM Q(in_Q); + + RRM F_main = F.topLeftCorner(MEDIM, MEDIM); + P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose(); + P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM); + P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose(); + + P = P + dt*Q; + + // copy out state + memcpy(in_x, nx, DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); +} + +// note: extra_args dim only correct when null space projecting +// otherwise 1 +template +void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) { + typedef Eigen::Matrix ZZM; + typedef Eigen::Matrix ZDM; + typedef Eigen::Matrix XEM; + //typedef Eigen::Matrix EZM; + typedef Eigen::Matrix X1M; + typedef Eigen::Matrix XXM; + + double in_hx[ZDIM] = {0}; + double in_H[ZDIM * DIM] = {0}; + double in_H_mod[EDIM * DIM] = {0}; + double delta_x[EDIM] = {0}; + double x_new[DIM] = {0}; + + + // state x, P + Eigen::Matrix z(in_z); + EEM P(in_P); + ZZM pre_R(in_R); + + // functions from sympy + h_fun(in_x, in_ea, in_hx); + H_fun(in_x, in_ea, in_H); + ZDM pre_H(in_H); + + // get y (y = z - hx) + Eigen::Matrix pre_y(in_hx); pre_y = z - pre_y; + X1M y; XXM H; XXM R; + if (Hea_fun){ + typedef Eigen::Matrix ZAM; + double in_Hea[ZDIM * EADIM] = {0}; + Hea_fun(in_x, in_ea, in_Hea); + ZAM Hea(in_Hea); + XXM A = Hea.transpose().fullPivLu().kernel(); + + + y = A.transpose() * pre_y; + H = A.transpose() * pre_H; + R = A.transpose() * pre_R * A; + } else { + y = pre_y; + H = pre_H; + R = pre_R; + } + // get modified H + H_mod_fun(in_x, in_H_mod); + DEM H_mod(in_H_mod); + XEM H_err = H * H_mod; + + // Do mahalobis distance test + if (MAHA_TEST){ + XXM a = (H_err * P * H_err.transpose() + R).inverse(); + double maha_dist = y.transpose() * a * y; + if (maha_dist > MAHA_THRESHOLD){ + R = 1.0e16 * R; + } + } + + // Outlier resilient weighting + double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum()); + + // kalman gains and I_KH + XXM S = ((H_err * P) * H_err.transpose()) + R/weight; + XEM KT = S.fullPivLu().solve(H_err * P.transpose()); + //EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE? + //EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose(); + //std::cout << "Here is the matrix rot:\n" << K << std::endl; + EEM I_KH = Eigen::Matrix::Identity() - (KT.transpose() * H_err); + + // update state by injecting dx + Eigen::Matrix dx(delta_x); + dx = (KT.transpose() * y); + memcpy(delta_x, dx.data(), EDIM * sizeof(double)); + err_fun(in_x, delta_x, x_new); + Eigen::Matrix x(x_new); + + // update cov + P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT); + + // copy out state + memcpy(in_x, x.data(), DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); + memcpy(in_z, y.data(), y.rows() * sizeof(double)); +} + + diff --git a/rednose/templates/feature_handler.c b/rednose/templates/feature_handler.c new file mode 100644 index 000000000..9c580c2ea --- /dev/null +++ b/rednose/templates/feature_handler.c @@ -0,0 +1,56 @@ +bool sane(double track [K + 1][5]) { + double diffs_x [K-1]; + double diffs_y [K-1]; + int i; + for (i = 0; i < K-1; i++) { + diffs_x[i] = fabs(track[i+2][2] - track[i+1][2]); + diffs_y[i] = fabs(track[i+2][3] - track[i+1][3]); + } + for (i = 1; i < K-1; i++) { + if (((diffs_x[i] > 0.05 or diffs_x[i-1] > 0.05) and + (diffs_x[i] > 2*diffs_x[i-1] or + diffs_x[i] < .5*diffs_x[i-1])) or + ((diffs_y[i] > 0.05 or diffs_y[i-1] > 0.05) and + (diffs_y[i] > 2*diffs_y[i-1] or + diffs_y[i] < .5*diffs_y[i-1]))){ + return false; + } + } + return true; +} + +void merge_features(double *tracks, double *features, long long *empty_idxs) { + double feature_arr [3000][5]; + memcpy(feature_arr, features, 3000 * 5 * sizeof(double)); + double track_arr [6000][K + 1][5]; + memcpy(track_arr, tracks, (K+1) * 6000 * 5 * sizeof(double)); + int match; + int empty_idx = 0; + int idx; + for (int i = 0; i < 3000; i++) { + match = feature_arr[i][4]; + if (track_arr[match][0][1] == match and track_arr[match][0][2] == 0){ + track_arr[match][0][0] = track_arr[match][0][0] + 1; + track_arr[match][0][1] = feature_arr[i][1]; + track_arr[match][0][2] = 1; + idx = track_arr[match][0][0]; + memcpy(track_arr[match][idx], feature_arr[i], 5 * sizeof(double)); + if (idx == K){ + // label complete + track_arr[match][0][3] = 1; + if (sane(track_arr[match])){ + // label valid + track_arr[match][0][4] = 1; + } + } + } else { + // gen new track with this feature + track_arr[empty_idxs[empty_idx]][0][0] = 1; + track_arr[empty_idxs[empty_idx]][0][1] = feature_arr[i][1]; + track_arr[empty_idxs[empty_idx]][0][2] = 1; + memcpy(track_arr[empty_idxs[empty_idx]][1], feature_arr[i], 5 * sizeof(double)); + empty_idx = empty_idx + 1; + } + } + memcpy(tracks, track_arr, (K+1) * 6000 * 5 * sizeof(double)); +} diff --git a/scripts/oneplus_update_neos.sh b/scripts/oneplus_update_neos.sh new file mode 100755 index 000000000..b4aefd7dc --- /dev/null +++ b/scripts/oneplus_update_neos.sh @@ -0,0 +1,12 @@ +#!/usr/bin/bash + +if [ -z "$BASEDIR" ]; then + BASEDIR="/data/openpilot" +fi + +source "$BASEDIR/launch_env.sh" +echo "Installing NEOS update" +NEOS_PY="$BASEDIR/system/hardware/eon/neos.py" +MANIFEST="$BASEDIR/system/hardware/eon/oneplus.json" +$NEOS_PY --swap-if-ready $MANIFEST +$BASEDIR/system/hardware/eon/updater $NEOS_PY $MANIFEST diff --git a/scripts/panda_flash.sh b/scripts/panda_flash.sh new file mode 100755 index 000000000..393430021 --- /dev/null +++ b/scripts/panda_flash.sh @@ -0,0 +1,6 @@ +#!/usr/bin/env sh + +DFU_UTIL="dfu-util" +/data/openpilot/selfdrive/ui/qt/spinner & +python -c "from panda import Panda; Panda().flash('/data/openpilot/panda/board/obj/panda.bin.signed')" +killall spinner & diff --git a/scripts/panda_recovery.sh b/scripts/panda_recovery.sh new file mode 100755 index 000000000..cc7370ed6 --- /dev/null +++ b/scripts/panda_recovery.sh @@ -0,0 +1,31 @@ +#!/usr/bin/env sh + +DFU_UTIL="dfu-util" + +STANDARD_FW="/data/openpilot/panda/board/obj/panda.bin.signed" +TESTING_FW="/data/openpilot/panda/board/obj/panda.bin.testing.signed" +ATL=`cat /data/params/d/dp_atl` + +/data/openpilot/selfdrive/ui/qt/spinner & +python -c "from panda import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true +sleep 1 +FW=$STANDARD_FW +if [ -f /data/params/d/dp_atl ] && [ $ATL != "0" ]; then + if [ -f /data/openpilot/panda/board/obj/panda.bin.testing.signed ]; then + echo "Use testing firmware..." + FW=$TESTING_FW + else + echo "Missing testing firmware, use standard firmware instead..." + fi +else + echo "Use standard firmware..." +fi +echo "\n\n\nUpdating panda.bin..." +$DFU_UTIL -d 0483:df11 -a 0 -s 0x08004000 -D $FW +echo "\n\n\nUpdating bootstub.panda.bin..." +$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D /data/openpilot/panda/board/obj/bootstub.panda.bin +sleep 1 + + +killall spinner & +reboot diff --git a/scripts/stop_updater.sh b/scripts/stop_updater.sh new file mode 100755 index 000000000..4243d30e9 --- /dev/null +++ b/scripts/stop_updater.sh @@ -0,0 +1,7 @@ +#!/usr/bin/env sh + +# Stop updater +pkill -2 -f selfdrive.updated + +# Remove pending update +rm -f /data/safe_staging/finalized/.overlay_consistent diff --git a/scripts/update_now.sh b/scripts/update_now.sh new file mode 100755 index 000000000..3f0193f08 --- /dev/null +++ b/scripts/update_now.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env sh + +# Send SIGHUP to updater +pkill -1 -f selfdrive.updated diff --git a/selfdrive/__init__.py b/selfdrive/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/assets/.gitignore b/selfdrive/assets/.gitignore new file mode 100644 index 000000000..283034ca8 --- /dev/null +++ b/selfdrive/assets/.gitignore @@ -0,0 +1 @@ +*.cc diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc new file mode 100644 index 000000000..39be41aa6 --- /dev/null +++ b/selfdrive/assets/assets.qrc @@ -0,0 +1,17 @@ + + + img_continue_triangle.svg + img_circled_check.svg + img_circled_slash.svg + img_eye_open.svg + img_eye_closed.svg + icons/close.svg + offroad/icon_lock_closed.svg + offroad/icon_checkmark.svg + offroad/icon_warning.png + offroad/icon_wifi_strength_low.svg + offroad/icon_wifi_strength_medium.svg + offroad/icon_wifi_strength_high.svg + offroad/icon_wifi_strength_full.svg + + diff --git a/selfdrive/assets/body/awake.gif b/selfdrive/assets/body/awake.gif new file mode 100644 index 000000000..7ec67055d Binary files /dev/null and b/selfdrive/assets/body/awake.gif differ diff --git a/selfdrive/assets/body/sleep.gif b/selfdrive/assets/body/sleep.gif new file mode 100644 index 000000000..469cc8033 Binary files /dev/null and b/selfdrive/assets/body/sleep.gif 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--git a/selfdrive/assets/fonts/NotoSansCJKtc-Bold.otf b/selfdrive/assets/fonts/NotoSansCJKtc-Bold.otf new file mode 100644 index 000000000..7553dc5e7 Binary files /dev/null and b/selfdrive/assets/fonts/NotoSansCJKtc-Bold.otf differ diff --git a/selfdrive/assets/fonts/NotoSansCJKtc-Medium.otf b/selfdrive/assets/fonts/NotoSansCJKtc-Medium.otf new file mode 100644 index 000000000..c568ee9ae Binary files /dev/null and b/selfdrive/assets/fonts/NotoSansCJKtc-Medium.otf differ diff --git a/selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf b/selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf new file mode 100644 index 000000000..62ed47d67 Binary files /dev/null and b/selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf differ diff --git a/selfdrive/assets/icons/close.svg b/selfdrive/assets/icons/close.svg new file mode 100644 index 000000000..b1e6d3b86 --- /dev/null +++ b/selfdrive/assets/icons/close.svg @@ -0,0 +1,4 @@ + + + + diff --git a/selfdrive/assets/images/button_home.png b/selfdrive/assets/images/button_home.png new file mode 100644 index 000000000..aa90a78c4 Binary files /dev/null and b/selfdrive/assets/images/button_home.png differ diff --git a/selfdrive/assets/images/button_settings.png b/selfdrive/assets/images/button_settings.png new file mode 100644 index 000000000..e04262b88 Binary files /dev/null and b/selfdrive/assets/images/button_settings.png differ diff --git a/selfdrive/assets/images/triangle.svg b/selfdrive/assets/images/triangle.svg new file mode 100644 index 000000000..39bc56c69 --- /dev/null +++ b/selfdrive/assets/images/triangle.svg @@ -0,0 +1,56 @@ + + + + + + image/svg+xml + + + + + + + + diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/img_chffr_wheel.png new file mode 100644 index 000000000..3f09a35a7 Binary files /dev/null and b/selfdrive/assets/img_chffr_wheel.png differ diff --git a/selfdrive/assets/img_circled_check.svg b/selfdrive/assets/img_circled_check.svg new file mode 100644 index 000000000..27c37395b --- /dev/null +++ b/selfdrive/assets/img_circled_check.svg @@ -0,0 +1,4 @@ + + + + diff --git a/selfdrive/assets/img_circled_slash.svg b/selfdrive/assets/img_circled_slash.svg new file mode 100644 index 000000000..b10a3938d --- /dev/null +++ b/selfdrive/assets/img_circled_slash.svg @@ -0,0 +1,4 @@ + + + + diff --git a/selfdrive/assets/img_continue_triangle.svg b/selfdrive/assets/img_continue_triangle.svg new file mode 100644 index 000000000..20f9e45dc --- /dev/null +++ b/selfdrive/assets/img_continue_triangle.svg @@ -0,0 +1,3 @@ + + + diff --git a/selfdrive/assets/img_driver_face.png b/selfdrive/assets/img_driver_face.png new file mode 100644 index 000000000..ddde478cd Binary files /dev/null and b/selfdrive/assets/img_driver_face.png differ diff --git a/selfdrive/assets/img_eye_closed.svg b/selfdrive/assets/img_eye_closed.svg new file mode 100644 index 000000000..91b229e91 --- /dev/null +++ b/selfdrive/assets/img_eye_closed.svg @@ -0,0 +1,5 @@ + + + + + diff --git a/selfdrive/assets/img_eye_open.svg b/selfdrive/assets/img_eye_open.svg new file mode 100644 index 000000000..ea6e41ac5 --- /dev/null +++ b/selfdrive/assets/img_eye_open.svg @@ -0,0 +1,4 @@ + + + + diff --git a/selfdrive/assets/img_map.png b/selfdrive/assets/img_map.png new file mode 100644 index 000000000..8bdae4d7d Binary files /dev/null and b/selfdrive/assets/img_map.png differ diff --git a/selfdrive/assets/img_spinner_comma.png b/selfdrive/assets/img_spinner_comma.png new file mode 100644 index 000000000..aa90a78c4 Binary files /dev/null and b/selfdrive/assets/img_spinner_comma.png differ diff --git a/selfdrive/assets/img_spinner_track.png b/selfdrive/assets/img_spinner_track.png new file mode 100644 index 000000000..f46ffdd1b Binary files /dev/null and b/selfdrive/assets/img_spinner_track.png differ diff --git a/selfdrive/assets/img_turn_left_icon.png b/selfdrive/assets/img_turn_left_icon.png new file mode 100644 index 000000000..1a5ef61d7 Binary files /dev/null and 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--git a/selfdrive/assets/locales/zh-CN/LC_MESSAGES/events.mo b/selfdrive/assets/locales/zh-CN/LC_MESSAGES/events.mo new file mode 100644 index 000000000..68ed6e5ba Binary files /dev/null and b/selfdrive/assets/locales/zh-CN/LC_MESSAGES/events.mo differ diff --git a/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo b/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo new file mode 100644 index 000000000..c88079f2e Binary files /dev/null and b/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo differ diff --git a/selfdrive/assets/offroad/fcc.html b/selfdrive/assets/offroad/fcc.html new file mode 100644 index 000000000..793bea533 --- /dev/null +++ b/selfdrive/assets/offroad/fcc.html @@ -0,0 +1,56 @@ + + +

Supplier's Declaration of Conformity: 47 CFR § 2.1077 Compliance Information

+ +

Unique Identifier

+

comma three

+ +

Authorized Components

+ +
Thundersoft TurboX D845 SOM
+

FCC ID: 2AOHHTURBOXSOMD845

+ +
Quectel/EG25-G
+

FCC ID: XMR201903EG25G

+

+ This device complies with Part 15 of the FCC Rules. + Operation is subject to the following two conditions: + +

(1) this device may not cause harmful interference, and +

(2) this device must accept any interference received, including interference that may cause undesired operation.

+ + The following test reports are subject to this declaration: + Test report number: HR20191001605 + Issue date: 2019-2-21 + + The following manufacturer/importer/entity (located in the USA) is responsible for this declaration: + Company name: Quectel Wireless Solutions Co., Ltd. + Name/Title (legal representative): Yin JiXiong + Address: 7th Floor, Hongye Building, No.1801 Hongmei Road, Xuhui District, Shanghai 200233, China + Phone: +8602150086326 Extension: 800 + Fax: +862153253668 + E-mail: johnny.xiang@quectel.com +

+ +

Responsible Party - U.S. Contact Information

+

comma.ai

+

501 W Broadway St

+

STE A #403

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San Diego, California

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92101

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United States

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support@comma.ai

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FCC Compliance Statement

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This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation.

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This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation.

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If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:

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Reorient or relocate the receiving antenna.

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Increase the separation between the equipment and receiver.

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Connect the equipment to an outlet on a circuit different from that to which the receiver is connected.

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Consult the dealer or an experienced radio/TV technician for help.

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Changes or modifications to this product not expressly approved by the party responsible for compliance could void the electromagnetic compatibility (EMC) and wireless compliance and negate your authority to operate the product.

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This product has demonstrated EMC compliance under conditions that included the use of compliant peripheral devices and shielded cables between system components. It is important that you use compliant peripheral devices and shielded cables between system components to reduce the possibility of causing interference to radios, televisions, and other electronic devices.

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The radiated output power of this device meets the limits of FCC/IC radio frequency exposure limits. This device should be operated with a minimum separation distance of 20 cm (8 inches) between the equipment and a person's body.

+ + diff --git a/selfdrive/assets/offroad/icon_calibration.png b/selfdrive/assets/offroad/icon_calibration.png new file mode 100644 index 000000000..c4ee0d63d Binary files /dev/null and b/selfdrive/assets/offroad/icon_calibration.png differ diff --git a/selfdrive/assets/offroad/icon_checkmark.svg b/selfdrive/assets/offroad/icon_checkmark.svg new file mode 100644 index 000000000..b024eccd9 --- /dev/null +++ b/selfdrive/assets/offroad/icon_checkmark.svg @@ -0,0 +1,3 @@ + + + diff --git a/selfdrive/assets/offroad/icon_chevron_right.png b/selfdrive/assets/offroad/icon_chevron_right.png new file mode 100644 index 000000000..a3aaa7648 Binary files /dev/null and b/selfdrive/assets/offroad/icon_chevron_right.png differ diff --git a/selfdrive/assets/offroad/icon_close.svg b/selfdrive/assets/offroad/icon_close.svg new file mode 100644 index 000000000..4c063371a --- /dev/null +++ b/selfdrive/assets/offroad/icon_close.svg @@ -0,0 +1,4 @@ + + + + diff --git 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a/selfdrive/assets/offroad/icon_wifi_strength_full.svg b/selfdrive/assets/offroad/icon_wifi_strength_full.svg new file mode 100644 index 000000000..758198e97 --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_strength_full.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/assets/offroad/icon_wifi_strength_high.svg b/selfdrive/assets/offroad/icon_wifi_strength_high.svg new file mode 100644 index 000000000..a8db07f91 --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_strength_high.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/assets/offroad/icon_wifi_strength_low.svg b/selfdrive/assets/offroad/icon_wifi_strength_low.svg new file mode 100644 index 000000000..8963c3dbc --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_strength_low.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/assets/offroad/icon_wifi_strength_medium.svg b/selfdrive/assets/offroad/icon_wifi_strength_medium.svg new file mode 100644 index 000000000..8f8d50326 --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_strength_medium.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/assets/offroad/tc.html b/selfdrive/assets/offroad/tc.html new file mode 100644 index 000000000..f88daf08f --- /dev/null +++ b/selfdrive/assets/offroad/tc.html @@ -0,0 +1,44 @@ + + + + + openpilot Terms of Service + + + + +

The Terms and Conditions below are effective for all users

+

Last Updated on October 18, 2019

+

Please read these Terms of Use (“Terms”) carefully before using openpilot which is open-sourced software developed by Comma.ai, Inc., a corporation organized under the laws of Delaware (“comma,” “us,” “we,” or “our”).

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Before using and by accessing openpilot, you indicate that you have read, understood, and agree to these Terms. These Terms apply to all users and others who access or use openpilot. If others use openpilot through your user account or vehicle, you are responsible to ensure that they only use openpilot when it is safe to do so, and in compliance with these Terms and with applicable law. If you disagree with any part of the Terms, you should not access or use openpilot.

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Communications

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You agree that comma may contact you by email or telephone in connection with openpilot or for other business purposes. You may opt out of receiving email messages at any time by contacting us at support@comma.ai.

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We collect, use, and share information from and about you and your vehicle in connection with openpilot. You consent to comma accessing the systems associated with openpilot, without additional notice or consent, for the purposes of providing openpilot, data collection, software updates, safety and cybersecurity, suspension or removal of your account, and as disclosed in the Privacy Policy (available at https://connect.comma.ai/privacy).

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Safety

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openpilot performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) designed for use in compatible motor vehicles. While using openpilot, it is your responsibility to obey all laws, traffic rules, and traffic regulations governing your vehicle and its operation. Access to and use of openpilot is at your own risk and responsibility, and openpilot should be accessed and/or used only when you can do so safely.

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openpilot does not make your vehicle “autonomous” or capable of operation without the active monitoring of a licensed driver. It is designed to assist a licensed driver. A licensed driver must pay attention to the road, remain aware of navigation at all times, and be prepared to take immediate action. Failure to do so can cause damage, injury, or death.

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Supported Locations and Models

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openpilot is compatible only with particular makes and models of vehicles. For a complete list of currently supported vehicles, visit https://comma.ai. openpilot will not function properly when installed in an incompatible vehicle. openpilot is compatible only within the geographical boundaries of the United States of America.

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Indemnification

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To the maximum extent allowable by law, you agree to defend, indemnify and hold harmless comma, and its employees, partners, suppliers, contractors, investors, agents, officers, directors, and affiliates, from and against any and all claims, damages, causes of action, penalties, interest, demands, obligations, losses, liabilities, costs or debt, additional taxes, and expenses (including but not limited to attorneys’ fees), resulting from or arising out of (i) your use and access of, or inability to use or access, openpilot, (ii) your breach of these Terms, (iii) the inaccuracy of any information, representation or warranty made by you, (iv) activities of anyone other than you in connection with openpilot conducted through your comma device or account, (v) any other of your activities under or in connection with these Terms or openpilot.

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Limitation of Liability

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In no event shall comma, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable for any indirect, incidental, special, consequential or punitive damages, including without limitation, loss of profits, data, use, goodwill, or other intangible losses, resulting from (i) your access to or use of or inability to access or use of the Software; or (ii) any conduct or content of any third party on the Software whether based on warranty, contract, tort (including negligence) or any other legal theory, whether or not we have been informed of the possibility of such damage, and even if a remedy set forth herein is found to have failed of its essential purpose.

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No Warranty or Obligations to Maintain or Service

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comma provides openpilot without representations, conditions, or warranties of any kind. openpilot is provided on an “AS IS” and “AS AVAILABLE” basis, including with all faults and errors as may occur. To the extent permitted by law and unless prohibited by law, comma on behalf of itself and all persons and parties acting by, through, or for comma, explicitly disclaims all warranties or conditions, express, implied, or collateral, including any implied warranties of merchantability, satisfactory quality, and fitness for a particular purpose in respect of openpilot.

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To the extent permitted by law, comma does not warrant the operation, performance, or availability of openpilot under all conditions. comma is not responsible for any failures caused by server errors, misdirected or redirected transmissions, failed internet connections, interruptions or failures in the transmission of data, any computer virus, or any acts or omissions of third parties that damage the network or impair wireless service.

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We undertake reasonable measures to preserve and secure information collected through our openpilot. However, no data collection, transmission or storage system is 100% secure, and there is always a risk that your information may be intercepted without our consent. In using openpilot, you acknowledge that comma is not responsible for intercepted information, and you hereby release us from any and all claims arising out of or related to the use of intercepted information in any unauthorized manner.

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By providing openpilot, comma does not transfer or license its intellectual property or grant rights in its brand names, nor does comma make representations with respect to third-party intellectual property rights.

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We are not obligated to provide any maintenance or support for openpilot, technical or otherwise. If we voluntarily provide any maintenance or support for openpilot, we may stop any such maintenance, support, or services at any time in our sole discretion.

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Modification of Software

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In no event shall comma, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable if you choose to modify the software.

+

Changes

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We reserve the right, at our sole discretion, to modify or replace these Terms at any time. If a revision is material we will provide at least 15 days’ notice prior to any new terms taking effect. What constitutes a material change will be determined at our sole discretion.

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By continuing to access or use our Software after any revisions become effective, you agree to be bound by the revised terms. If you do not agree to the new terms, you are no longer authorized to use the Software.

+

Contact Us

+

If you have any questions about these Terms, please contact us at support@comma.ai.

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sys +import tempfile +import threading +import time +from collections import namedtuple +from datetime import datetime +from functools import partial +from typing import Any, Dict + +import requests +from jsonrpc import JSONRPCResponseManager, dispatcher +from websocket import (ABNF, WebSocketException, WebSocketTimeoutException, + create_connection) + +import cereal.messaging as messaging +from cereal import log +from cereal.services import service_list +from common.api import Api +from common.basedir import PERSIST +from common.file_helpers import CallbackReader +from common.params import Params +from common.realtime import sec_since_boot, set_core_affinity +from system.hardware import HARDWARE, PC, AGNOS +from selfdrive.loggerd.config import ROOT +from selfdrive.loggerd.xattr_cache import getxattr, setxattr +from selfdrive.statsd import STATS_DIR +from system.swaglog import SWAGLOG_DIR, cloudlog +from system.version import get_commit, get_origin, get_short_branch, get_version + +ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') +HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4")) +LOCAL_PORT_WHITELIST = {8022} + +LOG_ATTR_NAME = 'user.upload' +LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder) +RECONNECT_TIMEOUT_S = 70 + +RETRY_DELAY = 10 # seconds +MAX_RETRY_COUNT = 30 # Try for at most 5 minutes if upload fails immediately +MAX_AGE = 31 * 24 * 3600 # seconds +WS_FRAME_SIZE = 4096 + +NetworkType = log.DeviceState.NetworkType + +dispatcher["echo"] = lambda s: s +recv_queue: Any = queue.Queue() +send_queue: Any = queue.Queue() +upload_queue: Any = queue.Queue() +low_priority_send_queue: Any = queue.Queue() +log_recv_queue: Any = queue.Queue() +cancelled_uploads: Any = set() +UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress', 'allow_cellular'], defaults=(0, False, 0, False)) + +cur_upload_items: Dict[int, Any] = {} + + +def strip_bz2_extension(fn): + if fn.endswith('.bz2'): + return fn[:-4] + return fn + + +class AbortTransferException(Exception): + pass + + +class UploadQueueCache(): + params = Params() + + @staticmethod + def initialize(upload_queue): + try: + upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue") + if upload_queue_json is not None: + for item in json.loads(upload_queue_json): + upload_queue.put(UploadItem(**item)) + except Exception: + cloudlog.exception("athena.UploadQueueCache.initialize.exception") + + @staticmethod + def cache(upload_queue): + try: + items = [i._asdict() for i in upload_queue.queue if i.id not in cancelled_uploads] + UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items)) + except Exception: + cloudlog.exception("athena.UploadQueueCache.cache.exception") + + +def handle_long_poll(ws): + end_event = threading.Event() + + threads = [ + threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'), + threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'), + threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'), + threading.Thread(target=log_handler, args=(end_event,), name='log_handler'), + threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'), + ] + [ + threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}') + for x in range(HANDLER_THREADS) + ] + + for thread in threads: + thread.start() + try: + while not end_event.is_set(): + time.sleep(0.1) + except (KeyboardInterrupt, SystemExit): + end_event.set() + raise + finally: + for thread in threads: + cloudlog.debug(f"athena.joining {thread.name}") + thread.join() + + +def jsonrpc_handler(end_event): + dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event) + while not end_event.is_set(): + try: + data = recv_queue.get(timeout=1) + if "method" in data: + cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}") + response = JSONRPCResponseManager.handle(data, dispatcher) + send_queue.put_nowait(response.json) + elif "id" in data and ("result" in data or "error" in data): + log_recv_queue.put_nowait(data) + else: + raise Exception("not a valid request or response") + except queue.Empty: + pass + except Exception as e: + cloudlog.exception("athena jsonrpc handler failed") + send_queue.put_nowait(json.dumps({"error": str(e)})) + + +def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = True) -> None: + if cur_upload_items[tid].retry_count < MAX_RETRY_COUNT: + item = cur_upload_items[tid] + new_retry_count = item.retry_count + 1 if increase_count else item.retry_count + + item = item._replace( + retry_count=new_retry_count, + progress=0, + current=False + ) + upload_queue.put_nowait(item) + UploadQueueCache.cache(upload_queue) + + cur_upload_items[tid] = None + + for _ in range(RETRY_DELAY): + time.sleep(1) + if end_event.is_set(): + break + + +def upload_handler(end_event: threading.Event) -> None: + sm = messaging.SubMaster(['deviceState']) + tid = threading.get_ident() + + while not end_event.is_set(): + cur_upload_items[tid] = None + + try: + cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True) + + if cur_upload_items[tid].id in cancelled_uploads: + cancelled_uploads.remove(cur_upload_items[tid].id) + continue + + # Remove item if too old + age = datetime.now() - datetime.fromtimestamp(cur_upload_items[tid].created_at / 1000) + if age.total_seconds() > MAX_AGE: + cloudlog.event("athena.upload_handler.expired", item=cur_upload_items[tid], error=True) + continue + + # Check if uploading over metered connection is allowed + sm.update(0) + metered = sm['deviceState'].networkMetered + network_type = sm['deviceState'].networkType.raw + if metered and (not cur_upload_items[tid].allow_cellular): + retry_upload(tid, end_event, False) + continue + + try: + def cb(sz, cur): + # Abort transfer if connection changed to metered after starting upload + sm.update(0) + metered = sm['deviceState'].networkMetered + if metered and (not cur_upload_items[tid].allow_cellular): + raise AbortTransferException + + cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1) + + fn = cur_upload_items[tid].path + try: + sz = os.path.getsize(fn) + except OSError: + sz = -1 + + cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=cur_upload_items[tid].retry_count) + response = _do_upload(cur_upload_items[tid], cb) + + if response.status_code not in (200, 201, 401, 403, 412): + cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered) + retry_upload(tid, end_event) + else: + cloudlog.event("athena.upload_handler.success", fn=fn, sz=sz, network_type=network_type, metered=metered) + + UploadQueueCache.cache(upload_queue) + except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError): + cloudlog.event("athena.upload_handler.timeout", fn=fn, sz=sz, network_type=network_type, metered=metered) + retry_upload(tid, end_event) + except AbortTransferException: + cloudlog.event("athena.upload_handler.abort", fn=fn, sz=sz, network_type=network_type, metered=metered) + retry_upload(tid, end_event, False) + + except queue.Empty: + pass + except Exception: + cloudlog.exception("athena.upload_handler.exception") + + +def _do_upload(upload_item, callback=None): + path = upload_item.path + compress = False + + # If file does not exist, but does exist without the .bz2 extension we will compress on the fly + if not os.path.exists(path) and os.path.exists(strip_bz2_extension(path)): + path = strip_bz2_extension(path) + compress = True + + with open(path, "rb") as f: + if compress: + cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path) + data = bz2.compress(f.read()) + size = len(data) + data = io.BytesIO(data) + else: + size = os.fstat(f.fileno()).st_size + data = f + + if callback: + data = CallbackReader(data, callback, size) + + return requests.put(upload_item.url, + data=data, + headers={**upload_item.headers, 'Content-Length': str(size)}, + timeout=30) + + +# security: user should be able to request any message from their car +@dispatcher.add_method +def getMessage(service=None, timeout=1000): + if service is None or service not in service_list: + raise Exception("invalid service") + + socket = messaging.sub_sock(service, timeout=timeout) + ret = messaging.recv_one(socket) + + if ret is None: + raise TimeoutError + + return ret.to_dict() + + +@dispatcher.add_method +def getVersion() -> Dict[str, str]: + return { + "version": get_version(), + "remote": get_origin(''), + "branch": get_short_branch(''), + "commit": get_commit(default=''), + } + + +@dispatcher.add_method +def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=None): + destination = { + "latitude": latitude, + "longitude": longitude, + "place_name": place_name, + "place_details": place_details, + } + Params().put("NavDestination", json.dumps(destination)) + + return {"success": 1} + + +def scan_dir(path, prefix): + files = list() + # only walk directories that match the prefix + # (glob and friends traverse entire dir tree) + with os.scandir(path) as i: + for e in i: + rel_path = os.path.relpath(e.path, ROOT) + if e.is_dir(follow_symlinks=False): + # add trailing slash + rel_path = os.path.join(rel_path, '') + # if prefix is a partial dir name, current dir will start with prefix + # if prefix is a partial file name, prefix with start with dir name + if rel_path.startswith(prefix) or prefix.startswith(rel_path): + files.extend(scan_dir(e.path, prefix)) + else: + if rel_path.startswith(prefix): + files.append(rel_path) + return files + +@dispatcher.add_method +def listDataDirectory(prefix=''): + return scan_dir(ROOT, prefix) + + +@dispatcher.add_method +def reboot(): + sock = messaging.sub_sock("deviceState", timeout=1000) + ret = messaging.recv_one(sock) + if ret is None or ret.deviceState.started: + raise Exception("Reboot unavailable") + + def do_reboot(): + time.sleep(2) + HARDWARE.reboot() + + threading.Thread(target=do_reboot).start() + + return {"success": 1} + + +@dispatcher.add_method +def uploadFileToUrl(fn, url, headers): + return uploadFilesToUrls([{ + "fn": fn, + "url": url, + "headers": headers, + }]) + + +@dispatcher.add_method +def uploadFilesToUrls(files_data): + items = [] + failed = [] + for file in files_data: + fn = file.get('fn', '') + if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file: + failed.append(fn) + continue + + path = os.path.join(ROOT, fn) + if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)): + failed.append(fn) + continue + + # Skip item if already in queue + url = file['url'].split('?')[0] + if any(url == item['url'].split('?')[0] for item in listUploadQueue()): + continue + + item = UploadItem( + path=path, + url=file['url'], + headers=file.get('headers', {}), + created_at=int(time.time() * 1000), + id=None, + allow_cellular=file.get('allow_cellular', False), + ) + upload_id = hashlib.sha1(str(item).encode()).hexdigest() + item = item._replace(id=upload_id) + upload_queue.put_nowait(item) + items.append(item._asdict()) + + UploadQueueCache.cache(upload_queue) + + resp = {"enqueued": len(items), "items": items} + if failed: + resp["failed"] = failed + + return resp + + +@dispatcher.add_method +def listUploadQueue(): + items = list(upload_queue.queue) + list(cur_upload_items.values()) + return [i._asdict() for i in items if (i is not None) and (i.id not in cancelled_uploads)] + + +@dispatcher.add_method +def cancelUpload(upload_id): + if not isinstance(upload_id, list): + upload_id = [upload_id] + + uploading_ids = {item.id for item in list(upload_queue.queue)} + cancelled_ids = uploading_ids.intersection(upload_id) + if len(cancelled_ids) == 0: + return 404 + + cancelled_uploads.update(cancelled_ids) + return {"success": 1} + + +@dispatcher.add_method +def primeActivated(activated): + return {"success": 1} + + +@dispatcher.add_method +def setBandwithLimit(upload_speed_kbps, download_speed_kbps): + if not AGNOS: + return {"success": 0, "error": "only supported on AGNOS"} + + try: + HARDWARE.set_bandwidth_limit(upload_speed_kbps, download_speed_kbps) + return {"success": 1} + except subprocess.CalledProcessError as e: + return {"success": 0, "error": "failed to set limit", "stdout": e.stdout, "stderr": e.stderr} + + +def startLocalProxy(global_end_event, remote_ws_uri, local_port): + try: + if local_port not in LOCAL_PORT_WHITELIST: + raise Exception("Requested local port not whitelisted") + + cloudlog.debug("athena.startLocalProxy.starting") + + dongle_id = Params().get("DongleId").decode('utf8') + identity_token = Api(dongle_id).get_token() + ws = create_connection(remote_ws_uri, + cookie="jwt=" + identity_token, + enable_multithread=True) + + ssock, csock = socket.socketpair() + local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + local_sock.connect(('127.0.0.1', local_port)) + local_sock.setblocking(False) + + proxy_end_event = threading.Event() + threads = [ + threading.Thread(target=ws_proxy_recv, args=(ws, local_sock, ssock, proxy_end_event, global_end_event)), + threading.Thread(target=ws_proxy_send, args=(ws, local_sock, csock, proxy_end_event)) + ] + for thread in threads: + thread.start() + + cloudlog.debug("athena.startLocalProxy.started") + return {"success": 1} + except Exception as e: + cloudlog.exception("athenad.startLocalProxy.exception") + raise e + + +@dispatcher.add_method +def getPublicKey(): + if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'): + return None + + with open(PERSIST + '/comma/id_rsa.pub') as f: + return f.read() + + +@dispatcher.add_method +def getSshAuthorizedKeys(): + return Params().get("GithubSshKeys", encoding='utf8') or '' + + +@dispatcher.add_method +def getSimInfo(): + return HARDWARE.get_sim_info() + + +@dispatcher.add_method +def getNetworkType(): + return HARDWARE.get_network_type() + + +@dispatcher.add_method +def getNetworkMetered(): + network_type = HARDWARE.get_network_type() + return HARDWARE.get_network_metered(network_type) + + +@dispatcher.add_method +def getNetworks(): + return HARDWARE.get_networks() + + +@dispatcher.add_method +def takeSnapshot(): + from system.camerad.snapshot.snapshot import jpeg_write, snapshot + ret = snapshot() + if ret is not None: + def b64jpeg(x): + if x is not None: + f = io.BytesIO() + jpeg_write(f, x) + return base64.b64encode(f.getvalue()).decode("utf-8") + else: + return None + return {'jpegBack': b64jpeg(ret[0]), + 'jpegFront': b64jpeg(ret[1])} + else: + raise Exception("not available while camerad is started") + + +def get_logs_to_send_sorted(): + # TODO: scan once then use inotify to detect file creation/deletion + curr_time = int(time.time()) + logs = [] + for log_entry in os.listdir(SWAGLOG_DIR): + log_path = os.path.join(SWAGLOG_DIR, log_entry) + try: + time_sent = int.from_bytes(getxattr(log_path, LOG_ATTR_NAME), sys.byteorder) + except (ValueError, TypeError): + time_sent = 0 + # assume send failed and we lost the response if sent more than one hour ago + if not time_sent or curr_time - time_sent > 3600: + logs.append(log_entry) + # excluding most recent (active) log file + return sorted(logs)[:-1] + + +def log_handler(end_event): + # dont upload any logs for now + if True: + return + + log_files = [] + last_scan = 0 + while not end_event.is_set(): + try: + curr_scan = sec_since_boot() + if curr_scan - last_scan > 10: + log_files = get_logs_to_send_sorted() + last_scan = curr_scan + + # send one log + curr_log = None + if len(log_files) > 0: + log_entry = log_files.pop() # newest log file + cloudlog.debug(f"athena.log_handler.forward_request {log_entry}") + try: + curr_time = int(time.time()) + log_path = os.path.join(SWAGLOG_DIR, log_entry) + setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder)) + with open(log_path) as f: + jsonrpc = { + "method": "forwardLogs", + "params": { + "logs": f.read() + }, + "jsonrpc": "2.0", + "id": log_entry + } + low_priority_send_queue.put_nowait(json.dumps(jsonrpc)) + curr_log = log_entry + except OSError: + pass # file could be deleted by log rotation + + # wait for response up to ~100 seconds + # always read queue at least once to process any old responses that arrive + for _ in range(100): + if end_event.is_set(): + break + try: + log_resp = json.loads(log_recv_queue.get(timeout=1)) + log_entry = log_resp.get("id") + log_success = "result" in log_resp and log_resp["result"].get("success") + cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}") + if log_entry and log_success: + log_path = os.path.join(SWAGLOG_DIR, log_entry) + try: + setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME) + except OSError: + pass # file could be deleted by log rotation + if curr_log == log_entry: + break + except queue.Empty: + if curr_log is None: + break + + except Exception: + cloudlog.exception("athena.log_handler.exception") + + +def stat_handler(end_event): + while not end_event.is_set(): + last_scan = 0 + curr_scan = sec_since_boot() + try: + if curr_scan - last_scan > 10: + stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR))) + if len(stat_filenames) > 0: + stat_path = os.path.join(STATS_DIR, stat_filenames[0]) + with open(stat_path) as f: + jsonrpc = { + "method": "storeStats", + "params": { + "stats": f.read() + }, + "jsonrpc": "2.0", + "id": stat_filenames[0] + } + low_priority_send_queue.put_nowait(json.dumps(jsonrpc)) + os.remove(stat_path) + last_scan = curr_scan + except Exception: + cloudlog.exception("athena.stat_handler.exception") + time.sleep(0.1) + + +def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event): + while not (end_event.is_set() or global_end_event.is_set()): + try: + data = ws.recv() + local_sock.sendall(data) + except WebSocketTimeoutException: + pass + except Exception: + cloudlog.exception("athenad.ws_proxy_recv.exception") + break + + cloudlog.debug("athena.ws_proxy_recv closing sockets") + ssock.close() + local_sock.close() + cloudlog.debug("athena.ws_proxy_recv done closing sockets") + + end_event.set() + + +def ws_proxy_send(ws, local_sock, signal_sock, end_event): + while not end_event.is_set(): + try: + r, _, _ = select.select((local_sock, signal_sock), (), ()) + if r: + if r[0].fileno() == signal_sock.fileno(): + # got end signal from ws_proxy_recv + end_event.set() + break + data = local_sock.recv(4096) + if not data: + # local_sock is dead + end_event.set() + break + + ws.send(data, ABNF.OPCODE_BINARY) + except Exception: + cloudlog.exception("athenad.ws_proxy_send.exception") + end_event.set() + + cloudlog.debug("athena.ws_proxy_send closing sockets") + signal_sock.close() + cloudlog.debug("athena.ws_proxy_send done closing sockets") + + +def ws_recv(ws, end_event): + last_ping = int(sec_since_boot() * 1e9) + while not end_event.is_set(): + try: + opcode, data = ws.recv_data(control_frame=True) + if opcode in (ABNF.OPCODE_TEXT, ABNF.OPCODE_BINARY): + if opcode == ABNF.OPCODE_TEXT: + data = data.decode("utf-8") + recv_queue.put_nowait(data) + elif opcode == ABNF.OPCODE_PING: + last_ping = int(sec_since_boot() * 1e9) + Params().put("LastAthenaPingTime", str(last_ping)) + except WebSocketTimeoutException: + ns_since_last_ping = int(sec_since_boot() * 1e9) - last_ping + if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9: + cloudlog.exception("athenad.ws_recv.timeout") + end_event.set() + except Exception: + cloudlog.exception("athenad.ws_recv.exception") + end_event.set() + + +def ws_send(ws, end_event): + while not end_event.is_set(): + try: + try: + data = send_queue.get_nowait() + except queue.Empty: + data = low_priority_send_queue.get(timeout=1) + for i in range(0, len(data), WS_FRAME_SIZE): + frame = data[i:i+WS_FRAME_SIZE] + last = i + WS_FRAME_SIZE >= len(data) + opcode = ABNF.OPCODE_TEXT if i == 0 else ABNF.OPCODE_CONT + ws.send_frame(ABNF.create_frame(frame, opcode, last)) + except queue.Empty: + pass + except Exception: + cloudlog.exception("athenad.ws_send.exception") + end_event.set() + + +def backoff(retries): + return random.randrange(0, min(128, int(2 ** retries))) + + +def main(): + try: + set_core_affinity([0, 1, 2, 3]) + except Exception: + cloudlog.exception("failed to set core affinity") + + params = Params() + dongle_id = params.get("DongleId", encoding='utf-8') + UploadQueueCache.initialize(upload_queue) + + ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id + api = Api(dongle_id) + + conn_retries = 0 + while 1: + try: + cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri) + ws = create_connection(ws_uri, + cookie="jwt=" + api.get_token(), + enable_multithread=True, + timeout=30.0) + cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri) + + conn_retries = 0 + cur_upload_items.clear() + + handle_long_poll(ws) + except (KeyboardInterrupt, SystemExit): + break + except (ConnectionError, TimeoutError, WebSocketException): + conn_retries += 1 + params.delete("LastAthenaPingTime") + except socket.timeout: + params.delete("LastAthenaPingTime") + except Exception: + cloudlog.exception("athenad.main.exception") + + conn_retries += 1 + params.delete("LastAthenaPingTime") + + time.sleep(backoff(conn_retries)) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py new file mode 100755 index 000000000..6bbb03a79 --- /dev/null +++ b/selfdrive/athena/manage_athenad.py @@ -0,0 +1,34 @@ +#!/usr/bin/env python3 + +import time +from multiprocessing import Process + +from common.params import Params +from selfdrive.manager.process import launcher +from system.swaglog import cloudlog +from system.version import get_version, is_dirty + +ATHENA_MGR_PID_PARAM = "AthenadPid" + + +def main(): + params = Params() + dongle_id = params.get("DongleId").decode('utf-8') + cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty()) + + try: + while 1: + cloudlog.info("starting athena daemon") + proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad')) + proc.start() + proc.join() + cloudlog.event("athenad exited", exitcode=proc.exitcode) + time.sleep(5) + except Exception: + cloudlog.exception("manage_athenad.exception") + finally: + params.delete(ATHENA_MGR_PID_PARAM) + + +if __name__ == '__main__': + main() diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py new file mode 100755 index 000000000..32bc92059 --- /dev/null +++ b/selfdrive/athena/registration.py @@ -0,0 +1,101 @@ +#!/usr/bin/env python3 +import time +import json +import jwt +from pathlib import Path +from typing import Optional + +from datetime import datetime, timedelta +from common.api import api_get +from common.params import Params +from common.spinner import Spinner +from common.basedir import PERSIST +from selfdrive.controls.lib.alertmanager import set_offroad_alert +from system.hardware import HARDWARE, PC +from system.swaglog import cloudlog + + +UNREGISTERED_DONGLE_ID = "UnregisteredDevice" + + +def is_registered_device() -> bool: + dongle = Params().get("DongleId", encoding='utf-8') + return dongle not in (None, UNREGISTERED_DONGLE_ID) + + +def register(show_spinner=False) -> Optional[str]: + params = Params() + params.put("SubscriberInfo", HARDWARE.get_subscriber_info()) + + IMEI = params.get("IMEI", encoding='utf8') + HardwareSerial = params.get("HardwareSerial", encoding='utf8') + dongle_id: Optional[str] = params.get("DongleId", encoding='utf8') + needs_registration = None in (IMEI, HardwareSerial, dongle_id) + + pubkey = Path(PERSIST+"/comma/id_rsa.pub") + if not pubkey.is_file(): + dongle_id = UNREGISTERED_DONGLE_ID + cloudlog.warning(f"missing public key: {pubkey}") + elif needs_registration: + if show_spinner: + spinner = Spinner() + spinner.update("registering device") + + # Create registration token, in the future, this key will make JWTs directly + with open(PERSIST+"/comma/id_rsa.pub") as f1, open(PERSIST+"/comma/id_rsa") as f2: + public_key = f1.read() + private_key = f2.read() + + # Block until we get the imei + serial = HARDWARE.get_serial() + start_time = time.monotonic() + imei1: Optional[str] = None + imei2: Optional[str] = None + while imei1 is None and imei2 is None: + try: + imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1) + except Exception: + cloudlog.exception("Error getting imei, trying again...") + time.sleep(1) + + if time.monotonic() - start_time > 60 and show_spinner: + spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})") + + params.put("IMEI", imei1) + params.put("HardwareSerial", serial) + + backoff = 0 + start_time = time.monotonic() + while True: + try: + register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256') + cloudlog.info("getting pilotauth") + resp = api_get("v2/pilotauth/", method='POST', timeout=15, + imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token) + + if resp.status_code in (402, 403): + cloudlog.info(f"Unable to register device, got {resp.status_code}") + dongle_id = UNREGISTERED_DONGLE_ID + else: + dongleauth = json.loads(resp.text) + dongle_id = dongleauth["dongle_id"] + break + except Exception: + cloudlog.exception("failed to authenticate") + backoff = min(backoff + 1, 15) + time.sleep(backoff) + + if time.monotonic() - start_time > 60 and show_spinner: + spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})") + + if show_spinner: + spinner.close() + + if dongle_id: + params.put("DongleId", dongle_id) + set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC) + return dongle_id + + +if __name__ == "__main__": + print(register()) diff --git a/selfdrive/boardd/.gitignore b/selfdrive/boardd/.gitignore new file mode 100644 index 000000000..e8daa2ef2 --- /dev/null +++ b/selfdrive/boardd/.gitignore @@ -0,0 +1,3 @@ +boardd +boardd_api_impl.cpp +tests/test_boardd_usbprotocol diff --git a/selfdrive/boardd/__init__.py b/selfdrive/boardd/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/boardd/boardd b/selfdrive/boardd/boardd new file mode 100755 index 000000000..62c8c793b Binary files /dev/null and b/selfdrive/boardd/boardd differ diff --git a/selfdrive/boardd/boardd.h b/selfdrive/boardd/boardd.h new file mode 100644 index 000000000..d3c9e1f94 --- /dev/null +++ b/selfdrive/boardd/boardd.h @@ -0,0 +1,6 @@ +#pragma once + +#include "selfdrive/boardd/panda.h" + +bool safety_setter_thread(std::vector pandas); +void boardd_main_thread(std::vector serials); diff --git a/selfdrive/boardd/boardd.py b/selfdrive/boardd/boardd.py new file mode 100644 index 000000000..527f1f4f5 --- /dev/null +++ b/selfdrive/boardd/boardd.py @@ -0,0 +1,12 @@ +# pylint: skip-file + +# Cython, now uses scons to build +from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +assert can_list_to_can_capnp + +def can_capnp_to_can_list(can, src_filter=None): + ret = [] + for msg in can: + if src_filter is None or msg.src in src_filter: + ret.append((msg.address, msg.busTime, msg.dat, msg.src)) + return ret diff --git a/selfdrive/boardd/boardd_api_impl.cpp b/selfdrive/boardd/boardd_api_impl.cpp new file mode 100644 index 000000000..814e8a01d --- /dev/null +++ b/selfdrive/boardd/boardd_api_impl.cpp @@ -0,0 +1,3655 @@ +/* Generated by Cython 0.29.26 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [], + "language": "c++", + "name": "selfdrive.boardd.boardd_api_impl", + "sources": [ + "/data/openpilot/selfdrive/boardd/boardd_api_impl.pyx" + ] + }, + "module_name": "selfdrive.boardd.boardd_api_impl" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(U other) { return *ptr == other; } + template bool operator !=(U other) { return *ptr != other; } + private: + T *ptr; +}; + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__selfdrive__boardd__boardd_api_impl +#define __PYX_HAVE_API__selfdrive__boardd__boardd_api_impl +/* Early includes */ +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +static PyObject *__pyx_m = NULL; +static PyObject *__pyx_d; +static PyObject *__pyx_b; +static PyObject *__pyx_cython_runtime = NULL; +static PyObject *__pyx_empty_tuple; +static PyObject *__pyx_empty_bytes; +static PyObject *__pyx_empty_unicode; +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm= __FILE__; +static const char *__pyx_filename; + + +static const char *__pyx_f[] = { + "selfdrive/boardd/boardd_api_impl.pyx", + "stringsource", +}; + +/*--- Type declarations ---*/ +struct __pyx_t_9selfdrive_6boardd_15boardd_api_impl_can_frame; + +/* "selfdrive/boardd/boardd_api_impl.pyx":7 + * from libcpp cimport bool + * + * cdef struct can_frame: # <<<<<<<<<<<<<< + * long address + * string dat + */ +struct __pyx_t_9selfdrive_6boardd_15boardd_api_impl_can_frame { + long address; + std::string dat; + long busTime; + long src; +}; + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, int); + void (*DECREF)(void*, PyObject*, int); + void (*GOTREF)(void*, PyObject*, int); + void (*GIVEREF)(void*, PyObject*, int); + void* (*SetupContext)(const char*, int, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; 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(PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); 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+static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + + +/* Module declarations from 'libcpp.vector' */ + +/* Module declarations from 'libc.string' */ + +/* Module declarations from 'libcpp.string' */ + +/* Module declarations from 'libcpp' */ + +/* Module declarations from 'selfdrive.boardd.boardd_api_impl' */ +__PYX_EXTERN_C DL_IMPORT(void) can_list_to_can_capnp_cpp(std::vector const &, std::string &, bool, bool); /*proto*/ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +#define __Pyx_MODULE_NAME "selfdrive.boardd.boardd_api_impl" +extern int __pyx_module_is_main_selfdrive__boardd__boardd_api_impl; +int __pyx_module_is_main_selfdrive__boardd__boardd_api_impl = 0; + +/* Implementation of 'selfdrive.boardd.boardd_api_impl' */ +static const char __pyx_k_f[] = "f"; +static const char __pyx_k_can[] = "can"; +static const char __pyx_k_out[] = "out"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_valid[] = "valid"; +static const char __pyx_k_can_msg[] = "can_msg"; +static const char __pyx_k_msgtype[] = "msgtype"; +static const char __pyx_k_sendcan[] = "sendcan"; +static const char __pyx_k_can_list[] = "can_list"; +static const char __pyx_k_can_msgs[] = "can_msgs"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_can_list_to_can_capnp[] = "can_list_to_can_capnp"; +static const char __pyx_k_selfdrive_boardd_boardd_api_impl[] = "selfdrive/boardd/boardd_api_impl.pyx"; +static const char __pyx_k_selfdrive_boardd_boardd_api_impl_2[] = "selfdrive.boardd.boardd_api_impl"; +static PyObject *__pyx_n_u_can; +static PyObject *__pyx_n_s_can_list; +static PyObject *__pyx_n_s_can_list_to_can_capnp; +static PyObject *__pyx_n_s_can_msg; +static PyObject *__pyx_n_s_can_msgs; +static PyObject *__pyx_n_s_cline_in_traceback; +static PyObject *__pyx_n_s_f; +static PyObject *__pyx_n_s_main; +static PyObject *__pyx_n_s_msgtype; +static PyObject *__pyx_n_s_name; +static PyObject *__pyx_n_s_out; +static PyObject *__pyx_kp_s_selfdrive_boardd_boardd_api_impl; +static PyObject *__pyx_n_s_selfdrive_boardd_boardd_api_impl_2; +static PyObject *__pyx_n_u_sendcan; +static PyObject *__pyx_n_s_test; +static PyObject *__pyx_n_s_valid; +static PyObject *__pyx_pf_9selfdrive_6boardd_15boardd_api_impl_can_list_to_can_capnp(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_can_msgs, PyObject *__pyx_v_msgtype, PyObject *__pyx_v_valid); /* proto */ +static PyObject *__pyx_tuple_; +static PyObject *__pyx_codeobj__2; +/* Late includes */ + +/* "selfdrive/boardd/boardd_api_impl.pyx":15 + * cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid) + * + * def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): # <<<<<<<<<<<<<< + * cdef vector[can_frame] can_list + * can_list.reserve(len(can_msgs)) + */ + +/* Python wrapper */ +static PyObject *__pyx_pw_9selfdrive_6boardd_15boardd_api_impl_1can_list_to_can_capnp(PyObject *__pyx_self, PyObject *__pyx_args, PyObject *__pyx_kwds); /*proto*/ +static PyMethodDef __pyx_mdef_9selfdrive_6boardd_15boardd_api_impl_1can_list_to_can_capnp = {"can_list_to_can_capnp", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_9selfdrive_6boardd_15boardd_api_impl_1can_list_to_can_capnp, METH_VARARGS|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_9selfdrive_6boardd_15boardd_api_impl_1can_list_to_can_capnp(PyObject *__pyx_self, PyObject *__pyx_args, PyObject *__pyx_kwds) { + PyObject *__pyx_v_can_msgs = 0; + PyObject *__pyx_v_msgtype = 0; + PyObject *__pyx_v_valid = 0; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + PyObject *__pyx_r = 0; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("can_list_to_can_capnp (wrapper)", 0); + { + static PyObject **__pyx_pyargnames[] = {&__pyx_n_s_can_msgs,&__pyx_n_s_msgtype,&__pyx_n_s_valid,0}; + PyObject* values[3] = {0,0,0}; + values[1] = ((PyObject *)__pyx_n_u_can); + values[2] = ((PyObject *)Py_True); + if (unlikely(__pyx_kwds)) { + Py_ssize_t kw_args; + const Py_ssize_t pos_args = PyTuple_GET_SIZE(__pyx_args); + switch (pos_args) { + case 3: values[2] = PyTuple_GET_ITEM(__pyx_args, 2); + CYTHON_FALLTHROUGH; + case 2: values[1] = PyTuple_GET_ITEM(__pyx_args, 1); + CYTHON_FALLTHROUGH; + case 1: values[0] = PyTuple_GET_ITEM(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = PyDict_Size(__pyx_kwds); + switch (pos_args) { + case 0: + if (likely((values[0] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_can_msgs)) != 0)) kw_args--; 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Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; ip) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx new file mode 100644 index 000000000..0d428a925 --- /dev/null +++ b/selfdrive/boardd/boardd_api_impl.pyx @@ -0,0 +1,28 @@ +# distutils: language = c++ +# cython: language_level=3 +from libcpp.vector cimport vector +from libcpp.string cimport string +from libcpp cimport bool + +cdef struct can_frame: + long address + string dat + long busTime + long src + +cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid) + +def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): + cdef vector[can_frame] can_list + can_list.reserve(len(can_msgs)) + + cdef can_frame f + for can_msg in can_msgs: + f.address = can_msg[0] + f.busTime = can_msg[1] + f.dat = can_msg[2] + f.src = can_msg[3] + can_list.push_back(f) + cdef string out + can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid) + return out diff --git a/selfdrive/boardd/boardd_api_impl.so b/selfdrive/boardd/boardd_api_impl.so new file mode 100755 index 000000000..1311a275f Binary files /dev/null and b/selfdrive/boardd/boardd_api_impl.so differ diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h new file mode 100644 index 000000000..dc9516699 --- /dev/null +++ b/selfdrive/boardd/panda.h @@ -0,0 +1,103 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "cereal/gen/cpp/car.capnp.h" +#include "cereal/gen/cpp/log.capnp.h" +#include "panda/board/health.h" + +#define TIMEOUT 0 +#define PANDA_BUS_CNT 4 +#define RECV_SIZE (0x4000U) +#define USB_TX_SOFT_LIMIT (0x100U) +#define USBPACKET_MAX_SIZE (0x40) +#define CANPACKET_HEAD_SIZE 5U +#define CANPACKET_MAX_SIZE 72U +#define CANPACKET_REJECTED (0xC0U) +#define CANPACKET_RETURNED (0x80U) + +struct __attribute__((packed)) can_header { + uint8_t reserved : 1; + uint8_t bus : 3; + uint8_t data_len_code : 4; + uint8_t rejected : 1; + uint8_t returned : 1; + uint8_t extended : 1; + uint32_t addr : 29; +}; + +struct can_frame { + long address; + std::string dat; + long busTime; + long src; +}; + +class Panda { + private: + libusb_context *ctx = NULL; + libusb_device_handle *dev_handle = NULL; + std::mutex usb_lock; + std::vector recv_buf; + void handle_usb_issue(int err, const char func[]); + void cleanup(); + + public: + Panda(std::string serial="", uint32_t bus_offset=0); + ~Panda(); + + std::string usb_serial; + std::atomic connected = true; + std::atomic comms_healthy = true; + cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN; + bool has_rtc = false; + const uint32_t bus_offset; + bool has_gps = true; + + // Static functions + static std::vector list(); + + // HW communication + int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT); + int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT); + int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + + // Panda functionality + cereal::PandaState::PandaType get_hw_type(); + void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U); + void set_alternative_experience(uint16_t alternative_experience); + void set_rtc(struct tm sys_time); + struct tm get_rtc(); + void set_fan_speed(uint16_t fan_speed); + uint16_t get_fan_speed(); + void set_ir_pwr(uint16_t ir_pwr); + std::optional get_state(); + void set_loopback(bool loopback); + std::optional> get_firmware_version(); + std::optional get_serial(); + void set_power_saving(bool power_saving); + void enable_deepsleep(); + void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode); + void send_heartbeat(bool engaged); + void set_can_speed_kbps(uint16_t bus, uint16_t speed); + void set_data_speed_kbps(uint16_t bus, uint16_t speed); + void can_send(capnp::List::Reader can_data_list); + bool can_receive(std::vector& out_vec); + +protected: + // for unit tests + Panda(uint32_t bus_offset) : bus_offset(bus_offset) {} + void pack_can_buffer(const capnp::List::Reader &can_data_list, + std::function write_func); + bool unpack_can_buffer(uint8_t *data, int size, std::vector &out_vec); +}; diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py new file mode 100755 index 000000000..54a28a678 --- /dev/null +++ b/selfdrive/boardd/pandad.py @@ -0,0 +1,143 @@ +#!/usr/bin/env python3 +# simple boardd wrapper that updates the panda first +import os +import usb1 +import time +import subprocess +from typing import List, NoReturn +from functools import cmp_to_key + +from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU +from common.basedir import BASEDIR +from common.params import Params +from system.hardware import HARDWARE +from system.swaglog import cloudlog + + +def get_expected_signature(panda: Panda) -> bytes: + fn = DEFAULT_H7_FW_FN if (panda.get_mcu_type() == MCU_TYPE_H7) else DEFAULT_FW_FN + + try: + return Panda.get_signature_from_firmware(fn) + except Exception: + cloudlog.exception("Error computing expected signature") + return b"" + + +def flash_panda(panda_serial: str) -> Panda: + panda = Panda(panda_serial) + + fw_signature = get_expected_signature(panda) + internal_panda = panda.is_internal() and not panda.bootstub + + panda_version = "bootstub" if panda.bootstub else panda.get_version() + panda_signature = b"" if panda.bootstub else panda.get_signature() + cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}") + + if panda.bootstub or panda_signature != fw_signature: + cloudlog.info("Panda firmware out of date, update required") + panda.flash() + cloudlog.info("Done flashing") + + if panda.bootstub: + bootstub_version = panda.get_version() + cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}") + if internal_panda: + HARDWARE.recover_internal_panda() + panda.recover(reset=(not internal_panda)) + cloudlog.info("Done flashing bootloader") + + if panda.bootstub: + cloudlog.info("Panda still not booting, exiting") + raise AssertionError + + panda_signature = panda.get_signature() + if panda_signature != fw_signature: + cloudlog.info("Version mismatch after flashing, exiting") + raise AssertionError + + return panda + + +def panda_sort_cmp(a: Panda, b: Panda): + a_type = a.get_type() + b_type = b.get_type() + + # make sure the internal one is always first + if a.is_internal() and not b.is_internal(): + return -1 + if not a.is_internal() and b.is_internal(): + return 1 + + # sort by hardware type + if a_type != b_type: + return a_type < b_type + + # last resort: sort by serial number + return a.get_usb_serial() < b.get_usb_serial() + + +def main() -> NoReturn: + first_run = True + params = Params() + + while True: + try: + params.delete("PandaSignatures") + + # Flash all Pandas in DFU mode + for p in PandaDFU.list(): + cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}") + PandaDFU(p).recover() + time.sleep(1) + + panda_serials = Panda.list() + if len(panda_serials) == 0: + if first_run: + cloudlog.info("Resetting internal panda") + HARDWARE.reset_internal_panda() + time.sleep(2) # wait to come back up + continue + + cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}") + + # Flash pandas + pandas: List[Panda] = [] + for serial in panda_serials: + pandas.append(flash_panda(serial)) + + # check health for lost heartbeat + for panda in pandas: + health = panda.health() + if health["heartbeat_lost"]: + params.put_bool("PandaHeartbeatLost", True) + cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial()) + + if first_run: + cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") + panda.reset() + + # sort pandas to have deterministic order + pandas.sort(key=cmp_to_key(panda_sort_cmp)) + panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore + + # log panda fw versions + params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas)) + + # close all pandas + for p in pandas: + p.close() + except (usb1.USBErrorNoDevice, usb1.USBErrorPipe): + # a panda was disconnected while setting everything up. let's try again + cloudlog.exception("Panda USB exception while setting up") + continue + + first_run = False + + # run boardd with all connected serials as arguments + os.environ['MANAGER_DAEMON'] = 'boardd' + os.chdir(os.path.join(BASEDIR, "selfdrive/boardd")) + subprocess.run(["./boardd", *panda_serials], check=True) + +if __name__ == "__main__": + main() diff --git a/selfdrive/boardd/pigeon.h b/selfdrive/boardd/pigeon.h new file mode 100644 index 000000000..c9ea4739d --- /dev/null +++ b/selfdrive/boardd/pigeon.h @@ -0,0 +1,58 @@ +#pragma once + +#include + +#include +#include + +#include "selfdrive/boardd/panda.h" + +enum sos_restore_response : int { + unknown = 0, + failed = 1, + restored = 2, + no_backup = 3, + error = -1 +}; + +class Pigeon { + public: + static Pigeon* connect(Panda * p); + static Pigeon* connect(const char * tty); + virtual ~Pigeon(){}; + + void init(); + void stop(); + bool wait_for_ack(); + bool wait_for_ack(const std::string &ack, const std::string &nack, int timeout_ms = 1000); + bool send_with_ack(const std::string &cmd); + sos_restore_response wait_for_backup_restore_status(int timeout_ms = 1000); + virtual void set_baud(int baud) = 0; + virtual void send(const std::string &s) = 0; + virtual std::string receive() = 0; + virtual void set_power(bool power) = 0; +}; + +class PandaPigeon : public Pigeon { + Panda * panda = NULL; +public: + ~PandaPigeon(); + void connect(Panda * p); + void set_baud(int baud); + void send(const std::string &s); + std::string receive(); + void set_power(bool power); +}; + + +class TTYPigeon : public Pigeon { + int pigeon_tty_fd = -1; + struct termios pigeon_tty; +public: + ~TTYPigeon(); + void connect(const char* tty); + void set_baud(int baud); + void send(const std::string &s); + std::string receive(); + void set_power(bool power); +}; diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py new file mode 100755 index 000000000..7d17be4de --- /dev/null +++ b/selfdrive/boardd/set_time.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 +import datetime +import os +import struct +import usb1 + +REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE +MIN_DATE = datetime.datetime(year=2021, month=4, day=1) + +def set_time(logger): + sys_time = datetime.datetime.today() + if sys_time > MIN_DATE: + logger.info("System time valid") + return + + try: + ctx = usb1.USBContext() + dev = ctx.openByVendorIDAndProductID(0xbbaa, 0xddcc) + if dev is None: + logger.info("No panda found") + return + + # Set system time from panda RTC time + dat = dev.controlRead(REQUEST_IN, 0xa0, 0, 0, 8) + a = struct.unpack("HBBBBBB", dat) + panda_time = datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6]) + if panda_time > MIN_DATE: + logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'") + os.system(f"TZ=UTC date -s '{panda_time}'") + except Exception: + logger.warn("Failed to fetch time from panda") + +if __name__ == "__main__": + import logging + logging.basicConfig(level=logging.INFO) + + set_time(logging) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py new file mode 100644 index 000000000..c77e40daa --- /dev/null +++ b/selfdrive/car/__init__.py @@ -0,0 +1,163 @@ +# functions common among cars +import capnp + +from cereal import car +from common.numpy_fast import clip +from typing import Dict, List + +# kg of standard extra cargo to count for drive, gas, etc... +STD_CARGO_KG = 136. + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName + + +def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule], + unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder: + if cur_but != unpressed: + be = car.CarState.ButtonEvent(pressed=True) + but = cur_but + else: + be = car.CarState.ButtonEvent(pressed=False) + but = prev_but + be.type = buttons_dict.get(but, ButtonType.unknown) + return be + + +def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder, pcm_cruise: bool = False) -> List[int]: + events = [] + for b in buttonEvents: + # do enable on both accel and decel buttons + if not pcm_cruise: + if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed: + events.append(EventName.buttonEnable) + # do disable on button down + if b.type == ButtonType.cancel and b.pressed: + events.append(EventName.buttonCancel) + return events + + +def gen_empty_fingerprint(): + return {i: {} for i in range(0, 4)} + + +# FIXME: hardcoding honda civic 2016 touring params so they can be used to +# scale unknown params for other cars +class CivicParams: + MASS = 1326. + STD_CARGO_KG + WHEELBASE = 2.70 + CENTER_TO_FRONT = WHEELBASE * 0.4 + CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT + ROTATIONAL_INERTIA = 2500 + TIRE_STIFFNESS_FRONT = 192150 + TIRE_STIFFNESS_REAR = 202500 + + +# TODO: get actual value, for now starting with reasonable value for +# civic and scaling by mass and wheelbase +def scale_rot_inertia(mass, wheelbase): + return CivicParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (CivicParams.MASS * CivicParams.WHEELBASE ** 2) + + +# TODO: start from empirically derived lateral slip stiffness for the civic and scale by +# mass and CG position, so all cars will have approximately similar dyn behaviors +def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor=1.0): + center_to_rear = wheelbase - center_to_front + tire_stiffness_front = (CivicParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / CivicParams.MASS * \ + (center_to_rear / wheelbase) / (CivicParams.CENTER_TO_REAR / CivicParams.WHEELBASE) + + tire_stiffness_rear = (CivicParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / CivicParams.MASS * \ + (center_to_front / wheelbase) / (CivicParams.CENTER_TO_FRONT / CivicParams.WHEELBASE) + + return tire_stiffness_front, tire_stiffness_rear + + +def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, str]: + return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc} + + +def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS): + + # limits due to driver torque + driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER + driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER + max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0) + min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0) + apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed) + + # slow rate if steer torque increases in magnitude + if apply_torque_last > 0: + apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP), + apply_torque_last + LIMITS.STEER_DELTA_UP) + else: + apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP, + min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP)) + + return int(round(float(apply_torque))) + + +def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS): + # limits due to comparison of commanded torque VS motor reported torque + max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX) + min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX) + + apply_torque = clip(apply_torque, min_lim, max_lim) + + # slow rate if steer torque increases in magnitude + if apply_torque_last > 0: + apply_torque = clip(apply_torque, + max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP), + apply_torque_last + LIMITS.STEER_DELTA_UP) + else: + apply_torque = clip(apply_torque, + apply_torque_last - LIMITS.STEER_DELTA_UP, + min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP)) + + return int(round(float(apply_torque))) + + +def crc8_pedal(data): + crc = 0xFF # standard init value + poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 + size = len(data) + for i in range(size - 1, -1, -1): + crc ^= data[i] + for _ in range(8): + if ((crc & 0x80) != 0): + crc = ((crc << 1) ^ poly) & 0xFF + else: + crc <<= 1 + return crc + + +def create_gas_interceptor_command(packer, gas_amount, idx): + # Common gas pedal msg generator + enable = gas_amount > 0.001 + + values = { + "ENABLE": enable, + "COUNTER_PEDAL": idx & 0xF, + } + + if enable: + values["GAS_COMMAND"] = gas_amount * 255. + values["GAS_COMMAND2"] = gas_amount * 255. + + dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2] + + checksum = crc8_pedal(dat[:-1]) + values["CHECKSUM_PEDAL"] = checksum + + return packer.make_can_msg("GAS_COMMAND", 0, values) + + +def make_can_msg(addr, dat, bus): + return [addr, 0, dat, bus] + + +def get_safety_config(safety_model, safety_param = None): + ret = car.CarParams.SafetyConfig.new_message() + ret.safetyModel = safety_model + if safety_param is not None: + ret.safetyParam = safety_param + return ret diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py new file mode 100644 index 000000000..d7104b1e6 --- /dev/null +++ b/selfdrive/car/car_helpers.py @@ -0,0 +1,228 @@ +import os +from typing import Dict, List + +from cereal import car +from common.params import Params +from common.basedir import BASEDIR +# from system.version import is_comma_remote, is_tested_branch +from selfdrive.car.interfaces import get_interface_attr +from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars +from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN +from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus +from system.swaglog import cloudlog +import cereal.messaging as messaging +from selfdrive.car import gen_empty_fingerprint + +import threading +import requests +import selfdrive.sentry as sentry + +EventName = car.CarEvent.EventName + + +def get_startup_event(car_recognized, controller_available, fw_seen): + if True: #is_comma_remote() and is_tested_branch(): # pylint: disable=abstract-class-instantiated + event = EventName.startup + else: + event = EventName.startupMaster + + if not car_recognized: + if fw_seen: + event = EventName.startupNoCar + else: + event = EventName.startupNoFw + elif car_recognized and not controller_available: + event = EventName.startupNoControl + return event + + +def get_one_can(logcan): + while True: + can = messaging.recv_one_retry(logcan) + if len(can.can) > 0: + return can + + +def load_interfaces(brand_names): + ret = {} + for brand_name in brand_names: + path = f'selfdrive.car.{brand_name}' + CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface + + if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'): + CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState + else: + CarState = None + + if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'): + CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController + else: + CarController = None + + for model_name in brand_names[brand_name]: + ret[model_name] = (CarInterface, CarController, CarState) + return ret + + +def _get_interface_names() -> Dict[str, List[str]]: + # returns a dict of brand name and its respective models + brand_names = {} + for brand_name, model_names in get_interface_attr("CAR").items(): + model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")] + brand_names[brand_name] = model_names + + return brand_names + + +# imports from directory selfdrive/car// +interface_names = _get_interface_names() +interfaces = load_interfaces(interface_names) + + +# **** for use live only **** +def fingerprint(logcan, sendcan): + fixed_fingerprint = os.environ.get('FINGERPRINT', "") + skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) + ecu_rx_addrs = set() + + dp_car_assigned = Params().get('dp_car_assigned', encoding='utf8') + if not fixed_fingerprint and dp_car_assigned is not None: + car_selected = dp_car_assigned.strip() + fixed_fingerprint = car_selected + + if not fixed_fingerprint and not skip_fw_query: + # Vin query only reliably works thorugh OBDII + bus = 1 + + cached_params = Params().get("CarParamsCache") + if cached_params is not None: + cached_params = car.CarParams.from_bytes(cached_params) + if cached_params.carName == "mock": + cached_params = None + + if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN: + cloudlog.warning("Using cached CarParams") + vin, vin_rx_addr = cached_params.carVin, 0 + car_fw = list(cached_params.carFw) + else: + cloudlog.warning("Getting VIN & FW versions") + _, vin_rx_addr, vin = get_vin(logcan, sendcan, bus) + ecu_rx_addrs = get_present_ecus(logcan, sendcan) + car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs) + + exact_fw_match, fw_candidates = match_fw_to_car(car_fw) + else: + vin, vin_rx_addr = VIN_UNKNOWN, 0 + exact_fw_match, fw_candidates, car_fw = True, set(), [] + + if not is_valid_vin(vin): + cloudlog.event("Malformed VIN", vin=vin, error=True) + vin = VIN_UNKNOWN + cloudlog.warning("VIN %s", vin) + Params().put("CarVin", vin) + + finger = gen_empty_fingerprint() + candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 + frame = 0 + frame_fingerprint = 100 # 1s + car_fingerprint = None + done = False + + # drain CAN socket so we always get the latest messages + messaging.drain_sock_raw(logcan) + + while not done: + a = get_one_can(logcan) + + for can in a.can: + # The fingerprint dict is generated for all buses, this way the car interface + # can use it to detect a (valid) multipanda setup and initialize accordingly + if can.src < 128: + if can.src not in finger: + finger[can.src] = {} + finger[can.src][can.address] = len(can.dat) + + for b in candidate_cars: + # Ignore extended messages and VIN query response. + if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8): + candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b]) + + # if we only have one car choice and the time since we got our first + # message has elapsed, exit + for b in candidate_cars: + if len(candidate_cars[b]) == 1 and frame > frame_fingerprint: + # fingerprint done + car_fingerprint = candidate_cars[b][0] + + # bail if no cars left or we've been waiting for more than 2s + failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200 + succeeded = car_fingerprint is not None + done = failed or succeeded + + frame += 1 + + exact_match = True + source = car.CarParams.FingerprintSource.can + + # If FW query returns exactly 1 candidate, use it + if len(fw_candidates) == 1: + car_fingerprint = list(fw_candidates)[0] + source = car.CarParams.FingerprintSource.fw + exact_match = exact_fw_match + + if fixed_fingerprint: + car_fingerprint = fixed_fingerprint + source = car.CarParams.FingerprintSource.fixed + + cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, + fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True) + return car_fingerprint, finger, vin, car_fw, source, exact_match + +#dp +def is_connected_to_internet(timeout=5): + try: + requests.get("https://sentry.io", timeout=timeout) + return True + except Exception: + return False + +def crash_log(candidate): + while True: + if is_connected_to_internet(): + sentry.capture_warning("fingerprinted %s" % candidate) + break + +def crash_log2(fingerprints, fw): + while True: + if is_connected_to_internet(): + sentry.capture_warning("car doesn't match any fingerprints: %s" % fingerprints) + sentry.capture_warning("car doesn't match any fw: %s" % fw) + break + + +def get_car(logcan, sendcan): + candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan) + + if candidate is None: + cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints) + candidate = "mock" + + y = threading.Thread(target=crash_log2, args=(fingerprints,car_fw,)) + y.start() + + x = threading.Thread(target=crash_log, args=(candidate,)) + x.start() + + disable_radar = Params().get_bool("DisableRadar") + + try: + CarInterface, CarController, CarState = interfaces[candidate] + CP = CarInterface.get_params(candidate, fingerprints, car_fw, disable_radar) + CP.carVin = vin + CP.carFw = car_fw + CP.fingerprintSource = source + CP.fuzzyFingerprint = not exact_match + + return CarInterface(CP, CarController, CarState), CP + except KeyError: + return None, None diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py new file mode 100755 index 000000000..cd3e93fa8 --- /dev/null +++ b/selfdrive/car/disable_ecu.py @@ -0,0 +1,48 @@ +from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from system.swaglog import cloudlog + +EXT_DIAG_REQUEST = b'\x10\x03' +EXT_DIAG_RESPONSE = b'\x50\x03' + +COM_CONT_RESPONSE = b'' + + +def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False): + """Silence an ECU by disabling sending and receiving messages using UDS 0x28. + The ECU will stay silent as long as openpilot keeps sending Tester Present. + + This is used to disable the radar in some cars. Openpilot will emulate the radar. + WARNING: THIS DISABLES AEB!""" + cloudlog.warning(f"ecu disable {hex(addr)} ...") + + for i in range(retry): + try: + query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug) + + for _, _ in query.get_data(timeout).items(): + cloudlog.warning("communication control disable tx/rx ...") + + query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug) + query.get_data(0) + + cloudlog.warning("ecu disabled") + return True + + except Exception: + cloudlog.exception("ecu disable exception") + + print(f"ecu disable retry ({i+1}) ...") + cloudlog.warning("ecu disable failed") + return False + + +if __name__ == "__main__": + import time + import cereal.messaging as messaging + sendcan = messaging.pub_sock('sendcan') + logcan = messaging.sub_sock('can') + time.sleep(1) + + # honda bosch radar disable + disabled = disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False) + print(f"disabled: {disabled}") diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py new file mode 100644 index 000000000..015646972 --- /dev/null +++ b/selfdrive/car/docs_definitions.py @@ -0,0 +1,186 @@ +import re + +from cereal import car +from collections import namedtuple +from dataclasses import dataclass, field +from enum import Enum +from typing import Dict, List, Optional, Tuple, Union, no_type_check + +GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 +MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)" + + +class Tier(Enum): + GOLD = 0 + SILVER = 1 + BRONZE = 2 + + +class Column(Enum): + MAKE = "Make" + MODEL = "Model" + PACKAGE = "Supported Package" + LONGITUDINAL = "openpilot ACC" + FSR_LONGITUDINAL = "Stop and Go" + FSR_STEERING = "Steer to 0" + STEERING_TORQUE = "Steering Torque" + + +class Star(Enum): + FULL = "full" + HALF = "half" + EMPTY = "empty" + + +StarColumns = list(Column)[3:] +TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TORQUE) +CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None]) + + +def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]: + # Returns applicable footnotes given current column + return [fn for fn in footnotes if fn.value.column == column] + + +def split_name(name: str) -> Tuple[str, str, str]: + make, model = name.split(" ", 1) + years = "" + match = re.search(MODEL_YEARS_RE, model) + if match is not None: + years = model[match.start():] + model = model[:match.start() - 1] + return make, model, years + + +@dataclass +class CarInfo: + name: str + package: str + video_link: Optional[str] = None + footnotes: List[Enum] = field(default_factory=list) + min_steer_speed: Optional[float] = None + min_enable_speed: Optional[float] = None + harness: Optional[Enum] = None + + def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): + # TODO: set all the min steer speeds in carParams and remove this + min_steer_speed = CP.minSteerSpeed + if self.min_steer_speed is not None: + min_steer_speed = self.min_steer_speed + assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams" + + assert self.harness is not None, f"{CP.carFingerprint}: Need to specify car harness" + + # TODO: set all the min enable speeds in carParams correctly and remove this + min_enable_speed = CP.minEnableSpeed + if self.min_enable_speed is not None: + min_enable_speed = self.min_enable_speed + + self.car_name = CP.carName + self.car_fingerprint = CP.carFingerprint + self.make, self.model, self.years = split_name(self.name) + self.row = { + Column.MAKE: self.make, + Column.MODEL: self.model, + Column.PACKAGE: self.package, + # StarColumns + Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY, + Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY, + Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY, + Column.STEERING_TORQUE: Star.EMPTY, + } + + # Set steering torque star from max lateral acceleration + assert CP.maxLateralAccel > 0.1 + if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD: + self.row[Column.STEERING_TORQUE] = Star.FULL + + if CP.notCar: + for col in StarColumns: + self.row[col] = Star.FULL + + self.all_footnotes = all_footnotes + for column in StarColumns: + # Demote if footnote specifies a star + for fn in get_footnotes(self.footnotes, column): + if fn.value.star is not None: + self.row[column] = fn.value.star + + # openpilot ACC star doesn't count for tiers + full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL) + if full_stars == len(TierColumns): + self.tier = Tier.GOLD + elif full_stars == len(TierColumns) - 1: + self.tier = Tier.SILVER + else: + self.tier = Tier.BRONZE + + return self + + @no_type_check + def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str: + item: Union[str, Star] = self.row[column] + if column in StarColumns: + item = star_icon.format(item.value) + elif column == Column.MODEL and len(self.years): + item += f" {self.years}" + + footnotes = get_footnotes(self.footnotes, column) + if len(footnotes): + sups = sorted([self.all_footnotes[fn] for fn in footnotes]) + item += footnote_tag.format(f'{",".join(map(str, sups))}') + + return item + + +class Harness(Enum): + nidec = "Honda Nidec" + bosch_a = "Honda Bosch A" + bosch_b = "Honda Bosch B" + toyota = "Toyota" + subaru = "Subaru" + fca = "FCA" + vw = "VW" + j533 = "J533" + hyundai_a = "Hyundai A" + hyundai_b = "Hyundai B" + hyundai_c = "Hyundai C" + hyundai_d = "Hyundai D" + hyundai_e = "Hyundai E" + hyundai_f = "Hyundai F" + hyundai_g = "Hyundai G" + hyundai_h = "Hyundai H" + hyundai_i = "Hyundai I" + hyundai_j = "Hyundai J" + hyundai_k = "Hyundai K" + hyundai_l = "Hyundai L" + hyundai_m = "Hyundai M" + hyundai_n = "Hyundai N" + hyundai_o = "Hyundai O" + hyundai_p = "Hyundai P" + custom = "Developer" + obd_ii = "OBD-II" + nissan_a = "Nissan A" + nissan_b = "Nissan B" + mazda = "Mazda" + none = "None" + + +STAR_DESCRIPTIONS = { + "Gas & Brakes": { # icon and row name + Column.FSR_LONGITUDINAL.value: [ + [Star.FULL.value, "openpilot operates down to 0 mph."], + [Star.EMPTY.value, "openpilot operates only above a minimum speed. See your car's manual for the minimum speed."], + ], + }, + "Steering": { + Column.FSR_STEERING.value: [ + [Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."], + [Star.EMPTY.value, "No steering control below certain speeds. See your car's manual for the minimum speed."], + ], + Column.STEERING_TORQUE.value: [ + [Star.FULL.value, "Car has enough steering torque to comfortably take most highway turns."], + [Star.EMPTY.value, "Limited ability to make tighter turns."], + ], + }, +} diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py new file mode 100755 index 000000000..267701509 --- /dev/null +++ b/selfdrive/car/ecu_addrs.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 +import capnp +import time +import traceback +from typing import Optional, Set, Tuple + +import cereal.messaging as messaging +from panda.python.uds import SERVICE_TYPE +from selfdrive.car import make_can_msg +from selfdrive.boardd.boardd import can_list_to_can_capnp +from system.swaglog import cloudlog + + +def make_tester_present_msg(addr, bus, subaddr=None): + dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0] + if subaddr is not None: + dat.insert(0, subaddr) + + dat.extend([0x0] * (8 - len(dat))) + return make_can_msg(addr, bytes(dat), bus) + + +def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: Optional[int] = None) -> bool: + # ISO-TP messages are always padded to 8 bytes + # tester present response is always a single frame + dat_offset = 1 if subaddr is not None else 0 + if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7: + # success response + if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40): + return True + # error response + if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT: + return True + return False + + +def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]: + addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)] + queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list} + responses = queries + return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug) + + +def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]], + responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]: + ecu_responses: Set[Tuple[int, Optional[int], int]] = set() # set((addr, subaddr, bus),) + try: + msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] + + messaging.drain_sock_raw(logcan) + sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan')) + start_time = time.monotonic() + while time.monotonic() - start_time < timeout: + can_packets = messaging.drain_sock(logcan, wait_for_one=True) + for packet in can_packets: + for msg in packet.can: + subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0] + if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr): + if debug: + print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}") + if (msg.address, subaddr, msg.src) in ecu_responses: + print(f"Duplicate ECU address: {hex(msg.address)}") + ecu_responses.add((msg.address, subaddr, msg.src)) + except Exception: + cloudlog.warning(f"ECU addr scan exception: {traceback.format_exc()}") + return ecu_responses + + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(description='Get addresses of all ECUs') + parser.add_argument('--debug', action='store_true') + args = parser.parse_args() + + logcan = messaging.sub_sock('can') + sendcan = messaging.pub_sock('sendcan') + + time.sleep(1.0) + + print("Getting ECU addresses ...") + ecu_addrs = get_all_ecu_addrs(logcan, sendcan, 1, debug=args.debug) + + print() + print("Found ECUs on addresses:") + for addr, subaddr, bus in ecu_addrs: + msg = f" 0x{hex(addr)}" + if subaddr is not None: + msg += f" (sub-address: 0x{hex(subaddr)})" + print(msg) diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py new file mode 100644 index 000000000..1a9bb8c4e --- /dev/null +++ b/selfdrive/car/fingerprints.py @@ -0,0 +1,48 @@ +from selfdrive.car.interfaces import get_interface_attr + + +FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) +_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True) + +_DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes + + +def is_valid_for_fingerprint(msg, car_fingerprint): + adr = msg.address + # ignore addresses that are more than 11 bits + return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800 + + +def eliminate_incompatible_cars(msg, candidate_cars): + """Removes cars that could not have sent msg. + + Inputs: + msg: A cereal/log CanData message from the car. + candidate_cars: A list of cars to consider. + + Returns: + A list containing the subset of candidate_cars that could have sent msg. + """ + compatible_cars = [] + + for car_name in candidate_cars: + car_fingerprints = _FINGERPRINTS[car_name] + + for fingerprint in car_fingerprints: + fingerprint.update(_DEBUG_ADDRESS) # add alien debug address + + if is_valid_for_fingerprint(msg, fingerprint): + compatible_cars.append(car_name) + break + + return compatible_cars + + +def all_known_cars(): + """Returns a list of all known car strings.""" + return list({*FW_VERSIONS.keys(), *_FINGERPRINTS.keys()}) + + +def all_legacy_fingerprint_cars(): + """Returns a list of all known car strings, FPv1 only.""" + return list(_FINGERPRINTS.keys()) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py new file mode 100755 index 000000000..1c696b8ed --- /dev/null +++ b/selfdrive/car/fw_versions.py @@ -0,0 +1,537 @@ +#!/usr/bin/env python3 +import struct +import traceback +from collections import defaultdict +from dataclasses import dataclass, field +from typing import Any, List, Optional, Set, Tuple +from tqdm import tqdm + +import panda.python.uds as uds +from cereal import car +from selfdrive.car.ecu_addrs import get_ecu_addrs +from selfdrive.car.interfaces import get_interface_attr +from selfdrive.car.fingerprints import FW_VERSIONS +from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from selfdrive.car.toyota.values import CAR as TOYOTA +from system.swaglog import cloudlog + +Ecu = car.CarParams.Ecu +ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] + + +def p16(val): + return struct.pack("!H", val) + + +TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0]) +TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0]) + +SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT]) +SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40]) + +DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, + uds.SESSION_TYPE.DEFAULT]) +DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, + uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4]) + +EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, + uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC]) +EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, + uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4]) + +UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) +UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + + +HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf100) # Long description +HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ + p16(0xf100) +HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + + +TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01' +TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01' + +VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) +VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + +OBD_VERSION_REQUEST = b'\x09\x04' +OBD_VERSION_RESPONSE = b'\x49\x04' + +DEFAULT_RX_OFFSET = 0x8 +VOLKSWAGEN_RX_OFFSET = 0x6a + +MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) +MAZDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + +NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0]) +NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0]) + +NISSAN_VERSION_REQUEST_KWP = b'\x21\x83' +NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' + +NISSAN_VERSION_REQUEST_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) +NISSAN_VERSION_RESPONSE_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + +NISSAN_RX_OFFSET = 0x20 + +SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) +SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) + +CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf132) +CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(0xf132) + +CHRYSLER_RX_OFFSET = -0x280 + +FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) +FORD_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + + +@dataclass +class Request: + brand: str + request: List[bytes] + response: List[bytes] + whitelist_ecus: List[int] = field(default_factory=list) + rx_offset: int = DEFAULT_RX_OFFSET + bus: int = 1 + + +REQUESTS: List[Request] = [ + # Subaru + Request( + "subaru", + [TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + ), + # Hyundai + Request( + "hyundai", + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + ), + Request( + "hyundai", + [HYUNDAI_VERSION_REQUEST_MULTI], + [HYUNDAI_VERSION_RESPONSE], + ), + # Honda + Request( + "honda", + [UDS_VERSION_REQUEST], + [UDS_VERSION_RESPONSE], + ), + # Toyota + Request( + "toyota", + [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST], + [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE], + ), + Request( + "toyota", + [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST], + [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE], + ), + Request( + "toyota", + [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST], + [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE], + ), + # Volkswagen + Request( + "volkswagen", + [VOLKSWAGEN_VERSION_REQUEST_MULTI], + [VOLKSWAGEN_VERSION_RESPONSE], + whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar], + rx_offset=VOLKSWAGEN_RX_OFFSET, + ), + Request( + "volkswagen", + [VOLKSWAGEN_VERSION_REQUEST_MULTI], + [VOLKSWAGEN_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.transmission], + ), + # Mazda + Request( + "mazda", + [MAZDA_VERSION_REQUEST], + [MAZDA_VERSION_RESPONSE], + ), + # Nissan + Request( + "nissan", + [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + ), + Request( + "nissan", + [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + rx_offset=NISSAN_RX_OFFSET, + ), + Request( + "nissan", + [NISSAN_VERSION_REQUEST_STANDARD], + [NISSAN_VERSION_RESPONSE_STANDARD], + rx_offset=NISSAN_RX_OFFSET, + ), + # Body + Request( + "body", + [TESTER_PRESENT_REQUEST, UDS_VERSION_REQUEST], + [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE], + bus=0, + ), + # Chrysler / FCA / Stellantis + Request( + "chrysler", + [CHRYSLER_VERSION_REQUEST], + [CHRYSLER_VERSION_RESPONSE], + rx_offset=CHRYSLER_RX_OFFSET, + ), + Request( + "chrysler", + [CHRYSLER_VERSION_REQUEST], + [CHRYSLER_VERSION_RESPONSE], + ), + # Ford + Request( + "ford", + [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], + [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine], + ), + Request( + "ford", + [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], + [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], + bus=0, + whitelist_ecus=[Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera], + ), +] + + +def chunks(l, n=128): + for i in range(0, len(l), n): + yield l[i:i + n] + + +def build_fw_dict(fw_versions, filter_brand=None): + fw_versions_dict = defaultdict(set) + for fw in fw_versions: + if filter_brand is None or fw.brand == filter_brand: + addr = fw.address + sub_addr = fw.subAddress if fw.subAddress != 0 else None + fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion) + return dict(fw_versions_dict) + + +def get_brand_addrs(): + versions = get_interface_attr('FW_VERSIONS', ignore_none=True) + brand_addrs = defaultdict(set) + for brand, cars in versions.items(): + for fw in cars.values(): + brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} + return brand_addrs + + +def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): + """Do a fuzzy FW match. This function will return a match, and the number of firmware version + that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars + the match is rejected.""" + + # These ECUs are known to be shared between models (EPS only between hybrid/ICE version) + # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost + # impossible to get 3 matching versions, even if two models with shared parts are released at the same + # time and only one is in our database. + exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] + + # Build lookup table from (addr, sub_addr, fw) to list of candidate cars + all_fw_versions = defaultdict(list) + for candidate, fw_by_addr in FW_VERSIONS.items(): + if candidate == exclude: + continue + + for addr, fws in fw_by_addr.items(): + if addr[0] in exclude_types: + continue + for f in fws: + all_fw_versions[(addr[1], addr[2], f)].append(candidate) + + match_count = 0 + candidate = None + for addr, versions in fw_versions_dict.items(): + for version in versions: + # All cars that have this FW response on the specified address + candidates = all_fw_versions[(addr[0], addr[1], version)] + + if len(candidates) == 1: + match_count += 1 + if candidate is None: + candidate = candidates[0] + # We uniquely matched two different cars. No fuzzy match possible + elif candidate != candidates[0]: + return set() + + if match_count >= 2: + if log: + cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs") + return {candidate} + else: + return set() + + +def match_fw_to_car_exact(fw_versions_dict): + """Do an exact FW match. Returns all cars that match the given + FW versions for a list of "essential" ECUs. If an ECU is not considered + essential the FW version can be missing to get a fingerprint, but if it's present it + needs to match the database.""" + invalid = [] + candidates = FW_VERSIONS + + for candidate, fws in candidates.items(): + for ecu, expected_versions in fws.items(): + ecu_type = ecu[0] + addr = ecu[1:] + found_versions = fw_versions_dict.get(addr, set()) + if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions): + continue + + # On some Toyota models, the engine can show on two different addresses + if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions): + continue + + # Ignore non essential ecus + if ecu_type not in ESSENTIAL_ECUS and not len(found_versions): + continue + + # Virtual debug ecu doesn't need to match the database + if ecu_type == Ecu.debug: + continue + + if not any([found_version in expected_versions for found_version in found_versions]): + invalid.append(candidate) + break + + return set(candidates.keys()) - set(invalid) + + +def match_fw_to_car(fw_versions, allow_fuzzy=True): + # Try exact matching first + exact_matches = [(True, match_fw_to_car_exact)] + if allow_fuzzy: + exact_matches.append((False, match_fw_to_car_fuzzy)) + + for exact_match, match_func in exact_matches: + # TODO: For each brand, attempt to fingerprint using only FW returned from its queries + matches = set() + fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None) + matches |= match_func(fw_versions_dict) + + if len(matches): + return exact_match, matches + + return True, set() + + +def get_present_ecus(logcan, sendcan): + queries = list() + parallel_queries = list() + responses = set() + versions = get_interface_attr('FW_VERSIONS', ignore_none=True) + + for r in REQUESTS: + if r.brand not in versions: + continue + + for brand_versions in versions[r.brand].values(): + for ecu_type, addr, sub_addr in brand_versions: + # Only query ecus in whitelist if whitelist is not empty + if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: + a = (addr, sub_addr, r.bus) + # Build set of queries + if sub_addr is None: + if a not in parallel_queries: + parallel_queries.append(a) + else: # subaddresses must be queried one by one + if [a] not in queries: + queries.append([a]) + + # Build set of expected responses to filter + response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) + responses.add((response_addr, sub_addr, r.bus)) + + queries.insert(0, parallel_queries) + + ecu_responses: Set[Tuple[int, Optional[int], int]] = set() + for query in queries: + ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) + return ecu_responses + + +def get_brand_ecu_matches(ecu_rx_addrs): + """Returns dictionary of brands and matches with ECUs in their FW versions""" + + brand_addrs = get_brand_addrs() + brand_matches = {r.brand: set() for r in REQUESTS} + + brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS) + for addr, sub_addr, _ in ecu_rx_addrs: + # Since we can't know what request an ecu responded to, add matches for all possible rx offsets + for brand, rx_offset in brand_rx_offsets: + a = (uds.get_rx_addr_for_tx_addr(addr, -rx_offset), sub_addr) + if a in brand_addrs[brand]: + brand_matches[brand].add(a) + + return brand_matches + + +def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False): + """Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" + + all_car_fw = [] + brand_matches = get_brand_ecu_matches(ecu_rx_addrs) + + for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): + car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress) + all_car_fw.extend(car_fw) + + # TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far + _, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False) + if len(matches) == 1: + break + + return all_car_fw + + +def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False): + versions = get_interface_attr('FW_VERSIONS', ignore_none=True) + if query_brand is not None: + versions = {query_brand: versions[query_brand]} + + if extra is not None: + versions.update(extra) + + # Extract ECU addresses to query from fingerprints + # ECUs using a subaddress need be queried one by one, the rest can be done in parallel + addrs = [] + parallel_addrs = [] + ecu_types = {} + + for brand, brand_versions in versions.items(): + for c in brand_versions.values(): + for ecu_type, addr, sub_addr in c.keys(): + a = (brand, addr, sub_addr) + if a not in ecu_types: + ecu_types[a] = ecu_type + + if sub_addr is None: + if a not in parallel_addrs: + parallel_addrs.append(a) + else: + if [a] not in addrs: + addrs.append([a]) + + addrs.insert(0, parallel_addrs) + + # Get versions and build capnp list to put into CarParams + car_fw = [] + requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand] + for addr in tqdm(addrs, disable=not progress): + for addr_chunk in chunks(addr): + for r in requests: + try: + addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and + (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] + + if addrs: + query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) + for (addr, rx_addr), version in query.get_data(timeout).items(): + f = car.CarParams.CarFw.new_message() + + f.ecu = ecu_types.get((r.brand, addr[0], addr[1]), Ecu.unknown) + f.fwVersion = version + f.address = addr[0] + f.responseAddress = rx_addr + f.request = r.request + f.brand = r.brand + f.bus = r.bus + + if addr[1] is not None: + f.subAddress = addr[1] + + car_fw.append(f) + except Exception: + cloudlog.warning(f"FW query exception: {traceback.format_exc()}") + + return car_fw + + +if __name__ == "__main__": + import time + import argparse + import cereal.messaging as messaging + from selfdrive.car.vin import get_vin + + parser = argparse.ArgumentParser(description='Get firmware version of ECUs') + parser.add_argument('--scan', action='store_true') + parser.add_argument('--debug', action='store_true') + parser.add_argument('--brand', help='Only query addresses/with requests for this brand') + args = parser.parse_args() + + logcan = messaging.sub_sock('can') + sendcan = messaging.pub_sock('sendcan') + + extra: Any = None + if args.scan: + extra = {} + # Honda + for i in range(256): + extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = [] + extra[(Ecu.unknown, 0x700 + i, None)] = [] + extra[(Ecu.unknown, 0x750, i)] = [] + extra = {"any": {"debug": extra}} + + time.sleep(1.) + + t = time.time() + print("Getting vin...") + addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug) + print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}') + print(f"Getting VIN took {time.time() - t:.3f} s") + print() + + t = time.time() + fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True) + _, candidates = match_fw_to_car(fw_vers) + + print() + print("Found FW versions") + print("{") + padding = max([len(fw.brand) for fw in fw_vers] or [0]) + for version in fw_vers: + subaddr = None if version.subAddress == 0 else hex(version.subAddress) + print(f" Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") + print("}") + + print() + print("Possible matches:", candidates) + print(f"Getting fw took {time.time() - t:.3f} s") diff --git a/selfdrive/car/honda/__init__.py b/selfdrive/car/honda/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py new file mode 100644 index 000000000..a5f25e3a2 --- /dev/null +++ b/selfdrive/car/honda/carcontroller.py @@ -0,0 +1,255 @@ +from collections import namedtuple + +from cereal import car +from common.conversions import Conversions as CV +from common.numpy_fast import clip, interp +from common.realtime import DT_CTRL +from opendbc.can.packer import CANPacker +from selfdrive.car import create_gas_interceptor_command +from selfdrive.car.honda import hondacan +from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams +from selfdrive.controls.lib.drive_helpers import rate_limit + +VisualAlert = car.CarControl.HUDControl.VisualAlert +LongCtrlState = car.CarControl.Actuators.LongControlState + + +def compute_gb_honda_bosch(accel, speed): + # TODO returns 0s, is unused + return 0.0, 0.0 + + +def compute_gb_honda_nidec(accel, speed): + creep_brake = 0.0 + creep_speed = 2.3 + creep_brake_value = 0.15 + if speed < creep_speed: + creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value + gb = float(accel) / 4.8 - creep_brake + return clip(gb, 0.0, 1.0), clip(-gb, 0.0, 1.0) + + +def compute_gas_brake(accel, speed, fingerprint): + if fingerprint in HONDA_BOSCH: + return compute_gb_honda_bosch(accel, speed) + else: + return compute_gb_honda_nidec(accel, speed) + + +# TODO not clear this does anything useful +def actuator_hysteresis(brake, braking, brake_steady, v_ego, car_fingerprint): + # hyst params + brake_hyst_on = 0.02 # to activate brakes exceed this value + brake_hyst_off = 0.005 # to deactivate brakes below this value + brake_hyst_gap = 0.01 # don't change brake command for small oscillations within this value + + # *** hysteresis logic to avoid brake blinking. go above 0.1 to trigger + if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off: + brake = 0. + braking = brake > 0. + + # for small brake oscillations within brake_hyst_gap, don't change the brake command + if brake == 0.: + brake_steady = 0. + elif brake > brake_steady + brake_hyst_gap: + brake_steady = brake - brake_hyst_gap + elif brake < brake_steady - brake_hyst_gap: + brake_steady = brake + brake_hyst_gap + brake = brake_steady + + return brake, braking, brake_steady + + +def brake_pump_hysteresis(apply_brake, apply_brake_last, last_pump_ts, ts): + pump_on = False + + # reset pump timer if: + # - there is an increment in brake request + # - we are applying steady state brakes and we haven't been running the pump + # for more than 20s (to prevent pressure bleeding) + if apply_brake > apply_brake_last or (ts - last_pump_ts > 20. and apply_brake > 0): + last_pump_ts = ts + + # once the pump is on, run it for at least 0.2s + if ts - last_pump_ts < 0.2 and apply_brake > 0: + pump_on = True + + return pump_on, last_pump_ts + + +def process_hud_alert(hud_alert): + # initialize to no alert + fcw_display = 0 + steer_required = 0 + acc_alert = 0 + + # priority is: FCW, steer required, all others + if hud_alert == VisualAlert.fcw: + fcw_display = VISUAL_HUD[hud_alert.raw] + elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw): + steer_required = VISUAL_HUD[hud_alert.raw] + else: + acc_alert = VISUAL_HUD[hud_alert.raw] + + return fcw_display, steer_required, acc_alert + + +HUDData = namedtuple("HUDData", + ["pcm_accel", "v_cruise", "lead_visible", + "lanes_visible", "fcw", "acc_alert", "steer_required"]) + + +class CarController: + def __init__(self, dbc_name, CP, VM): + self.CP = CP + self.packer = CANPacker(dbc_name) + self.params = CarControllerParams(CP) + self.frame = 0 + + self.braking = False + self.brake_steady = 0. + self.brake_last = 0. + self.apply_brake_last = 0 + self.last_pump_ts = 0. + + self.accel = 0.0 + self.speed = 0.0 + self.gas = 0.0 + self.brake = 0.0 + + def update(self, CC, CS): + actuators = CC.actuators + hud_control = CC.hudControl + hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255 + pcm_cancel_cmd = CC.cruiseControl.cancel + + if CC.longActive: + accel = actuators.accel + gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, self.CP.carFingerprint) + else: + accel = 0.0 + gas, brake = 0.0, 0.0 + + # *** apply brake hysteresis *** + pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady, + CS.out.vEgo, self.CP.carFingerprint) + + # *** rate limit after the enable check *** + self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL) + + # vehicle hud display, wait for one update from 10Hz 0x304 msg + fcw_display, steer_required, acc_alert = process_hud_alert(hud_control.visualAlert) + + # **** process the car messages **** + + # steer torque is converted back to CAN reference (positive when steering right) + apply_steer = int(interp(-actuators.steer * self.params.STEER_MAX, + self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V)) + + # Send CAN commands + can_sends = [] + + # tester present - w/ no response (keeps radar disabled) + if self.CP.carFingerprint in HONDA_BOSCH and self.CP.openpilotLongitudinalControl: + if self.frame % 10 == 0: + can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1)) + + # Send steering command. + can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint, + CS.CP.openpilotLongitudinalControl)) + + # wind brake from air resistance decel at high speed + wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15]) + # all of this is only relevant for HONDA NIDEC + max_accel = interp(CS.out.vEgo, self.params.NIDEC_MAX_ACCEL_BP, self.params.NIDEC_MAX_ACCEL_V) + # TODO this 1.44 is just to maintain previous behavior + pcm_speed_BP = [-wind_brake, + -wind_brake * (3 / 4), + 0.0, + 0.5] + # The Honda ODYSSEY seems to have different PCM_ACCEL + # msgs, is it other cars too? + if self.CP.enableGasInterceptor or not CC.longActive: + pcm_speed = 0.0 + pcm_accel = int(0.0) + elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL: + pcm_speed_V = [0.0, + clip(CS.out.vEgo - 3.0, 0.0, 100.0), + clip(CS.out.vEgo + 0.0, 0.0, 100.0), + clip(CS.out.vEgo + 5.0, 0.0, 100.0)] + pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V) + pcm_accel = int(1.0 * 0xc6) + else: + pcm_speed_V = [0.0, + clip(CS.out.vEgo - 2.0, 0.0, 100.0), + clip(CS.out.vEgo + 2.0, 0.0, 100.0), + clip(CS.out.vEgo + 5.0, 0.0, 100.0)] + pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V) + pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6) + + if not self.CP.openpilotLongitudinalControl: + if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message + can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint)) + # If using stock ACC, spam cancel command to kill gas when OP disengages. + if pcm_cancel_cmd: + can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint)) + elif CC.cruiseControl.resume: + can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint)) + + else: + # Send gas and brake commands. + if self.frame % 2 == 0: + ts = self.frame * DT_CTRL + + if self.CP.carFingerprint in HONDA_BOSCH: + self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX) + self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V) + + stopping = actuators.longControlState == LongCtrlState.stopping + can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas, + stopping, self.CP.carFingerprint)) + else: + apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0) + apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1)) + pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts) + + pcm_override = True + can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on, + pcm_override, pcm_cancel_cmd, fcw_display, + self.CP.carFingerprint, CS.stock_brake)) + self.apply_brake_last = apply_brake + self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX + + if self.CP.enableGasInterceptor: + # way too aggressive at low speed without this + gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0]) + # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas. + # This prevents unexpected pedal range rescaling + # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected + # when you do enable. + if CC.longActive: + self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.) + else: + self.gas = 0.0 + can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2)) + + # Send dashboard UI commands. + if self.frame % 10 == 0: + hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, + hud_control.lanesVisible, fcw_display, acc_alert, steer_required) + can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.stock_hud)) + + if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: + self.speed = pcm_speed + + if not self.CP.enableGasInterceptor: + self.gas = pcm_accel / 0xc6 + + new_actuators = actuators.copy() + new_actuators.speed = self.speed + new_actuators.accel = self.accel + new_actuators.gas = self.gas + new_actuators.brake = self.brake + + self.frame += 1 + return new_actuators, can_sends diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py new file mode 100644 index 000000000..3119a8738 --- /dev/null +++ b/selfdrive/car/honda/carstate.py @@ -0,0 +1,339 @@ +from collections import defaultdict + +from cereal import car +from common.conversions import Conversions as CV +from common.numpy_fast import interp +from opendbc.can.can_define import CANDefine +from opendbc.can.parser import CANParser +from selfdrive.car.honda.hondacan import get_pt_bus +from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS +from selfdrive.car.interfaces import CarStateBase + +TransmissionType = car.CarParams.TransmissionType + + +def get_can_signals(CP, gearbox_msg, main_on_sig_msg): + signals = [ + ("XMISSION_SPEED", "ENGINE_DATA"), + ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), + ("STEER_ANGLE", "STEERING_SENSORS"), + ("STEER_ANGLE_RATE", "STEERING_SENSORS"), + ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"), + ("STEER_TORQUE_SENSOR", "STEER_STATUS"), + ("IMPERIAL_UNIT", "CAR_SPEED"), + ("LEFT_BLINKER", "SCM_FEEDBACK"), + ("RIGHT_BLINKER", "SCM_FEEDBACK"), + ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"), + ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"), + ("BRAKE_PRESSED", "POWERTRAIN_DATA"), + ("BRAKE_SWITCH", "POWERTRAIN_DATA"), + ("CRUISE_BUTTONS", "SCM_BUTTONS"), + ("ESP_DISABLED", "VSA_STATUS"), + ("USER_BRAKE", "VSA_STATUS"), + ("BRAKE_HOLD_ACTIVE", "VSA_STATUS"), + ("STEER_STATUS", "STEER_STATUS"), + ("GEAR_SHIFTER", gearbox_msg), + ("GEAR", gearbox_msg), + ("PEDAL_GAS", "POWERTRAIN_DATA"), + ("CRUISE_SETTING", "SCM_BUTTONS"), + ("ACC_STATUS", "POWERTRAIN_DATA"), + ("MAIN_ON", main_on_sig_msg), + ] + + checks = [ + ("ENGINE_DATA", 100), + ("WHEEL_SPEEDS", 50), + ("STEERING_SENSORS", 100), + ("SEATBELT_STATUS", 10), + ("CRUISE", 10), + ("POWERTRAIN_DATA", 100), + ("CAR_SPEED", 10), + ("VSA_STATUS", 50), + ("STEER_STATUS", 100), + ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car + ] + + if CP.carFingerprint == CAR.ODYSSEY_CHN: + checks += [ + ("SCM_FEEDBACK", 25), + ("SCM_BUTTONS", 50), + ] + else: + checks += [ + ("SCM_FEEDBACK", 10), + ("SCM_BUTTONS", 25), + ] + + if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E): + checks.append((gearbox_msg, 50)) + else: + checks.append((gearbox_msg, 100)) + + if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL: + signals.append(("BRAKE_PRESSED", "BRAKE_MODULE")) + checks.append(("BRAKE_MODULE", 50)) + + if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}): + signals.append(("EPB_STATE", "EPB_STATUS")) + checks.append(("EPB_STATUS", 50)) + + if CP.carFingerprint in HONDA_BOSCH: + # these messages are on camera bus on radarless cars + if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS: + signals += [ + ("CRUISE_CONTROL_LABEL", "ACC_HUD"), + ("CRUISE_SPEED", "ACC_HUD"), + ("ACCEL_COMMAND", "ACC_CONTROL"), + ("AEB_STATUS", "ACC_CONTROL"), + ] + checks += [ + ("ACC_HUD", 10), + ("ACC_CONTROL", 50), + ] + else: # Nidec signals + signals += [("CRUISE_SPEED_PCM", "CRUISE"), + ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS")] + + if CP.carFingerprint == CAR.ODYSSEY_CHN: + checks.append(("CRUISE_PARAMS", 10)) + else: + checks.append(("CRUISE_PARAMS", 50)) + + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022): + signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK")) + elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): + signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) + else: + signals += [("DOOR_OPEN_FL", "DOORS_STATUS"), + ("DOOR_OPEN_FR", "DOORS_STATUS"), + ("DOOR_OPEN_RL", "DOORS_STATUS"), + ("DOOR_OPEN_RR", "DOORS_STATUS")] + checks.append(("DOORS_STATUS", 3)) + + # add gas interceptor reading if we are using it + if CP.enableGasInterceptor: + signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR")) + signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) + checks.append(("GAS_SENSOR", 50)) + + if CP.openpilotLongitudinalControl: + signals += [ + ("BRAKE_ERROR_1", "STANDSTILL"), + ("BRAKE_ERROR_2", "STANDSTILL") + ] + checks.append(("STANDSTILL", 50)) + + return signals, checks + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + self.gearbox_msg = "GEARBOX" + if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt: + self.gearbox_msg = "GEARBOX_15T" + + self.main_on_sig_msg = "SCM_FEEDBACK" + if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES: + self.main_on_sig_msg = "SCM_BUTTONS" + + self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"] + self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"]) + + self.brake_error = False + self.brake_switch_prev = False + self.brake_switch_active = False + self.cruise_setting = 0 + self.v_cruise_pcm_prev = 0 + + def update(self, cp, cp_cam, cp_body): + ret = car.CarState.new_message() + + # car params + v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping + v_weight_bp = [1., 6.] # smooth blending, below ~0.6m/s the smooth speed snaps to zero + + # update prevs, update must run once per loop + self.prev_cruise_buttons = self.cruise_buttons + self.prev_cruise_setting = self.cruise_setting + self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] + self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"] + + # used for car hud message + self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"] + + # ******************* parse out can ******************* + # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED + # panda checks if the signal is non-zero + ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 + # TODO: find a common signal across all cars + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022): + ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) + elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): + ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) + else: + ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"], + cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]]) + ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"]) + + steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]] + ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT") + # LOW_SPEED_LOCKOUT is not worth a warning + # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver + ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") + + if self.CP.openpilotLongitudinalControl: + self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"] + ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0 + + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"], + ) + v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.0 + + # blend in transmission speed at low speed, since it has more low speed accuracy + v_weight = interp(v_wheel, v_weight_bp, v_weight_v) + ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + + ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"] + ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"] + + ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk( + 250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"]) + ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1 + + # TODO: set for all cars + if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}): + ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 + + gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"]) + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None)) + + if self.CP.enableGasInterceptor: + # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling + ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2 + ret.gasPressed = ret.gas > 492 + else: + ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"] + ret.gasPressed = ret.gas > 1e-5 + + ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"] + ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"] + ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200) + + if self.CP.carFingerprint in HONDA_BOSCH: + if not self.CP.openpilotLongitudinalControl: + # ACC_HUD is on camera bus on radarless cars + acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"] + ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0 + ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252. + + # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting + conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS + # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this. + ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor + self.v_cruise_pcm_prev = ret.cruiseState.speed + else: + ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS + + if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL: + ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0 + else: + # brake switch has shown some single time step noise, so only considered when + # switch is on for at least 2 consecutive CAN samples + # brake switch rises earlier than brake pressed but is never 1 when in park + brake_switch_vals = cp.vl_all["POWERTRAIN_DATA"]["BRAKE_SWITCH"] + if len(brake_switch_vals): + brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0 + if len(brake_switch_vals) > 1: + self.brake_switch_prev = brake_switch_vals[-2] != 0 + self.brake_switch_active = brake_switch and self.brake_switch_prev + self.brake_switch_prev = brake_switch + ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active + + ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"] + ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0 + ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"]) + + # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models + if self.CP.carFingerprint in (CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE): + if ret.brake > 0.1: + ret.brakePressed = True + + if self.CP.carFingerprint in HONDA_BOSCH: + # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts + if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: + ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5) + else: + ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5) + + self.stock_hud = False + if self.CP.carFingerprint not in HONDA_BOSCH: + ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0 + self.stock_hud = cp_cam.vl["ACC_HUD"] + self.stock_brake = cp_cam.vl["BRAKE_COMMAND"] + + if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ): + # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0 + # more info here: https://github.com/commaai/openpilot/pull/1867 + ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1 + ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1 + + ret.cruiseActualEnabled = ret.cruiseState.enabled + return ret + + def get_can_parser(self, CP): + signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint)) + + @staticmethod + def get_cam_can_parser(CP): + signals = [] + checks = [ + ("STEERING_CONTROL", 100), + ] + + if CP.carFingerprint in HONDA_BOSCH_RADARLESS and not CP.openpilotLongitudinalControl: + signals += [ + ("CRUISE_SPEED", "ACC_HUD"), + ("CRUISE_CONTROL_LABEL", "ACC_HUD"), + ] + checks.append(("ACC_HUD", 10)) + + elif CP.carFingerprint not in HONDA_BOSCH: + signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"), + ("AEB_REQ_1", "BRAKE_COMMAND"), + ("FCW", "BRAKE_COMMAND"), + ("CHIME", "BRAKE_COMMAND"), + ("FCM_OFF", "ACC_HUD"), + ("FCM_OFF_2", "ACC_HUD"), + ("FCM_PROBLEM", "ACC_HUD"), + ("ICONS", "ACC_HUD")] + checks += [ + ("ACC_HUD", 10), + ("BRAKE_COMMAND", 50), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + + @staticmethod + def get_body_can_parser(CP): + if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G: + signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"), + ("BSM_ALERT", "BSM_STATUS_LEFT")] + + checks = [ + ("BSM_STATUS_LEFT", 3), + ("BSM_STATUS_RIGHT", 3), + ] + bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port) + return CANParser(DBC[CP.carFingerprint]["body"], signals, checks, bus_body) + return None diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py new file mode 100644 index 000000000..1f5f75426 --- /dev/null +++ b/selfdrive/car/honda/hondacan.py @@ -0,0 +1,174 @@ +from common.conversions import Conversions as CV +from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams + +# CAN bus layout with relay +# 0 = ACC-CAN - radar side +# 1 = F-CAN B - powertrain +# 2 = ACC-CAN - camera side +# 3 = F-CAN A - OBDII port + + +def get_pt_bus(car_fingerprint): + return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0 + + +def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): + if radar_disabled: + # when radar is disabled, steering commands are sent directly to powertrain bus + return get_pt_bus(car_fingerprint) + # normally steering commands are sent to radar, which forwards them to powertrain bus + return 0 + + +def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake): + # TODO: do we loose pressure if we keep pump off for long? + brakelights = apply_brake > 0 + brake_rq = apply_brake > 0 + pcm_fault_cmd = False + + values = { + "COMPUTER_BRAKE": apply_brake, + "BRAKE_PUMP_REQUEST": pump_on, + "CRUISE_OVERRIDE": pcm_override, + "CRUISE_FAULT_CMD": pcm_fault_cmd, + "CRUISE_CANCEL_CMD": pcm_cancel_cmd, + "COMPUTER_BRAKE_REQUEST": brake_rq, + "SET_ME_1": 1, + "BRAKE_LIGHTS": brakelights, + "CHIME": stock_brake["CHIME"] if fcw else 0, # send the chime for stock fcw + "FCW": fcw << 1, # TODO: Why are there two bits for fcw? + "AEB_REQ_1": 0, + "AEB_REQ_2": 0, + "AEB_STATUS": 0, + } + bus = get_pt_bus(car_fingerprint) + return packer.make_can_msg("BRAKE_COMMAND", bus, values) + + +def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint): + commands = [] + bus = get_pt_bus(car_fingerprint) + min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0] + + control_on = 5 if enabled else 0 + gas_command = gas if active and accel > min_gas_accel else -30000 + accel_command = accel if active else 0 + braking = 1 if active and accel < min_gas_accel else 0 + standstill = 1 if active and stopping else 0 + standstill_release = 1 if active and not stopping else 0 + + acc_control_values = { + # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1 + "CONTROL_ON": control_on, + "GAS_COMMAND": gas_command, # used for gas + "ACCEL_COMMAND": accel_command, # used for brakes + "BRAKE_LIGHTS": braking, + "BRAKE_REQUEST": braking, + "STANDSTILL": standstill, + "STANDSTILL_RELEASE": standstill_release, + } + commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values)) + + acc_control_on_values = { + "SET_TO_3": 0x03, + "CONTROL_ON": enabled, + "SET_TO_FF": 0xff, + "SET_TO_75": 0x75, + "SET_TO_30": 0x30, + } + commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values)) + + return commands + + +def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, radar_disabled): + values = { + "STEER_TORQUE": apply_steer if lkas_active else 0, + "STEER_TORQUE_REQUEST": lkas_active, + } + bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled) + return packer.make_can_msg("STEERING_CONTROL", bus, values) + + +def create_bosch_supplemental_1(packer, car_fingerprint): + # non-active params + values = { + "SET_ME_X04": 0x04, + "SET_ME_X80": 0x80, + "SET_ME_X10": 0x10, + } + bus = get_lkas_cmd_bus(car_fingerprint) + return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values) + + +def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud): + commands = [] + bus_pt = get_pt_bus(CP.carFingerprint) + radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl + bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled) + + if CP.openpilotLongitudinalControl: + acc_hud_values = { + 'CRUISE_SPEED': hud.v_cruise, + 'ENABLE_MINI_CAR': 1, + 'HUD_DISTANCE': 0, # max distance setting on display + 'IMPERIAL_UNIT': int(not is_metric), + 'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0, + 'SET_ME_X01_2': 1, + } + + if CP.carFingerprint in HONDA_BOSCH: + acc_hud_values['ACC_ON'] = int(enabled) + acc_hud_values['FCM_OFF'] = 1 + acc_hud_values['FCM_OFF_2'] = 1 + else: + acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH + acc_hud_values['PCM_GAS'] = hud.pcm_accel + acc_hud_values['SET_ME_X01'] = 1 + acc_hud_values['FCM_OFF'] = stock_hud['FCM_OFF'] + acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2'] + acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM'] + acc_hud_values['ICONS'] = stock_hud['ICONS'] + commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values)) + + lkas_hud_values = { + 'SET_ME_X41': 0x41, + 'STEERING_REQUIRED': hud.steer_required, + 'SOLID_LANES': hud.lanes_visible, + 'BEEP': 0, + } + + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: + lkas_hud_values['LANE_LINES'] = 3 + lkas_hud_values['DASHED_LANES'] = hud.lanes_visible + + if not (CP.flags & HondaFlags.BOSCH_EXT_HUD): + lkas_hud_values['SET_ME_X48'] = 0x48 + + if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl: + commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values)) + commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values)) + else: + commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values)) + + if radar_disabled and CP.carFingerprint in HONDA_BOSCH: + radar_hud_values = { + 'CMBS_OFF': 0x01, + 'SET_TO_1': 0x01, + } + commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values)) + + if CP.carFingerprint == CAR.CIVIC_BOSCH: + commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {})) + + return commands + + +def spam_buttons_command(packer, button_val, car_fingerprint): + values = { + 'CRUISE_BUTTONS': button_val, + 'CRUISE_SETTING': 0, + } + # send buttons to camera on radarless cars + bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint) + return packer.make_can_msg("SCM_BUTTONS", bus, values) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py new file mode 100755 index 000000000..6fe8495d1 --- /dev/null +++ b/selfdrive/car/honda/interface.py @@ -0,0 +1,388 @@ +#!/usr/bin/env python3 +from cereal import car +from panda import Panda +from common.conversions import Conversions as CV +from common.numpy_fast import interp +from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS +from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car.interfaces import CarInterfaceBase +from selfdrive.car.disable_ecu import disable_ecu +from common.params import Params + + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName +TransmissionType = car.CarParams.TransmissionType +BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise, + CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel} + + +class CarInterface(CarInterfaceBase): + @staticmethod + def get_pid_accel_limits(CP, current_speed, cruise_speed): + if CP.carFingerprint in HONDA_BOSCH: + return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX + else: + # NIDECs don't allow acceleration near cruise_speed, + # so limit limits of pid to prevent windup + ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2] + ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2] + return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) + + @staticmethod + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value + ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + ret.carName = "honda" + + if candidate in HONDA_BOSCH: + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)] + ret.radarOffCan = True + + if candidate not in HONDA_BOSCH_RADARLESS: + # Disable the radar and let openpilot control longitudinal + # WARNING: THIS DISABLES AEB! + ret.openpilotLongitudinalControl = disable_radar + + ret.pcmCruise = not ret.openpilotLongitudinalControl + else: + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)] + ret.enableGasInterceptor = 0x201 in fingerprint[0] + ret.openpilotLongitudinalControl = True + + ret.pcmCruise = not ret.enableGasInterceptor + + if candidate == CAR.CRV_5G: + ret.enableBsm = 0x12f8bfa7 in fingerprint[0] + + # Detect Bosch cars with new HUD msgs + if any(0x33DA in f for f in fingerprint.values()): + ret.flags |= HondaFlags.BOSCH_EXT_HUD.value + + # Accord 1.5T CVT has different gearbox message + if candidate == CAR.ACCORD and 0x191 in fingerprint[1]: + ret.transmissionType = TransmissionType.cvt + + # Certain Hondas have an extra steering sensor at the bottom of the steering rack, + # which improves controls quality as it removes the steering column torsion from feedback. + # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect. + # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani" + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]] + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward + + if candidate in HONDA_BOSCH: + ret.longitudinalTuning.kpV = [0.25] + ret.longitudinalTuning.kiV = [0.05] + ret.longitudinalActuatorDelayUpperBound = 0.5 # s + else: + # default longitudinal tuning for all hondas + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] + + eps_modified = False + for fw in car_fw: + if fw.ecu == "eps" and b"," in fw.fwVersion: + eps_modified = True + + if candidate == CAR.CIVIC: + stop_and_go = True + ret.mass = CivicParams.MASS + ret.wheelbase = CivicParams.WHEELBASE + ret.centerToFront = CivicParams.CENTER_TO_FRONT + ret.steerRatio = 15.38 # 10.93 is end-to-end spec + if eps_modified: + # stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE + # stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680 + # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180 + # stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108 + # modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480 + # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] + else: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] + tire_stiffness_factor = 1. + + elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): + stop_and_go = True + ret.mass = CivicParams.MASS + ret.wheelbase = CivicParams.WHEELBASE + ret.centerToFront = CivicParams.CENTER_TO_FRONT + ret.steerRatio = 15.38 # 10.93 is end-to-end spec + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 1. + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + + elif candidate in (CAR.ACCORD, CAR.ACCORDH): + stop_and_go = True + ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.83 + ret.centerToFront = ret.wheelbase * 0.39 + ret.steerRatio = 16.33 # 11.82 is spec end-to-end + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.8467 + + if eps_modified: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] + else: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + + elif candidate == CAR.ACURA_ILX: + stop_and_go = False + ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.37 + ret.steerRatio = 18.61 # 15.3 is spec end-to-end + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.72 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + + elif candidate in (CAR.CRV, CAR.CRV_EU): + stop_and_go = False + ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.62 + ret.centerToFront = ret.wheelbase * 0.41 + ret.steerRatio = 16.89 # as spec + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.444 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + ret.wheelSpeedFactor = 1.025 + + elif candidate == CAR.CRV_5G: + stop_and_go = True + ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.66 + ret.centerToFront = ret.wheelbase * 0.41 + ret.steerRatio = 16.0 # 12.3 is spec end-to-end + if eps_modified: + # stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F + # stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400 + # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] + else: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] + tire_stiffness_factor = 0.677 + ret.wheelSpeedFactor = 1.025 + + elif candidate == CAR.CRV_HYBRID: + stop_and_go = True + ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg + ret.wheelbase = 2.66 + ret.centerToFront = ret.wheelbase * 0.41 + ret.steerRatio = 16.0 # 12.3 is spec end-to-end + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.677 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + ret.wheelSpeedFactor = 1.025 + + elif candidate == CAR.FIT: + stop_and_go = False + ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.53 + ret.centerToFront = ret.wheelbase * 0.39 + ret.steerRatio = 13.06 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.75 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] + + elif candidate == CAR.FREED: + stop_and_go = False + ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.74 + # the remaining parameters were copied from FIT + ret.centerToFront = ret.wheelbase * 0.39 + ret.steerRatio = 13.06 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] + tire_stiffness_factor = 0.75 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] + + elif candidate == CAR.HRV: + stop_and_go = False + ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.61 + ret.centerToFront = ret.wheelbase * 0.41 + ret.steerRatio = 15.2 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] + tire_stiffness_factor = 0.5 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] + ret.wheelSpeedFactor = 1.025 + + elif candidate == CAR.ACURA_RDX: + stop_and_go = False + ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.68 + ret.centerToFront = ret.wheelbase * 0.38 + ret.steerRatio = 15.0 # as spec + tire_stiffness_factor = 0.444 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + + elif candidate == CAR.ACURA_RDX_3G: + stop_and_go = True + ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.75 + ret.centerToFront = ret.wheelbase * 0.41 + ret.steerRatio = 11.95 # as spec + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] + tire_stiffness_factor = 0.677 + + elif candidate == CAR.ODYSSEY: + stop_and_go = False + ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 3.00 + ret.centerToFront = ret.wheelbase * 0.41 + ret.steerRatio = 14.35 # as spec + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.82 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] + + elif candidate == CAR.ODYSSEY_CHN: + stop_and_go = False + ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg + ret.wheelbase = 2.90 + ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY + ret.steerRatio = 14.35 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.82 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] + + elif candidate in (CAR.PILOT, CAR.PASSPORT): + stop_and_go = False + ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight + ret.wheelbase = 2.82 + ret.centerToFront = ret.wheelbase * 0.428 + ret.steerRatio = 17.25 # as spec + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.444 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] + + elif candidate == CAR.RIDGELINE: + stop_and_go = False + ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 3.18 + ret.centerToFront = ret.wheelbase * 0.41 + ret.steerRatio = 15.59 # as spec + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.444 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] + + elif candidate == CAR.INSIGHT: + stop_and_go = True + ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.7 + ret.centerToFront = ret.wheelbase * 0.39 + ret.steerRatio = 15.0 # 12.58 is spec end-to-end + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.82 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + + elif candidate == CAR.HONDA_E: + stop_and_go = True + ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.5 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 16.71 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + tire_stiffness_factor = 0.82 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning + + else: + raise ValueError(f"unsupported car {candidate}") + + if int(Params().get("dp_atl").decode('utf-8')) == 1: + ret.openpilotLongitudinalControl = False + + # These cars use alternate user brake msg (0x1BE) + if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE + + # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON) + if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT + + if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG + + if candidate in HONDA_BOSCH_RADARLESS: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS + + # min speed to enable ACC. if car can do stop and go, then set enabling speed + # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not + # conflict with PCM acc + ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS + + # TODO: get actual value, for now starting with reasonable value for + # civic and scaling by mass and wheelbase + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + + # TODO: start from empirically derived lateral slip stiffness for the civic and scale by + # mass and CG position, so all cars will have approximately similar dyn behaviors + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, + tire_stiffness_factor=tire_stiffness_factor) + + ret.steerActuatorDelay = 0.1 + ret.steerLimitTimer = 0.8 + + return ret + + @staticmethod + def init(CP, logcan, sendcan): + if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl: + disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03') + + # returns a car.CarState + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam, self.cp_body) + ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret) + + buttonEvents = [] + + if self.CS.cruise_buttons != self.CS.prev_cruise_buttons: + buttonEvents.append(create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT)) + + if self.CS.cruise_setting != self.CS.prev_cruise_setting: + buttonEvents.append(create_button_event(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1})) + + ret.buttonEvents = buttonEvents + + # events + events = self.create_common_events(ret, pcm_enable=False) + events = self.dp_atl_warning(ret, events) + if self.CS.brake_error: + events.add(EventName.brakeUnavailable) + + if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed: + events.add(EventName.belowEngageSpeed) + + if self.CP.pcmCruise: + # we engage when pcm is active (rising edge) + if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled: + events.add(EventName.pcmEnable) + elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl): + # it can happen that car cruise disables while comma system is enabled: need to + # keep braking if needed or if the speed is very low + if ret.vEgo < self.CP.minEnableSpeed + 2.: + # non loud alert if cruise disables below 25mph as expected (+ a little margin) + events.add(EventName.speedTooLow) + else: + events.add(EventName.cruiseDisabled) + if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001: + events.add(EventName.manualRestart) + + # handle button presses + events.events.extend(create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise)) + + ret.events = events.to_msg() + + return ret + + # pass in a car.CarControl + # to be called @ 100hz + def apply(self, c): + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py new file mode 100755 index 000000000..629ab01d4 --- /dev/null +++ b/selfdrive/car/honda/radar_interface.py @@ -0,0 +1,88 @@ +#!/usr/bin/env python3 +from cereal import car +from opendbc.can.parser import CANParser +from selfdrive.car.interfaces import RadarInterfaceBase +from selfdrive.car.honda.values import DBC + + +def _create_nidec_can_parser(car_fingerprint): + radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446)) + signals = list(zip(['RADAR_STATE'] + + ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 + + ['REL_SPEED'] * 16, + [0x400] + radar_messages[1:] * 4)) + checks = [(s[1], 20) for s in signals] + return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) + + +class RadarInterface(RadarInterfaceBase): + def __init__(self, CP): + super().__init__(CP) + self.track_id = 0 + self.radar_fault = False + self.radar_wrong_config = False + self.radar_off_can = CP.radarOffCan + self.radar_ts = CP.radarTimeStep + + self.delay = int(round(0.1 / CP.radarTimeStep)) # 0.1s delay of radar + + # Nidec + if self.radar_off_can: + self.rcp = None + else: + self.rcp = _create_nidec_can_parser(CP.carFingerprint) + self.trigger_msg = 0x445 + self.updated_messages = set() + + def update(self, can_strings): + # in Bosch radar and we are only steering for now, so sleep 0.05s to keep + # radard at 20Hz and return no points + if self.radar_off_can: + return super().update(None) + + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) + + if self.trigger_msg not in self.updated_messages: + return None + + rr = self._update(self.updated_messages) + self.updated_messages.clear() + return rr + + def _update(self, updated_messages): + ret = car.RadarData.new_message() + + for ii in sorted(updated_messages): + cpt = self.rcp.vl[ii] + if ii == 0x400: + # check for radar faults + self.radar_fault = cpt['RADAR_STATE'] != 0x79 + self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69 + elif cpt['LONG_DIST'] < 255: + if ii not in self.pts or cpt['NEW_TRACK']: + self.pts[ii] = car.RadarData.RadarPoint.new_message() + self.pts[ii].trackId = self.track_id + self.track_id += 1 + self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car + self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive + self.pts[ii].vRel = cpt['REL_SPEED'] + self.pts[ii].aRel = float('nan') + self.pts[ii].yvRel = float('nan') + self.pts[ii].measured = True + else: + if ii in self.pts: + del self.pts[ii] + + errors = [] + if not self.rcp.can_valid: + errors.append("canError") + if self.radar_fault: + errors.append("fault") + if self.radar_wrong_config: + errors.append("wrongConfig") + ret.errors = errors + + ret.points = list(self.pts.values()) + + return ret diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py new file mode 100644 index 000000000..5749b5347 --- /dev/null +++ b/selfdrive/car/honda/values.py @@ -0,0 +1,1484 @@ +from dataclasses import dataclass +from enum import Enum, IntFlag +from typing import Dict, List, Optional, Union + +from cereal import car +from common.conversions import Conversions as CV +from selfdrive.car import dbc_dict +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness + +Ecu = car.CarParams.Ecu +VisualAlert = car.CarControl.HUDControl.VisualAlert + + +class CarControllerParams: + # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we + # perform the closed loop control, and might need some + # to apply some more braking if we're on a downhill slope. + # Our controller should still keep the 2 second average above + # -3.5 m/s^2 as per planner limits + NIDEC_ACCEL_MIN = -4.0 # m/s^2 + NIDEC_ACCEL_MAX = 1.6 # m/s^2, lower than 2.0 m/s^2 for tuning reasons + + NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6] + NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0] + + NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6] + NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.] + + NIDEC_BRAKE_MAX = 1024 // 4 + + BOSCH_ACCEL_MIN = -3.5 # m/s^2 + BOSCH_ACCEL_MAX = 2.0 # m/s^2 + + BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0] # 2m/s^2 + BOSCH_GAS_LOOKUP_V = [0, 1600] + + def __init__(self, CP): + self.STEER_MAX = CP.lateralParams.torqueBP[-1] + # mirror of list (assuming first item is zero) for interp of signed request values + assert(CP.lateralParams.torqueBP[0] == 0) + assert(CP.lateralParams.torqueBP[0] == 0) + self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP) + self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV) + + +class HondaFlags(IntFlag): + # Bosch models with alternate set of LKAS_HUD messages + BOSCH_EXT_HUD = 1 + + +# Car button codes +class CruiseButtons: + RES_ACCEL = 4 + DECEL_SET = 3 + CANCEL = 2 + MAIN = 1 + + +# See dbc files for info on values +VISUAL_HUD = { + VisualAlert.none: 0, + VisualAlert.fcw: 1, + VisualAlert.steerRequired: 1, + VisualAlert.ldw: 1, + VisualAlert.brakePressed: 10, + VisualAlert.wrongGear: 6, + VisualAlert.seatbeltUnbuckled: 5, + VisualAlert.speedTooHigh: 8 +} + + +class CAR: + ACCORD = "HONDA ACCORD 2018" + ACCORDH = "HONDA ACCORD HYBRID 2018" + CIVIC = "HONDA CIVIC 2016" + CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019" + CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019" + CIVIC_2022 = "HONDA CIVIC 2022" + ACURA_ILX = "ACURA ILX 2016" + CRV = "HONDA CR-V 2016" + CRV_5G = "HONDA CR-V 2017" + CRV_EU = "HONDA CR-V EU 2016" + CRV_HYBRID = "HONDA CR-V HYBRID 2019" + FIT = "HONDA FIT 2018" + FREED = "HONDA FREED 2020" + HRV = "HONDA HRV 2019" + ODYSSEY = "HONDA ODYSSEY 2018" + ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019" + ACURA_RDX = "ACURA RDX 2018" + ACURA_RDX_3G = "ACURA RDX 2020" + PILOT = "HONDA PILOT 2017" + PASSPORT = "HONDA PASSPORT 2021" + RIDGELINE = "HONDA RIDGELINE 2017" + INSIGHT = "HONDA INSIGHT 2019" + HONDA_E = "HONDA E 2020" + + +class Footnote(Enum): + CIVIC_DIESEL = CarFootnote( + "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.", + Column.FSR_STEERING) + + +@dataclass +class HondaCarInfo(CarInfo): + package: str = "Honda Sensing" + min_steer_speed: float = 12. * CV.MPH_TO_MS + + +CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { + CAR.ACCORD: [ + HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + ], + CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec), + CAR.CIVIC_BOSCH: [ + HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a), + ], + CAR.CIVIC_BOSCH_DIESEL: None, # same platform + CAR.CIVIC_2022: [ + HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), + HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), + ], + CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec), + CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec), + CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a), + CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring + CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a), + CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec), + CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec), + CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec), + CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-22", min_steer_speed=0., harness=Harness.nidec), + CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey + CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec), + CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec), + CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec), + CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec), + CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), +} + + +FW_VERSIONS = { + CAR.ACCORD: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-6A0-8720\x00\x00', + b'37805-6A0-9520\x00\x00', + b'37805-6A0-9620\x00\x00', + b'37805-6A0-9720\x00\x00', + b'37805-6A0-A540\x00\x00', + b'37805-6A0-A550\x00\x00', + b'37805-6A0-A640\x00\x00', + b'37805-6A0-A650\x00\x00', + b'37805-6A0-A740\x00\x00', + b'37805-6A0-A750\x00\x00', + b'37805-6A0-A840\x00\x00', + b'37805-6A0-A850\x00\x00', + b'37805-6A0-A930\x00\x00', + b'37805-6A0-AF30\x00\x00', + b'37805-6A0-AG30\x00\x00', + b'37805-6B2-C520\x00\x00', + b'37805-6A0-C540\x00\x00', + b'37805-6A1-H650\x00\x00', + b'37805-6B2-A550\x00\x00', + b'37805-6B2-A560\x00\x00', + b'37805-6B2-A650\x00\x00', + b'37805-6B2-A660\x00\x00', + b'37805-6B2-A720\x00\x00', + b'37805-6B2-A810\x00\x00', + b'37805-6B2-A820\x00\x00', + b'37805-6B2-A920\x00\x00', + b'37805-6B2-M520\x00\x00', + b'37805-6B2-Y810\x00\x00', + b'37805-6M4-B730\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TVC-A910\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-6A7-A220\x00\x00', + b'28101-6A7-A230\x00\x00', + b'28101-6A7-A320\x00\x00', + b'28101-6A7-A330\x00\x00', + b'28101-6A7-A410\x00\x00', + b'28101-6A7-A510\x00\x00', + b'28101-6A7-A610\x00\x00', + b'28101-6A7-A710\x00\x00', + b'28101-6A9-H140\x00\x00', + b'28101-6A9-H420\x00\x00', + b'28102-6B8-A560\x00\x00', + b'28102-6B8-A570\x00\x00', + b'28102-6B8-A700\x00\x00', + b'28102-6B8-A800\x00\x00', + b'28102-6B8-C560\x00\x00', + b'28102-6B8-C570\x00\x00', + b'28102-6B8-M520\x00\x00', + b'28102-6B8-R700\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TVA-A060\x00\x00', + b'46114-TVA-A080\x00\x00', + b'46114-TVA-A120\x00\x00', + b'46114-TVA-A320\x00\x00', + b'46114-TVA-A050\x00\x00', + b'46114-TVE-H550\x00\x00', + b'46114-TVE-H560\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TVA-B040\x00\x00', + b'57114-TVA-B050\x00\x00', + b'57114-TVA-B060\x00\x00', + b'57114-TVA-B530\x00\x00', + b'57114-TVA-C040\x00\x00', + b'57114-TVA-C050\x00\x00', + b'57114-TVA-C060\x00\x00', + b'57114-TVA-C530\x00\x00', + b'57114-TVA-E520\x00\x00', + b'57114-TVE-H250\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBX-H120\x00\x00', + b'39990-TVA-A140\x00\x00', + b'39990-TVA-A150\x00\x00', + b'39990-TVA-A160\x00\x00', + b'39990-TVA-A340\x00\x00', + b'39990-TVA-X030\x00\x00', + b'39990-TVA-X040\x00\x00', + b'39990-TVA,A150\x00\x00', + b'39990-TVE-H130\x00\x00', + ], + (Ecu.unknown, 0x18da3af1, None): [ + b'39390-TVA-A020\x00\x00', + b'39390-TVA-A120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBX-H230\x00\x00', + b'77959-TVA-A460\x00\x00', + b'77959-TVA-F330\x00\x00', + b'77959-TVA-H230\x00\x00', + b'77959-TVA-L420\x00\x00', + b'77959-TVA-X330\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBX-H310\x00\x00', + b'78109-TVA-A010\x00\x00', + b'78109-TVA-A020\x00\x00', + b'78109-TVA-A030\x00\x00', + b'78109-TVA-A110\x00\x00', + b'78109-TVA-A120\x00\x00', + b'78109-TVA-A130\x00\x00', + b'78109-TVA-A210\x00\x00', + b'78109-TVA-A220\x00\x00', + b'78109-TVA-A230\x00\x00', + b'78109-TVA-A310\x00\x00', + b'78109-TVA-C010\x00\x00', + b'78109-TVA-L010\x00\x00', + b'78109-TVA-L210\x00\x00', + b'78109-TVA-R310\x00\x00', + b'78109-TVC-A010\x00\x00', + b'78109-TVC-A020\x00\x00', + b'78109-TVC-A030\x00\x00', + b'78109-TVC-A110\x00\x00', + b'78109-TVC-A130\x00\x00', + b'78109-TVC-A210\x00\x00', + b'78109-TVC-A220\x00\x00', + b'78109-TVC-A230\x00\x00', + b'78109-TVC-C010\x00\x00', + b'78109-TVC-C110\x00\x00', + b'78109-TVC-L010\x00\x00', + b'78109-TVC-L210\x00\x00', + b'78109-TVC-M510\x00\x00', + b'78109-TVC-YF10\x00\x00', + b'78109-TVE-H610\x00\x00', + b'78109-TWA-A210\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TVA-A010\x00\x00', + b'78209-TVA-A110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TBX-H140\x00\x00', + b'36802-TVA-A150\x00\x00', + b'36802-TVA-A160\x00\x00', + b'36802-TVA-A170\x00\x00', + b'36802-TVA-A330\x00\x00', + b'36802-TVC-A330\x00\x00', + b'36802-TVE-H070\x00\x00', + b'36802-TWA-A070\x00\x00', + b'36802-TWA-A080\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TBX-H130\x00\x00', + b'36161-TVA-A060\x00\x00', + b'36161-TVA-A330\x00\x00', + b'36161-TVC-A330\x00\x00', + b'36161-TVE-H050\x00\x00', + b'36161-TWA-A070\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TVA-A010\x00\x00', + b'38897-TVA-A020\x00\x00', + b'38897-TVA-A230\x00\x00', + b'38897-TVA-A240\x00\x00', + ], + }, + CAR.ACCORDH: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TWA-A120\x00\x00', + b'38897-TWD-J020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TWA-A040\x00\x00', + b'57114-TWA-A050\x00\x00', + b'57114-TWA-A530\x00\x00', + b'57114-TWA-B520\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TWA-A440\x00\x00', + b'77959-TWA-L420\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TWA-A010\x00\x00', + b'78109-TWA-A020\x00\x00', + b'78109-TWA-A030\x00\x00', + b'78109-TWA-A110\x00\x00', + b'78109-TWA-A120\x00\x00', + b'78109-TWA-A130\x00\x00', + b'78109-TWA-A210\x00\x00', + b'78109-TWA-A220\x00\x00', + b'78109-TWA-A230\x00\x00', + b'78109-TWA-L010\x00\x00', + b'78109-TWA-L210\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TWA-A910\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TVA-A010\x00\x00', + b'78209-TVA-A110\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TWA-A070\x00\x00', + b'36161-TWA-A330\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TWA-A070\x00\x00', + b'36802-TWA-A080\x00\x00', + b'36802-TWA-A330\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TVA-A160\x00\x00', + b'39990-TVA-A150\x00\x00', + b'39990-TVA-A340\x00\x00', + ], + }, + CAR.CIVIC: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5AA-A640\x00\x00', + b'37805-5AA-A650\x00\x00', + b'37805-5AA-A670\x00\x00', + b'37805-5AA-A680\x00\x00', + b'37805-5AA-A810\x00\x00', + b'37805-5AA-C640\x00\x00', + b'37805-5AA-C680\x00\x00', + b'37805-5AA-C820\x00\x00', + b'37805-5AA-L650\x00\x00', + b'37805-5AA-L660\x00\x00', + b'37805-5AA-L680\x00\x00', + b'37805-5AA-L690\x00\x00', + b'37805-5AA-L810\000\000', + b'37805-5AG-Q710\x00\x00', + b'37805-5AJ-A610\x00\x00', + b'37805-5AJ-A620\x00\x00', + b'37805-5AJ-L610\x00\x00', + b'37805-5BA-A310\x00\x00', + b'37805-5BA-A510\x00\x00', + b'37805-5BA-A740\x00\x00', + b'37805-5BA-A760\x00\x00', + b'37805-5BA-A930\x00\x00', + b'37805-5BA-A960\x00\x00', + b'37805-5BA-C860\x00\x00', + b'37805-5BA-L410\x00\x00', + b'37805-5BA-L760\x00\x00', + b'37805-5BA-L930\x00\x00', + b'37805-5BA-L940\x00\x00', + b'37805-5BA-L960\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5CG-A040\x00\x00', + b'28101-5CG-A050\x00\x00', + b'28101-5CG-A070\x00\x00', + b'28101-5CG-A080\x00\x00', + b'28101-5CG-A320\x00\x00', + b'28101-5CG-A810\x00\x00', + b'28101-5CG-A820\x00\x00', + b'28101-5DJ-A040\x00\x00', + b'28101-5DJ-A060\x00\x00', + b'28101-5DJ-A510\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TBA-A540\x00\x00', + b'57114-TBA-A550\x00\x00', + b'57114-TBA-A560\x00\x00', + b'57114-TBA-A570\x00\x00', + b'57114-TEA-Q220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBA,A030\x00\x00', # modified firmware + b'39990-TBA-A030\x00\x00', + b'39990-TBG-A030\x00\x00', + b'39990-TEA-T020\x00\x00', + b'39990-TEG-A010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBA-A030\x00\x00', + b'77959-TBA-A040\x00\x00', + b'77959-TBG-A030\x00\x00', + b'77959-TEA-Q820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBA-A510\x00\x00', + b'78109-TBA-A520\x00\x00', + b'78109-TBA-A530\x00\x00', + b'78109-TBA-C520\x00\x00', + b'78109-TBC-A310\x00\x00', + b'78109-TBC-A320\x00\x00', + b'78109-TBC-A510\x00\x00', + b'78109-TBC-A520\x00\x00', + b'78109-TBC-A530\x00\x00', + b'78109-TBC-C510\x00\x00', + b'78109-TBC-C520\x00\x00', + b'78109-TBC-C530\x00\x00', + b'78109-TBH-A510\x00\x00', + b'78109-TBH-A530\x00\x00', + b'78109-TED-Q510\x00\x00', + b'78109-TEG-A310\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab0f1, None): [ + b'36161-TBA-A020\x00\x00', + b'36161-TBA-A030\x00\x00', + b'36161-TBA-A040\x00\x00', + b'36161-TBC-A020\x00\x00', + b'36161-TBC-A030\x00\x00', + b'36161-TED-Q320\x00\x00', + b'36161-TEG-A010\x00\x00', + b'36161-TEG-A020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A010\x00\x00', + b'38897-TBA-A020\x00\x00', + ], + }, + CAR.CIVIC_BOSCH: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5AA-A940\x00\x00', + b'37805-5AA-A950\x00\x00', + b'37805-5AA-C950\x00\x00', + b'37805-5AA-L940\x00\x00', + b'37805-5AA-L950\x00\x00', + b'37805-5AG-Z910\x00\x00', + b'37805-5AJ-A750\x00\x00', + b'37805-5AJ-L750\x00\x00', + b'37805-5AK-T530\x00\x00', + b'37805-5AN-A750\x00\x00', + b'37805-5AN-A830\x00\x00', + b'37805-5AN-A840\x00\x00', + b'37805-5AN-A930\x00\x00', + b'37805-5AN-A940\x00\x00', + b'37805-5AN-A950\x00\x00', + b'37805-5AN-AG20\x00\x00', + b'37805-5AN-AH20\x00\x00', + b'37805-5AN-AJ30\x00\x00', + b'37805-5AN-AK10\x00\x00', + b'37805-5AN-AK20\x00\x00', + b'37805-5AN-AR10\x00\x00', + b'37805-5AN-AR20\x00\x00', + b'37805-5AN-CH20\x00\x00', + b'37805-5AN-E630\x00\x00', + b'37805-5AN-E720\x00\x00', + b'37805-5AN-E820\x00\x00', + b'37805-5AN-J820\x00\x00', + b'37805-5AN-L840\x00\x00', + b'37805-5AN-L930\x00\x00', + b'37805-5AN-L940\x00\x00', + b'37805-5AN-LF20\x00\x00', + b'37805-5AN-LH20\x00\x00', + b'37805-5AN-LJ20\x00\x00', + b'37805-5AN-LR20\x00\x00', + b'37805-5AN-LS20\x00\x00', + b'37805-5AW-G720\x00\x00', + b'37805-5AZ-E850\x00\x00', + b'37805-5AZ-G540\x00\x00', + b'37805-5AZ-G740\x00\x00', + b'37805-5AZ-G840\x00\x00', + b'37805-5BB-A530\x00\x00', + b'37805-5BB-A540\x00\x00', + b'37805-5BB-A630\x00\x00', + b'37805-5BB-A640\x00\x00', + b'37805-5BB-C540\x00\x00', + b'37805-5BB-C630\x00\x00', + b'37805-5BB-C640\x00\x00', + b'37805-5BB-L540\x00\x00', + b'37805-5BB-L630\x00\x00', + b'37805-5BB-L640\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5CG-A920\x00\x00', + b'28101-5CG-AB10\x00\x00', + b'28101-5CG-C110\x00\x00', + b'28101-5CG-C220\x00\x00', + b'28101-5CG-C320\x00\x00', + b'28101-5CG-G020\x00\x00', + b'28101-5CG-L020\x00\x00', + b'28101-5CK-A130\x00\x00', + b'28101-5CK-A140\x00\x00', + b'28101-5CK-A150\x00\x00', + b'28101-5CK-C130\x00\x00', + b'28101-5CK-C140\x00\x00', + b'28101-5CK-C150\x00\x00', + b'28101-5CK-G210\x00\x00', + b'28101-5CK-J710\x00\x00', + b'28101-5CK-Q610\x00\x00', + b'28101-5DJ-A610\x00\x00', + b'28101-5DJ-A710\x00\x00', + b'28101-5DV-E330\x00\x00', + b'28101-5DV-E610\x00\x00', + b'28101-5DV-E820\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TBG-A330\x00\x00', + b'57114-TBG-A340\x00\x00', + b'57114-TBG-A350\x00\x00', + b'57114-TGG-A340\x00\x00', + b'57114-TGG-C320\x00\x00', + b'57114-TGG-G320\x00\x00', + b'57114-TGG-L320\x00\x00', + b'57114-TGG-L330\x00\x00', + b'57114-TGK-T320\x00\x00', + b'57114-TGL-G330\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBA-C020\x00\x00', + b'39990-TBA-C120\x00\x00', + b'39990-TEA-T820\x00\x00', + b'39990-TEZ-T020\x00\x00', + b'39990-TGG-A020\x00\x00', + b'39990-TGG-A120\x00\x00', + b'39990-TGG-J510\x00\x00', + b'39990-TGL-E130\x00\x00', + b'39990-TGN-E120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBA-A060\x00\x00', + b'77959-TBG-A050\x00\x00', + b'77959-TEA-G020\x00\x00', + b'77959-TGG-A020\x00\x00', + b'77959-TGG-A030\x00\x00', + b'77959-TGG-E010\x00\x00', + b'77959-TGG-G010\x00\x00', + b'77959-TGG-G110\x00\x00', + b'77959-TGG-J320\x00\x00', + b'77959-TGG-Z820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBA-A110\x00\x00', + b'78109-TBA-A910\x00\x00', + b'78109-TBA-C340\x00\x00', + b'78109-TBA-C910\x00\x00', + b'78109-TBC-A740\x00\x00', + b'78109-TBC-C540\x00\x00', + b'78109-TBG-A110\x00\x00', + b'78109-TBH-A710\x00\x00', + b'78109-TEG-A720\x00\x00', + b'78109-TFJ-G020\x00\x00', + b'78109-TGG-9020\x00\x00', + b'78109-TGG-A210\x00\x00', + b'78109-TGG-A220\x00\x00', + b'78109-TGG-A310\x00\x00', + b'78109-TGG-A320\x00\x00', + b'78109-TGG-A330\x00\x00', + b'78109-TGG-A610\x00\x00', + b'78109-TGG-A620\x00\x00', + b'78109-TGG-A810\x00\x00', + b'78109-TGG-A820\x00\x00', + b'78109-TGG-C220\x00\x00', + b'78109-TGG-E110\x00\x00', + b'78109-TGG-G030\x00\x00', + b'78109-TGG-G230\x00\x00', + b'78109-TGG-G410\x00\x00', + b'78109-TGK-Z410\x00\x00', + b'78109-TGL-G120\x00\x00', + b'78109-TGL-G130\x00\x00', + b'78109-TGL-G210\x00\x00', + b'78109-TGL-G230\x00\x00', + b'78109-TGL-GM10\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TBA-A150\x00\x00', + b'36802-TBA-A160\x00\x00', + b'36802-TFJ-G060\x00\x00', + b'36802-TGG-A050\x00\x00', + b'36802-TGG-A060\x00\x00', + b'36802-TGG-A130\x00\x00', + b'36802-TGG-G040\x00\x00', + b'36802-TGG-G130\x00\x00', + b'36802-TGK-Q120\x00\x00', + b'36802-TGL-G040\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TBA-A130\x00\x00', + b'36161-TBA-A140\x00\x00', + b'36161-TFJ-G070\x00\x00', + b'36161-TGG-A060\x00\x00', + b'36161-TGG-A080\x00\x00', + b'36161-TGG-A120\x00\x00', + b'36161-TGG-G050\x00\x00', + b'36161-TGG-G130\x00\x00', + b'36161-TGG-G140\x00\x00', + b'36161-TGK-Q120\x00\x00', + b'36161-TGL-G050\x00\x00', + b'36161-TGL-G070\x00\x00', + b'36161-TGG-G070\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A110\x00\x00', + b'38897-TBA-A020\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'39494-TGL-G030\x00\x00', + ], + }, + CAR.CIVIC_BOSCH_DIESEL: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-59N-G630\x00\x00', + b'37805-59N-G830\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-59Y-G220\x00\x00', + b'28101-59Y-G620\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TGN-E320\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TFK-G020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TFK-G210\x00\x00', + b'77959-TGN-G220\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TFK-G020\x00\x00', + b'78109-TGN-G120\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TFK-G130\x00\x00', + b'36802-TGN-G130\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TGN-E010\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TFK-G130\x00\x00', + b'36161-TGN-G130\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A020\x00\x00', + ], + }, + CAR.CRV: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T1W-A230\x00\x00', + b'57114-T1W-A240\x00\x00', + b'57114-TFF-A940\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T0A-A230\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T1W-A210\x00\x00', + b'78109-T1W-C210\x00\x00', + b'78109-T1X-A210\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T1W-A830\x00\x00', + b'36161-T1W-C830\x00\x00', + b'36161-T1X-A830\x00\x00', + ], + }, + CAR.CRV_5G: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5PA-AH20\x00\x00', + b'37805-5PA-3060\x00\x00', + b'37805-5PA-3080\x00\x00', + b'37805-5PA-3180\x00\x00', + b'37805-5PA-4050\x00\x00', + b'37805-5PA-4150\x00\x00', + b'37805-5PA-6520\x00\x00', + b'37805-5PA-6530\x00\x00', + b'37805-5PA-6630\x00\x00', + b'37805-5PA-6640\x00\x00', + b'37805-5PA-7630\x00\x00', + b'37805-5PA-9630\x00\x00', + b'37805-5PA-9640\x00\x00', + b'37805-5PA-9730\x00\x00', + b'37805-5PA-9830\x00\x00', + b'37805-5PA-9840\x00\x00', + b'37805-5PA-A650\x00\x00', + b'37805-5PA-A670\x00\x00', + b'37805-5PA-A680\x00\x00', + b'37805-5PA-A850\x00\x00', + b'37805-5PA-A870\x00\x00', + b'37805-5PA-A880\x00\x00', + b'37805-5PA-A890\x00\x00', + b'37805-5PA-AB10\x00\x00', + b'37805-5PA-AD10\x00\x00', + b'37805-5PA-AF20\x00\x00', + b'37805-5PA-C680\x00\x00', + b'37805-5PD-Q630\x00\x00', + b'37805-5PF-F730\x00\x00', + b'37805-5PF-M630\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5RG-A020\x00\x00', + b'28101-5RG-A030\x00\x00', + b'28101-5RG-A040\x00\x00', + b'28101-5RG-A120\x00\x00', + b'28101-5RG-A220\x00\x00', + b'28101-5RH-A020\x00\x00', + b'28101-5RH-A030\x00\x00', + b'28101-5RH-A040\x00\x00', + b'28101-5RH-A120\x00\x00', + b'28101-5RH-A220\x00\x00', + b'28101-5RL-Q010\x00\x00', + b'28101-5RM-F010\x00\x00', + b'28101-5RM-K010\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TLA-A040\x00\x00', + b'57114-TLA-A050\x00\x00', + b'57114-TLA-A060\x00\x00', + b'57114-TLB-A830\x00\x00', + b'57114-TMC-Z040\x00\x00', + b'57114-TMC-Z050\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TLA-A040\x00\x00', + b'39990-TLA-A110\x00\x00', + b'39990-TLA-A220\x00\x00', + b'39990-TLA,A040\x00\x00', # modified firmware + b'39990-TME-T030\x00\x00', + b'39990-TME-T120\x00\x00', + b'39990-TMT-T010\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TLA-A040\x00\x00', + b'46114-TLA-A050\x00\x00', + b'46114-TLA-A930\x00\x00', + b'46114-TMC-U020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TLA-A110\x00\x00', + b'78109-TLA-A120\x00\x00', + b'78109-TLA-A210\x00\x00', + b'78109-TLA-A220\x00\x00', + b'78109-TLA-C020\x00\x00', + b'78109-TLA-C110\x00\x00', + b'78109-TLA-C210\x00\x00', + b'78109-TLA-C310\x00\x00', + b'78109-TLB-A020\x00\x00', + b'78109-TLB-A110\x00\x00', + b'78109-TLB-A120\x00\x00', + b'78109-TLB-A210\x00\x00', + b'78109-TLB-A220\x00\x00', + b'78109-TMC-Q210\x00\x00', + b'78109-TMM-F210\x00\x00', + b'78109-TMM-M110\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TLA-A010\x00\x00', + b'38897-TLA-A110\x00\x00', + b'38897-TNY-G010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TLA-A040\x00\x00', + b'36802-TLA-A050\x00\x00', + b'36802-TLA-A060\x00\x00', + b'36802-TMC-Q040\x00\x00', + b'36802-TMC-Q070\x00\x00', + b'36802-TNY-A030\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TLA-A060\x00\x00', + b'36161-TLA-A070\x00\x00', + b'36161-TLA-A080\x00\x00', + b'36161-TMC-Q020\x00\x00', + b'36161-TMC-Q030\x00\x00', + b'36161-TMC-Q040\x00\x00', + b'36161-TNY-A020\x00\x00', + b'36161-TNY-A030\x00\x00', + b'36161-TNY-A040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TLA-A240\x00\x00', + b'77959-TLA-A250\x00\x00', + b'77959-TLA-A320\x00\x00', + b'77959-TLA-A410\x00\x00', + b'77959-TLA-A420\x00\x00', + b'77959-TLA-Q040\x00\x00', + b'77959-TLA-Z040\x00\x00', + b'77959-TMM-F040\x00\x00', + ], + }, + CAR.CRV_EU: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-R5Z-G740\x00\x00', + b'37805-R5Z-G780\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [b'57114-T1V-G920\x00\x00'], + (Ecu.fwdRadar, 0x18dab0f1, None): [b'36161-T1V-G520\x00\x00'], + (Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-T1V-G010\x00\x00'], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5LH-E120\x00\x00', + b'28103-5LH-E100\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T1V-G020\x00\x00', + b'78109-T1B-3050\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [b'77959-T1G-G940\x00\x00'], + }, + CAR.CRV_HYBRID: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TPA-G020\x00\x00', + b'57114-TPG-A020\x00\x00', + b'57114-TMB-H030\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TPA-G030\x00\x00', + b'39990-TPG-A020\x00\x00', + b'39990-TMA-H020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TMA-H110\x00\x00', + b'38897-TPG-A110\x00\x00', + b'38897-TPG-A210\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TMB-H510\x00\x00', + b'54008-TMB-H610\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TMB-H040\x00\x00', + b'36161-TPA-E050\x00\x00', + b'36161-TPG-A030\x00\x00', + b'36161-TPG-A040\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TMB-H220\x00\x00', + b'78109-TPA-G520\x00\x00', + b'78109-TPG-A110\x00\x00', + b'78109-TPG-A210\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TLA-X010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TPA-E040\x00\x00', + b'36802-TPG-A020\x00\x00', + b'36802-TMB-H040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TLA-C320\x00\x00', + b'77959-TLA-C410\x00\x00', + b'77959-TLA-C420\x00\x00', + b'77959-TLA-G220\x00\x00', + b'77959-TLA-H240\x00\x00', + ], + }, + CAR.FIT: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T5R-L020\x00\x00', + b'57114-T5R-L220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T5R-C020\x00\x00', + b'39990-T5R-C030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T5A-J010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T5A-A210\x00\x00', + b'78109-T5A-A410\x00\x00', + b'78109-T5A-A420\x00\x00', + b'78109-T5A-A910\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T5R-A040\x00\x00', + b'36161-T5R-A240\x00\x00', + b'36161-T5R-A520\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T5R-A230\x00\x00', + ], + }, + CAR.FREED: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TDK-J010\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TDK-J050\x00\x00', + b'39990-TDK-N020\x00\x00', + ], + # TODO: vsa is "essential" for fpv2 but doesn't appear on some models + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TDK-J120\x00\x00', + b'57114-TDK-J330\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TDK-J310\x00\x00', + b'78109-TDK-J320\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TDK-J070\x00\x00', + b'36161-TDK-J080\x00\x00', + b'36161-TDK-J530\x00\x00', + ], + }, + CAR.ODYSSEY: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-THR-A010\x00\x00', + b'38897-THR-A020\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5MR-4080\x00\x00', + b'37805-5MR-A240\x00\x00', + b'37805-5MR-A250\x00\x00', + b'37805-5MR-A310\x00\x00', + b'37805-5MR-A740\x00\x00', + b'37805-5MR-A750\x00\x00', + b'37805-5MR-A840\x00\x00', + b'37805-5MR-C620\x00\x00', + b'37805-5MR-D530\x00\x00', + b'37805-5MR-K730\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-THR-A020\x00\x00', + b'39990-THR-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-THR-A010\x00\x00', + b'77959-THR-A110\x00\x00', + b'77959-THR-X010\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab0f1, None): [ + b'36161-THR-A020\x00\x00', + b'36161-THR-A030\x00\x00', + b'36161-THR-A110\x00\x00', + b'36161-THR-A720\x00\x00', + b'36161-THR-A730\x00\x00', + b'36161-THR-A810\x00\x00', + b'36161-THR-A910\x00\x00', + b'36161-THR-C010\x00\x00', + b'36161-THR-D110\x00\x00', + b'36161-THR-K020\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5NZ-A110\x00\x00', + b'28101-5NZ-A310\x00\x00', + b'28101-5NZ-C310\x00\x00', + b'28102-5MX-A001\x00\x00', + b'28102-5MX-A600\x00\x00', + b'28102-5MX-A610\x00\x00', + b'28102-5MX-A710\x00\x00', + b'28102-5MX-A900\x00\x00', + b'28102-5MX-A910\x00\x00', + b'28102-5MX-C001\x00\x00', + b'28102-5MX-D001\x00\x00', + b'28102-5MX-D710\x00\x00', + b'28102-5MX-K610\x00\x00', + b'28103-5NZ-A100\x00\x00', + b'28103-5NZ-A300\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-THR-A040\x00\x00', + b'57114-THR-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-THR-A220\x00\x00', + b'78109-THR-A230\x00\x00', + b'78109-THR-A420\x00\x00', + b'78109-THR-A430\x00\x00', + b'78109-THR-A720\x00\x00', + b'78109-THR-A820\x00\x00', + b'78109-THR-A830\x00\x00', + b'78109-THR-AB20\x00\x00', + b'78109-THR-AB30\x00\x00', + b'78109-THR-AB40\x00\x00', + b'78109-THR-AC20\x00\x00', + b'78109-THR-AC30\x00\x00', + b'78109-THR-AC40\x00\x00', + b'78109-THR-AC50\x00\x00', + b'78109-THR-AD30\x00\x00', + b'78109-THR-AE20\x00\x00', + b'78109-THR-AE30\x00\x00', + b'78109-THR-AE40\x00\x00', + b'78109-THR-AK10\x00\x00', + b'78109-THR-AL10\x00\x00', + b'78109-THR-AN10\x00\x00', + b'78109-THR-C220\x00\x00', + b'78109-THR-C330\x00\x00', + b'78109-THR-CE20\x00\x00', + b'78109-THR-DA20\x00\x00', + b'78109-THR-DA30\x00\x00', + b'78109-THR-DA40\x00\x00', + b'78109-THR-K120\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-THR-A020\x00\x00', + ], + }, + CAR.PILOT: { + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TG7-A520\x00\x00', + b'54008-TG7-A530\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5EY-A050\x00\x00', + b'28101-5EY-A100\x00\x00', + b'28101-5EZ-A050\x00\x00', + b'28101-5EZ-A060\x00\x00', + b'28101-5EZ-A100\x00\x00', + b'28101-5EZ-A210\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-RLV-4060\x00\x00', + b'37805-RLV-4070\x00\x00', + b'37805-RLV-A830\x00\x00', + b'37805-RLV-A840\x00\x00', + b'37805-RLV-C430\x00\x00', + b'37805-RLV-C510\x00\x00', + b'37805-RLV-C520\x00\x00', + b'37805-RLV-C530\x00\x00', + b'37805-RLV-C910\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TG7-A030\x00\x00', + b'38897-TG7-A040\x00\x00', + b'38897-TG7-A110\x00\x00', + b'38897-TG7-A210\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TG7-A030\x00\x00', + b'39990-TG7-A040\x00\x00', + b'39990-TG7-A060\x00\x00', + b'39990-TG7-A070\x00\x00', + b'39990-TGS-A230\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab0f1, None): [ + b'36161-TG7-A310\x00\x00', + b'36161-TG7-A520\x00\x00', + b'36161-TG7-A630\x00\x00', + b'36161-TG7-A720\x00\x00', + b'36161-TG7-A820\x00\x00', + b'36161-TG7-A930\x00\x00', + b'36161-TG7-C520\x00\x00', + b'36161-TG7-D520\x00\x00', + b'36161-TG7-D630\x00\x00', + b'36161-TG7-Y630\x00\x00', + b'36161-TG8-A520\x00\x00', + b'36161-TG8-A630\x00\x00', + b'36161-TG8-A720\x00\x00', + b'36161-TG8-A830\x00\x00', + b'36161-TGS-A130\x00\x00', + b'36161-TGT-A030\x00\x00', + b'36161-TGT-A130\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TG7-A020\x00\x00', + b'77959-TG7-A110\x00\x00', + b'77959-TG7-A210\x00\x00', + b'77959-TG7-Y210\x00\x00', + b'77959-TGS-A010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TG7-A040\x00\x00', + b'78109-TG7-A050\x00\x00', + b'78109-TG7-A420\x00\x00', + b'78109-TG7-A520\x00\x00', + b'78109-TG7-A720\x00\x00', + b'78109-TG7-AJ10\x00\x00', + b'78109-TG7-AJ20\x00\x00', + b'78109-TG7-AK10\x00\x00', + b'78109-TG7-AK20\x00\x00', + b'78109-TG7-AM20\x00\x00', + b'78109-TG7-AP10\x00\x00', + b'78109-TG7-AP20\x00\x00', + b'78109-TG7-AS20\x00\x00', + b'78109-TG7-AT20\x00\x00', + b'78109-TG7-AU20\x00\x00', + b'78109-TG7-AX20\x00\x00', + b'78109-TG7-D020\x00\x00', + b'78109-TG7-DJ10\x00\x00', + b'78109-TG7-YK20\x00\x00', + b'78109-TG8-A420\x00\x00', + b'78109-TG8-A520\x00\x00', + b'78109-TG8-AJ10\x00\x00', + b'78109-TG8-AJ20\x00\x00', + b'78109-TG8-AK20\x00\x00', + b'78109-TGS-AK20\x00\x00', + b'78109-TGS-AP20\x00\x00', + b'78109-TGT-AJ20\x00\x00', + b'78109-TGT-AK30\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TG7-A130\x00\x00', + b'57114-TG7-A140\x00\x00', + b'57114-TG7-A230\x00\x00', + b'57114-TG7-A240\x00\x00', + b'57114-TG7-A630\x00\x00', + b'57114-TG7-A730\x00\x00', + b'57114-TG8-A140\x00\x00', + b'57114-TG8-A240\x00\x00', + b'57114-TG8-A630\x00\x00', + b'57114-TG8-A730\x00\x00', + b'57114-TGS-A530\x00\x00', + b'57114-TGT-A530\x00\x00', + ], + }, + CAR.PASSPORT: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-RLV-B220\x00\x00', + b'37805-RLV-B210\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TGS-A230\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TGS-A030\x00\x00', + b'36161-TGS-A130\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TG7-A040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TGS-A010\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TG7-A530\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5EZ-A600\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TGS-AT20\x00\x00', + b'78109-TGS-AX20\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TGS-A530\x00\x00', + ], + }, + CAR.ACURA_RDX: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TX5-A220\x00\x00', + b'57114-TX4-A220\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab0f1, None): [ + b'36161-TX5-A030\x00\x00', + b'36161-TX4-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TX4-C010\x00\x00', + b'77959-TX4-B010\x00\x00', + b'77959-TX4-C020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TX5-A310\x00\x00', + b'78109-TX4-A210\x00\x00', + b'78109-TX4-A310\x00\x00', + ], + }, + CAR.ACURA_RDX_3G: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5YF-A130\x00\x00', + b'37805-5YF-A230\x00\x00', + b'37805-5YF-A320\x00\x00', + b'37805-5YF-A330\x00\x00', + b'37805-5YF-A420\x00\x00', + b'37805-5YF-A430\x00\x00', + b'37805-5YF-A750\x00\x00', + b'37805-5YF-A850\x00\x00', + b'37805-5YF-A870\x00\x00', + b'37805-5YF-C210\x00\x00', + b'37805-5YF-C220\x00\x00', + b'37805-5YF-C410\000\000', + b'37805-5YF-C420\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TJB-A030\x00\x00', + b'57114-TJB-A040\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TJB-A040\x00\x00', + b'36802-TJB-A050\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TJB-A040\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TJB-A520\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28102-5YK-A610\x00\x00', + b'28102-5YK-A620\x00\x00', + b'28102-5YK-A630\x00\x00', + b'28102-5YK-A700\x00\x00', + b'28102-5YK-A711\x00\x00', + b'28102-5YL-A620\x00\x00', + b'28102-5YL-A700\x00\x00', + b'28102-5YL-A711\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TJB-A140\x00\x00', + b'78109-TJB-A240\x00\x00', + b'78109-TJB-A420\x00\x00', + b'78109-TJB-AB10\x00\x00', + b'78109-TJB-AD10\x00\x00', + b'78109-TJB-AF10\x00\x00', + b'78109-TJB-AR10\x00\x00', + b'78109-TJB-AS10\000\000', + b'78109-TJB-AU10\x00\x00', + b'78109-TJB-AW10\x00\x00', + b'78109-TJC-A420\x00\x00', + b'78109-TJC-AA10\x00\x00', + b'78109-TJC-AD10\x00\x00', + b'78109-TJC-AF10\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TJB-A040\x00\x00', + b'77959-TJB-A210\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TJB-A040\x00\x00', + b'46114-TJB-A050\x00\x00', + b'46114-TJB-A060\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TJB-A040\x00\x00', + b'38897-TJB-A110\x00\x00', + b'38897-TJB-A120\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TJB-A030\x00\x00', + b'39990-TJB-A040\x00\x00', + b'39990-TJB-A130\x00\x00' + ], + }, + CAR.RIDGELINE: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T6Z-A020\x00\x00', + b'39990-T6Z-A030\x00\x00', + b'39990-T6Z-A050\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab0f1, None): [ + b'36161-T6Z-A020\x00\x00', + b'36161-T6Z-A310\x00\x00', + b'36161-T6Z-A420\x00\x00', + b'36161-T6Z-A520\x00\x00', + b'36161-T6Z-A620\x00\x00', + b'36161-TJZ-A120\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T6Z-A010\x00\x00', + b'38897-T6Z-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T6Z-A420\x00\x00', + b'78109-T6Z-A510\x00\x00', + b'78109-T6Z-A710\x00\x00', + b'78109-T6Z-A810\x00\x00', + b'78109-T6Z-A910\x00\x00', + b'78109-T6Z-AA10\x00\x00', + b'78109-T6Z-C620\x00\x00', + b'78109-TJZ-A510\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T6Z-A020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T6Z-A120\x00\x00', + b'57114-T6Z-A130\x00\x00', + b'57114-T6Z-A520\x00\x00', + b'57114-TJZ-A520\x00\x00', + ], + }, + CAR.INSIGHT: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TXM-A040\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TXM-A070\x00\x00', + b'36802-TXM-A080\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TXM-A050\x00\x00', + b'36161-TXM-A060\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TXM-A230\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TXM-A030\x00\x00', + b'57114-TXM-A040\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TWA-A910\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TXM-A020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TXM-A010\x00\x00', + b'78109-TXM-A020\x00\x00', + b'78109-TXM-A110\x00\x00', + b'78109-TXM-C010\x00\x00', + b'78109-TXM-A030\x00\x00', + ], + }, + CAR.HRV: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T7A-A010\x00\x00', + b'38897-T7A-A110\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-THX-A020\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T7A-A140\x00\x00', + b'36161-T7A-A240\x00\x00', + b'36161-T7A-C440\x00\x00', + b'36161-T7A-A040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T7A-A230\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-THX-A110\x00\x00', + b'78109-THX-A120\x00\x00', + b'78109-THX-A210\x00\x00', + b'78109-THX-A220\x00\x00', + b'78109-THX-C220\x00\x00', + b'78109-THW-A110\x00\x00', + ], + }, + CAR.ACURA_ILX: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TX6-A010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TV9-A140\x00\x00', + b'36161-TX6-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TX6-A230\x00\x00', + b'77959-TX6-C210\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T3R-A120\x00\x00', + b'78109-T3R-A410\x00\x00', + b'78109-TV9-A510\x00\x00', + ], + }, + CAR.HONDA_E:{ + (Ecu.eps, 0x18DA30F1, None):[ + b'39990-TYF-N030\x00\x00' + ], + (Ecu.gateway, 0x18DAEFF1, None):[ + b'38897-TYF-E140\x00\x00' + ], + (Ecu.shiftByWire, 0x18DA0BF1, None):[ + b'54008-TYF-E010\x00\x00' + ], + (Ecu.srs, 0x18DA53F1, None):[ + b'77959-TYF-G430\x00\x00' + ], + (Ecu.combinationMeter, 0x18DA60F1, None):[ + b'78108-TYF-G610\x00\x00' + ], + (Ecu.fwdRadar, 0x18DAB0F1, None):[ + b'36802-TYF-E030\x00\x00' + ], + (Ecu.fwdCamera, 0x18DAB5F1, None):[ + b'36161-TYF-E020\x00\x00' + ], + (Ecu.vsa, 0x18DA28F1, None):[ + b'57114-TYF-E030\x00\x00' + ], + }, + CAR.CIVIC_2022: { + (Ecu.eps, 0x18DA30F1, None): [ + b'39990-T39-A130\x00\x00', + b'39990-T43-J020\x00\x00', + ], + (Ecu.gateway, 0x18DAEFF1, None): [ + b'38897-T20-A020\x00\x00', + b'38897-T20-A510\x00\x00', + b'38897-T21-A010\x00\x00', + b'38897-T20-A210\x00\x00', + b'38897-T20-A310\x00\x00', + ], + (Ecu.srs, 0x18DA53F1, None): [ + b'77959-T20-A970\x00\x00', + b'77959-T47-A940\x00\x00', + ], + (Ecu.combinationMeter, 0x18DA60F1, None): [ + b'78108-T21-A220\x00\x00', + b'78108-T21-A620\x00\x00', + b'78108-T23-A110\x00\x00', + b'78108-T21-A230\x00\x00', + b'78108-T22-A020\x00\x00', + ], + (Ecu.vsa, 0x18DA28F1, None): [ + b'57114-T20-AB40\x00\x00', + b'57114-T43-JB30\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-65D-A020\x00\x00', + b'28101-65D-A120\x00\x00', + b'28101-65H-A020\x00\x00', + b'28101-65H-A120\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-64L-A540\x00\x00', + b'37805-64S-A540\x00\x00', + b'37805-64S-A720\x00\x00', + b'37805-64A-A540\x00\x00', + b'37805-64A-A620\x00\x00', + ], + }, +} + +DBC = { + CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None), + CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None), + CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), + CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None), + CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), + CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_accord_2018_can_generated', None), + CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), + CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), + CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None), + CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), + CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), + CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + CAR.PASSPORT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None), + CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None), + CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None), +} + +STEER_THRESHOLD = { + # default is 1200, overrides go here + CAR.ACURA_RDX: 400, + CAR.CRV_EU: 400, +} + +HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY} +HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, + CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE} +HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, + CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022} +HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G} +HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022} diff --git a/selfdrive/car/hyundai/__init__.py b/selfdrive/car/hyundai/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py new file mode 100644 index 000000000..0bdb7d99f --- /dev/null +++ b/selfdrive/car/hyundai/carcontroller.py @@ -0,0 +1,149 @@ +from cereal import car +from common.conversions import Conversions as CV +from common.numpy_fast import clip, interp +from common.realtime import DT_CTRL +from opendbc.can.packer import CANPacker +from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car.hyundai import hda2can, hyundaican +from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR + +VisualAlert = car.CarControl.HUDControl.VisualAlert +LongCtrlState = car.CarControl.Actuators.LongControlState + + +def process_hud_alert(enabled, fingerprint, hud_control): + sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)) + + # initialize to no line visible + sys_state = 1 + if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning: # HUD alert only display when LKAS status is active + sys_state = 3 if enabled or sys_warning else 4 + elif hud_control.leftLaneVisible: + sys_state = 5 + elif hud_control.rightLaneVisible: + sys_state = 6 + + # initialize to no warnings + left_lane_warning = 0 + right_lane_warning = 0 + if hud_control.leftLaneDepart: + left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2 + if hud_control.rightLaneDepart: + right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2 + + return sys_warning, sys_state, left_lane_warning, right_lane_warning + + +class CarController: + def __init__(self, dbc_name, CP, VM): + self.CP = CP + self.params = CarControllerParams(CP) + self.packer = CANPacker(dbc_name) + self.frame = 0 + + self.apply_steer_last = 0 + self.car_fingerprint = CP.carFingerprint + self.last_button_frame = 0 + self.accel = 0 + + def update(self, CC, CS): + actuators = CC.actuators + hud_control = CC.hudControl + + # Steering Torque + + # These cars have significantly more torque than most HKG. Limit to 70% of max. + steer = actuators.steer + if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV): + steer = clip(steer, -0.7, 0.7) + new_steer = int(round(steer * self.params.STEER_MAX)) + apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + + if not CC.latActive: + apply_steer = 0 + + self.apply_steer_last = apply_steer + + sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint, + hud_control) + + can_sends = [] + + if self.CP.carFingerprint in HDA2_CAR: + # steering control + can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer)) + + if self.frame % 5 == 0: + can_sends.append(hda2can.create_cam_0x2a4(self.packer, CS.cam_0x2a4)) + + # cruise cancel + if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: + if CC.cruiseControl.cancel: + for _ in range(20): + can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL)) + self.last_button_frame = self.frame + + # cruise standstill resume + elif CC.cruiseControl.resume: + can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) + self.last_button_frame = self.frame + else: + + # tester present - w/ no response (keeps radar disabled) + if self.CP.openpilotLongitudinalControl: + if self.frame % 100 == 0: + can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0]) + + can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive, + CS.lkas11, sys_warning, sys_state, CC.enabled, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + left_lane_warning, right_lane_warning)) + + if not self.CP.openpilotLongitudinalControl: + if CC.cruiseControl.cancel: + can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL)) + elif CC.cruiseControl.resume: + # send resume at a max freq of 10Hz + if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: + # send 25 messages at a time to increases the likelihood of resume being accepted + can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25) + self.last_button_frame = self.frame + + if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl: + accel = actuators.accel + jerk = 0 + + if CC.longActive: + jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7) + if accel < 0: + accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel]) + + accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + + stopping = actuators.longControlState == LongCtrlState.stopping + set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH) + can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), + hud_control.leadVisible, set_speed_in_units, stopping, CS.out.gasPressed)) + self.accel = accel + + # 20 Hz LFA MFA message + if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, + CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, + CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, + CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022): + can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled)) + + # 5 Hz ACC options + if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl: + can_sends.extend(hyundaican.create_acc_opt(self.packer)) + + # 2 Hz front radar options + if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl: + can_sends.append(hyundaican.create_frt_radar_opt(self.packer)) + + new_actuators = actuators.copy() + new_actuators.steer = apply_steer / self.params.STEER_MAX + new_actuators.accel = self.accel + + self.frame += 1 + return new_actuators, can_sends diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py new file mode 100644 index 000000000..53b5ed513 --- /dev/null +++ b/selfdrive/car/hyundai/carstate.py @@ -0,0 +1,396 @@ +from collections import deque +import copy + +from cereal import car +from common.conversions import Conversions as CV +from opendbc.can.parser import CANParser +from opendbc.can.can_define import CANDefine +from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams +from selfdrive.car.interfaces import CarStateBase + +PREV_BUTTON_SAMPLES = 8 + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + + self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) + self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) + + if CP.carFingerprint in HDA2_CAR: + self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"] + elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]: + self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"] + elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: + self.shifter_values = can_define.dv["TCU12"]["CUR_GR"] + else: # preferred and elect gear methods use same definition + self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] + + self.brake_error = False + self.park_brake = False + self.buttons_counter = 0 + + self.params = CarControllerParams(CP) + + def update(self, cp, cp_cam): + if self.CP.carFingerprint in HDA2_CAR: + return self.update_hda2(cp, cp_cam) + + ret = car.CarState.new_message() + + ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"], + cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]]) + + ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0 + + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHL_SPD11"]["WHL_SPD_FL"], + cp.vl["WHL_SPD11"]["WHL_SPD_FR"], + cp.vl["WHL_SPD11"]["WHL_SPD_RL"], + cp.vl["WHL_SPD11"]["WHL_SPD_RR"], + ) + ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + + ret.standstill = ret.vEgoRaw < 0.1 + + ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"] + ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"] + ret.yawRate = cp.vl["ESP12"]["YAW_RATE"] + ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp( + 50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"]) + ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"] + ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"] + ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD + ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0 + + # cruise state + if self.CP.openpilotLongitudinalControl: + # These are not used for engage/disengage since openpilot keeps track of state using the buttons + ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0 + ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1 + ret.cruiseState.standstill = False + else: + ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] == 1 + ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0 + ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4. + speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS + ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv + + # TODO: Find brake pressure + ret.brake = 0 + ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0 + ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY + ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1 + + if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR): + if self.CP.carFingerprint in HYBRID_CAR: + ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254. + else: + ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254. + ret.gasPressed = ret.gas > 0 + else: + ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100. + ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"]) + + # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, + # as this seems to be standard over all cars, but is not the preferred method. + if self.CP.carFingerprint in FEATURES["use_cluster_gears"]: + gear = cp.vl["CLU15"]["CF_Clu_Gear"] + elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: + gear = cp.vl["TCU12"]["CUR_GR"] + elif self.CP.carFingerprint in FEATURES["use_elect_gears"]: + gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"] + else: + gear = cp.vl["LVR12"]["CF_Lvr_Gear"] + + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) + + if not self.CP.openpilotLongitudinalControl: + if self.CP.carFingerprint in FEATURES["use_fca"]: + ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0 + ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2 + else: + ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0 + ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2 + + if self.CP.enableBsm: + ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0 + ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0 + + # save the entire LKAS11 and CLU11 + self.lkas11 = copy.copy(cp_cam.vl["LKAS11"]) + self.clu11 = copy.copy(cp.vl["CLU11"]) + self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE + self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED + self.prev_cruise_buttons = self.cruise_buttons[-1] + self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]) + self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"]) + + return ret + + def update_hda2(self, cp, cp_cam): + ret = car.CarState.new_message() + + ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. + ret.gasPressed = ret.gas > 1e-3 + ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1 + + ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 + ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0 + + gear = cp.vl["ACCELERATOR"]["GEAR"] + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) + + # TODO: figure out positions + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"], + ) + ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = ret.vEgoRaw < 0.1 + + ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"] + ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1 + ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"] + ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"] + ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD + + ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], + cp.vl["BLINKERS"]["RIGHT_LAMP"]) + + ret.cruiseState.available = True + ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1 + ret.cruiseState.standstill = cp.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 + + speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS + ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor + + self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"]) + self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"]) + self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] + + self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) + + ret.cruiseActualEnabled = ret.cruiseState.enabled + return ret + + @staticmethod + def get_can_parser(CP): + if CP.carFingerprint in HDA2_CAR: + return CarState.get_can_parser_hda2(CP) + + signals = [ + # signal_name, signal_address + ("WHL_SPD_FL", "WHL_SPD11"), + ("WHL_SPD_FR", "WHL_SPD11"), + ("WHL_SPD_RL", "WHL_SPD11"), + ("WHL_SPD_RR", "WHL_SPD11"), + + ("YAW_RATE", "ESP12"), + + ("CF_Gway_DrvSeatBeltInd", "CGW4"), + + ("CF_Gway_DrvSeatBeltSw", "CGW1"), + ("CF_Gway_DrvDrSw", "CGW1"), # Driver Door + ("CF_Gway_AstDrSw", "CGW1"), # Passenger Door + ("CF_Gway_RLDrSw", "CGW2"), # Rear left Door + ("CF_Gway_RRDrSw", "CGW2"), # Rear right Door + ("CF_Gway_TurnSigLh", "CGW1"), + ("CF_Gway_TurnSigRh", "CGW1"), + ("CF_Gway_ParkBrakeSw", "CGW1"), + + ("CYL_PRES", "ESP12"), + + ("CF_Clu_CruiseSwState", "CLU11"), + ("CF_Clu_CruiseSwMain", "CLU11"), + ("CF_Clu_SldMainSW", "CLU11"), + ("CF_Clu_ParityBit1", "CLU11"), + ("CF_Clu_VanzDecimal" , "CLU11"), + ("CF_Clu_Vanz", "CLU11"), + ("CF_Clu_SPEED_UNIT", "CLU11"), + ("CF_Clu_DetentOut", "CLU11"), + ("CF_Clu_RheostatLevel", "CLU11"), + ("CF_Clu_CluInfo", "CLU11"), + ("CF_Clu_AmpInfo", "CLU11"), + ("CF_Clu_AliveCnt1", "CLU11"), + + ("ACCEnable", "TCS13"), + ("ACC_REQ", "TCS13"), + ("DriverBraking", "TCS13"), + ("StandStill", "TCS13"), + ("PBRAKE_ACT", "TCS13"), + + ("ESC_Off_Step", "TCS15"), + ("AVH_LAMP", "TCS15"), + + ("CR_Mdps_StrColTq", "MDPS12"), + ("CF_Mdps_ToiActive", "MDPS12"), + ("CF_Mdps_ToiUnavail", "MDPS12"), + ("CF_Mdps_ToiFlt", "MDPS12"), + ("CR_Mdps_OutTq", "MDPS12"), + + ("SAS_Angle", "SAS11"), + ("SAS_Speed", "SAS11"), + ] + checks = [ + # address, frequency + ("MDPS12", 50), + ("TCS13", 50), + ("TCS15", 10), + ("CLU11", 50), + ("ESP12", 100), + ("CGW1", 10), + ("CGW2", 5), + ("CGW4", 5), + ("WHL_SPD11", 50), + ("SAS11", 100), + ] + + if not CP.openpilotLongitudinalControl: + signals += [ + ("MainMode_ACC", "SCC11"), + ("VSetDis", "SCC11"), + ("SCCInfoDisplay", "SCC11"), + ("ACC_ObjDist", "SCC11"), + ("ACCMode", "SCC12"), + ] + checks += [ + ("SCC11", 50), + ("SCC12", 50), + ] + + if CP.carFingerprint in FEATURES["use_fca"]: + signals += [ + ("FCA_CmdAct", "FCA11"), + ("CF_VSM_Warn", "FCA11"), + ] + checks.append(("FCA11", 50)) + else: + signals += [ + ("AEB_CmdAct", "SCC12"), + ("CF_VSM_Warn", "SCC12"), + ] + + if CP.enableBsm: + signals += [ + ("CF_Lca_IndLeft", "LCA11"), + ("CF_Lca_IndRight", "LCA11"), + ] + checks.append(("LCA11", 50)) + + if CP.carFingerprint in (HYBRID_CAR | EV_CAR): + if CP.carFingerprint in HYBRID_CAR: + signals.append(("CR_Vcu_AccPedDep_Pos", "E_EMS11")) + else: + signals.append(("Accel_Pedal_Pos", "E_EMS11")) + checks.append(("E_EMS11", 50)) + else: + signals += [ + ("PV_AV_CAN", "EMS12"), + ("CF_Ems_AclAct", "EMS16"), + ] + checks += [ + ("EMS12", 100), + ("EMS16", 100), + ] + + if CP.carFingerprint in FEATURES["use_cluster_gears"]: + signals.append(("CF_Clu_Gear", "CLU15")) + checks.append(("CLU15", 5)) + elif CP.carFingerprint in FEATURES["use_tcu_gears"]: + signals.append(("CUR_GR", "TCU12")) + checks.append(("TCU12", 100)) + elif CP.carFingerprint in FEATURES["use_elect_gears"]: + signals.append(("Elect_Gear_Shifter", "ELECT_GEAR")) + checks.append(("ELECT_GEAR", 20)) + else: + signals.append(("CF_Lvr_Gear", "LVR12")) + checks.append(("LVR12", 100)) + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + + @staticmethod + def get_cam_can_parser(CP): + if CP.carFingerprint in HDA2_CAR: + signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)] + checks = [("CAM_0x2a4", 20)] + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6) + + signals = [ + # signal_name, signal_address + ("CF_Lkas_LdwsActivemode", "LKAS11"), + ("CF_Lkas_LdwsSysState", "LKAS11"), + ("CF_Lkas_SysWarning", "LKAS11"), + ("CF_Lkas_LdwsLHWarning", "LKAS11"), + ("CF_Lkas_LdwsRHWarning", "LKAS11"), + ("CF_Lkas_HbaLamp", "LKAS11"), + ("CF_Lkas_FcwBasReq", "LKAS11"), + ("CF_Lkas_HbaSysState", "LKAS11"), + ("CF_Lkas_FcwOpt", "LKAS11"), + ("CF_Lkas_HbaOpt", "LKAS11"), + ("CF_Lkas_FcwSysState", "LKAS11"), + ("CF_Lkas_FcwCollisionWarning", "LKAS11"), + ("CF_Lkas_FusionState", "LKAS11"), + ("CF_Lkas_FcwOpt_USM", "LKAS11"), + ("CF_Lkas_LdwsOpt_USM", "LKAS11"), + ] + checks = [ + ("LKAS11", 100) + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + + @staticmethod + def get_can_parser_hda2(CP): + signals = [ + ("WHEEL_SPEED_1", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_2", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_3", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_4", "WHEEL_SPEEDS"), + + ("ACCELERATOR_PEDAL", "ACCELERATOR"), + ("GEAR", "ACCELERATOR"), + ("BRAKE_PRESSED", "BRAKE"), + + ("STEERING_RATE", "STEERING_SENSORS"), + ("STEERING_ANGLE", "STEERING_SENSORS"), + ("STEERING_COL_TORQUE", "MDPS"), + ("STEERING_OUT_TORQUE", "MDPS"), + + ("CRUISE_ACTIVE", "SCC1"), + ("SET_SPEED", "CRUISE_INFO"), + ("CRUISE_STANDSTILL", "CRUISE_INFO"), + ("COUNTER", "CRUISE_BUTTONS"), + ("CRUISE_BUTTONS", "CRUISE_BUTTONS"), + ("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"), + + ("DISTANCE_UNIT", "CLUSTER_INFO"), + + ("LEFT_LAMP", "BLINKERS"), + ("RIGHT_LAMP", "BLINKERS"), + + ("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"), + ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"), + ] + + checks = [ + ("WHEEL_SPEEDS", 100), + ("ACCELERATOR", 100), + ("BRAKE", 100), + ("STEERING_SENSORS", 100), + ("MDPS", 100), + ("SCC1", 50), + ("CRUISE_INFO", 50), + ("CRUISE_BUTTONS", 50), + ("CLUSTER_INFO", 4), + ("BLINKERS", 4), + ("DOORS_SEATBELTS", 4), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 5) diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hda2can.py new file mode 100644 index 000000000..36207aa11 --- /dev/null +++ b/selfdrive/car/hyundai/hda2can.py @@ -0,0 +1,27 @@ +def create_lkas(packer, enabled, lat_active, apply_steer): + values = { + "LKA_MODE": 2, + "LKA_ICON": 2 if enabled else 1, + "TORQUE_REQUEST": apply_steer, + "LKA_ASSIST": 0, + "STEER_REQ": 1 if lat_active else 0, + "STEER_MODE": 0, + "SET_ME_1": 0, + "NEW_SIGNAL_1": 0, + "NEW_SIGNAL_2": 0, + } + return packer.make_can_msg("LKAS", 4, values) + +def create_cam_0x2a4(packer, camera_values): + camera_values.update({ + "BYTE7": 0, + }) + return packer.make_can_msg("CAM_0x2a4", 4, camera_values) + +def create_buttons(packer, cnt, btn): + values = { + "COUNTER": cnt, + "SET_ME_1": 1, + "CRUISE_BUTTONS": btn, + } + return packer.make_can_msg("CRUISE_BUTTONS", 5, values) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py new file mode 100644 index 000000000..53499053e --- /dev/null +++ b/selfdrive/car/hyundai/hyundaican.py @@ -0,0 +1,157 @@ +import crcmod +from selfdrive.car.hyundai.values import CAR, CHECKSUM + +hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf) + +def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, + lkas11, sys_warning, sys_state, enabled, + left_lane, right_lane, + left_lane_depart, right_lane_depart): + values = lkas11 + values["CF_Lkas_LdwsSysState"] = sys_state + values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0 + values["CF_Lkas_LdwsLHWarning"] = left_lane_depart + values["CF_Lkas_LdwsRHWarning"] = right_lane_depart + values["CR_Lkas_StrToqReq"] = apply_steer + values["CF_Lkas_ActToi"] = steer_req + values["CF_Lkas_MsgCount"] = frame % 0x10 + + if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, + CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, + CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022, + CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): + values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) + values["CF_Lkas_LdwsOpt_USM"] = 2 + + # FcwOpt_USM 5 = Orange blinking car + lanes + # FcwOpt_USM 4 = Orange car + lanes + # FcwOpt_USM 3 = Green blinking car + lanes + # FcwOpt_USM 2 = Green car + lanes + # FcwOpt_USM 1 = White car + lanes + # FcwOpt_USM 0 = No car + lanes + values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1 + + # SysWarning 4 = keep hands on wheel + # SysWarning 5 = keep hands on wheel (red) + # SysWarning 6 = keep hands on wheel (red) + beep + # Note: the warning is hidden while the blinkers are on + values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 + + elif car_fingerprint == CAR.HYUNDAI_GENESIS: + # This field is actually LdwsActivemode + # Genesis and Optima fault when forwarding while engaged + values["CF_Lkas_LdwsActivemode"] = 2 + elif car_fingerprint == CAR.KIA_OPTIMA: + values["CF_Lkas_LdwsActivemode"] = 0 + + dat = packer.make_can_msg("LKAS11", 0, values)[2] + + if car_fingerprint in CHECKSUM["crc8"]: + # CRC Checksum as seen on 2019 Hyundai Santa Fe + dat = dat[:6] + dat[7:8] + checksum = hyundai_checksum(dat) + elif car_fingerprint in CHECKSUM["6B"]: + # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento + checksum = sum(dat[:6]) % 256 + else: + # Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger + checksum = (sum(dat[:6]) + dat[7]) % 256 + + values["CF_Lkas_Chksum"] = checksum + + return packer.make_can_msg("LKAS11", 0, values) + + +def create_clu11(packer, frame, clu11, button): + values = clu11 + values["CF_Clu_CruiseSwState"] = button + values["CF_Clu_AliveCnt1"] = frame % 0x10 + return packer.make_can_msg("CLU11", 0, values) + + +def create_lfahda_mfc(packer, enabled, hda_set_speed=0): + values = { + "LFA_Icon_State": 2 if enabled else 0, + "HDA_Active": 1 if hda_set_speed else 0, + "HDA_Icon_State": 2 if hda_set_speed else 0, + "HDA_VSetReq": hda_set_speed, + } + return packer.make_can_msg("LFAHDA_MFC", 0, values) + +def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_speed, stopping, gas_pressed): + commands = [] + + scc11_values = { + "MainMode_ACC": 1, + "TauGapSet": 4, + "VSetDis": set_speed if enabled else 0, + "AliveCounterACC": idx % 0x10, + "ObjValid": 0, # TODO: these two bits may allow for better longitudinal control + "ACC_ObjStatus": 0, + "ACC_ObjLatPos": 0, + "ACC_ObjRelSpd": 0, + "ACC_ObjDist": 0, + } + commands.append(packer.make_can_msg("SCC11", 0, scc11_values)) + + scc12_values = { + "ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 0, + "StopReq": 1 if stopping else 0, + "aReqRaw": accel, + "aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw + "CR_VSM_Alive": idx % 0xF, + } + scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2] + scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10 + + commands.append(packer.make_can_msg("SCC12", 0, scc12_values)) + + scc14_values = { + "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values + "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values + "JerkUpperLimit": max(jerk, 1.0) if not stopping else 0, # stock usually is 1.0 but sometimes uses higher values + "JerkLowerLimit": max(-jerk, 1.0), # stock usually is 0.5 but sometimes uses higher values + "ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage + "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead + } + commands.append(packer.make_can_msg("SCC14", 0, scc14_values)) + + fca11_values = { + # seems to count 2,1,0,3,2,1,0,3,2,1,0,3,2,1,0,repeat... + # (where first value is aligned to Supplemental_Counter == 0) + # test: [(idx % 0xF, -((idx % 0xF) + 2) % 4) for idx in range(0x14)] + "CR_FCA_Alive": ((-((idx % 0xF) + 2) % 4) << 2) + 1, + "Supplemental_Counter": idx % 0xF, + "PAINT1_Status": 1, + "FCA_DrvSetStatus": 1, + "FCA_Status": 1, # AEB disabled + } + fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2] + fca11_values["CR_FCA_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in fca11_dat) % 0x10 + commands.append(packer.make_can_msg("FCA11", 0, fca11_values)) + + return commands + +def create_acc_opt(packer): + commands = [] + + scc13_values = { + "SCCDrvModeRValue": 2, + "SCC_Equip": 1, + "Lead_Veh_Dep_Alert_USM": 2, + } + commands.append(packer.make_can_msg("SCC13", 0, scc13_values)) + + fca12_values = { + "FCA_DrvSetState": 2, + "FCA_USM": 1, # AEB disabled + } + commands.append(packer.make_can_msg("FCA12", 0, fca12_values)) + + return commands + +def create_frt_radar_opt(packer): + frt_radar11_values = { + "CF_FCA_Equip_Front_Radar": 1, + } + return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py new file mode 100644 index 000000000..51d162d6c --- /dev/null +++ b/selfdrive/car/hyundai/interface.py @@ -0,0 +1,355 @@ +#!/usr/bin/env python3 +from cereal import car +from panda import Panda +from common.conversions import Conversions as CV +from selfdrive.car.hyundai.values import CAR, DBC, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR +from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car.interfaces import CarInterfaceBase +from selfdrive.car.disable_ecu import disable_ecu +from common.params import Params + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName +ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL) +BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise, + Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel} + + +class CarInterface(CarInterfaceBase): + @staticmethod + def get_pid_accel_limits(CP, current_speed, cruise_speed): + return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX + + @staticmethod + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value + ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + + ret.carName = "hyundai" + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)] + ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None + + # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB) + ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR) + + ret.pcmCruise = not ret.openpilotLongitudinalControl + + # These cars have been put into dashcam only due to both a lack of users and test coverage. + # These cars likely still work fine. Once a user confirms each car works and a test route is + # added to selfdrive/car/tests/routes.py, we can remove it from this list. + ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} + + ret.steerActuatorDelay = 0.1 # Default delay + ret.steerLimitTimer = 0.4 + tire_stiffness_factor = 1. + + ret.stoppingControl = True + ret.vEgoStopping = 1.0 + + ret.longitudinalTuning.kpV = [0.1] + ret.longitudinalTuning.kiV = [0.0] + ret.stopAccel = 0.0 + + ret.longitudinalActuatorDelayUpperBound = 1.0 # s + if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.766 + # Values from optimizer + ret.steerRatio = 16.55 # 13.8 is spec end-to-end + tire_stiffness_factor = 0.82 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]] + elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): + ret.mass = 1513. + STD_CARGO_KG + ret.wheelbase = 2.84 + ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable + tire_stiffness_factor = 0.65 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.SONATA_LF: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 4497. * CV.LB_TO_KG + ret.wheelbase = 2.804 + ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + elif candidate == CAR.PALISADE: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 1999. + STD_CARGO_KG + ret.wheelbase = 2.90 + ret.steerRatio = 15.6 * 1.15 + tire_stiffness_factor = 0.63 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): + ret.lateralTuning.pid.kf = 0.00006 + ret.mass = 1275. + STD_CARGO_KG + ret.wheelbase = 2.7 + ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 + tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + ret.minSteerSpeed = 32 * CV.MPH_TO_MS + elif candidate == CAR.ELANTRA_2021: + ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG + ret.wheelbase = 2.72 + ret.steerRatio = 12.9 + tire_stiffness_factor = 0.65 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.ELANTRA_HEV_2021: + ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG + ret.wheelbase = 2.72 + ret.steerRatio = 12.9 + tire_stiffness_factor = 0.65 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.HYUNDAI_GENESIS: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 2060. + STD_CARGO_KG + ret.wheelbase = 3.01 + ret.steerRatio = 16.5 + ret.lateralTuning.init('indi') + ret.lateralTuning.indi.innerLoopGainBP = [0.] + ret.lateralTuning.indi.innerLoopGainV = [3.5] + ret.lateralTuning.indi.outerLoopGainBP = [0.] + ret.lateralTuning.indi.outerLoopGainV = [2.0] + ret.lateralTuning.indi.timeConstantBP = [0.] + ret.lateralTuning.indi.timeConstantV = [1.4] + ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] + ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] + ret.minSteerSpeed = 60 * CV.KPH_TO_MS + elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV): + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG + ret.wheelbase = 2.6 + ret.steerRatio = 13.42 # Spec + tire_stiffness_factor = 0.385 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): + ret.lateralTuning.pid.kf = 0.00006 + ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx + ret.wheelbase = 2.7 + ret.steerRatio = 13.73 # Spec + tire_stiffness_factor = 0.385 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): + ret.minSteerSpeed = 32 * CV.MPH_TO_MS + elif candidate == CAR.IONIQ_PHEV_2019: + ret.mass = 1550. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs + ret.wheelbase = 2.7 + ret.steerRatio = 13.73 + ret.lateralTuning.init('indi') + ret.lateralTuning.indi.innerLoopGainBP = [0.] + ret.lateralTuning.indi.innerLoopGainV = [2.5] + ret.lateralTuning.indi.outerLoopGainBP = [0.] + ret.lateralTuning.indi.outerLoopGainV = [3.5] + ret.lateralTuning.indi.timeConstantBP = [0.] + ret.lateralTuning.indi.timeConstantV = [1.4] + ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] + ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] + ret.minSteerSpeed = 32 * CV.MPH_TO_MS + elif candidate == CAR.VELOSTER: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 3558. * CV.LB_TO_KG + ret.wheelbase = 2.80 + ret.steerRatio = 13.75 * 1.15 + tire_stiffness_factor = 0.5 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + elif candidate == CAR.TUCSON: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 3520. * CV.LB_TO_KG + ret.wheelbase = 2.67 + ret.steerRatio = 14.00 * 1.15 + tire_stiffness_factor = 0.385 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + + # Kia + elif candidate == CAR.KIA_SORENTO: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 1985. + STD_CARGO_KG + ret.wheelbase = 2.78 + ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021): + ret.lateralTuning.pid.kf = 0.00006 + ret.mass = 1737. + STD_CARGO_KG + ret.wheelbase = 2.7 + ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec + tire_stiffness_factor = 0.385 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + if candidate == CAR.KIA_NIRO_HEV: + ret.minSteerSpeed = 32 * CV.MPH_TO_MS + elif candidate == CAR.KIA_SELTOS: + ret.mass = 1337. + STD_CARGO_KG + ret.wheelbase = 2.63 + ret.steerRatio = 14.56 + tire_stiffness_factor = 1 + ret.lateralTuning.init('indi') + ret.lateralTuning.indi.innerLoopGainBP = [0.] + ret.lateralTuning.indi.innerLoopGainV = [4.] + ret.lateralTuning.indi.outerLoopGainBP = [0.] + ret.lateralTuning.indi.outerLoopGainV = [3.] + ret.lateralTuning.indi.timeConstantBP = [0.] + ret.lateralTuning.indi.timeConstantV = [1.4] + ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] + ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] + elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H): + ret.mass = 3558. * CV.LB_TO_KG + ret.wheelbase = 2.80 + ret.steerRatio = 13.75 + tire_stiffness_factor = 0.5 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.KIA_STINGER: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 1825. + STD_CARGO_KG + ret.wheelbase = 2.78 + ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + elif candidate == CAR.KIA_FORTE: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 3558. * CV.LB_TO_KG + ret.wheelbase = 2.80 + ret.steerRatio = 13.75 + tire_stiffness_factor = 0.5 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + elif candidate == CAR.KIA_CEED: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 1450. + STD_CARGO_KG + ret.wheelbase = 2.65 + ret.steerRatio = 13.75 + tire_stiffness_factor = 0.5 + ret.lateralTuning.pid.kf = 0.00005 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + elif candidate == CAR.KIA_K5_2021: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 3228. * CV.LB_TO_KG + ret.wheelbase = 2.85 + ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) + tire_stiffness_factor = 0.5 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + elif candidate == CAR.KIA_EV6: + ret.mass = 2055 + STD_CARGO_KG + ret.wheelbase = 2.9 + ret.steerRatio = 16. + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), + get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)] + tire_stiffness_factor = 0.65 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + # Genesis + elif candidate == CAR.GENESIS_G70: + ret.lateralTuning.init('indi') + ret.lateralTuning.indi.innerLoopGainBP = [0.] + ret.lateralTuning.indi.innerLoopGainV = [2.5] + ret.lateralTuning.indi.outerLoopGainBP = [0.] + ret.lateralTuning.indi.outerLoopGainV = [3.5] + ret.lateralTuning.indi.timeConstantBP = [0.] + ret.lateralTuning.indi.timeConstantV = [1.4] + ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] + ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] + ret.steerActuatorDelay = 0.1 + ret.mass = 1640.0 + STD_CARGO_KG + ret.wheelbase = 2.84 + ret.steerRatio = 13.56 + elif candidate == CAR.GENESIS_G70_2020: + ret.lateralTuning.pid.kf = 0. + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]] + ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.83 + ret.steerRatio = 12.9 + elif candidate == CAR.GENESIS_G80: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 2060. + STD_CARGO_KG + ret.wheelbase = 3.01 + ret.steerRatio = 16.5 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] + elif candidate == CAR.GENESIS_G90: + ret.mass = 2200 + ret.wheelbase = 3.15 + ret.steerRatio = 12.069 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] + + # these cars require a special panda safety mode due to missing counters and checksums in the messages + if candidate in LEGACY_SAFETY_MODE_CAR: + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] + + # set appropriate safety param for gas signal + if candidate in HYBRID_CAR: + ret.safetyConfigs[0].safetyParam = 2 + elif candidate in EV_CAR: + ret.safetyConfigs[0].safetyParam = 1 + + ret.centerToFront = ret.wheelbase * 0.4 + + # TODO: get actual value, for now starting with reasonable value for + # civic and scaling by mass and wheelbase + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + + # TODO: start from empirically derived lateral slip stiffness for the civic and scale by + # mass and CG position, so all cars will have approximately similar dyn behaviors + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, + tire_stiffness_factor=tire_stiffness_factor) + + ret.enableBsm = 0x58b in fingerprint[0] + + if int(Params().get("dp_atl").decode('utf-8')) == 1: + ret.openpilotLongitudinalControl = False + + if ret.openpilotLongitudinalControl: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG + + return ret + + @staticmethod + def init(CP, logcan, sendcan): + if CP.openpilotLongitudinalControl: + disable_ecu(logcan, sendcan, addr=0x7d0, com_cont_req=b'\x28\x83\x01') + + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam) + ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret) + + # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state + # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons + # Main button also can trigger an engagement on these cars + allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons) + events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable) + events = self.dp_atl_warning(ret, events) + + if self.CS.brake_error: + events.add(EventName.brakeUnavailable) + + if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons: + buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)] + # Handle CF_Clu_CruiseSwState changing buttons mid-press + if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0: + buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT)) + + ret.buttonEvents = buttonEvents + events.events.extend(create_button_enable_events(ret.buttonEvents)) + + # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) + if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: + self.low_speed_alert = True + if ret.vEgo > (self.CP.minSteerSpeed + 4.): + self.low_speed_alert = False + if self.low_speed_alert: + events.add(car.CarEvent.EventName.belowSteerSpeed) + + ret.events = events.to_msg() + + return ret + + def apply(self, c): + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py new file mode 100644 index 000000000..0d22611fb --- /dev/null +++ b/selfdrive/car/hyundai/radar_interface.py @@ -0,0 +1,91 @@ +#!/usr/bin/env python3 +import math + +from cereal import car +from opendbc.can.parser import CANParser +from selfdrive.car.interfaces import RadarInterfaceBase +from selfdrive.car.hyundai.values import DBC + +RADAR_START_ADDR = 0x500 +RADAR_MSG_COUNT = 32 + + +def get_radar_can_parser(CP): + if DBC[CP.carFingerprint]['radar'] is None: + return None + + signals = [] + checks = [] + + for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT): + msg = f"RADAR_TRACK_{addr:x}" + signals += [ + ("STATE", msg), + ("AZIMUTH", msg), + ("LONG_DIST", msg), + ("REL_ACCEL", msg), + ("REL_SPEED", msg), + ] + checks += [(msg, 50)] + return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, 1) + + +class RadarInterface(RadarInterfaceBase): + def __init__(self, CP): + super().__init__(CP) + self.updated_messages = set() + self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1 + self.track_id = 0 + + self.radar_off_can = CP.radarOffCan + self.rcp = get_radar_can_parser(CP) + + def update(self, can_strings): + if self.radar_off_can or (self.rcp is None): + return super().update(None) + + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) + + if self.trigger_msg not in self.updated_messages: + return None + + rr = self._update(self.updated_messages) + self.updated_messages.clear() + + return rr + + def _update(self, updated_messages): + ret = car.RadarData.new_message() + if self.rcp is None: + return ret + + errors = [] + + if not self.rcp.can_valid: + errors.append("canError") + ret.errors = errors + + for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT): + msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"] + + if addr not in self.pts: + self.pts[addr] = car.RadarData.RadarPoint.new_message() + self.pts[addr].trackId = self.track_id + self.track_id += 1 + + valid = msg['STATE'] in (3, 4) + if valid: + azimuth = math.radians(msg['AZIMUTH']) + self.pts[addr].measured = True + self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST'] + self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST'] + self.pts[addr].vRel = msg['REL_SPEED'] + self.pts[addr].aRel = msg['REL_ACCEL'] + self.pts[addr].yvRel = float('nan') + + else: + del self.pts[addr] + + ret.points = list(self.pts.values()) + return ret diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py new file mode 100644 index 000000000..7a25188e8 --- /dev/null +++ b/selfdrive/car/hyundai/values.py @@ -0,0 +1,1310 @@ +from enum import Enum +from dataclasses import dataclass +from typing import Dict, List, Optional, Union + +from cereal import car +from common.conversions import Conversions as CV +from selfdrive.car import dbc_dict +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +Ecu = car.CarParams.Ecu + + +class CarControllerParams: + ACCEL_MIN = -3.5 # m/s + ACCEL_MAX = 2.0 # m/s + + def __init__(self, CP): + self.STEER_DELTA_UP = 3 + self.STEER_DELTA_DOWN = 7 + self.STEER_DRIVER_ALLOWANCE = 50 + self.STEER_DRIVER_MULTIPLIER = 2 + self.STEER_DRIVER_FACTOR = 1 + self.STEER_THRESHOLD = 150 + + if CP.carFingerprint in HDA2_CAR: + self.STEER_MAX = 270 + self.STEER_DRIVER_ALLOWANCE = 250 + self.STEER_DRIVER_MULTIPLIER = 2 + self.STEER_THRESHOLD = 250 + + # To determine the limit for your car, find the maximum value that the stock LKAS will request. + # If the max stock LKAS request is <384, add your car to this list. + elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, + CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV, + CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER): + self.STEER_MAX = 255 + + # Default for most HKG + else: + self.STEER_MAX = 384 + + +class CAR: + # Hyundai + ELANTRA = "HYUNDAI ELANTRA 2017" + ELANTRA_2021 = "HYUNDAI ELANTRA 2021" + ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021" + ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT" + HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016" + IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019" + IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022" + IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019" + IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020" + IONIQ_PHEV_2019 = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" + IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020" + KONA = "HYUNDAI KONA 2020" + KONA_EV = "HYUNDAI KONA ELECTRIC 2019" + KONA_HEV = "HYUNDAI KONA HYBRID 2020" + SANTA_FE = "HYUNDAI SANTA FE 2019" + SANTA_FE_2022 = "HYUNDAI SANTA FE 2022" + SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022" + SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022" + SONATA = "HYUNDAI SONATA 2020" + SONATA_LF = "HYUNDAI SONATA 2019" + TUCSON = "HYUNDAI TUCSON 2019" + PALISADE = "HYUNDAI PALISADE 2020" + VELOSTER = "HYUNDAI VELOSTER 2019" + SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021" + + # Kia + KIA_FORTE = "KIA FORTE E 2018 & GT 2021" + KIA_K5_2021 = "KIA K5 2021" + KIA_NIRO_EV = "KIA NIRO EV 2020" + KIA_NIRO_HEV = "KIA NIRO HYBRID 2019" + KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" + KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016" + KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" + KIA_SELTOS = "KIA SELTOS 2021" + KIA_SORENTO = "KIA SORENTO GT LINE 2018" + KIA_STINGER = "KIA STINGER GT2 2018" + KIA_CEED = "KIA CEED INTRO ED 2019" + KIA_EV6 = "KIA EV6 2022" + + # Genesis + GENESIS_G70 = "GENESIS G70 2018" + GENESIS_G70_2020 = "GENESIS G70 2020" + GENESIS_G80 = "GENESIS G80 2017" + GENESIS_G90 = "GENESIS G90 2017" + + +class Footnote(Enum): + CANFD = CarFootnote( + "Requires a red panda and additional harness box.", + Column.MODEL) + + +@dataclass +class HyundaiCarInfo(CarInfo): + # TODO: we can probably remove LKAS. LKAS is standard on many + # HKG and for others, it's likely packaged together with SCC + package: str = "SCC + LKAS" + + +CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { + CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), + CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_GT_I30: None, # dashcamOnly and same platform as CAR.ELANTRA + CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), + CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), + CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "SCC + LFA", harness=Harness.hyundai_h), + CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), + CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h), + CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c), + CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h), + CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b), + CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g), + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), + CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d), + CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l), + CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l), + CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l), + CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), + CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), + CAR.TUCSON: [ + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), + ], + CAR.PALISADE: [ + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h), + ], + CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), + CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a), + + # Kia + CAR.KIA_FORTE: [ + HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b), + HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), + ], + CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC", harness=Harness.hyundai_a), + CAR.KIA_NIRO_EV: [ + HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), + HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + ], + CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), + CAR.KIA_NIRO_HEV_2021: [ + HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify + HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), + ], + CAR.KIA_OPTIMA: [ + HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), + HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g), + ], + CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima 2017, 2019"), # TODO: info may be incorrect + CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), + CAR.KIA_SORENTO: [ + HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), + ], + CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), + CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), + CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p, footnotes=[Footnote.CANFD,]), + + # Genesis + CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), + CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f), + CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h), + CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c), +} + +class Buttons: + NONE = 0 + RES_ACCEL = 1 + SET_DECEL = 2 + GAP_DIST = 3 + CANCEL = 4 # on newer models, this is a pause/resume button + +FINGERPRINTS = { + CAR.ELANTRA: [{ + 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], + CAR.ELANTRA_GT_I30: [{ + 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1193: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1952: 8, 1960: 8, 1988: 8, 2000: 8, 2001: 8, 2005: 8, 2008: 8, 2009: 8, 2013: 8, 2017: 8, 2025: 8 + }, + { + 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8 + }, + { + 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1960: 8, 1990: 8, 1998: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], + CAR.HYUNDAI_GENESIS: [{ + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 + }], + CAR.SANTA_FE: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 + }, + { + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8 + }, + { + 67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8 + }], + CAR.SONATA: [ + {67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8}, + ], + CAR.SONATA_LF: [ + {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8}, + ], + CAR.KIA_OPTIMA: [{ + 64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 640: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1492: 8, 1530: 8, 1532: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8, 1371: 8, 1397: 8, 1961: 8 + }], + CAR.KIA_SORENTO: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 + }], + CAR.KIA_STINGER: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8 + }], + CAR.GENESIS_G80: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8 + }, + { + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8 + }, + { + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8 + }], + CAR.GENESIS_G90: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8 + }], + CAR.IONIQ_EV_2020: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 + }], + CAR.IONIQ: [{ + 68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 + }], + CAR.KONA_EV: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8 + }], + CAR.KIA_NIRO_EV: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 + }], + CAR.KIA_OPTIMA_H: [{ + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 + }, + { + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 + }], + CAR.PALISADE: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8 + }], +} + + +FW_VERSIONS = { + CAR.IONIQ: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00', + ], + }, + CAR.IONIQ_PHEV_2019: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81', + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00', + ], + }, + CAR.IONIQ_PHEV: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\000AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\000AE MDPS C 1.00 1.01 56310/G2510 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\000AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2', + b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', + ], + }, + CAR.IONIQ_EV_2020: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', + b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + ], + }, + CAR.IONIQ_EV_LTD: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.02 56310G7300\x00 4AEEC102', + b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7501 4AEEC104', + b'\xf1\x00AE MDPS C 1.00 1.03 56310/G7300 4AEEC103', + b'\xf1\x00AE MDPS C 1.00 1.03 56310G7300\x00 4AEEC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G7200 160418', + b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2300 170703', + ], + }, + CAR.IONIQ_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00', + ], + }, + CAR.SONATA: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', + b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', + b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', + b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', + b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', + b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300', + b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', + b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', + b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', + b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', + b'\xf1\x8758910-L0300\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', + b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M1_0a0_F00', + b'\xf1\x82DNBVN5GMCCXXXDCA', + b'\xf1\x82DNBVN5GMCCXXXG2F', + b'\xf1\x82DNBWN5TMDCXXXG2E', + b'\xf1\x82DNCVN5GMCCXXXF0A', + b'\xf1\x82DNCVN5GMCCXXXG2B', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', + b'\xf1\x87391162M003', + b'\xf1\x87391162M013', + b'\xf1\x87391162M023', + b'HM6M1_0a0_F00', + b'HM6M1_0a0_G20', + b'HM6M2_0a0_BD0', + b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware + b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware + b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', + b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', + b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101', + b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', + b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', + b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103', + b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', + b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', + b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', + b'\xf1\x00DN8 MFC AT RUS LHD 1.00 1.03 99211-L1000 190705', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.00 99211-L0000 190716', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L0000 191016', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.03 99211-L0000 210603', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.05 99211-L1000 201109', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p', + b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', + b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', + b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', + b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', + b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3474944GJ2ffvgwwwwg\x88\x86x\x88\x88\x98\x88ffvfeo\xfa\xff\x86fo\xff\t\xae\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3475714GJ2Vfvgvg\x96yx\x88\x97\x88ww\x87ww\x88\x87xs_\xfb\xffvUO\xff\x0f\xff\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3601464GJ3\x88\x88\x88\x88ffvggwvwvw\x87gww\x87wvo\xfb\xff\x98\x88\x7f\xffjJ\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3753044GJ3UUeVff\x86hwwwwvwwgvfgfvo\xf9\xfffU_\xffC\xae\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3862294GJ3vfvgvefVxw\x87\x87w\x88\x87xwwwwc_\xf9\xff\x87w\x9f\xff\xd5\xdc\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3873834GJ3fefVwuwWx\x88\x97\x88w\x88\x97xww\x87wU_\xfb\xff\x86f\x8f\xffN\x04\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA4525334GJ3\x89\x99\x99\x99fevWh\x88\x86\x88fwvgw\x88\x87xfo\xfa\xffuDo\xff\xd1>\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA4626804GJ3wwww\x88\x87\x88xx\x88\x87\x88wwgw\x88\x88\x98\x88\x95_\xf9\xffuDo\xff|\xe7\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA4803224GJ3wwwwwvwg\x88\x88\x98\x88wwww\x87\x88\x88xu\x9f\xfc\xff\x87f\x8f\xff\xea\xea\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA6212564GJ3\x87wwwUTuGg\x88\x86xx\x88\x87\x88\x87\x88\x98xu?\xf9\xff\x97f\x7f\xff\xb8\n\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA6347404GJ3wwwwff\x86hx\x88\x97\x88\x88\x88\x88\x88vfgf\x88?\xfc\xff\x86Uo\xff\xec/\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA6901634GJ3UUuWVeVUww\x87wwwwwvUge\x86/\xfb\xff\xbb\x99\x7f\xff]2\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA7077724GJ3\x98\x88\x88\x88ww\x97ygwvwww\x87ww\x88\x87x\x87_\xfd\xff\xba\x99o\xff\x99\x01\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALFBA3525114GJ2wvwgvfvggw\x86wffvffw\x86g\x85_\xf9\xff\xa8wo\xffv\xcd\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA3624024GJ2\x88\x88\x88\x88wv\x87hx\x88\x97\x88x\x88\x97\x88ww\x87w\x86o\xfa\xffvU\x7f\xff\xd1\xec\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA3960824GJ2wwwwff\x86hffvfffffvfwfg_\xf9\xff\xa9\x88\x8f\xffb\x99\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA4011074GJ2fgvwwv\x87hw\x88\x87xww\x87wwfgvu_\xfa\xffefo\xff\x87\xc0\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA4121304GJ2x\x87xwff\x86hwwwwww\x87wwwww\x84_\xfc\xff\x98\x88\x9f\xffi\xa6\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA4195874GJ2EVugvf\x86hgwvwww\x87wgw\x86wc_\xfb\xff\x98\x88\x8f\xff\xe23\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA4625294GJ2eVefeUeVx\x88\x97\x88wwwwwwww\xa7o\xfb\xffvw\x9f\xff\xee.\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA4728774GJ2vfvg\x87vwgww\x87ww\x88\x97xww\x87w\x86_\xfb\xffeD?\xffk0\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA5129064GJ2vfvgwv\x87hx\x88\x87\x88ww\x87www\x87wd_\xfa\xffvfo\xff\x1d\x00\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA5454914GJ2\x98\x88\x88\x88\x87vwgx\x88\x87\x88xww\x87ffvf\xa7\x7f\xf9\xff\xa8w\x7f\xff\x1b\x90\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA5987784GJ2UVugDDtGx\x88\x87\x88w\x88\x87xwwwwd/\xfb\xff\x97fO\xff\xb0h\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA5987864GJ2fgvwUUuWgwvw\x87wxwwwww\x84/\xfc\xff\x97w\x7f\xff\xdf\x1d\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6337644GJ2vgvwwv\x87hgffvwwwwwwww\x85O\xfa\xff\xa7w\x7f\xff\xc5\xfc\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6802004GJ2UUuWUUuWgw\x86www\x87www\x87w\x96?\xf9\xff\xa9\x88\x7f\xff\x9fK\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6892284GJ233S5\x87w\x87xx\x88\x87\x88vwwgww\x87w\x84?\xfb\xff\x98\x88\x8f\xff*\x9e\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA7005534GJ2eUuWfg\x86xxww\x87x\x88\x87\x88\x88w\x88\x87\x87O\xfc\xffuUO\xff\xa3k\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x87SALFBA7152454GJ2gvwgFf\x86hx\x88\x87\x88vfWfffffd?\xfa\xff\xba\x88o\xff,\xcf\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x87SALFBA7485034GJ2ww\x87xww\x87xfwvgwwwwvfgf\xa5/\xfc\xff\xa9w_\xff40\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMDBA7743924GJ3wwwwww\x87xgwvw\x88\x88\x88\x88wwww\x85_\xfa\xff\x86f\x7f\xff0\x9d\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMDBA7817334GJ3Vgvwvfvgww\x87wwwwwwfgv\x97O\xfd\xff\x88\x88o\xff\x8e\xeb\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMDBA8054504GJ3gw\x87xffvgffffwwwweUVUf?\xfc\xffvU_\xff\xddl\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMFB41553621GC7ww\x87xUU\x85Xvwwg\x88\x88\x88\x88wwgw\x86\xaf\xfb\xffuDo\xff\xaa\x8f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFB42555421GC7\x88\x88\x88\x88wvwgx\x88\x87\x88wwgw\x87wxw3\x8f\xfc\xff\x98f\x8f\xffga\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA7978674GJ2gw\x87xgw\x97ywwwwvUGeUUeU\x87O\xfb\xff\x98w\x8f\xfffF\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + ], + }, + CAR.SONATA_LF: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ', + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00LF ESC \f 11 \x17\x01\x13 58920-C2610', + b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51', + b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\x00\x00\x00\x00', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8', + b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', + b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', + b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', + ], + }, + CAR.TUCSON: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', + b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002', + b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', + b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', + b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00', + ], + }, + CAR.SANTA_FE: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 ', + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650', + b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650', + b'\xf1\x00TM ESC \r 104\x19\a\b 58910-S2650', + b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600', + b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600', + b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600', + b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600', + b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600', + b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', + b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TM MFC AT USA LHD 1.00 1.00 99211-S2000 180409', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91', + b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00', + b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', + b'\xf1\x87LDJUEA6458264HG1ww\x87x\x97x\x87\x88\x88\x99\x98\x89g\x88\x86xw\x88\x97x\x86o\xf7\xffvw\x8f\xff3\x9a\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', + b'\xf1\x87LDKUEA2045844HG1wwww\x98\x88x\x87\x88\x88\xa8\x88x\x99\x97\x89x\x88\xa7\x88U\x7f\xf8\xffvfO\xffC\x1e\xf1\x816W3E0051\x00\x00\xf1\x006W351_C2\x00\x006W3E0051\x00\x00TTM4T20NS3\x00\x00\x00\x00', + b'\xf1\x87LDKUEA9993304HG1\x87www\x97x\x87\x88\x99\x99\xa9\x99x\x99\xa7\x89w\x88\x97x\x86_\xf7\xffwwO\xffl#\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS1R\x7f\x90\n', + b'\xf1\x87LDLUEA6061564HG1\xa9\x99\x89\x98\x87wwwx\x88\x97\x88x\x99\xa7\x89x\x99\xa7\x89sO\xf9\xffvU_\xff<\xde\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87LDLUEA6159884HG1\x88\x87hv\x99\x99y\x97\x89\xaa\xb8\x9ax\x99\x87\x89y\x99\xb7\x99\xa7?\xf7\xff\x97wo\xff\xf3\x05\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA5890864GG0\xa9\x99\x89\x98\x98\x87\x98y\x89\x99\xa8\x99w\x88\x87xww\x87wvo\xfb\xffuD_\xff\x9f\xb5\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x00\x00\x00\x00', + b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA7780564GG0wvwgUUeVwwwwx\x88\x87\x88wwwwd_\xfc\xff\x86f\x7f\xff\xd7*\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', + b'\xf1\x87SBJWAA8278284GG0ffvgUU\x85Xx\x88\x87\x88x\x88w\x88ww\x87w\x96o\xfd\xff\xa7U_\xff\xf2\xa0\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', + b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00', + b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe', + b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00', + b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c', + b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00', + b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0', + b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00', + ], + }, + CAR.SANTA_FE_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', + b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', + b'\xf1\x8799110S1500\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', + b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', + b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', + b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', + b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', + b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x82TACVN5GMI3XXXH0A', + b'\xf1\x82TMBZN5TMD3XXXG2E', + b'\xf1\x82TACVN5GSI3XXXH0A', + b'\xf1\x82TMCFD5MMCXXXXG0A', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', + b'\xf1\x81HM6M2_0a0_G00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', + b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMA MFC AT MEX LHD 1.00 1.01 99211-S2500 210205', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720', + b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', + b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', + b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', + b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6', + b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', + ], + }, + CAR.SANTA_FE_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391312MTC1', + ], + }, + CAR.SANTA_FE_PHEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe', + b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391312MTF0', + ], + }, + CAR.KIA_STINGER: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00', + b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5220 4C2VL104', + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104', + b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5420 4C4VL106', + b'\xf1\x00CK MDPS R 1.00 1.07 57700-J5220 4C2VL107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0', + b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', + b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', + ], + }, + CAR.PALISADE: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.00 99110-S8110 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ', + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', + b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', + b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', + b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', + b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', + b'\xf1\x00ON MDPS C 1.00 1.01 56340-S9000 9201', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 200422', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 200903', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 200720', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', + b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', + b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + 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b'\xf1\x87LDMVBN888651KF37\xa9\x99\x89\x98vfff\x88\x99\x98\x89w\x99\xa7y\x88\x88\x98\x88D\x8f\xf9\xff\xcb\x99\x8f\xff\xa5\x1e\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN889419KF37\xa9\x99y\x97\x87w\x87xx\x88\x97\x88w\x88\x97x\x88\x99\x98\x89e\x9f\xf9\xffeUo\xff\x901\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8", + b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + ], + }, + CAR.VELOSTER: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ', + b'\xf1\x00JS__ SCC HNCUP 1.00 1.02 95650-J3100 ', + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TJS-JNU06F200H0A', + b'\x01TJS-JDK06F200H0A', + b'391282BJF5 ', + ], + (Ecu.eps, 0x7d4, None): [b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JS LKAS AT USA LHD 1.00 1.02 95740-J3000 K32', + b'\xf1\x00JS LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\x00\x00\x00\x00', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16KS2\016\xba\036\xa2', + ], + }, + CAR.GENESIS_G70: { + (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', ], + (Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ], + (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', ], + (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', ], + (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ], + }, + CAR.GENESIS_G70_2020: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', + b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', + b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', + b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', + b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02', + b'\xf1\x00IK__ SCC FHCUP 1.00 1.02 96400-G9000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + b'\xf1\x00IK MFC AT KOR LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.GENESIS_G90: { + (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'], + (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '], + (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'], + (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'], + }, + CAR.KONA: { + (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', ], + (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], + (Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ], + (Ecu.eps, 0x7d4, None): [b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ], + (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ], + (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', ], + }, + CAR.KIA_CEED: { + (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP 1.00 1.02 99110-J7000 ', ], + (Ecu.eps, 0x7D4, None): [b'\xf1\000CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', ], + (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ], + (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ], + (Ecu.transmission, 0x7E1, None): [ + b'\xf1\x816U2V7051\000\000\xf1\0006U2V0_C2\000\0006U2V7051\000\000DCD0T14US1\000\000\000\000', + b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z', + ], + (Ecu.esp, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ], + }, + CAR.KIA_FORTE: { + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', + b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', + b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + ], + (Ecu.fwdRadar, 0x7D0, None): [ + b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TBDM1NU06F200H01', + b'391182B945\x00', + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', + b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", + ], + }, + CAR.KIA_K5_2021: { + (Ecu.fwdRadar, 0x7D0, None): [ + b'\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', + b'\xf1\x8799110L2000\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', + b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', + b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', + ], + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', + b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', + b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L3000 210208', + ], + (Ecu.esp, 0x7D1, None): [ + b'\xf1\000DL ESC \006 101 \004\002 58910-L3200', + b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200', + b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', + b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600', + ], + (Ecu.engine, 0x7E0, None): [ + b'\xf1\x87391212MKT0', + b'\xf1\x87391212MKV0', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B', + ], + (Ecu.transmission, 0x7E1, None): [ + b'\xf1\000bcsh8p54 U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8', + b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\000\000\000\000\000\000\xf1\000bcsh8p54 U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8', + b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', + b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', + b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%', + ], + }, + CAR.KONA_EV: { + (Ecu.esp, 0x7D1, None): [ + b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', + b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000', + b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200', + b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50', + ], + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103', + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', + ], + (Ecu.fwdRadar, 0x7D0, None): [ + b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ', + b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4100 ', + b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 ', + b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ', + ], + }, + CAR.KIA_NIRO_EV: { + (Ecu.fwdRadar, 0x7D0, None): [ + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', + b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', + b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', + ], + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105', + b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105', + b'\xf1\x00DE MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821', + ], + }, + CAR.KIA_NIRO_HEV: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91", + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00', + b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', + ], + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', + ], + (Ecu.fwdRadar, 0x7D0, None): [ + b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', + ], + }, + CAR.KIA_NIRO_HEV_2021: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.07 99211-G5000 201221', + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', + ], + }, + CAR.KIA_SELTOS: { + (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ',], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450', + b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81616D2051\000\000\000\000\000\000\000\000', + b'\xf1\x81616D5051\000\000\000\000\000\000\000\000', + b'\001TSP2KNL06F100J0K', + b'\001TSP2KNL06F200J0K', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200 ', + b'\xf1\000SP2 MDPS C 1.01 1.05 56300Q5200 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\000SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114', + b'\xf1\000SP2 MFC AT USA LHD 1.00 1.05 99210-Q5000 201012', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\000\000\xf1\0006V2B0_C2\000\0006V2C2051\000\000CSP4N20NS3\000\000\000\000', + b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS6\xd30\xa5\xb9', + b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b', + ], + }, + CAR.KIA_OPTIMA: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', + b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', + ], + }, + CAR.ELANTRA_2021: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', + b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', + b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', + b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106', + b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', + b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', + b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', + b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa', + b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\177\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM2728305JB2E\x97\x87xw\x87vwgw\x84x\x88\x88w\x89EI\xbf\xff{\xff\xff\xff\xe6\x0e\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM3806705JB2\x89\x87wwx\x88g\x86\x99\x87\x86xwwv\x88yv\x7f\xffz\xff\xff\xffV\x15\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x82CNCWD0AMFCXCSFFA', + b'\xf1\x82CNCWD0AMFCXCSFFB', + b'\xf1\x82CNCVD0AMFCXCSFFB', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82CNDWD0AMFCXCSG8A', + ], + }, + CAR.ELANTRA_HEV_2021: { + (Ecu.fwdCamera, 0x7c4, None) : [ + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', + b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', + ], + (Ecu.fwdRadar, 0x7d0, None) : [ + b'\xf1\000CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + ], + (Ecu.eps, 0x7d4, None) :[ + b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', + b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', + ], + (Ecu.transmission, 0x7e1, None) :[ + b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', + b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000', + b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', + b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None) : [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + ] + }, + CAR.KONA_HEV: { + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.00 56310CM030\x00 4OHDC100', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ] + }, + CAR.SONATA_HYBRID: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\000DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + b'\xf1\x8799110L5000\xf1\000DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + b'\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', + b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', + b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', + b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109', + b'\xf1\000DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\000PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', + b'\xf1\000PSBG2323 E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e', + b'\xf1\000PSBG2333 E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab', + b'\xf1\x87PCU\000\000\000\000\000\000\000\000\000\xf1\x81E16\000\000\000\000\000\000\000\xf1\000PSBG2333 E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391162J012', + b'\xf1\x87391162J013', + b'\xf1\x87391062J002', + ], + }, + CAR.KIA_SORENTO: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01' + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330' + ], + (Ecu.fwdRadar, 0x7D0, None): [ + b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ' + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG' + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00' + ], + }, + CAR.KIA_EV6: { + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', + b'\xf1\x8799110CV000\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', + ], + }, +} + +CHECKSUM = { + "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022], + "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], +} + +FEATURES = { + # which message has the gear + "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, + "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, + "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019}, + + # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 + "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON}, +} + +HDA2_CAR = {CAR.KIA_EV6, } + +HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019} # these cars use a different gas signal +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV} + +# these cars require a special panda safety mode due to missing counters and checksums in the messages +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} + +# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. +# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py +DBC = { + CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), + CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None), + CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), + CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None), + CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None), + CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None), + CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None), + CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None), + CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None), + CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None), + CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None), + CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.IONIQ: dbc_dict('hyundai_kia_generic', None), + CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format + CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None), + CAR.KONA: dbc_dict('hyundai_kia_generic', None), + CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None), + CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None), + CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None), + CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None), + CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None), + CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format + CAR.TUCSON: dbc_dict('hyundai_kia_generic', None), + CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_EV6: dbc_dict('kia_ev6', None), + CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), +} diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py new file mode 100644 index 000000000..4788c9f9e --- /dev/null +++ b/selfdrive/car/interfaces.py @@ -0,0 +1,407 @@ +import yaml +import os +import time +from abc import abstractmethod, ABC +from typing import Any, Dict, Optional, Tuple, List + +from cereal import car +from common.basedir import BASEDIR +from common.conversions import Conversions as CV +from common.kalman.simple_kalman import KF1D +from common.realtime import DT_CTRL +from selfdrive.car import gen_empty_fingerprint +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX +from selfdrive.controls.lib.events import Events +from selfdrive.controls.lib.vehicle_model import VehicleModel + +GearShifter = car.CarState.GearShifter +EventName = car.CarEvent.EventName + +MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS +ACCEL_MAX = 2.0 +ACCEL_MIN = -3.5 + +TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') +TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') +TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml') + + +def get_torque_params(candidate): + with open(TORQUE_SUBSTITUTE_PATH) as f: + sub = yaml.load(f, Loader=yaml.Loader) + if candidate in sub: + candidate = sub[candidate] + + with open(TORQUE_PARAMS_PATH) as f: + params = yaml.load(f, Loader=yaml.Loader) + with open(TORQUE_OVERRIDE_PATH) as f: + override = yaml.load(f, Loader=yaml.Loader) + + # Ensure no overlap + if sum([candidate in x for x in [sub, params, override]]) > 1: + raise RuntimeError(f'{candidate} is defined twice in torque config') + + if candidate in override: + out = override[candidate] + elif candidate in params: + out = params[candidate] + else: + raise NotImplementedError(f"Did not find torque params for {candidate}") + return {key: out[i] for i, key in enumerate(params['legend'])} + + +# generic car and radar interfaces + +class CarInterfaceBase(ABC): + def __init__(self, CP, CarController, CarState): + self.CP = CP + self.VM = VehicleModel(CP) + + self.frame = 0 + self.steering_unpressed = 0 + self.low_speed_alert = False + self.silent_steer_warning = True + + self.CS = None + self.can_parsers = [] + if CarState is not None: + self.CS = CarState(CP) + + self.cp = self.CS.get_can_parser(CP) + self.cp_cam = self.CS.get_cam_can_parser(CP) + self.cp_adas = self.CS.get_adas_can_parser(CP) + self.cp_body = self.CS.get_body_can_parser(CP) + self.cp_loopback = self.CS.get_loopback_can_parser(CP) + self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback] + + self.CC = None + if CarController is not None: + self.CC = CarController(self.cp.dbc_name, CP, self.VM) + + # dp + self.dp_last_cruise_actual_enabled = False + self.dragonconf = None + + @staticmethod + def get_pid_accel_limits(CP, current_speed, cruise_speed): + return ACCEL_MIN, ACCEL_MAX + + @staticmethod + @abstractmethod + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + pass + + @staticmethod + def init(CP, logcan, sendcan): + pass + + @staticmethod + def get_steer_feedforward_default(desired_angle, v_ego): + # Proportional to realigning tire momentum: lateral acceleration. + # TODO: something with lateralPlan.curvatureRates + return desired_angle * (v_ego**2) + + def get_steer_feedforward_function(self): + return self.get_steer_feedforward_default + + # returns a set of default params to avoid repetition in car specific params + @staticmethod + def get_std_params(candidate, fingerprint): + ret = car.CarParams.new_message() + ret.carFingerprint = candidate + + # standard ALC params + ret.steerControlType = car.CarParams.SteerControlType.torque + ret.minSteerSpeed = 0. + ret.wheelSpeedFactor = 1.0 + ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] + + ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars + ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this + ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA + ret.openpilotLongitudinalControl = False + ret.stopAccel = -2.0 + ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop + ret.vEgoStopping = 0.5 + ret.vEgoStarting = 0.5 + ret.stoppingControl = True + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.] + ret.longitudinalTuning.kf = 1. + ret.longitudinalTuning.kpBP = [0.] + ret.longitudinalTuning.kpV = [1.] + ret.longitudinalTuning.kiBP = [0.] + ret.longitudinalTuning.kiV = [1.] + # TODO estimate car specific lag, use .15s for now + ret.longitudinalActuatorDelayLowerBound = 0.15 + ret.longitudinalActuatorDelayUpperBound = 0.15 + ret.steerLimitTimer = 1.0 + return ret + + @staticmethod + def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True): + params = get_torque_params(candidate) + + tune.init('torque') + tune.torque.useSteeringAngle = use_steering_angle + tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR'] + tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR'] + tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR'] + tune.torque.friction = params['FRICTION'] + tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg + + @abstractmethod + def _update(self, c: car.CarControl) -> car.CarState: + pass + + def update(self, c: car.CarControl, can_strings: List[bytes], dragonconf) -> car.CarState: + self.dragonconf = dragonconf + # parse can + for cp in self.can_parsers: + if cp is not None: + cp.update_strings(can_strings) + + # get CarState + ret = self._update(c) + + ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None) + ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None) + + if ret.vEgoCluster == 0.0: + ret.vEgoCluster = ret.vEgo + + if ret.cruiseState.speedCluster == 0: + ret.cruiseState.speedCluster = ret.cruiseState.speed + + # copy back for next iteration + reader = ret.as_reader() + if self.CS is not None: + self.CS.out = reader + + return reader + + @abstractmethod + def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]: + pass + + def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True): + events = Events() + + if cs_out.doorOpen: + events.add(EventName.doorOpen) + if cs_out.seatbeltUnlatched: + events.add(EventName.seatbeltNotLatched) + if self.dragonconf.dpAtl != 1 and cs_out.gearShifter != GearShifter.drive and (extra_gears is None or + cs_out.gearShifter not in extra_gears): + events.add(EventName.wrongGear) + if cs_out.gearShifter == GearShifter.reverse: + events.add(EventName.reverseGear) + if self.dragonconf.dpAtl == 0 and not cs_out.cruiseState.available: + events.add(EventName.wrongCarMode) + if cs_out.espDisabled: + events.add(EventName.espDisabled) + if cs_out.stockFcw: + events.add(EventName.stockFcw) + if cs_out.stockAeb: + events.add(EventName.stockAeb) + if cs_out.vEgo > MAX_CTRL_SPEED: + events.add(EventName.speedTooHigh) + if self.dragonconf.dpAtl != 1 and cs_out.cruiseState.nonAdaptive: + events.add(EventName.wrongCruiseMode) + if self.dragonconf.dpAtl != 1 and cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl: + events.add(EventName.brakeHold) + if self.dragonconf.dpAtl != 1 and cs_out.parkingBrake: + events.add(EventName.parkBrake) + if self.dragonconf.dpAtl != 1 and cs_out.accFaulted: + events.add(EventName.accFaulted) + + # Handle permanent and temporary steering faults + self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1 + if cs_out.steerFaultTemporary: + # if the user overrode recently, show a less harsh alert + if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL): + self.silent_steer_warning = True + events.add(EventName.steerTempUnavailableSilent) + else: + events.add(EventName.steerTempUnavailable) + else: + self.silent_steer_warning = False + if cs_out.steerFaultPermanent: + events.add(EventName.steerUnavailable) + + # we engage when pcm is active (rising edge) + # enabling can optionally be blocked by the car interface + if pcm_enable: + if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable: + events.add(EventName.pcmEnable) + elif not cs_out.cruiseState.enabled: + events.add(EventName.pcmDisable) + + return events + + def dp_atl_warning(self, ret, events): + if self.dragonconf.dpAtl > 0: + if self.dp_last_cruise_actual_enabled and not ret.cruiseActualEnabled: + events.add(EventName.communityFeatureDisallowedDEPRECATED) + elif ret.cruiseState.enabled != ret.cruiseActualEnabled: + events.add(EventName.gasPressedOverride) + self.dp_last_cruise_actual_enabled = ret.cruiseActualEnabled + return events + + def dp_atl_mode(self, ret): + enable = ret.cruiseState.enabled + available = ret.cruiseState.available + if self.dragonconf.dpAtl > 0 and available: + enable = True + if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]: + enable = False + available = False + if ret.seatbeltUnlatched or ret.doorOpen: + enable = False + available = False + return enable, available + + +class RadarInterfaceBase(ABC): + def __init__(self, CP): + self.rcp = None + self.pts = {} + self.delay = 0 + self.radar_ts = CP.radarTimeStep + self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ + + def update(self, can_strings): + ret = car.RadarData.new_message() + if not self.no_radar_sleep: + time.sleep(self.radar_ts) # radard runs on RI updates + return ret + + +class CarStateBase(ABC): + def __init__(self, CP): + self.CP = CP + self.car_fingerprint = CP.carFingerprint + self.out = car.CarState.new_message() + + self.cruise_buttons = 0 + self.left_blinker_cnt = 0 + self.right_blinker_cnt = 0 + self.left_blinker_prev = False + self.right_blinker_prev = False + + # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]]) + # R = 1e3 + self.v_ego_kf = KF1D(x0=[[0.0], [0.0]], + A=[[1.0, DT_CTRL], [0.0, 1.0]], + C=[1.0, 0.0], + K=[[0.12287673], [0.29666309]]) + + def update_speed_kf(self, v_ego_raw): + if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed + self.v_ego_kf.x = [[v_ego_raw], [0.0]] + + v_ego_x = self.v_ego_kf.update(v_ego_raw) + return float(v_ego_x[0]), float(v_ego_x[1]) + + def get_wheel_speeds(self, fl, fr, rl, rr, unit=CV.KPH_TO_MS): + factor = unit * self.CP.wheelSpeedFactor + + wheelSpeeds = car.CarState.WheelSpeeds.new_message() + wheelSpeeds.fl = fl * factor + wheelSpeeds.fr = fr * factor + wheelSpeeds.rl = rl * factor + wheelSpeeds.rr = rr * factor + return wheelSpeeds + + def update_blinker_from_lamp(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool): + """Update blinkers from lights. Enable output when light was seen within the last `blinker_time` + iterations""" + # TODO: Handle case when switching direction. Now both blinkers can be on at the same time + self.left_blinker_cnt = blinker_time if left_blinker_lamp else max(self.left_blinker_cnt - 1, 0) + self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0) + return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0 + + def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool): + """Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time, + or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker + is forced to the other side. On a rising edge of the stalk the timeout is reset.""" + + if left_blinker_stalk: + self.right_blinker_cnt = 0 + if not self.left_blinker_prev: + self.left_blinker_cnt = blinker_time + + if right_blinker_stalk: + self.left_blinker_cnt = 0 + if not self.right_blinker_prev: + self.right_blinker_cnt = blinker_time + + self.left_blinker_cnt = max(self.left_blinker_cnt - 1, 0) + self.right_blinker_cnt = max(self.right_blinker_cnt - 1, 0) + + self.left_blinker_prev = left_blinker_stalk + self.right_blinker_prev = right_blinker_stalk + + return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0) + + @staticmethod + def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter: + if gear is None: + return GearShifter.unknown + + d: Dict[str, car.CarState.GearShifter] = { + 'P': GearShifter.park, 'PARK': GearShifter.park, + 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, + 'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral, + 'E': GearShifter.eco, 'ECO': GearShifter.eco, + 'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic, + 'D': GearShifter.drive, 'DRIVE': GearShifter.drive, + 'S': GearShifter.sport, 'SPORT': GearShifter.sport, + 'L': GearShifter.low, 'LOW': GearShifter.low, + 'B': GearShifter.brake, 'BRAKE': GearShifter.brake, + } + return d.get(gear.upper(), GearShifter.unknown) + + @staticmethod + def get_cam_can_parser(CP): + return None + + @staticmethod + def get_adas_can_parser(CP): + return None + + @staticmethod + def get_body_can_parser(CP): + return None + + @staticmethod + def get_loopback_can_parser(CP): + return None + + +# interface-specific helpers + +def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str, Any]: + # read all the folders in selfdrive/car and return a dict where: + # - keys are all the car models or brand names + # - values are attr values from all car folders + result = {} + for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): + try: + brand_name = car_folder.split('/')[-1] + brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]) + if hasattr(brand_values, attr) or not ignore_none: + attr_data = getattr(brand_values, attr, None) + else: + continue + + if combine_brands: + if isinstance(attr_data, dict): + for f, v in attr_data.items(): + result[f] = v + else: + result[brand_name] = attr_data + except (ImportError, OSError): + pass + + return result diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py new file mode 100644 index 000000000..bb96572c3 --- /dev/null +++ b/selfdrive/car/isotp_parallel_query.py @@ -0,0 +1,152 @@ +import time +from collections import defaultdict +from functools import partial +from typing import Optional + +import cereal.messaging as messaging +from system.swaglog import cloudlog +from selfdrive.boardd.boardd import can_list_to_can_capnp +from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr + + +class IsoTpParallelQuery: + def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False, response_pending_timeout=10): + self.sendcan = sendcan + self.logcan = logcan + self.bus = bus + self.request = request + self.response = response + self.debug = debug + self.functional_addr = functional_addr + self.response_pending_timeout = response_pending_timeout + + self.real_addrs = [] + for a in addrs: + if isinstance(a, tuple): + self.real_addrs.append(a) + else: + self.real_addrs.append((a, None)) + + self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in self.real_addrs} + self.msg_buffer = defaultdict(list) + + def rx(self): + """Drain can socket and sort messages into buffers based on address""" + can_packets = messaging.drain_sock(self.logcan, wait_for_one=True) + + for packet in can_packets: + for msg in packet.can: + if msg.src == self.bus: + if self.functional_addr: + if (0x7E8 <= msg.address <= 0x7EF) or (0x18DAF100 <= msg.address <= 0x18DAF1FF): + fn_addr = next(a for a in FUNCTIONAL_ADDRS if msg.address - a <= 32) + self.msg_buffer[fn_addr].append((msg.address, msg.busTime, msg.dat, msg.src)) + elif msg.address in self.msg_addrs.values(): + self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src)) + + def _can_tx(self, tx_addr, dat, bus): + """Helper function to send single message""" + msg = [tx_addr, 0, dat, bus] + self.sendcan.send(can_list_to_can_capnp([msg], msgtype='sendcan')) + + def _can_rx(self, addr, sub_addr=None): + """Helper function to retrieve message with specified address and subadress from buffer""" + keep_msgs = [] + + if sub_addr is None: + msgs = self.msg_buffer[addr] + else: + # Filter based on subadress + msgs = [] + for m in self.msg_buffer[addr]: + first_byte = m[2][0] + if first_byte == sub_addr: + msgs.append(m) + else: + keep_msgs.append(m) + + self.msg_buffer[addr] = keep_msgs + return msgs + + def _drain_rx(self): + messaging.drain_sock(self.logcan) + self.msg_buffer = defaultdict(list) + + def get_data(self, timeout, total_timeout=60.): + self._drain_rx() + + # Create message objects + msgs = {} + request_counter = {} + request_done = {} + for tx_addr, rx_addr in self.msg_addrs.items(): + # rx_addr not set when using functional tx addr + id_addr = rx_addr or tx_addr[0] + sub_addr = tx_addr[1] + + can_client = CanClient(self._can_tx, partial(self._can_rx, id_addr, sub_addr=sub_addr), tx_addr[0], rx_addr, + self.bus, sub_addr=sub_addr, debug=self.debug) + + max_len = 8 if sub_addr is None else 7 + + msg = IsoTpMessage(can_client, timeout=0, max_len=max_len, debug=self.debug) + msg.send(self.request[0]) + + msgs[tx_addr] = msg + request_counter[tx_addr] = 0 + request_done[tx_addr] = False + + results = {} + start_time = time.monotonic() + response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs} + while True: + self.rx() + + if all(request_done.values()): + break + + for tx_addr, msg in msgs.items(): + try: + dat: Optional[bytes] = msg.recv() + except Exception: + cloudlog.exception("Error processing UDS response") + request_done[tx_addr] = True + continue + + if not dat: + continue + + counter = request_counter[tx_addr] + expected_response = self.response[counter] + response_valid = dat[:len(expected_response)] == expected_response + + if response_valid: + response_timeouts[tx_addr] = time.monotonic() + timeout + if counter + 1 < len(self.request): + msg.send(self.request[counter + 1]) + request_counter[tx_addr] += 1 + else: + results[(tx_addr, msg._can_client.rx_addr)] = dat[len(expected_response):] + request_done[tx_addr] = True + else: + error_code = dat[2] if len(dat) > 2 else -1 + if error_code == 0x78: + response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout + if self.debug: + cloudlog.warning(f"iso-tp query response pending: {tx_addr}") + else: + request_done[tx_addr] = True + cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}") + + cur_time = time.monotonic() + if cur_time - max(response_timeouts.values()) > 0: + for tx_addr in msgs: + if request_counter[tx_addr] > 0 and not request_done[tx_addr]: + cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}") + break + + if cur_time - start_time > total_timeout: + cloudlog.warning("iso-tp query timeout while receiving data") + break + + return results diff --git a/selfdrive/car/mazda/__init__.py b/selfdrive/car/mazda/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py new file mode 100644 index 000000000..2add59ccb --- /dev/null +++ b/selfdrive/car/mazda/carcontroller.py @@ -0,0 +1,64 @@ +from cereal import car +from opendbc.can.packer import CANPacker +from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car.mazda import mazdacan +from selfdrive.car.mazda.values import CarControllerParams, Buttons + +VisualAlert = car.CarControl.HUDControl.VisualAlert + + +class CarController: + def __init__(self, dbc_name, CP, VM): + self.CP = CP + self.apply_steer_last = 0 + self.packer = CANPacker(dbc_name) + self.brake_counter = 0 + self.frame = 0 + + def update(self, CC, CS): + can_sends = [] + + apply_steer = 0 + + if CC.latActive: + # calculate steer and also set limits due to driver torque + new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX)) + apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, + CS.out.steeringTorque, CarControllerParams) + + if CC.cruiseControl.cancel: + # If brake is pressed, let us wait >70ms before trying to disable crz to avoid + # a race condition with the stock system, where the second cancel from openpilot + # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to + # read 3 messages and most likely sync state before we attempt cancel. + self.brake_counter = self.brake_counter + 1 + if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7): + # Cancel Stock ACC if it's enabled while OP is disengaged + # Send at a rate of 10hz until we sync with stock ACC state + can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL)) + else: + self.brake_counter = 0 + if CC.cruiseControl.resume and self.frame % 5 == 0: + # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds + # Send Resume button when planner wants car to move + can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME)) + + self.apply_steer_last = apply_steer + + # send HUD alerts + if self.frame % 50 == 0: + ldw = CC.hudControl.visualAlert == VisualAlert.ldw + steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired + # TODO: find a way to silence audible warnings so we can add more hud alerts + steer_required = steer_required and CS.lkas_allowed_speed + can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required)) + + # send steering command + can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint, + self.frame, apply_steer, CS.cam_lkas)) + + new_actuators = CC.actuators.copy() + new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + + self.frame += 1 + return new_actuators, can_sends diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py new file mode 100644 index 000000000..944d79809 --- /dev/null +++ b/selfdrive/car/mazda/carstate.py @@ -0,0 +1,208 @@ +from cereal import car +from common.conversions import Conversions as CV +from opendbc.can.can_define import CANDefine +from opendbc.can.parser import CANParser +from selfdrive.car.interfaces import CarStateBase +from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1 + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + self.shifter_values = can_define.dv["GEAR"]["GEAR"] + + self.crz_btns_counter = 0 + self.acc_active_last = False + self.low_speed_alert = False + self.lkas_allowed_speed = False + self.lkas_disabled = False + + def update(self, cp, cp_cam): + + ret = car.CarState.new_message() + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHEEL_SPEEDS"]["FL"], + cp.vl["WHEEL_SPEEDS"]["FR"], + cp.vl["WHEEL_SPEEDS"]["RL"], + cp.vl["WHEEL_SPEEDS"]["RR"], + ) + ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + + # Match panda speed reading + speed_kph = cp.vl["ENGINE_DATA"]["SPEED"] + ret.standstill = speed_kph < .1 + + can_gear = int(cp.vl["GEAR"]["GEAR"]) + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) + + ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"]) + ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1 + ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1 + ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1, + cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1) + + ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"] + ret.steeringTorque = cp.vl["STEER_TORQUE"]["STEER_TORQUE_SENSOR"] + ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD + + ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]["STEER_TORQUE_MOTOR"] + ret.steeringRateDeg = cp.vl["STEER_RATE"]["STEER_ANGLE_RATE"] + + # TODO: this should be from 0 - 1. + ret.brakePressed = cp.vl["PEDALS"]["BRAKE_ON"] == 1 + ret.brake = cp.vl["BRAKE"]["BRAKE_PRESSURE"] + + ret.seatbeltUnlatched = cp.vl["SEATBELT"]["DRIVER_SEATBELT"] == 0 + ret.doorOpen = any([cp.vl["DOORS"]["FL"], cp.vl["DOORS"]["FR"], + cp.vl["DOORS"]["BL"], cp.vl["DOORS"]["BR"]]) + + # TODO: this should be from 0 - 1. + ret.gas = cp.vl["ENGINE_DATA"]["PEDAL_GAS"] + ret.gasPressed = ret.gas > 0 + + # Either due to low speed or hands off + lkas_blocked = cp.vl["STEER_RATE"]["LKAS_BLOCK"] == 1 + + if self.CP.minSteerSpeed > 0: + # LKAS is enabled at 52kph going up and disabled at 45kph going down + # wait for LKAS_BLOCK signal to clear when going up since it lags behind the speed sometimes + if speed_kph > LKAS_LIMITS.ENABLE_SPEED and not lkas_blocked: + self.lkas_allowed_speed = True + elif speed_kph < LKAS_LIMITS.DISABLE_SPEED: + self.lkas_allowed_speed = False + else: + self.lkas_allowed_speed = True + + # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on + # it should be used for carState.cruiseState.nonAdaptive instead + ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1 + ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1 + ret.cruiseState.standstill = cp.vl["PEDALS"]["STANDSTILL"] == 1 + ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS + + if ret.cruiseState.enabled: + if not self.lkas_allowed_speed and self.acc_active_last: + self.low_speed_alert = True + else: + self.low_speed_alert = False + + # Check if LKAS is disabled due to lack of driver torque when all other states indicate + # it should be enabled (steer lockout). Don't warn until we actually get lkas active + # and lose it again, i.e, after initial lkas activation + ret.steerFaultTemporary = self.lkas_allowed_speed and lkas_blocked + + self.acc_active_last = ret.cruiseState.enabled + + self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"] + + # camera signals + self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0 + self.cam_lkas = cp_cam.vl["CAM_LKAS"] + self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"] + ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1 + + return ret + + @staticmethod + def get_can_parser(CP): + signals = [ + # sig_name, sig_address + ("LEFT_BLINK", "BLINK_INFO"), + ("RIGHT_BLINK", "BLINK_INFO"), + ("HIGH_BEAMS", "BLINK_INFO"), + ("STEER_ANGLE", "STEER"), + ("STEER_ANGLE_RATE", "STEER_RATE"), + ("STEER_TORQUE_SENSOR", "STEER_TORQUE"), + ("STEER_TORQUE_MOTOR", "STEER_TORQUE"), + ("FL", "WHEEL_SPEEDS"), + ("FR", "WHEEL_SPEEDS"), + ("RL", "WHEEL_SPEEDS"), + ("RR", "WHEEL_SPEEDS"), + ] + + checks = [ + # sig_address, frequency + ("BLINK_INFO", 10), + ("STEER", 67), + ("STEER_RATE", 83), + ("STEER_TORQUE", 83), + ("WHEEL_SPEEDS", 100), + ] + + if CP.carFingerprint in GEN1: + signals += [ + ("LKAS_BLOCK", "STEER_RATE"), + ("LKAS_TRACK_STATE", "STEER_RATE"), + ("HANDS_OFF_5_SECONDS", "STEER_RATE"), + ("CRZ_ACTIVE", "CRZ_CTRL"), + ("CRZ_AVAILABLE", "CRZ_CTRL"), + ("CRZ_SPEED", "CRZ_EVENTS"), + ("STANDSTILL", "PEDALS"), + ("BRAKE_ON", "PEDALS"), + ("BRAKE_PRESSURE", "BRAKE"), + ("GEAR", "GEAR"), + ("DRIVER_SEATBELT", "SEATBELT"), + ("FL", "DOORS"), + ("FR", "DOORS"), + ("BL", "DOORS"), + ("BR", "DOORS"), + ("PEDAL_GAS", "ENGINE_DATA"), + ("SPEED", "ENGINE_DATA"), + ("CTR", "CRZ_BTNS"), + ("LEFT_BS1", "BSM"), + ("RIGHT_BS1", "BSM"), + ] + + checks += [ + ("ENGINE_DATA", 100), + ("CRZ_CTRL", 50), + ("CRZ_EVENTS", 50), + ("CRZ_BTNS", 10), + ("PEDALS", 50), + ("BRAKE", 50), + ("SEATBELT", 10), + ("DOORS", 10), + ("GEAR", 20), + ("BSM", 10), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + + @staticmethod + def get_cam_can_parser(CP): + signals = [] + checks = [] + + if CP.carFingerprint in GEN1: + signals += [ + # sig_name, sig_address + ("LKAS_REQUEST", "CAM_LKAS"), + ("CTR", "CAM_LKAS"), + ("ERR_BIT_1", "CAM_LKAS"), + ("LINE_NOT_VISIBLE", "CAM_LKAS"), + ("BIT_1", "CAM_LKAS"), + ("ERR_BIT_2", "CAM_LKAS"), + ("STEERING_ANGLE", "CAM_LKAS"), + ("ANGLE_ENABLED", "CAM_LKAS"), + ("CHKSUM", "CAM_LKAS"), + + ("LINE_VISIBLE", "CAM_LANEINFO"), + ("LINE_NOT_VISIBLE", "CAM_LANEINFO"), + ("LANE_LINES", "CAM_LANEINFO"), + ("BIT1", "CAM_LANEINFO"), + ("BIT2", "CAM_LANEINFO"), + ("BIT3", "CAM_LANEINFO"), + ("NO_ERR_BIT", "CAM_LANEINFO"), + ("S1", "CAM_LANEINFO"), + ("S1_HBEAM", "CAM_LANEINFO"), + ] + + checks += [ + # sig_address, frequency + ("CAM_LANEINFO", 2), + ("CAM_LKAS", 16), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py new file mode 100755 index 000000000..55b523fce --- /dev/null +++ b/selfdrive/car/mazda/interface.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python3 +from cereal import car +from common.conversions import Conversions as CV +from selfdrive.car.mazda.values import CAR, LKAS_LIMITS +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car.interfaces import CarInterfaceBase + +ButtonType = car.CarState.ButtonEvent.Type +EventName = car.CarEvent.EventName + +class CarInterface(CarInterfaceBase): + + @staticmethod + def compute_gb(accel, speed): + return float(accel) / 4.0 + + @staticmethod + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + + ret.carName = "mazda" + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] + ret.radarOffCan = True + + ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021) + + ret.steerActuatorDelay = 0.1 + ret.steerLimitTimer = 0.8 + tire_stiffness_factor = 0.70 # not optimized yet + + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + if candidate in (CAR.CX5, CAR.CX5_2022): + ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.7 + ret.steerRatio = 15.5 + elif candidate in (CAR.CX9, CAR.CX9_2021): + ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 3.1 + ret.steerRatio = 17.6 + elif candidate == CAR.MAZDA3: + ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.7 + ret.steerRatio = 14.0 + elif candidate == CAR.MAZDA6: + ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.83 + ret.steerRatio = 15.5 + + if candidate not in (CAR.CX5_2022, ): + ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS + + ret.centerToFront = ret.wheelbase * 0.41 + + # TODO: get actual value, for now starting with reasonable value for + # civic and scaling by mass and wheelbase + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + + # TODO: start from empirically derived lateral slip stiffness for the civic and scale by + # mass and CG position, so all cars will have approximately similar dyn behaviors + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, + tire_stiffness_factor=tire_stiffness_factor) + + return ret + + # returns a car.CarState + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam) + ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret) + + # events + events = self.create_common_events(ret) + events = self.dp_atl_warning(ret, events) + + if self.CS.lkas_disabled: + events.add(EventName.lkasDisabled) + elif self.CS.low_speed_alert: + events.add(EventName.belowSteerSpeed) + + ret.events = events.to_msg() + + return ret + + def apply(self, c): + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py new file mode 100644 index 000000000..e2ee93e02 --- /dev/null +++ b/selfdrive/car/mazda/mazdacan.py @@ -0,0 +1,119 @@ +import copy + +from selfdrive.car.mazda.values import GEN1, Buttons + + +def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): + + tmp = apply_steer + 2048 + + lo = tmp & 0xFF + hi = tmp >> 8 + + # copy values from camera + b1 = int(lkas["BIT_1"]) + er1 = int(lkas["ERR_BIT_1"]) + lnv = 0 + ldw = 0 + er2 = int(lkas["ERR_BIT_2"]) + + # Some older models do have these, newer models don't. + # Either way, they all work just fine if set to zero. + steering_angle = 0 + b2 = 0 + + tmp = steering_angle + 2048 + ahi = tmp >> 10 + amd = (tmp & 0x3FF) >> 2 + amd = (amd >> 4) | (( amd & 0xF) << 4) + alo = (tmp & 0x3) << 2 + + ctr = frame % 16 + # bytes: [ 1 ] [ 2 ] [ 3 ] [ 4 ] + csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5) + + # bytes [ 5 ] [ 6 ] [ 7 ] + csum = csum - ahi - amd - alo - b2 + + if ahi == 1: + csum = csum + 15 + + if csum < 0: + if csum < -256: + csum = csum + 512 + else: + csum = csum + 256 + + csum = csum % 256 + + if car_fingerprint in GEN1: + values = { + "LKAS_REQUEST": apply_steer, + "CTR": ctr, + "ERR_BIT_1": er1, + "LINE_NOT_VISIBLE" : lnv, + "LDW": ldw, + "BIT_1": b1, + "ERR_BIT_2": er2, + "STEERING_ANGLE": steering_angle, + "ANGLE_ENABLED": b2, + "CHKSUM": csum + } + + return packer.make_can_msg("CAM_LKAS", 0, values) + + +def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool): + values = copy.copy(cam_msg) + values.update({ + # TODO: what's the difference between all these? do we need to send all? + "HANDS_WARN_3_BITS": 0b111 if steer_required else 0, + "HANDS_ON_STEER_WARN": steer_required, + "HANDS_ON_STEER_WARN_2": steer_required, + + # TODO: right lane works, left doesn't + # TODO: need to do something about L/R + "LDW_WARN_LL": 0, + "LDW_WARN_RL": 0, + }) + return packer.make_can_msg("CAM_LANEINFO", 0, values) + + +def create_button_cmd(packer, car_fingerprint, counter, button): + + can = int(button == Buttons.CANCEL) + res = int(button == Buttons.RESUME) + + if car_fingerprint in GEN1: + values = { + "CAN_OFF": can, + "CAN_OFF_INV": (can + 1) % 2, + + "SET_P": 0, + "SET_P_INV": 1, + + "RES": res, + "RES_INV": (res + 1) % 2, + + "SET_M": 0, + "SET_M_INV": 1, + + "DISTANCE_LESS": 0, + "DISTANCE_LESS_INV": 1, + + "DISTANCE_MORE": 0, + "DISTANCE_MORE_INV": 1, + + "MODE_X": 0, + "MODE_X_INV": 1, + + "MODE_Y": 0, + "MODE_Y_INV": 1, + + "BIT1": 1, + "BIT2": 1, + "BIT3": 1, + "CTR": (counter + 1) % 16, + } + + return packer.make_can_msg("CRZ_BTNS", 0, values) diff --git a/selfdrive/car/mazda/radar_interface.py b/selfdrive/car/mazda/radar_interface.py new file mode 100755 index 000000000..b2f765113 --- /dev/null +++ b/selfdrive/car/mazda/radar_interface.py @@ -0,0 +1,5 @@ +#!/usr/bin/env python3 +from selfdrive.car.interfaces import RadarInterfaceBase + +class RadarInterface(RadarInterfaceBase): + pass diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py new file mode 100644 index 000000000..7db401e16 --- /dev/null +++ b/selfdrive/car/mazda/values.py @@ -0,0 +1,303 @@ +from dataclasses import dataclass +from enum import Enum +from typing import Dict, List, Union + +from selfdrive.car import dbc_dict +from selfdrive.car.docs_definitions import CarInfo, Harness +from cereal import car +Ecu = car.CarParams.Ecu + + +# Steer torque limits + +class CarControllerParams: + STEER_MAX = 800 # theoretical max_steer 2047 + STEER_DELTA_UP = 10 # torque increase per refresh + STEER_DELTA_DOWN = 25 # torque decrease per refresh + STEER_DRIVER_ALLOWANCE = 15 # allowed driver torque before start limiting + STEER_DRIVER_MULTIPLIER = 1 # weight driver torque + STEER_DRIVER_FACTOR = 1 # from dbc + STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor + + +class CAR: + CX5 = "MAZDA CX-5" + CX9 = "MAZDA CX-9" + MAZDA3 = "MAZDA 3" + MAZDA6 = "MAZDA 6" + CX9_2021 = "MAZDA CX-9 2021" + CX5_2022 = "MAZDA CX-5 2022" + + +@dataclass +class MazdaCarInfo(CarInfo): + package: str = "All" + harness: Enum = Harness.mazda + + +CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { + CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"), + CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"), + CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"), + CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"), + CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"), + CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"), +} + + +class LKAS_LIMITS: + STEER_THRESHOLD = 15 + DISABLE_SPEED = 45 # kph + ENABLE_SPEED = 52 # kph + +class Buttons: + NONE = 0 + SET_PLUS = 1 + SET_MINUS = 2 + RESUME = 3 + CANCEL = 4 + + +FW_VERSIONS = { + CAR.CX5_2022 : { + (Ecu.eps, 0x730, None): [ + b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x760, None): [ + b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.CX5: { + (Ecu.eps, 0x730, None): [ + b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x760, None): [ + b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + + CAR.CX9 : { + (Ecu.eps, 0x730, None): [ + b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x760, None): [ + b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD6-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + + CAR.MAZDA3: { + (Ecu.eps, 0x730, None): [ + b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + + ], + (Ecu.engine, 0x7e0, None): [ + b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x760, None): [ + b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + + CAR.MAZDA6: { + (Ecu.eps, 0x730, None): [ + b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000', + ], + (Ecu.engine, 0x7e0, None): [ + b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000', + b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-E\000\000\000\000\000\000\000\000\000\000\000\000', + ], + (Ecu.esp, 0x760, None): [ + b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000', + b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + + CAR.CX9_2021 : { + (Ecu.eps, 0x730, None): [ + b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x760, None): [ + b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + } +} + + +DBC = { + CAR.CX5: dbc_dict('mazda_2017', None), + CAR.CX9: dbc_dict('mazda_2017', None), + CAR.MAZDA3: dbc_dict('mazda_2017', None), + CAR.MAZDA6: dbc_dict('mazda_2017', None), + CAR.CX9_2021: dbc_dict('mazda_2017', None), + CAR.CX5_2022: dbc_dict('mazda_2017', None), +} + +# Gen 1 hardware: same CAN messages and same camera +GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6, CAR.CX5_2022} diff --git a/selfdrive/car/mock/__init__.py b/selfdrive/car/mock/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py new file mode 100755 index 000000000..715850c22 --- /dev/null +++ b/selfdrive/car/mock/interface.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 +import math +from cereal import car +from common.conversions import Conversions as CV +from system.swaglog import cloudlog +import cereal.messaging as messaging +from selfdrive.car import gen_empty_fingerprint, get_safety_config +from selfdrive.car.interfaces import CarInterfaceBase + +# mocked car interface to work with chffrplus +TS = 0.01 # 100Hz +YAW_FR = 0.2 # ~0.8s time constant on yaw rate filter +# low pass gain +LPG = 2 * math.pi * YAW_FR * TS / (1 + 2 * math.pi * YAW_FR * TS) + + +class CarInterface(CarInterfaceBase): + def __init__(self, CP, CarController, CarState): + super().__init__(CP, CarController, CarState) + + cloudlog.debug("Using Mock Car Interface") + + self.sensor = messaging.sub_sock('sensorEvents') + self.gps = messaging.sub_sock('gpsLocationExternal') + + self.speed = 0. + self.prev_speed = 0. + self.yaw_rate = 0. + self.yaw_rate_meas = 0. + + @staticmethod + def compute_gb(accel, speed): + return accel + + @staticmethod + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + ret.carName = "mock" + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)] + ret.mass = 1700. + ret.rotationalInertia = 2500. + ret.wheelbase = 2.70 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 13. # reasonable + ret.tireStiffnessFront = 1e6 # very stiff to neglect slip + ret.tireStiffnessRear = 1e6 # very stiff to neglect slip + + return ret + + # returns a car.CarState + def _update(self, c): + # get basic data from phone and gps since CAN isn't connected + sensors = messaging.recv_sock(self.sensor) + if sensors is not None: + for sensor in sensors.sensorEvents: + if sensor.type == 4: # gyro + self.yaw_rate_meas = -sensor.gyro.v[0] + + gps = messaging.recv_sock(self.gps) + if gps is not None: + self.prev_speed = self.speed + self.speed = gps.gpsLocationExternal.speed + + # create message + ret = car.CarState.new_message() + + # speeds + ret.vEgo = self.speed + ret.vEgoRaw = self.speed + a = self.speed - self.prev_speed + + ret.aEgo = a + ret.brakePressed = a < -0.5 + + ret.standstill = self.speed < 0.01 + ret.wheelSpeeds.fl = self.speed + ret.wheelSpeeds.fr = self.speed + ret.wheelSpeeds.rl = self.speed + ret.wheelSpeeds.rr = self.speed + + self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate + curvature = self.yaw_rate / max(self.speed, 1.) + ret.steeringAngleDeg = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG + + return ret + + def apply(self, c): + # in mock no carcontrols + actuators = car.CarControl.Actuators.new_message() + return actuators, [] diff --git a/selfdrive/car/mock/radar_interface.py b/selfdrive/car/mock/radar_interface.py new file mode 100755 index 000000000..b2f765113 --- /dev/null +++ b/selfdrive/car/mock/radar_interface.py @@ -0,0 +1,5 @@ +#!/usr/bin/env python3 +from selfdrive.car.interfaces import RadarInterfaceBase + +class RadarInterface(RadarInterfaceBase): + pass diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py new file mode 100644 index 000000000..dfc7902e4 --- /dev/null +++ b/selfdrive/car/mock/values.py @@ -0,0 +1,12 @@ +from typing import Dict, List, Optional, Union + +from selfdrive.car.docs_definitions import CarInfo + + +class CAR: + MOCK = 'mock' + + +CAR_INFO: Dict[str, Optional[Union[CarInfo, List[CarInfo]]]] = { + CAR.MOCK: None, +} diff --git a/selfdrive/car/subaru/__init__.py b/selfdrive/car/subaru/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py new file mode 100644 index 000000000..a33657205 --- /dev/null +++ b/selfdrive/car/subaru/carcontroller.py @@ -0,0 +1,84 @@ +from opendbc.can.packer import CANPacker +from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car.subaru import subarucan +from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams + + +class CarController: + def __init__(self, dbc_name, CP, VM): + self.CP = CP + self.apply_steer_last = 0 + self.es_distance_cnt = -1 + self.es_lkas_cnt = -1 + self.cruise_button_prev = 0 + self.frame = 0 + + self.p = CarControllerParams(CP) + self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) + + def update(self, CC, CS): + actuators = CC.actuators + hud_control = CC.hudControl + pcm_cancel_cmd = CC.cruiseControl.cancel + + can_sends = [] + + # *** steering *** + if (self.frame % self.p.STEER_STEP) == 0: + + apply_steer = int(round(actuators.steer * self.p.STEER_MAX)) + + # limits due to driver torque + + new_steer = int(round(apply_steer)) + apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) + + if not CC.latActive: + apply_steer = 0 + + if self.CP.carFingerprint in PREGLOBAL_CARS: + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer)) + else: + can_sends.append(subarucan.create_steering_control(self.packer, apply_steer)) + + self.apply_steer_last = apply_steer + + + # *** alerts and pcm cancel *** + + if self.CP.carFingerprint in PREGLOBAL_CARS: + if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]: + # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep + # disengage ACC when OP is disengaged + if pcm_cancel_cmd: + cruise_button = 1 + # turn main on if off and past start-up state + elif not CS.out.cruiseState.available and CS.ready: + cruise_button = 1 + else: + cruise_button = CS.cruise_button + + # unstick previous mocked button press + if cruise_button == 1 and self.cruise_button_prev == 1: + cruise_button = 0 + self.cruise_button_prev = cruise_button + + can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg)) + self.es_distance_cnt = CS.es_distance_msg["COUNTER"] + + else: + if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]: + can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd)) + self.es_distance_cnt = CS.es_distance_msg["COUNTER"] + + if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]: + can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"] + + new_actuators = actuators.copy() + new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX + + self.frame += 1 + return new_actuators, can_sends diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py new file mode 100644 index 000000000..2c27ad00a --- /dev/null +++ b/selfdrive/car/subaru/carstate.py @@ -0,0 +1,233 @@ +import copy +from cereal import car +from opendbc.can.can_define import CANDefine +from common.conversions import Conversions as CV +from selfdrive.car.interfaces import CarStateBase +from opendbc.can.parser import CANParser +from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + self.shifter_values = can_define.dv["Transmission"]["Gear"] + + def update(self, cp, cp_cam): + ret = car.CarState.new_message() + + ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255. + ret.gasPressed = ret.gas > 1e-5 + if self.car_fingerprint in PREGLOBAL_CARS: + ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2 + else: + ret.brakePressed = cp.vl["Brake_Status"]["Brake"] == 1 + + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["Wheel_Speeds"]["FL"], + cp.vl["Wheel_Speeds"]["FR"], + cp.vl["Wheel_Speeds"]["RL"], + cp.vl["Wheel_Speeds"]["RR"], + ) + ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. + # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = ret.vEgoRaw < 0.01 + + # continuous blinker signals for assisted lane change + ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp( + 50, cp.vl["Dashlights"]["LEFT_BLINKER"], cp.vl["Dashlights"]["RIGHT_BLINKER"]) + + if self.CP.enableBsm: + ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1) + ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1) + + can_gear = int(cp.vl["Transmission"]["Gear"]) + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) + + ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"] + ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"] + ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint] + + ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0 + ret.cruiseState.available = cp.vl["CruiseControl"]["Cruise_On"] != 0 + ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS + + if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \ + (self.car_fingerprint not in PREGLOBAL_CARS and cp.vl["Dashlights"]["UNITS"] == 1): + ret.cruiseState.speed *= CV.MPH_TO_KPH + + ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1 + ret.doorOpen = any([cp.vl["BodyInfo"]["DOOR_OPEN_RR"], + cp.vl["BodyInfo"]["DOOR_OPEN_RL"], + cp.vl["BodyInfo"]["DOOR_OPEN_FR"], + cp.vl["BodyInfo"]["DOOR_OPEN_FL"]]) + ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1 + + if self.car_fingerprint in PREGLOBAL_CARS: + self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"] + self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"] + else: + ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1 + ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1 + self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) + self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"]) + + ret.cruiseActualEnabled = ret.cruiseState.enabled + return ret + + @staticmethod + def get_can_parser(CP): + signals = [ + # sig_name, sig_address + ("Steer_Torque_Sensor", "Steering_Torque"), + ("Steering_Angle", "Steering_Torque"), + ("Steer_Error_1", "Steering_Torque"), + ("Cruise_On", "CruiseControl"), + ("Cruise_Activated", "CruiseControl"), + ("Brake_Pedal", "Brake_Pedal"), + ("Throttle_Pedal", "Throttle"), + ("LEFT_BLINKER", "Dashlights"), + ("RIGHT_BLINKER", "Dashlights"), + ("SEATBELT_FL", "Dashlights"), + ("FL", "Wheel_Speeds"), + ("FR", "Wheel_Speeds"), + ("RL", "Wheel_Speeds"), + ("RR", "Wheel_Speeds"), + ("DOOR_OPEN_FR", "BodyInfo"), + ("DOOR_OPEN_FL", "BodyInfo"), + ("DOOR_OPEN_RR", "BodyInfo"), + ("DOOR_OPEN_RL", "BodyInfo"), + ("Gear", "Transmission"), + ] + + checks = [ + # sig_address, frequency + ("Throttle", 100), + ("Dashlights", 10), + ("Brake_Pedal", 50), + ("Wheel_Speeds", 50), + ("Transmission", 100), + ("Steering_Torque", 50), + ("BodyInfo", 1), + ] + + if CP.enableBsm: + signals += [ + ("L_ADJACENT", "BSD_RCTA"), + ("R_ADJACENT", "BSD_RCTA"), + ("L_APPROACHING", "BSD_RCTA"), + ("R_APPROACHING", "BSD_RCTA"), + ] + checks.append(("BSD_RCTA", 17)) + + if CP.carFingerprint not in PREGLOBAL_CARS: + signals += [ + ("Steer_Warning", "Steering_Torque"), + ("Brake", "Brake_Status"), + ("UNITS", "Dashlights"), + ] + + checks += [ + ("Dashlights", 10), + ("BodyInfo", 10), + ("Brake_Status", 50), + ("CruiseControl", 20), + ] + else: + signals.append(("UNITS", "Dash_State2")) + + checks.append(("Dash_State2", 1)) + + if CP.carFingerprint == CAR.FORESTER_PREGLOBAL: + checks += [ + ("Dashlights", 20), + ("BodyInfo", 1), + ("CruiseControl", 50), + ] + + if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): + checks += [ + ("Dashlights", 10), + ("CruiseControl", 50), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + + @staticmethod + def get_cam_can_parser(CP): + if CP.carFingerprint in PREGLOBAL_CARS: + signals = [ + ("Cruise_Set_Speed", "ES_DashStatus"), + ("Not_Ready_Startup", "ES_DashStatus"), + + ("Cruise_Throttle", "ES_Distance"), + ("Signal1", "ES_Distance"), + ("Car_Follow", "ES_Distance"), + ("Signal2", "ES_Distance"), + ("Brake_On", "ES_Distance"), + ("Distance_Swap", "ES_Distance"), + ("Standstill", "ES_Distance"), + ("Signal3", "ES_Distance"), + ("Close_Distance", "ES_Distance"), + ("Signal4", "ES_Distance"), + ("Standstill_2", "ES_Distance"), + ("Cruise_Fault", "ES_Distance"), + ("Signal5", "ES_Distance"), + ("COUNTER", "ES_Distance"), + ("Signal6", "ES_Distance"), + ("Cruise_Button", "ES_Distance"), + ("Signal7", "ES_Distance"), + ] + + checks = [ + ("ES_DashStatus", 20), + ("ES_Distance", 20), + ] + else: + signals = [ + ("Cruise_Set_Speed", "ES_DashStatus"), + ("Conventional_Cruise", "ES_DashStatus"), + + ("COUNTER", "ES_Distance"), + ("Signal1", "ES_Distance"), + ("Cruise_Fault", "ES_Distance"), + ("Cruise_Throttle", "ES_Distance"), + ("Signal2", "ES_Distance"), + ("Car_Follow", "ES_Distance"), + ("Signal3", "ES_Distance"), + ("Cruise_Brake_Active", "ES_Distance"), + ("Distance_Swap", "ES_Distance"), + ("Cruise_EPB", "ES_Distance"), + ("Signal4", "ES_Distance"), + ("Close_Distance", "ES_Distance"), + ("Signal5", "ES_Distance"), + ("Cruise_Cancel", "ES_Distance"), + ("Cruise_Set", "ES_Distance"), + ("Cruise_Resume", "ES_Distance"), + ("Signal6", "ES_Distance"), + + ("COUNTER", "ES_LKAS_State"), + ("LKAS_Alert_Msg", "ES_LKAS_State"), + ("Signal1", "ES_LKAS_State"), + ("LKAS_ACTIVE", "ES_LKAS_State"), + ("LKAS_Dash_State", "ES_LKAS_State"), + ("Signal2", "ES_LKAS_State"), + ("Backward_Speed_Limit_Menu", "ES_LKAS_State"), + ("LKAS_Left_Line_Enable", "ES_LKAS_State"), + ("LKAS_Left_Line_Light_Blink", "ES_LKAS_State"), + ("LKAS_Right_Line_Enable", "ES_LKAS_State"), + ("LKAS_Right_Line_Light_Blink", "ES_LKAS_State"), + ("LKAS_Left_Line_Visible", "ES_LKAS_State"), + ("LKAS_Right_Line_Visible", "ES_LKAS_State"), + ("LKAS_Alert", "ES_LKAS_State"), + ("Signal3", "ES_LKAS_State"), + ] + + checks = [ + ("ES_DashStatus", 10), + ("ES_Distance", 20), + ("ES_LKAS_State", 10), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py new file mode 100644 index 000000000..b90e4cfb7 --- /dev/null +++ b/selfdrive/car/subaru/interface.py @@ -0,0 +1,117 @@ +#!/usr/bin/env python3 +from cereal import car +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car.interfaces import CarInterfaceBase +from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS + + +class CarInterface(CarInterfaceBase): + + @staticmethod + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + + ret.carName = "subaru" + ret.radarOffCan = True + ret.dashcamOnly = candidate in PREGLOBAL_CARS + + if candidate in PREGLOBAL_CARS: + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)] + ret.enableBsm = 0x25c in fingerprint[0] + else: + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)] + ret.enableBsm = 0x228 in fingerprint[0] + + ret.steerLimitTimer = 0.4 + ret.steerActuatorDelay = 0.1 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + if candidate == CAR.ASCENT: + ret.mass = 2031. + STD_CARGO_KG + ret.wheelbase = 2.89 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 13.5 + ret.steerActuatorDelay = 0.3 # end-to-end angle controller + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kf = 0.00003 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] + + elif candidate == CAR.IMPREZA: + ret.mass = 1568. + STD_CARGO_KG + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 15 + ret.steerActuatorDelay = 0.4 # end-to-end angle controller + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kf = 0.00005 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] + + elif candidate == CAR.IMPREZA_2020: + ret.mass = 1480. + STD_CARGO_KG + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 17 # learned, 14 stock + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kf = 0.00005 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] + + elif candidate == CAR.FORESTER: + ret.mass = 1568. + STD_CARGO_KG + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 17 # learned, 14 stock + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kf = 0.000038 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] + + elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): + ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal + ret.mass = 1568 + STD_CARGO_KG + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 20 # learned, 14 stock + + elif candidate == CAR.LEGACY_PREGLOBAL: + ret.mass = 1568 + STD_CARGO_KG + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 12.5 # 14.5 stock + ret.steerActuatorDelay = 0.15 + + elif candidate == CAR.OUTBACK_PREGLOBAL: + ret.mass = 1568 + STD_CARGO_KG + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 20 # learned, 14 stock + + # TODO: get actual value, for now starting with reasonable value for + # civic and scaling by mass and wheelbase + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + + # TODO: start from empirically derived lateral slip stiffness for the civic and scale by + # mass and CG position, so all cars will have approximately similar dyn behaviors + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) + + return ret + + # returns a car.CarState + def _update(self, c): + + ret = self.CS.update(self.cp, self.cp_cam) + ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret) + + ret.events = self.create_common_events(ret).to_msg() + + events = self.create_common_events(ret) + events = self.dp_atl_warning(ret, events) + + ret.events = events.to_msg() + + return ret + + def apply(self, c): + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py new file mode 100644 index 000000000..b2f765113 --- /dev/null +++ b/selfdrive/car/subaru/radar_interface.py @@ -0,0 +1,5 @@ +#!/usr/bin/env python3 +from selfdrive.car.interfaces import RadarInterfaceBase + +class RadarInterface(RadarInterfaceBase): + pass diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py new file mode 100644 index 000000000..5f2233be9 --- /dev/null +++ b/selfdrive/car/subaru/subarucan.py @@ -0,0 +1,81 @@ +import copy +from cereal import car + +VisualAlert = car.CarControl.HUDControl.VisualAlert + +def create_steering_control(packer, apply_steer): + values = { + "LKAS_Output": apply_steer, + "LKAS_Request": 1 if apply_steer != 0 else 0, + "SET_1": 1 + } + return packer.make_can_msg("ES_LKAS", 0, values) + +def create_steering_status(packer): + return packer.make_can_msg("ES_LKAS_State", 0, {}) + +def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd): + + values = copy.copy(es_distance_msg) + if pcm_cancel_cmd: + values["Cruise_Cancel"] = 1 + + return packer.make_can_msg("ES_Distance", 0, values) + +def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): + + values = copy.copy(es_lkas_msg) + + # Filter the stock LKAS "Keep hands on wheel" alert + if values["LKAS_Alert_Msg"] == 1: + values["LKAS_Alert_Msg"] = 0 + + # Filter the stock LKAS sending an audible alert when it turns off LKAS + if values["LKAS_Alert"] == 27: + values["LKAS_Alert"] = 0 + + # Show Keep hands on wheel alert for openpilot steerRequired alert + if visual_alert == VisualAlert.steerRequired: + values["LKAS_Alert_Msg"] = 1 + + # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW) + if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0: + if left_lane_depart: + values["LKAS_Alert"] = 12 # Left lane departure dash alert + elif right_lane_depart: + values["LKAS_Alert"] = 11 # Right lane departure dash alert + + if enabled: + values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines + values["LKAS_Dash_State"] = 2 # Green enabled indicator + else: + values["LKAS_Dash_State"] = 0 # LKAS Not enabled + + values["LKAS_Left_Line_Visible"] = int(left_line) + values["LKAS_Right_Line_Visible"] = int(right_line) + + return packer.make_can_msg("ES_LKAS_State", 0, values) + +# *** Subaru Pre-global *** + +def subaru_preglobal_checksum(packer, values, addr): + dat = packer.make_can_msg(addr, 0, values)[2] + return (sum(dat[:7])) % 256 + +def create_preglobal_steering_control(packer, apply_steer): + values = { + "LKAS_Command": apply_steer, + "LKAS_Active": 1 if apply_steer != 0 else 0 + } + values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS") + + return packer.make_can_msg("ES_LKAS", 0, values) + +def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): + + values = copy.copy(es_distance_msg) + values["Cruise_Button"] = cruise_button + + values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance") + + return packer.make_can_msg("ES_Distance", 0, values) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py new file mode 100644 index 000000000..362e9ccd6 --- /dev/null +++ b/selfdrive/car/subaru/values.py @@ -0,0 +1,423 @@ +from dataclasses import dataclass +from enum import Enum +from typing import Dict, List, Union + +from selfdrive.car import dbc_dict +from selfdrive.car.docs_definitions import CarInfo, Harness +from cereal import car + +Ecu = car.CarParams.Ecu + + +class CarControllerParams: + def __init__(self, CP): + if CP.carFingerprint == CAR.IMPREZA_2020: + self.STEER_MAX = 1439 + else: + self.STEER_MAX = 2047 + self.STEER_STEP = 2 # how often we update the steer cmd + self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max + self.STEER_DELTA_DOWN = 70 # torque decrease per refresh + self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting + self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily + self.STEER_DRIVER_FACTOR = 1 # from dbc + + +class CAR: + ASCENT = "SUBARU ASCENT LIMITED 2019" + IMPREZA = "SUBARU IMPREZA LIMITED 2019" + IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020" + FORESTER = "SUBARU FORESTER 2019" + FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018" + LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018" + OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017" + OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019" + + +@dataclass +class SubaruCarInfo(CarInfo): + package: str = "EyeSight" + harness: Enum = Harness.subaru + + +CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { + CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), + CAR.IMPREZA: [ + SubaruCarInfo("Subaru Impreza 2017-19"), + SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), + SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), + ], + CAR.IMPREZA_2020: [ + SubaruCarInfo("Subaru Impreza 2020-22"), + SubaruCarInfo("Subaru Crosstrek 2020-21"), + SubaruCarInfo("Subaru XV 2020-21"), + ], + CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"), + CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"), + CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), + CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), + CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"), +} + + +FW_VERSIONS = { + CAR.ASCENT: { + (Ecu.esp, 0x7b0, None): [ + b'\xa5 \x19\x02\x00', + b'\xa5 !\002\000', + b'\xf1\x82\xa5 \x19\x02\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x85\xc0\xd0\x00', + b'\005\xc0\xd0\000', + b'\x95\xc0\xd0\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00d\xb9\x1f@ \x10', + b'\000\000e~\037@ \'', + b'\x00\x00e@\x1f@ $', + b'\x00\x00d\xb9\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbb,\xa0t\a', + b'\xf1\x82\xbb,\xa0t\x87', + b'\xf1\x82\xbb,\xa0t\a', + b'\xf1\x82\xd9,\xa0@\a', + b'\xf1\x82\xd1,\xa0q\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x00\xfe\xf7\x00\x00', + b'\001\xfe\xf9\000\000', + b'\x01\xfe\xf7\x00\x00', + b'\xf1\x00\xa4\x10@', + ], + }, + CAR.IMPREZA: { + (Ecu.esp, 0x7b0, None): [ + b'\x7a\x94\x3f\x90\x00', + b'\xa2 \x185\x00', + b'\xa2 \x193\x00', + b'\xa2 \x194\x00', + b'z\x94.\x90\x00', + b'z\x94\b\x90\x01', + b'\xa2 \x19`\x00', + b'z\x94\f\x90\001', + b'z\x9c\x19\x80\x01', + b'z\x94\x08\x90\x00', + b'z\x84\x19\x90\x00', + b'\xf1\x00\xb2\x06\x04', + ], + (Ecu.eps, 0x746, None): [ + b'\x7a\xc0\x0c\x00', + b'z\xc0\x08\x00', + b'\x8a\xc0\x00\x00', + b'z\xc0\x04\x00', + b'z\xc0\x00\x00', + b'\x8a\xc0\x10\x00', + b'z\xc0\n\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00\x64\xb5\x1f\x40\x20\x0e', + b'\x00\x00d\xdc\x1f@ \x0e', + b'\x00\x00e\x1c\x1f@ \x14', + b'\x00\x00d)\x1f@ \a', + b'\x00\x00e+\x1f@ \x14', + b'\000\000e+\000\000\000\000', + b'\000\000dd\037@ \016', + b'\000\000e\002\037@ \024', + b'\x00\x00d)\x00\x00\x00\x00', + b'\x00\x00c\xf4\x00\x00\x00\x00', + b'\x00\x00d\xdc\x00\x00\x00\x00', + b'\x00\x00dd\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xaa\x61\x66\x73\x07', + b'\xbeacr\a', + b'\xc5!`r\a', + b'\xaa!ds\a', + b'\xaa!`u\a', + b'\xaa!dq\a', + b'\xaa!dt\a', + b'\xf1\x00\xa2\x10\t', + b'\xc5!ar\a', + b'\xbe!as\a', + b'\xc5!ds\a', + b'\xc5!`s\a', + b'\xaa!au\a', + b'\xbe!at\a', + b'\xaa\x00Bu\x07', + b'\xc5!dr\x07', + b'\xaa!aw\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe3\xe5\x46\x31\x00', + b'\xe4\xe5\x061\x00', + b'\xe5\xf5\x04\x00\x00', + b'\xe3\xf5G\x00\x00', + b'\xe3\xf5\a\x00\x00', + b'\xe3\xf5C\x00\x00', + b'\xe5\xf5B\x00\x00', + b'\xe5\xf5$\000\000', + b'\xe4\xf5\a\000\000', + b'\xe3\xf5F\000\000', + b'\xe4\xf5\002\000\000', + b'\xe3\xd0\x081\x00', + b'\xe3\xf5\x06\x00\x00', + b'\xf1\x00\xa4\x10@', + ], + }, + CAR.IMPREZA_2020: { + (Ecu.esp, 0x7b0, None): [ + b'\xa2 \0314\000', + b'\xa2 \0313\000', + b'\xa2 !i\000', + b'\xa2 !`\000', + b'\xf1\x00\xb2\x06\x04', + b'\xa2 `\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x9a\xc0\000\000', + b'\n\xc0\004\000', + b'\x9a\xc0\x04\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\000\000eb\037@ \"', + b'\000\000e\x8f\037@ )', + b'\x00\x00eq\x1f@ "', + b'\x00\x00eq\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xca!ap\a', + b'\xca!`p\a', + b'\xca!`0\a', + b'\xcc\"f0\a', + b'\xcc!fp\a', + b'\xf1\x00\xa2\x10\t', + b'\xca!f@\x07', + b'\xca!fp\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe6\xf5\004\000\000', + b'\xe6\xf5$\000\000', + b'\xe7\xf6B0\000', + b'\xe7\xf5D0\000', + b'\xf1\x00\xd7\x10@', + b'\xe6\xf5D0\x00', + ], + }, + CAR.FORESTER: { + (Ecu.esp, 0x7b0, None): [ + b'\xa3 \x18\x14\x00', + b'\xa3 \024\000', + b'\xa3 \031\024\000', + b'\xa3 \x14\x01', + b'\xf1\x00\xbb\r\x05', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc0\x04\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00e!\x1f@ \x11', + b'\x00\x00e\x97\x1f@ 0', + b'\000\000e`\037@ ', + b'\xf1\x00\xac\x02\x00', + b'\x00\x00e!\x00\x00\x00\x00', + b'\x00\x00e\x97\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb6"`A\x07', + b'\xcf"`0\x07', + b'\xcb\"`@\a', + b'\xcb\"`p\a', + b'\xf1\x00\xa2\x10\n', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\032\xf6B0\000', + b'\x1a\xf6F`\x00', + b'\032\xf6b`\000', + b'\x1a\xf6B`\x00', + b'\xf1\x00\xa4\x10@', + b'\x1a\xf6b0\x00', + ], + }, + CAR.FORESTER_PREGLOBAL: { + (Ecu.esp, 0x7b0, None): [ + b'\x7d\x97\x14\x40', + b'\xf1\x00\xbb\x0c\x04', + ], + (Ecu.eps, 0x746, None): [ + b'}\xc0\x10\x00', + b'm\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00\x64\x35\x1f\x40\x20\x09', + b'\x00\x00c\xe9\x1f@ \x03', + b'\x00\x00d\xd3\x1f@ \t' + ], + (Ecu.engine, 0x7e0, None): [ + b'\xba"@p\a', + b'\xa7)\xa0q\a', + b'\xf1\x82\xa7)\xa0q\a', + b'\xba"@@\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xdc\xf2\x60\x60\x00', + b'\xdc\xf2@`\x00', + b'\xda\xfd\xe0\x80\x00', + b'\xdc\xf2`\x81\000', + b'\xdc\xf2`\x80\x00', + b'\x1a\xf6F`\x00', + ], + }, + CAR.LEGACY_PREGLOBAL: { + (Ecu.esp, 0x7b0, None): [ + b'k\x97D\x00', + b'[\xba\xc4\x03', + b'{\x97D\x00', + b'[\x97D\000', + ], + (Ecu.eps, 0x746, None): [ + b'[\xb0\x00\x01', + b'K\xb0\x00\x01', + b'k\xb0\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\x00\x00c\x94\x1f@\x10\x08', + b'\x00\x00c\xec\x1f@ \x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xab*@r\a', + b'\xa0+@p\x07', + b'\xb4"@0\x07', + b'\xa0"@q\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbe\xf2\x00p\x00', + b'\xbf\xfb\xc0\x80\x00', + b'\xbd\xf2\x00`\x00', + b'\xbf\xf2\000\x80\000', + ], + }, + CAR.OUTBACK_PREGLOBAL: { + (Ecu.esp, 0x7b0, None): [ + b'{\x9a\xac\x00', + b'k\x97\xac\x00', + b'\x5b\xf7\xbc\x03', + b'[\xf7\xac\x03', + b'{\x97\xac\x00', + b'k\x9a\xac\000', + b'[\xba\xac\x03', + b'[\xf7\xac\000', + ], + (Ecu.eps, 0x746, None): [ + b'k\xb0\x00\x00', + b'[\xb0\x00\x00', + b'\x4b\xb0\x00\x02', + b'K\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xec\x1f@ \x04', + b'\x00\x00c\xd1\x1f@\x10\x17', + b'\xf1\x00\xf0\xe0\x0e', + b'\x00\x00c\x94\x00\x00\x00\x00', + b'\x00\x00c\x94\x1f@\x10\b', + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\000\000c\x90\037@\020\016', + b'\x00\x00c\xec\x37@\x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb4+@p\a', + b'\xab\"@@\a', + b'\xa0\x62\x41\x71\x07', + b'\xa0*@q\a', + b'\xab*@@\a', + b'\xb4"@0\a', + b'\xb4"@p\a', + b'\xab"@s\a', + b'\xab+@@\a', + b'\xb4"@r\a', + b'\xa0+@@\x07', + b'\xa0\"@\x80\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbd\xfb\xe0\x80\x00', + b'\xbe\xf2@\x80\x00', + b'\xbf\xe2\x40\x80\x00', + b'\xbf\xf2@\x80\x00', + b'\xbe\xf2@p\x00', + b'\xbd\xf2@`\x00', + b'\xbd\xf2@\x81\000', + b'\xbe\xfb\xe0p\000', + b'\xbf\xfb\xe0b\x00', + ], + }, + CAR.OUTBACK_PREGLOBAL_2018: { + (Ecu.esp, 0x7b0, None): [ + b'\x8b\x97\xac\x00', + b'\x8b\x9a\xac\x00', + b'\x9b\x97\xac\x00', + b'\x8b\x97\xbc\x00', + b'\x8b\x99\xac\x00', + b'\x9b\x9a\xac\000', + b'\x9b\x97\xbe\x10', + ], + (Ecu.eps, 0x746, None): [ + b'{\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00df\x1f@ \n', + b'\x00\x00d\xfe\x1f@ \x15', + b'\x00\x00d\x95\x00\x00\x00\x00', + b'\x00\x00d\x95\x1f@ \x0f', + b'\x00\x00d\xfe\x00\x00\x00\x00', + b'\x00\x00e\x19\x1f@ \x15', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb5"@p\a', + b'\xb5+@@\a', + b'\xb5"@P\a', + b'\xc4"@0\a', + b'\xb5b@1\x07', + b'\xb5q\xe0@\a', + b'\xc4+@0\a', + b'\xc4b@p\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbc\xf2@\x81\x00', + b'\xbc\xfb\xe0\x80\x00', + b'\xbc\xf2@\x80\x00', + b'\xbb\xf2@`\x00', + b'\xbc\xe2@\x80\x00', + b'\xbc\xfb\xe0`\x00', + b'\xbc\xaf\xe0`\x00', + b'\xbb\xfb\xe0`\000', + ], + }, +} + +STEER_THRESHOLD = { + CAR.ASCENT: 80, + CAR.IMPREZA: 80, + CAR.IMPREZA_2020: 80, + CAR.FORESTER: 80, + CAR.FORESTER_PREGLOBAL: 75, + CAR.LEGACY_PREGLOBAL: 75, + CAR.OUTBACK_PREGLOBAL: 75, + CAR.OUTBACK_PREGLOBAL_2018: 75, +} + +DBC = { + CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None), + CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None), + CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None), + CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None), + CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None), + CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), + CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), + CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None), +} + +PREGLOBAL_CARS = [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018] diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml new file mode 100644 index 000000000..8e6f62c4e --- /dev/null +++ b/selfdrive/car/torque_data/override.yaml @@ -0,0 +1,30 @@ +legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION] +### angle control +# Nissan appears to have torque +NISSAN X-TRAIL 2017: [.nan, 1.5, .nan] +NISSAN ALTIMA 2020: [.nan, 1.5, .nan] +NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] +NISSAN LEAF 2018: [.nan, 1.5, .nan] +NISSAN ROGUE 2019: [.nan, 1.5, .nan] + +# Tesla has high torque +TESLA AP1 MODEL S: [.nan, 2.5, .nan] +TESLA AP2 MODEL S: [.nan, 2.5, .nan] + +# Guess +FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan] +FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] +### + +# No steering wheel +COMMA BODY: [.nan, 1000, .nan] + +# Totally new cars +KIA EV6 2022: [3.5, 2.5, 0.0] +RAM 1500 5TH GEN: [2.0, 2.0, 0.0] + +# Dashcam or fallback configured as ideal car +mock: [10.0, 10, 0.0] + +# Manually checked +HONDA CIVIC 2022: [2.5, 1.2, 0.15] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml new file mode 100644 index 000000000..160f60548 --- /dev/null +++ b/selfdrive/car/torque_data/params.yaml @@ -0,0 +1,96 @@ +ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028] +ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844] +ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] +AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] +AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] +CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] +CHRYSLER PACIFICA 2018: [1.593387270257916, 1.3366521181047952, 0.13776367250652022] +CHRYSLER PACIFICA 2020: [1.4323553627965695, 1.509076559398423, 0.14328246159386085] +CHRYSLER PACIFICA HYBRID 2017: [1.3032470208409048, 1.06831764583744, 0.13287170990024627] +CHRYSLER PACIFICA HYBRID 2018: [1.6068280248761635, 1.2943025830995154, 0.1358557824293823] +CHRYSLER PACIFICA HYBRID 2019: [1.4624643614072217, 1.1958788168371808, 0.15748488008472716] +GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221] +GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644] +HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807] +HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149] +HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094] +HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] +HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] +HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528] +HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083] +HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281] +HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] +HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] +HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] +HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284] +HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] +HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] +HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171] +HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] +HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] +HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] +HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884] +HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651] +HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] +HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] +HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] +HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] +HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728] +HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] +JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185] +JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003] +KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716] +KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] +KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558] +KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202] +LEXUS ES 2019: [2.0203086922726112, 2.134803912579666, 0.12757526789308554] +LEXUS ES HYBRID 2019: [2.392442298703042, 1.863360677810788, 0.17690002108856212] +LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838] +LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] +LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017] +LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142] +LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.2093316728710659] +LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893] +LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114] +MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] +SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708] +SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745] +SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] +SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627] +TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] +TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492] +TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] +TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193] +TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] +TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.13519250664782062] +TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234] +TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756] +TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076] +TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652] +TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317] +TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526] +TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796] +TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457] +TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918] +TOYOTA HIGHLANDER HYBRID 2020: [2.103373061114133, 2.104015182965606, 0.14447040132184993] +TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565] +TOYOTA PRIUS 2017: [2.0183401513314294, 1.5023147650693636, 0.20856908464957724] +TOYOTA PRIUS TSS2 2021: [2.327639738920072, 1.9104337425537743, 0.2030762265549664] +TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975] +TOYOTA RAV4 2019: [2.5038362866776835, 2.0993589721530252, 0.1552425356342368] +TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918] +TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198] +TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] +TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632] +TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137] +TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774] +TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.1565442715453653] +TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736] +TOYOTA SIENNA 2018: [1.8660896232147548, 1.3208264576110418, 0.18799149615227198] +VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032] +VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] +VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] +VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712] +VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647] +VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916] +legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml new file mode 100644 index 000000000..d368b2c67 --- /dev/null +++ b/selfdrive/car/torque_data/substitute.yaml @@ -0,0 +1,75 @@ +MAZDA 3: MAZDA CX-9 2021 +MAZDA 6: MAZDA CX-9 2021 +MAZDA CX-5: MAZDA CX-9 2021 +MAZDA CX-5 2022: MAZDA CX-9 2021 +MAZDA CX-9: MAZDA CX-9 2021 + +TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018 +TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018 +TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017 +TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022 +TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018 +LEXUS IS 2018: LEXUS NX 2018 +LEXUS CT HYBRID 2018 : LEXUS NX 2018 +LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018 +LEXUS NX HYBRID 2020: LEXUS NX 2020 +LEXUS RC 2020: LEXUS NX 2020 +TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019 +TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022 + +KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020 +KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020 +KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 +KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 +KIA SELTOS 2021: HYUNDAI SONATA 2020 +KIA NIRO HYBRID 2019: KIA NIRO EV 2020 +KIA NIRO HYBRID 2021: KIA NIRO EV 2020 +HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 +HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019 +HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 +HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019 +HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 +HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 +HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 +HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 +HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 +HYUNDAI ELANTRA 2021: HYUNDAI SONATA 2020 +HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 +HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022 +GENESIS G90 2017: GENESIS G70 2018 +GENESIS G80 2017: GENESIS G70 2018 +GENESIS G70 2020: HYUNDAI SONATA 2020 + +HONDA FREED 2020: HONDA ODYSSEY 2018 +HONDA CR-V EU 2016: HONDA CR-V 2016 +HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019 +HONDA E 2020: HONDA CIVIC (BOSCH) 2019 +HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018 + +BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017 +CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017 +CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 +CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 +HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 + +SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN +SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN +SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN +SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN +SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN +VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN +VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN +VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN +VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN +AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN +VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN +VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN +SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN +SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN + +# Old subarus don't have much data guessing it's like low torque impreza +SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019 +SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019 +SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019 +SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019 +SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019 diff --git a/selfdrive/car/toyota/__init__.py b/selfdrive/car/toyota/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py new file mode 100644 index 000000000..4b891a7b1 --- /dev/null +++ b/selfdrive/car/toyota/carcontroller.py @@ -0,0 +1,168 @@ +from cereal import car +from common.numpy_fast import clip, interp +from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_interceptor_command, make_can_msg +from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ + create_accel_command, create_acc_cancel_command, \ + create_fcw_command, create_lta_steer_command +from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ + MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams +from opendbc.can.packer import CANPacker + +VisualAlert = car.CarControl.HUDControl.VisualAlert + +# constants for fault workaround +MAX_STEER_RATE = 100 # deg/s +MAX_STEER_RATE_FRAMES = 19 + +class CarController: + def __init__(self, dbc_name, CP, VM): + self.CP = CP + self.torque_rate_limits = CarControllerParams(self.CP) + self.frame = 0 + self.last_steer = 0 + self.alert_active = False + self.last_standstill = False + self.standstill_req = False + + self.steer_rate_counter = 0 + + self.packer = CANPacker(dbc_name) + self.gas = 0 + self.accel = 0 + + # dp + self.dp_toyota_sng = False + + def update(self, CC, CS, dragonconf): + if dragonconf is not None: + self.dp_toyota_sng = dragonconf.dpToyotaSng + actuators = CC.actuators + hud_control = CC.hudControl + pcm_cancel_cmd = CC.cruiseControl.cancel + + # gas and brake + if self.CP.enableGasInterceptor and CC.longActive: + MAX_INTERCEPTOR_GAS = 0.5 + # RAV4 has very sensitive gas pedal + if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH): + PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0]) + elif self.CP.carFingerprint in (CAR.COROLLA,): + PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0]) + else: + PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0]) + # offset for creep and windbrake + pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2]) + pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset) + interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS) + else: + interceptor_gas_cmd = 0. + pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + + # steer torque + new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) + apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) + + # EPS_STATUS->LKA_STATE either goes to 21 or 25 on rising edge of a steering fault and + # the value seems to describe how many frames the steering rate was above 100 deg/s, so + # cut torque with some margin for the lower state + if CC.latActive and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE: + self.steer_rate_counter += 1 + else: + self.steer_rate_counter = 0 + + apply_steer_req = 1 + + if not CC.latActive: + apply_steer = 0 + apply_steer_req = 0 + elif self.steer_rate_counter >= MAX_STEER_RATE_FRAMES: + apply_steer_req = 0 + self.steer_rate_counter = 0 + + # TODO: probably can delete this. CS.pcm_acc_status uses a different signal + # than CS.cruiseState.enabled. confirm they're not meaningfully different + if not CC.enabled and CS.pcm_acc_status: + pcm_cancel_cmd = 1 + + # on entering standstill, send standstill request + if CS.out.standstill and not self.last_standstill and self.CP.carFingerprint not in NO_STOP_TIMER_CAR: + self.standstill_req = True + if CS.pcm_acc_status != 8: + # pcm entered standstill or it's disabled + self.standstill_req = False + self.standstill_req = False if self.dp_toyota_sng else self.standstill_req + + self.last_steer = apply_steer + self.last_standstill = CS.out.standstill + + can_sends = [] + + # *** control msgs *** + # print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor) + + # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2; + # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed + # on consecutive messages + can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req)) + if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: + can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2)) + + # LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda + # if self.frame % 2 == 0: + # can_sends.append(create_steer_command(self.packer, 0, 0, self.frame // 2)) + # can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, self.frame // 2)) + + # we can spam can to cancel the system even if we are using lat only control + if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd: + lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged + + # Lexus IS uses a different cancellation message + if pcm_cancel_cmd and self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): + can_sends.append(create_acc_cancel_command(self.packer)) + elif self.CP.openpilotLongitudinalControl: + can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, CS.distance_btn)) + self.accel = pcm_accel_cmd + else: + can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, CS.distance_btn)) + + if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl: + # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. + # This prevents unexpected pedal range rescaling + can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2)) + self.gas = interceptor_gas_cmd + + # ui mesg is at 1Hz but we send asap if: + # - there is something to display + # - there is something to stop displaying + fcw_alert = hud_control.visualAlert == VisualAlert.fcw + steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) + + send_ui = False + if ((fcw_alert or steer_alert) and not self.alert_active) or \ + (not (fcw_alert or steer_alert) and self.alert_active): + send_ui = True + self.alert_active = not self.alert_active + elif pcm_cancel_cmd: + # forcing the pcm to disengage causes a bad fault sound so play a good sound instead + send_ui = True + + if (self.frame % 100 == 0 or send_ui) and (self.CP.carFingerprint != CAR.PRIUS_V): + can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, hud_control.leftLaneDepart, + hud_control.rightLaneDepart, CC.enabled)) + + if self.frame % 100 == 0 and self.CP.enableDsu: + can_sends.append(create_fcw_command(self.packer, fcw_alert)) + + # *** static msgs *** + for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS: + if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars: + can_sends.append(make_can_msg(addr, vl, bus)) + + new_actuators = actuators.copy() + new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + new_actuators.accel = self.accel + new_actuators.gas = self.gas + + self.frame += 1 + return new_actuators, can_sends diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py new file mode 100644 index 000000000..aaf55a180 --- /dev/null +++ b/selfdrive/car/toyota/carstate.py @@ -0,0 +1,426 @@ +from cereal import car +from common.conversions import Conversions as CV +from common.numpy_fast import mean +from common.filter_simple import FirstOrderFilter +from common.realtime import DT_CTRL +from opendbc.can.can_define import CANDefine +from opendbc.can.parser import CANParser +from selfdrive.car.interfaces import CarStateBase +from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE +from common.params import Params, put_nonblocking +import time +from math import floor + +# dp +DP_ACCEL_ECO = 0 +DP_ACCEL_NORMAL = 1 +DP_ACCEL_SPORT = 2 + +_TRAFFIC_SINGAL_MAP = { + 1: "kph", + 36: "mph", + 65: "No overtake", + 66: "No overtake" +} + + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"] + self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100. + + # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] + # the signal is zeroed to where the steering angle is at start. + # Need to apply an offset as soon as the steering angle measurements are both received + self.accurate_steer_angle_seen = False + self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False) + self._init_traffic_signals() + + self.low_speed_lockout = False + self.acc_type = 1 + + #dp + self.dp_accel_profile = None + self.dp_accel_profile_prev = None + self.dp_accel_profile_init = False + self.dp_toyota_ap_btn_link = Params().get_bool('dp_toyota_ap_btn_link') + # KRKeegan - Add support for toyota distance button + self.distance_btn = 0 + + def update(self, cp, cp_cam): + ret = car.CarState.new_message() + + ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"], + cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]]) + ret.seatbeltUnlatched = cp.vl["BODY_CONTROL_STATE"]["SEATBELT_DRIVER_UNLATCHED"] != 0 + ret.parkingBrake = cp.vl["BODY_CONTROL_STATE"]["PARKING_BRAKE"] == 1 + + ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0 + #ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1 + ret.brakeLightsDEPRECATED = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0) + if self.CP.enableGasInterceptor: + ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2 + ret.gasPressed = ret.gas > 805 + else: + # TODO: find a new, common signal + msg = "GAS_PEDAL_HYBRID" if (self.CP.flags & ToyotaFlags.HYBRID) else "GAS_PEDAL" + ret.gas = cp.vl[msg]["GAS_PEDAL"] + ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0 + + ret.wheelSpeeds = self.get_wheel_speeds( + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"], + cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"], + ) + ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + + ret.standstill = ret.vEgoRaw < 0.001 + + ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"] + torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] + + # On some cars, the angle measurement is non-zero while initializing + if abs(torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]): + self.accurate_steer_angle_seen = True + + if self.accurate_steer_angle_seen: + # Offset seems to be invalid for large steering angles + if abs(ret.steeringAngleDeg) < 90 and cp.can_valid: + self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg) + + if self.angle_offset.initialized: + ret.steeringAngleOffsetDeg = self.angle_offset.x + ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x + + ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"] + + can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"]) + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) + + #dp: Thank you Arne (acceleration) + if self.dp_toyota_ap_btn_link: + if self.CP.carFingerprint in TSS2_CAR: + sport_on = cp.vl["GEAR_PACKET"]['SPORT_ON'] + econ_on = cp.vl["GEAR_PACKET"]['ECON_ON'] + if self.CP.carFingerprint == CAR.RAV4_TSS2: + sport_on = cp.vl["GEAR_PACKET"]['SPORT_ON_2'] + else: + try: + sport_on = cp.vl["GEAR_PACKET"]['SPORT_ON'] + except KeyError: + sport_on = 0 + if sport_on == 0 and econ_on == 0: + self.dp_accel_profile = DP_ACCEL_NORMAL + elif sport_on == 1: + self.dp_accel_profile = DP_ACCEL_SPORT + elif econ_on == 1: + self.dp_accel_profile = DP_ACCEL_ECO + + # if init is false, we sync profile with whatever mode we have on car + if not self.dp_accel_profile_init or self.dp_accel_profile != self.dp_accel_profile_prev: + put_nonblocking('dp_accel_profile', str(self.dp_accel_profile)) + put_nonblocking('dp_last_modified',str(floor(time.time()))) + self.dp_accel_profile_init = True + self.dp_accel_profile_prev = self.dp_accel_profile + + #dp + ret.engineRPM = cp.vl["ENGINE_RPM"]['RPM'] + + ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1 + ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2 + + ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] + ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale + # we could use the override bit from dbc, but it's triggered at too high torque values + ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD + # steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds + ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25) + # 17 is a fault from a prolonged high torque delta between cmd and user + ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17 + + if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): + ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0 + ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS + else: + ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0 + ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS + + if self.CP.carFingerprint in RADAR_ACC_CAR: + self.acc_type = cp.vl["ACC_CONTROL"]["ACC_TYPE"] + ret.stockFcw = bool(cp.vl["ACC_HUD"]["FCW"]) + elif self.CP.carFingerprint in TSS2_CAR: + self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"] + ret.stockFcw = bool(cp_cam.vl["ACC_HUD"]["FCW"]) + + # KRKeegan - Add support for toyota distance button + self.distance_btn = 1 if cp_cam.vl["ACC_CONTROL"]["DISTANCE"] == 1 else 0 + ret.distanceLines = cp.vl["PCM_CRUISE_SM"]["DISTANCE_LINES"] + + # some TSS2 cars have low speed lockout permanently set, so ignore on those cars + # these cars are identified by an ACC_TYPE value of 2. + # TODO: it is possible to avoid the lockout and gain stop and go if you + # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1 + if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in (CAR.LEXUS_IS, CAR.LEXUS_RC)) or \ + (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1): + self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2 + + self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] + if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor: + # ignore standstill in hybrid vehicles, since pcm allows to restart without + # receiving any special command. Also if interceptor is detected + ret.cruiseState.standstill = False + else: + ret.cruiseState.standstill = self.pcm_acc_status == 7 + ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"]) + ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6) + + ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"]) + ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5) + + ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0 + + if self.CP.enableBsm: + ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1) + ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1) + + ret.cruiseActualEnabled = ret.cruiseState.enabled + self._update_traffic_signals(cp_cam) + ret.cruiseState.speedLimit = self._calculate_speed_limit() + + return ret + + def _init_traffic_signals(self): + self._tsgn1 = None + self._spdval1 = None + self._splsgn1 = None + self._tsgn2 = None + self._splsgn2 = None + self._tsgn3 = None + self._splsgn3 = None + self._tsgn4 = None + self._splsgn4 = None + + def _update_traffic_signals(self, cp_cam): + # Print out car signals for traffic signal detection + tsgn1 = cp_cam.vl["RSA1"]['TSGN1'] + spdval1 = cp_cam.vl["RSA1"]['SPDVAL1'] + splsgn1 = cp_cam.vl["RSA1"]['SPLSGN1'] + tsgn2 = cp_cam.vl["RSA1"]['TSGN2'] + splsgn2 = cp_cam.vl["RSA1"]['SPLSGN2'] + tsgn3 = cp_cam.vl["RSA2"]['TSGN3'] + splsgn3 = cp_cam.vl["RSA2"]['SPLSGN3'] + tsgn4 = cp_cam.vl["RSA2"]['TSGN4'] + splsgn4 = cp_cam.vl["RSA2"]['SPLSGN4'] + + has_changed = tsgn1 != self._tsgn1 \ + or spdval1 != self._spdval1 \ + or splsgn1 != self._splsgn1 \ + or tsgn2 != self._tsgn2 \ + or splsgn2 != self._splsgn2 \ + or tsgn3 != self._tsgn3 \ + or splsgn3 != self._splsgn3 \ + or tsgn4 != self._tsgn4 \ + or splsgn4 != self._splsgn4 + + self._tsgn1 = tsgn1 + self._spdval1 = spdval1 + self._splsgn1 = splsgn1 + self._tsgn2 = tsgn2 + self._splsgn2 = splsgn2 + self._tsgn3 = tsgn3 + self._splsgn3 = splsgn3 + self._tsgn4 = tsgn4 + self._splsgn4 = splsgn4 + + if not has_changed: + return + + print('---- TRAFFIC SIGNAL UPDATE -----') + if tsgn1 is not None and tsgn1 != 0: + print(f'TSGN1: {self._traffic_signal_description(tsgn1)}') + if spdval1 is not None and spdval1 != 0: + print(f'SPDVAL1: {spdval1}') + if splsgn1 is not None and splsgn1 != 0: + print(f'SPLSGN1: {splsgn1}') + if tsgn2 is not None and tsgn2 != 0: + print(f'TSGN2: {self._traffic_signal_description(tsgn2)}') + if splsgn2 is not None and splsgn2 != 0: + print(f'SPLSGN2: {splsgn2}') + if tsgn3 is not None and tsgn3 != 0: + print(f'TSGN3: {self._traffic_signal_description(tsgn3)}') + if splsgn3 is not None and splsgn3 != 0: + print(f'SPLSGN3: {splsgn3}') + if tsgn4 is not None and tsgn4 != 0: + print(f'TSGN4: {self._traffic_signal_description(tsgn4)}') + if splsgn4 is not None and splsgn4 != 0: + print(f'SPLSGN4: {splsgn4}') + print('------------------------') + + def _traffic_signal_description(self, tsgn): + desc = _TRAFFIC_SINGAL_MAP.get(int(tsgn)) + return f'{tsgn}: {desc}' if desc is not None else f'{tsgn}' + + def _calculate_speed_limit(self): + if self._tsgn1 == 1: + return self._spdval1 * CV.KPH_TO_MS + if self._tsgn1 == 36: + return self._spdval1 * CV.MPH_TO_MS + return 0 + + @staticmethod + def get_can_parser(CP): + signals = [ + # sig_name, sig_address + ("STEER_ANGLE", "STEER_ANGLE_SENSOR"), + ("GEAR", "GEAR_PACKET"), + ("BRAKE_PRESSED", "BRAKE_MODULE"), + ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), + ("DOOR_OPEN_FL", "BODY_CONTROL_STATE"), + ("DOOR_OPEN_FR", "BODY_CONTROL_STATE"), + ("DOOR_OPEN_RL", "BODY_CONTROL_STATE"), + ("DOOR_OPEN_RR", "BODY_CONTROL_STATE"), + ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"), + ("PARKING_BRAKE", "BODY_CONTROL_STATE"), + ("TC_DISABLED", "ESP_CONTROL"), + #("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"), + ("STEER_FRACTION", "STEER_ANGLE_SENSOR"), + ("STEER_RATE", "STEER_ANGLE_SENSOR"), + ("CRUISE_ACTIVE", "PCM_CRUISE"), + ("CRUISE_STATE", "PCM_CRUISE"), + ("GAS_RELEASED", "PCM_CRUISE"), + ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"), + ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"), + ("STEER_ANGLE", "STEER_TORQUE_SENSOR"), + ("STEER_ANGLE_INITIALIZING", "STEER_TORQUE_SENSOR"), + ("TURN_SIGNALS", "BLINKERS_STATE"), + ("LKA_STATE", "EPS_STATUS"), + ("AUTO_HIGH_BEAM", "LIGHT_STALK"), + #dp + ("SPORT_ON", "GEAR_PACKET"), + ("ECON_ON", "GEAR_PACKET"), + ("RPM", "ENGINE_RPM"), + ("BRAKE_LIGHTS_ACC", "ESP_CONTROL"), + ] + + checks = [ + ("GEAR_PACKET", 1), + ("LIGHT_STALK", 1), + ("BLINKERS_STATE", 0.15), + ("BODY_CONTROL_STATE", 3), + ("ESP_CONTROL", 3), + ("EPS_STATUS", 25), + ("BRAKE_MODULE", 40), + ("WHEEL_SPEEDS", 80), + ("STEER_ANGLE_SENSOR", 80), + ("PCM_CRUISE", 33), + ("STEER_TORQUE_SENSOR", 50), + #dp + ("ENGINE_RPM", 100), + ] + + if CP.flags & ToyotaFlags.HYBRID: + signals.append(("GAS_PEDAL", "GAS_PEDAL_HYBRID")) + checks.append(("GAS_PEDAL_HYBRID", 33)) + else: + signals.append(("GAS_PEDAL", "GAS_PEDAL")) + checks.append(("GAS_PEDAL", 33)) + + #dp acceleration + if CP.carFingerprint == CAR.RAV4_TSS2: + signals.append(("SPORT_ON_2", "GEAR_PACKET")) + + if CP.carFingerprint in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.CHR_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.RAV4H_TSS2, CAR.MIRAI, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.CHRH): + signals.append(("SPORT_ON", "GEAR_PACKET")) + signals.append(("ECON_ON", "GEAR_PACKET")) + + if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): + signals.append(("MAIN_ON", "DSU_CRUISE")) + signals.append(("SET_SPEED", "DSU_CRUISE")) + checks.append(("DSU_CRUISE", 5)) + else: + signals.append(("MAIN_ON", "PCM_CRUISE_2")) + signals.append(("SET_SPEED", "PCM_CRUISE_2")) + signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2")) + checks.append(("PCM_CRUISE_2", 33)) + + # add gas interceptor reading if we are using it + if CP.enableGasInterceptor: + signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR")) + signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) + checks.append(("GAS_SENSOR", 50)) + + if CP.enableBsm: + signals += [ + ("L_ADJACENT", "BSM"), + ("L_APPROACHING", "BSM"), + ("R_ADJACENT", "BSM"), + ("R_APPROACHING", "BSM"), + ] + checks.append(("BSM", 1)) + + if CP.carFingerprint in RADAR_ACC_CAR: + signals += [ + ("ACC_TYPE", "ACC_CONTROL"), + ("FCW", "ACC_HUD"), + ] + checks += [ + ("ACC_CONTROL", 33), + ("ACC_HUD", 1), + ] + + # KRKeegan - Add support for toyota distance button + if CP.carFingerprint in TSS2_CAR: + signals.append(("DISTANCE_LINES", "PCM_CRUISE_SM")) + checks.append(("PCM_CRUISE_SM", 0)) + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + + @staticmethod + def get_cam_can_parser(CP): + signals = [ + ("FORCE", "PRE_COLLISION"), + ("PRECOLLISION_ACTIVE", "PRE_COLLISION"), + ] + + # Include traffic singal signals. + signals += [ + ("TSGN1", "RSA1", 0), + ("SPDVAL1", "RSA1", 0), + ("SPLSGN1", "RSA1", 0), + ("TSGN2", "RSA1", 0), + ("SPLSGN2", "RSA1", 0), + ("TSGN3", "RSA2", 0), + ("SPLSGN3", "RSA2", 0), + ("TSGN4", "RSA2", 0), + ("SPLSGN4", "RSA2", 0), + ] + + # use steering message to check if panda is connected to frc + checks = [ + ("STEERING_LKA", 42), + ("RSA1", 0), + ("RSA2", 0), + ("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent + ] + + if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): + signals += [ + ("ACC_TYPE", "ACC_CONTROL"), + ("FCW", "ACC_HUD"), + ] + checks += [ + ("ACC_CONTROL", 33), + ("ACC_HUD", 1), + ] + + # KRKeegan - Add support for toyota distance button + signals.append(("DISTANCE", "ACC_CONTROL", 0)) + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py new file mode 100644 index 000000000..c71f1eb6d --- /dev/null +++ b/selfdrive/car/toyota/interface.py @@ -0,0 +1,307 @@ +#!/usr/bin/env python3 +from cereal import car +from common.conversions import Conversions as CV +from panda import Panda +from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune +from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car.interfaces import CarInterfaceBase +from common.params import Params + +EventName = car.CarEvent.EventName + +CRUISE_OVERRIDE_SPEED_LIMIT = 30 * CV.KPH_TO_MS +CRUISE_OVERRIDE_SPEED_MIN = 5 * CV.KPH_TO_MS + + +class CarInterface(CarInterfaceBase): + def __init__(self, CP, CarController, CarState): + super().__init__(CP, CarController, CarState) + + self.dp_cruise_speed = 0. + + @staticmethod + def get_pid_accel_limits(CP, current_speed, cruise_speed): + return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX + + @staticmethod + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value + ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + + ret.carName = "toyota" + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] + ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] + + if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH): + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE + + ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay + ret.steerLimitTimer = 0.4 + ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop + + stop_and_go = False + steering_angle_deadzone_deg = 0.0 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) + + if candidate == CAR.PRIUS: + stop_and_go = True + ret.wheelbase = 2.70 + ret.steerRatio = 15.74 # unknown end-to-end spec + tire_stiffness_factor = 0.6371 # hand-tune + ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG + # Only give steer angle deadzone to for bad angle sensor prius + for fw in car_fw: + if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': + steering_angle_deadzone_deg = 1.0 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) + + elif candidate == CAR.PRIUS_V: + stop_and_go = True + ret.wheelbase = 2.78 + ret.steerRatio = 17.4 + tire_stiffness_factor = 0.5533 + ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) + + elif candidate in (CAR.RAV4, CAR.RAV4H): + stop_and_go = True if (candidate in CAR.RAV4H) else False + ret.wheelbase = 2.65 + ret.steerRatio = 16.88 # 14.5 is spec end-to-end + tire_stiffness_factor = 0.5533 + ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + + elif candidate == CAR.COROLLA: + ret.wheelbase = 2.70 + ret.steerRatio = 18.27 + tire_stiffness_factor = 0.444 # not optimized yet + ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + + elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2): + stop_and_go = True + ret.wheelbase = 2.79 + ret.steerRatio = 16. # 14.8 is spec end-to-end + ret.wheelSpeedFactor = 1.035 + tire_stiffness_factor = 0.5533 + ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max + set_lat_tune(ret.lateralTuning, LatTunes.PID_C) + + elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2): + stop_and_go = True + ret.wheelbase = 2.63906 + ret.steerRatio = 13.6 + tire_stiffness_factor = 0.7933 + ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG + set_lat_tune(ret.lateralTuning, LatTunes.PID_F) + + elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): + stop_and_go = True + ret.wheelbase = 2.82448 + ret.steerRatio = 13.7 + tire_stiffness_factor = 0.7933 + ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): + set_lat_tune(ret.lateralTuning, LatTunes.PID_C) + + elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): + stop_and_go = True + ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in + ret.steerRatio = 16.0 + tire_stiffness_factor = 0.8 + ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + set_lat_tune(ret.lateralTuning, LatTunes.PID_G) + + elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): + # starting from 2019, all Avalon variants have stop and go + # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf + stop_and_go = candidate != CAR.AVALON + ret.wheelbase = 2.82 + ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download + tire_stiffness_factor = 0.7983 + ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + set_lat_tune(ret.lateralTuning, LatTunes.PID_H) + + elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): + stop_and_go = True + ret.wheelbase = 2.68986 + ret.steerRatio = 14.3 + tire_stiffness_factor = 0.7933 + ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid + set_lat_tune(ret.lateralTuning, LatTunes.PID_D) + + # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. + # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 + for fw in car_fw: + if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): + set_lat_tune(ret.lateralTuning, LatTunes.PID_I) + break + + elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): + stop_and_go = True + ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback + ret.steerRatio = 13.9 + tire_stiffness_factor = 0.444 # not optimized yet + ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG + + elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH): + stop_and_go = True + ret.wheelbase = 2.8702 + ret.steerRatio = 16.0 # not optimized + tire_stiffness_factor = 0.444 # not optimized yet + ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max + set_lat_tune(ret.lateralTuning, LatTunes.PID_D) + + elif candidate == CAR.SIENNA: + stop_and_go = True + ret.wheelbase = 3.03 + ret.steerRatio = 15.5 + tire_stiffness_factor = 0.444 + ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG + set_lat_tune(ret.lateralTuning, LatTunes.PID_J) + + elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC): + ret.wheelbase = 2.79908 + ret.steerRatio = 13.3 + tire_stiffness_factor = 0.444 + ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG + set_lat_tune(ret.lateralTuning, LatTunes.PID_L) + + elif candidate == CAR.LEXUS_CTH: + stop_and_go = True + ret.wheelbase = 2.60 + ret.steerRatio = 18.6 + tire_stiffness_factor = 0.517 + ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max + set_lat_tune(ret.lateralTuning, LatTunes.PID_M) + + elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2): + stop_and_go = True + ret.wheelbase = 2.66 + ret.steerRatio = 14.7 + tire_stiffness_factor = 0.444 # not optimized yet + ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG + set_lat_tune(ret.lateralTuning, LatTunes.PID_C) + + elif candidate == CAR.PRIUS_TSS2: + stop_and_go = True + ret.wheelbase = 2.70002 # from toyota online sepc. + ret.steerRatio = 13.4 # True steerRatio from older prius + tire_stiffness_factor = 0.6371 # hand-tune + ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG + # set_lat_tune(ret.lateralTuning, LatTunes.PID_N) + set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS_TSS2) + ret.steerActuatorDelay = 0.3 + #ret.steerRateCost = 1.25 + ret.steerLimitTimer = 0.5 + + elif candidate == CAR.MIRAI: + stop_and_go = True + ret.wheelbase = 2.91 + ret.steerRatio = 14.8 + tire_stiffness_factor = 0.8 + ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG + set_lat_tune(ret.lateralTuning, LatTunes.PID_C) + + elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): + stop_and_go = True + ret.wheelbase = 3.00 + ret.steerRatio = 14.2 + tire_stiffness_factor = 0.444 + ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG + set_lat_tune(ret.lateralTuning, LatTunes.PID_J) + + ret.centerToFront = ret.wheelbase * 0.44 + + # TODO: get actual value, for now starting with reasonable value for + # civic and scaling by mass and wheelbase + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + + # TODO: start from empirically derived lateral slip stiffness for the civic and scale by + # mass and CG position, so all cars will have approximately similar dyn behaviors + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, + tire_stiffness_factor=tire_stiffness_factor) + + ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR + # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it + smartDsu = 0x2FF in fingerprint[0] + # In TSS2 cars the camera does long control + found_ecus = [fw.ecu for fw in car_fw] + ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu) + ret.enableGasInterceptor = 0x201 in fingerprint[0] + # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") + ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) + + if int(Params().get("dp_atl").decode('utf-8')) == 1: + ret.openpilotLongitudinalControl = False + + if candidate == CAR.CHR_TSS2: + ret.enableBsm = True + if smartDsu and int(Params().get("dp_atl").decode('utf-8')) == 2: + ret.openpilotLongitudinalControl = True + + if not ret.openpilotLongitudinalControl: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL + + # we can't use the fingerprint to detect this reliably, since + # the EV gas pedal signal can take a couple seconds to appear + if candidate in EV_HYBRID_CAR: + ret.flags |= ToyotaFlags.HYBRID.value + + # min speed to enable ACC. if car can do stop and go, then set enabling speed + # to a negative value, so it won't matter. + ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED + + if ret.enableGasInterceptor: + set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL) + elif candidate in TSS2_CAR: + set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) + ret.vEgoStopping = 0.2 # car is near 0.1 to 0.2 when car starts requesting stopping accel + ret.vEgoStarting = 0.2 # needs to be > or == vEgoStopping + ret.stopAccel = -2.0 # Toyota requests -0.4 when stopped + ret.stoppingDecelRate = 0.8 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4 + ret.longitudinalActuatorDelayLowerBound = 0.3 + ret.longitudinalActuatorDelayUpperBound = 0.3 + else: + set_long_tune(ret.longitudinalTuning, LongTunes.TSS) + + return ret + + # returns a car.CarState + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam) + + # dp + ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret) + + # low speed re-write + if self.dragonconf.dpToyotaCruiseOverride and self.CP.openpilotLongitudinalControl \ + and ret.cruiseActualEnabled and ret.cruiseState.speed <= CRUISE_OVERRIDE_SPEED_LIMIT: + if self.dp_cruise_speed == 0.: + self.dp_cruise_speed = self.dp_cruise_speed = max(CRUISE_OVERRIDE_SPEED_MIN, ret.vEgo) + else: + ret.cruiseState.speed = self.dp_cruise_speed + else: + self.dp_cruise_speed = 0. + + # events + events = self.create_common_events(ret) + events = self.dp_atl_warning(ret, events) + + if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl: + events.add(EventName.lowSpeedLockout) + if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl: + events.add(EventName.belowEngageSpeed) + if c.actuators.accel > 0.3: + # some margin on the actuator to not false trigger cancellation while stopping + events.add(EventName.speedTooLow) + if ret.vEgo < 0.001: + # while in standstill, send a user alert + events.add(EventName.manualRestart) + + ret.events = events.to_msg() + + return ret + + # pass in a car.CarControl + # to be called @ 100hz + def apply(self, c): + return self.CC.update(c, self.CS, self.dragonconf) diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py new file mode 100755 index 000000000..8c87704ff --- /dev/null +++ b/selfdrive/car/toyota/radar_interface.py @@ -0,0 +1,106 @@ +#!/usr/bin/env python3 +from opendbc.can.parser import CANParser +from cereal import car +from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR +from selfdrive.car.interfaces import RadarInterfaceBase + + +def _create_radar_can_parser(car_fingerprint): + if DBC[car_fingerprint]['radar'] is None: + return None + + if car_fingerprint in TSS2_CAR: + RADAR_A_MSGS = list(range(0x180, 0x190)) + RADAR_B_MSGS = list(range(0x190, 0x1a0)) + else: + RADAR_A_MSGS = list(range(0x210, 0x220)) + RADAR_B_MSGS = list(range(0x220, 0x230)) + + msg_a_n = len(RADAR_A_MSGS) + msg_b_n = len(RADAR_B_MSGS) + + signals = list(zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n + + ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n, + RADAR_A_MSGS * 5 + RADAR_B_MSGS)) + + checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n))) + + return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) + +class RadarInterface(RadarInterfaceBase): + def __init__(self, CP): + super().__init__(CP) + self.track_id = 0 + self.radar_ts = CP.radarTimeStep + + if CP.carFingerprint in TSS2_CAR: + self.RADAR_A_MSGS = list(range(0x180, 0x190)) + self.RADAR_B_MSGS = list(range(0x190, 0x1a0)) + else: + self.RADAR_A_MSGS = list(range(0x210, 0x220)) + self.RADAR_B_MSGS = list(range(0x220, 0x230)) + + self.valid_cnt = {key: 0 for key in self.RADAR_A_MSGS} + + self.rcp = _create_radar_can_parser(CP.carFingerprint) + self.trigger_msg = self.RADAR_B_MSGS[-1] + self.updated_messages = set() + + # No radar dbc for cars without DSU which are not TSS 2.0 + # TODO: make a adas dbc file for dsu-less models + self.no_radar = CP.carFingerprint in NO_DSU_CAR and CP.carFingerprint not in TSS2_CAR + + def update(self, can_strings): + if self.no_radar or self.rcp is None: + return super().update(None) + + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) + + if self.trigger_msg not in self.updated_messages: + return None + + rr = self._update(self.updated_messages) + self.updated_messages.clear() + + return rr + + def _update(self, updated_messages): + ret = car.RadarData.new_message() + errors = [] + if not self.rcp.can_valid: + errors.append("canError") + ret.errors = errors + + for ii in sorted(updated_messages): + if ii in self.RADAR_A_MSGS: + cpt = self.rcp.vl[ii] + + if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']: + self.valid_cnt[ii] = 0 # reset counter + if cpt['VALID'] and cpt['LONG_DIST'] < 255: + self.valid_cnt[ii] += 1 + else: + self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0) + + score = self.rcp.vl[ii+16]['SCORE'] + # print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST'] + + # radar point only valid if it's a valid measurement and score is above 50 + if cpt['VALID'] or (score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0): + if ii not in self.pts or cpt['NEW_TRACK']: + self.pts[ii] = car.RadarData.RadarPoint.new_message() + self.pts[ii].trackId = self.track_id + self.track_id += 1 + self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car + self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive + self.pts[ii].vRel = cpt['REL_SPEED'] + self.pts[ii].aRel = float('nan') + self.pts[ii].yvRel = float('nan') + self.pts[ii].measured = bool(cpt['VALID']) + else: + if ii in self.pts: + del self.pts[ii] + + ret.points = list(self.pts.values()) + return ret diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py new file mode 100644 index 000000000..7c0fe2654 --- /dev/null +++ b/selfdrive/car/toyota/toyotacan.py @@ -0,0 +1,99 @@ +def create_steer_command(packer, steer, steer_req): + """Creates a CAN message for the Toyota Steer Command.""" + + values = { + "STEER_REQUEST": steer_req, + "STEER_TORQUE_CMD": steer, + "SET_ME_1": 1, + } + return packer.make_can_msg("STEERING_LKA", 0, values) + + +def create_lta_steer_command(packer, steer, steer_req, raw_cnt): + """Creates a CAN message for the Toyota LTA Steer Command.""" + + values = { + "COUNTER": raw_cnt + 128, + "SETME_X1": 1, + "SETME_X3": 3, + "PERCENTAGE": 100, + "SETME_X64": 0x64, + "ANGLE": 0, + "STEER_ANGLE_CMD": steer, + "STEER_REQUEST": steer_req, + "STEER_REQUEST_2": steer_req, + "BIT": 0, + } + return packer.make_can_msg("STEERING_LTA", 0, values) + + +def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, distance): + # TODO: find the exact canceling bit that does not create a chime + values = { + "ACCEL_CMD": accel, + "ACC_TYPE": acc_type, + "DISTANCE": distance, + "MINI_CAR": lead, + "PERMIT_BRAKING": 1, + "RELEASE_STANDSTILL": not standstill_req, + "CANCEL_REQ": pcm_cancel, + "ALLOW_LONG_PRESS": 1, + } + return packer.make_can_msg("ACC_CONTROL", 0, values) + + +def create_acc_cancel_command(packer): + values = { + "GAS_RELEASED": 0, + "CRUISE_ACTIVE": 0, + "STANDSTILL_ON": 0, + "ACCEL_NET": 0, + "CRUISE_STATE": 0, + "CANCEL_REQ": 1, + } + return packer.make_can_msg("PCM_CRUISE", 0, values) + + +def create_fcw_command(packer, fcw): + values = { + "PCS_INDICATOR": 1, + "FCW": fcw, + "SET_ME_X20": 0x20, + "SET_ME_X10": 0x10, + "PCS_OFF": 1, + "PCS_SENSITIVITY": 0, + } + return packer.make_can_msg("ACC_HUD", 0, values) + + +def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled): + values = { + "TWO_BEEPS": chime, + "LDA_ALERT": steer, + "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2, + "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2, + "BARRIERS" : 1 if enabled else 0, + + # static signals + "SET_ME_X02": 2, + "SET_ME_X01": 1, + "LKAS_STATUS": 1, + "REPEATED_BEEPS": 0, + "LANE_SWAY_FLD": 7, + "LANE_SWAY_BUZZER": 0, + "LANE_SWAY_WARNING": 0, + "LDA_FRONT_CAMERA_BLOCKED": 0, + "TAKE_CONTROL": 0, + "LANE_SWAY_SENSITIVITY": 2, + "LANE_SWAY_TOGGLE": 1, + "LDA_ON_MESSAGE": 0, + "LDA_SPEED_TOO_LOW": 0, + "LDA_SA_TOGGLE": 1, + "LDA_SENSITIVITY": 2, + "LDA_UNAVAILABLE": 0, + "LDA_MALFUNCTION": 0, + "LDA_UNAVAILABLE_QUIET": 0, + "ADJUSTING_CAMERA": 0, + "LDW_EXIST": 1, + } + return packer.make_can_msg("LKAS_HUD", 0, values) diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py new file mode 100644 index 000000000..4c86b6f79 --- /dev/null +++ b/selfdrive/car/toyota/tunes.py @@ -0,0 +1,116 @@ +#!/usr/bin/env python3 +from enum import Enum + +class LongTunes(Enum): + PEDAL = 0 + TSS2 = 1 + TSS = 2 + +class LatTunes(Enum): + INDI_PRIUS = 0 + LQR_RAV4 = 1 + PID_A = 2 + PID_B = 3 + PID_C = 4 + PID_D = 5 + PID_E = 6 + PID_F = 7 + PID_G = 8 + PID_I = 9 + PID_H = 10 + PID_J = 11 + PID_K = 12 + PID_L = 13 + PID_M = 14 + PID_N = 15 + + INDI_PRIUS_TSS2 = 16 + + +###### LONG ###### +def set_long_tune(tune, name): + # Improved longitudinal tune + if name == LongTunes.TSS2 or name == LongTunes.PEDAL: + tune.deadzoneBP = [0., 8.05] + tune.deadzoneV = [.0, .14] + tune.kpBP = [0., 5., 20.] + tune.kpV = [1.3, 1.0, 0.7] + tune.kiBP = [0., 5., 12., 20., 27.] + tune.kiV = [.35, .23, .20, .17, .1] + # Default longitudinal tune + elif name == LongTunes.TSS: + tune.deadzoneBP = [0., 9.] + tune.deadzoneV = [0., .15] + tune.kpBP = [0., 5., 35.] + tune.kiBP = [0., 35.] + tune.kpV = [3.6, 2.4, 1.5] + tune.kiV = [0.54, 0.36] + else: + raise NotImplementedError('This longitudinal tune does not exist') + + +###### LAT ###### +def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True): + + if name == LatTunes.INDI_PRIUS_TSS2: + tune.init('indi') + tune.indi.innerLoopGainBP = [20, 24, 30] + tune.indi.innerLoopGainV = [7.25, 7.5, 9] + tune.indi.outerLoopGainBP = [20, 24, 30] + tune.indi.outerLoopGainV = [6, 7.25, 6] + tune.indi.timeConstantBP = [20, 24] + tune.indi.timeConstantV = [2.0, 2.2] + tune.indi.actuatorEffectivenessBP = [20, 24] + tune.indi.actuatorEffectivenessV = [2, 3] + elif 'PID' in str(name): + tune.init('pid') + tune.pid.kiBP = [0.0] + tune.pid.kpBP = [0.0] + if name == LatTunes.PID_A: + tune.pid.kpV = [0.2] + tune.pid.kiV = [0.05] + tune.pid.kf = 0.00003 + elif name == LatTunes.PID_C: + tune.pid.kpV = [0.6] + tune.pid.kiV = [0.1] + tune.pid.kf = 0.00006 + elif name == LatTunes.PID_D: + tune.pid.kpV = [0.6] + tune.pid.kiV = [0.1] + tune.pid.kf = 0.00007818594 + elif name == LatTunes.PID_F: + tune.pid.kpV = [0.723] + tune.pid.kiV = [0.0428] + tune.pid.kf = 0.00006 + elif name == LatTunes.PID_G: + tune.pid.kpV = [0.18] + tune.pid.kiV = [0.015] + tune.pid.kf = 0.00012 + elif name == LatTunes.PID_H: + tune.pid.kpV = [0.17] + tune.pid.kiV = [0.03] + tune.pid.kf = 0.00006 + elif name == LatTunes.PID_I: + tune.pid.kpV = [0.15] + tune.pid.kiV = [0.05] + tune.pid.kf = 0.00004 + elif name == LatTunes.PID_J: + tune.pid.kpV = [0.19] + tune.pid.kiV = [0.02] + tune.pid.kf = 0.00007818594 + elif name == LatTunes.PID_L: + tune.pid.kpV = [0.3] + tune.pid.kiV = [0.05] + tune.pid.kf = 0.00006 + elif name == LatTunes.PID_M: + tune.pid.kpV = [0.3] + tune.pid.kiV = [0.05] + tune.pid.kf = 0.00007 + elif name == LatTunes.PID_N: + tune.pid.kpV = [0.35] + tune.pid.kiV = [0.15] + tune.pid.kf = 0.00007818594 + else: + raise NotImplementedError('This PID tune does not exist') + else: + raise NotImplementedError('This lateral tune does not exist') diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py new file mode 100644 index 000000000..7e73f45c7 --- /dev/null +++ b/selfdrive/car/toyota/values.py @@ -0,0 +1,1992 @@ +from collections import defaultdict +from dataclasses import dataclass +from enum import Enum, IntFlag +from typing import Dict, List, Union + +from cereal import car +from common.conversions import Conversions as CV +from selfdrive.car import dbc_dict +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, Star + +Ecu = car.CarParams.Ecu +MIN_ACC_SPEED = 19. * CV.MPH_TO_MS +PEDAL_TRANSITION = 10. * CV.MPH_TO_MS + + +class CarControllerParams: + ACCEL_MAX = 1.5 # m/s2, lower than allowed 2.0 m/s2 for tuning reasons + ACCEL_MIN = -3.5 # m/s2 + + STEER_MAX = 1500 + STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor + + def __init__(self, CP): + if CP.lateralTuning.which == 'torque': + self.STEER_DELTA_UP = 15 # 1.0s time to peak torque + self.STEER_DELTA_DOWN = 25 # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50) + else: + self.STEER_DELTA_UP = 10 # 1.5s time to peak torque + self.STEER_DELTA_DOWN = 25 # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50) + + +class ToyotaFlags(IntFlag): + HYBRID = 1 + + +class CAR: + # Toyota + ALPHARD_TSS2 = "TOYOTA ALPHARD 2020" + ALPHARDH_TSS2 = "TOYOTA ALPHARD HYBRID 2021" + AVALON = "TOYOTA AVALON 2016" + AVALON_2019 = "TOYOTA AVALON 2019" + AVALONH_2019 = "TOYOTA AVALON HYBRID 2019" + AVALON_TSS2 = "TOYOTA AVALON 2022" # TSS 2.5 + AVALONH_TSS2 = "TOYOTA AVALON HYBRID 2022" + CAMRY = "TOYOTA CAMRY 2018" + CAMRYH = "TOYOTA CAMRY HYBRID 2018" + CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5 + CAMRYH_TSS2 = "TOYOTA CAMRY HYBRID 2021" + CHR = "TOYOTA C-HR 2018" + CHRH = "TOYOTA C-HR HYBRID 2018" + CHR_TSS2 = "TOYOTA C-HR 2021" + COROLLA = "TOYOTA COROLLA 2017" + COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019" + # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid + COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019" + HIGHLANDER = "TOYOTA HIGHLANDER 2017" + HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020" + HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018" + HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020" + PRIUS = "TOYOTA PRIUS 2017" + PRIUS_V = "TOYOTA PRIUS v 2017" + PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021" + RAV4 = "TOYOTA RAV4 2017" + RAV4H = "TOYOTA RAV4 HYBRID 2017" + RAV4_TSS2 = "TOYOTA RAV4 2019" + RAV4_TSS2_2022 = "TOYOTA RAV4 2022" + RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019" + RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022" + MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5 + SIENNA = "TOYOTA SIENNA 2018" + + # Lexus + LEXUS_CTH = "LEXUS CT HYBRID 2018" + LEXUS_ESH = "LEXUS ES HYBRID 2018" + LEXUS_ES_TSS2 = "LEXUS ES 2019" + LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019" + LEXUS_IS = "LEXUS IS 2018" + LEXUS_NX = "LEXUS NX 2018" + LEXUS_NXH = "LEXUS NX HYBRID 2018" + LEXUS_NX_TSS2 = "LEXUS NX 2020" + LEXUS_NXH_TSS2 = "LEXUS NX HYBRID 2020" + LEXUS_RC = "LEXUS RC 2020" + LEXUS_RX = "LEXUS RX 2016" + LEXUS_RXH = "LEXUS RX HYBRID 2017" + LEXUS_RX_TSS2 = "LEXUS RX 2020" + LEXUS_RXH_TSS2 = "LEXUS RX HYBRID 2020" + + +class Footnote(Enum): + DSU = CarFootnote( + "When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock " + + "Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).", + Column.LONGITUDINAL, star=Star.HALF) + CAMRY = CarFootnote( + "28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.", + Column.FSR_LONGITUDINAL) + + +@dataclass +class ToyotaCarInfo(CarInfo): + package: str = "All" + harness: Enum = Harness.toyota + + +CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { + # Toyota + CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"), + CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"), + CAR.AVALON: [ + ToyotaCarInfo("Toyota Avalon 2016", "TSS-P", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]), + ], + CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]), + CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", footnotes=[Footnote.DSU]), + CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"), + CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"), + CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), + CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk", footnotes=[Footnote.CAMRY]), + CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]), + CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"), + CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"), + CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"), + CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]), + CAR.COROLLA_TSS2: [ + ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), + ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-21", min_enable_speed=7.5), + ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), + ], + CAR.COROLLAH_TSS2: [ + ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"), + ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), + ToyotaCarInfo("Lexus UX Hybrid 2019-22"), + ], + CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]), + CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-22"), + CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]), + CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"), + CAR.PRIUS: [ + ToyotaCarInfo("Toyota Prius 2016", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), + ], + CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]), + CAR.PRIUS_TSS2: [ + ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), + ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), + ], + CAR.RAV4: [ + ToyotaCarInfo("Toyota RAV4 2016", "TSS-P", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU]) + ], + CAR.RAV4H: [ + ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]) + ], + CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), + CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"), + CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), + CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), + CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), + CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]), + + # Lexus + CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]), + CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]), + CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), + CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"), + CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), + CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]), + CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]), + CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), + CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"), + CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"), + CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]), + CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]), + CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"), + CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"), +} + +# (addr, cars, bus, 1/freq*100, vl) +STATIC_DSU_MSGS = [ + (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), + (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), + (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), + (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), + (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), + (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), + (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), + (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), + (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), +] + +FW_VERSIONS = { + CAR.CHR_TSS2: {(Ecu.esp, 0xfff, None): [b'\x00']}, + CAR.AVALON: { + (Ecu.esp, 0x7b0, None): [ + b'F152607060\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510701300\x00\x00\x00\x00', + b'881510705100\x00\x00\x00\x00', + b'881510705200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41051\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702000\x00\x00\x00\x00', + b'8821F4702100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0701100\x00\x00\x00\x00', + b'8646F0703000\x00\x00\x00\x00', + ], + }, + CAR.AVALON_2019: { + (Ecu.esp, 0x7b0, None): [ + b'F152607140\x00\x00\x00\x00\x00\x00', + b'F152607171\x00\x00\x00\x00\x00\x00', + b'F152607110\x00\x00\x00\x00\x00\x00', + b'F152607180\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510703200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41080\x00\x00\x00\x00\x00\x00', + b'8965B07010\x00\x00\x00\x00\x00\x00', + b'8965B41090\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896630725200\x00\x00\x00\x00', + b'\x01896630725300\x00\x00\x00\x00', + b'\x01896630735100\x00\x00\x00\x00', + b'\x01896630738000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0702100\x00\x00\x00\x00', + ], + }, + CAR.AVALONH_2019: { + (Ecu.esp, 0x7b0, None): [ + b'F152641040\x00\x00\x00\x00\x00\x00', + b'F152641061\x00\x00\x00\x00\x00\x00', + b'F152641050\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510704200\x00\x00\x00\x00', + b'881514107100\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B07010\x00\x00\x00\x00\x00\x00', + b'8965B41090\x00\x00\x00\x00\x00\x00', + b'8965B41070\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0702100\x00\x00\x00\x00', + ], + }, + CAR.AVALON_TSS2: { + (Ecu.esp, 0x7b0, None): [ + b'\x01F152607240\x00\x00\x00\x00\x00\x00', + b'\x01F152607280\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41110\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896630742000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + ], + }, + CAR.AVALONH_TSS2: { + (Ecu.esp, 0x7b0, None): [ + b'F152641080\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41110\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x018966306Q6000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + ], + }, + CAR.CAMRY: { + (Ecu.engine, 0x700, None): [ + b'\x018966306L3100\x00\x00\x00\x00', + b'\x018966306L4200\x00\x00\x00\x00', + b'\x018966306L5200\x00\x00\x00\x00', + b'\x018966306P8000\x00\x00\x00\x00', + b'\x018966306Q3100\x00\x00\x00\x00', + b'\x018966306Q4000\x00\x00\x00\x00', + b'\x018966306Q4100\x00\x00\x00\x00', + b'\x018966306Q4200\x00\x00\x00\x00', + b'\x018966333Q9200\x00\x00\x00\x00', + b'\x018966333P3100\x00\x00\x00\x00', + b'\x018966333P3200\x00\x00\x00\x00', + b'\x018966333P4200\x00\x00\x00\x00', + b'\x018966333P4300\x00\x00\x00\x00', + b'\x018966333P4400\x00\x00\x00\x00', + b'\x018966333P4500\x00\x00\x00\x00', + b'\x018966333P4700\x00\x00\x00\x00', + b'\x018966333P4900\x00\x00\x00\x00', + b'\x018966333Q6000\x00\x00\x00\x00', + b'\x018966333Q6200\x00\x00\x00\x00', + b'\x018966333Q6300\x00\x00\x00\x00', + b'\x018966333W6000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0602000 ', + b'8821F0603300 ', + b'8821F0604100 ', + b'8821F0605200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0609100 ', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152606210\x00\x00\x00\x00\x00\x00', + b'F152606230\x00\x00\x00\x00\x00\x00', + b'F152606270\x00\x00\x00\x00\x00\x00', + b'F152606290\x00\x00\x00\x00\x00\x00', + b'F152606410\x00\x00\x00\x00\x00\x00', + b'F152633540\x00\x00\x00\x00\x00\x00', + b'F152633A10\x00\x00\x00\x00\x00\x00', + b'F152633A20\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B33540\x00\x00\x00\x00\x00\x00', + b'8965B33542\x00\x00\x00\x00\x00\x00', + b'8965B33580\x00\x00\x00\x00\x00\x00', + b'8965B33581\x00\x00\x00\x00\x00\x00', + b'8965B33621\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ # Same as 0x791 + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0602000 ', + b'8821F0603300 ', + b'8821F0604100 ', + b'8821F0605200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0609100 ', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0601200 ', + b'8646F0601300 ', + b'8646F0601400 ', + b'8646F0603400 ', + b'8646F0604100 ', + b'8646F0605000 ', + b'8646F0606000 ', + b'8646F0606100 ', + b'8646F0607100 ', + ], + }, + CAR.CAMRYH: { + (Ecu.engine, 0x700, None): [ + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x018966333N1100\x00\x00\x00\x00', + b'\x018966333N4300\x00\x00\x00\x00', + b'\x018966333X0000\x00\x00\x00\x00', + b'\x018966333X4000\x00\x00\x00\x00', + b'\x01896633T16000\x00\x00\x00\x00', + b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152633214\x00\x00\x00\x00\x00\x00', + b'F152633660\x00\x00\x00\x00\x00\x00', + b'F152633712\x00\x00\x00\x00\x00\x00', + b'F152633713\x00\x00\x00\x00\x00\x00', + b'F152633B51\x00\x00\x00\x00\x00\x00', + b'F152633B60\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0603400 ', + b'8821F0604000 ', + b'8821F0604100 ', + b'8821F0604200 ', + b'8821F0605200 ', + b'8821F0606200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0609000 ', + b'8821F0609100 ', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B33540\x00\x00\x00\x00\x00\x00', + b'8965B33542\x00\x00\x00\x00\x00\x00', + b'8965B33550\x00\x00\x00\x00\x00\x00', + b'8965B33551\x00\x00\x00\x00\x00\x00', + b'8965B33580\x00\x00\x00\x00\x00\x00', + b'8965B33581\x00\x00\x00\x00\x00\x00', + b'8965B33611\x00\x00\x00\x00\x00\x00', + b'8965B33621\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ # Same as 0x791 + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0603400 ', + b'8821F0604000 ', + b'8821F0604100 ', + b'8821F0604200 ', + b'8821F0605200 ', + b'8821F0606200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0609000 ', + b'8821F0609100 ', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0601200 ', + b'8646F0601300 ', + b'8646F0601400 ', + b'8646F0603400 ', + b'8646F0603500 ', + b'8646F0604100 ', + b'8646F0605000 ', + b'8646F0606000 ', + b'8646F0606100 ', + b'8646F0607000 ', + b'8646F0607100 ', + ], + }, + CAR.CAMRY_TSS2: { + (Ecu.eps, 0x7a1, None): [ + b'8965B33630\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'\x01F152606370\x00\x00\x00\x00\x00\x00', + b'\x01F152606390\x00\x00\x00\x00\x00\x00', + b'\x01F152606400\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x018966306Q5000\x00\x00\x00\x00', + b'\x018966306T3100\x00\x00\x00\x00', + b'\x018966306T3200\x00\x00\x00\x00', + b'\x018966306T4000\x00\x00\x00\x00', + b'\x018966306T4100\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + ], + }, + CAR.CAMRYH_TSS2: { + (Ecu.eps, 0x7a1, None): [ + b'8965B33630\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152633D00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x018966306Q7000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 15): [ + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 109): [ + b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + ], + }, + CAR.CHR: { + (Ecu.engine, 0x700, None): [ + b'\x01896631021100\x00\x00\x00\x00', + b'\x01896631017100\x00\x00\x00\x00', + b'\x01896631017200\x00\x00\x00\x00', + b'\x0189663F413100\x00\x00\x00\x00', + b'\x0189663F414100\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'8821F0W01000 ', + b'8821F0W01100 ', + b'8821FF401600 ', + b'8821FF404000 ', + b'8821FF404100 ', + b'8821FF405100 ', + b'8821FF406000 ', + b'8821FF407100 ', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152610020\x00\x00\x00\x00\x00\x00', + b'F152610153\x00\x00\x00\x00\x00\x00', + b'F152610210\x00\x00\x00\x00\x00\x00', + b'F1526F4034\x00\x00\x00\x00\x00\x00', + b'F1526F4044\x00\x00\x00\x00\x00\x00', + b'F1526F4073\x00\x00\x00\x00\x00\x00', + b'F1526F4121\x00\x00\x00\x00\x00\x00', + b'F1526F4122\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B10011\x00\x00\x00\x00\x00\x00', + b'8965B10040\x00\x00\x00\x00\x00\x00', + b'8965B10070\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', + b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', + b'\x0331036000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', + b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00', + b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', + b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', + b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F0W01000 ', + b'8821FF401600 ', + b'8821FF404000 ', + b'8821FF404100 ', + b'8821FF405100 ', + b'8821FF406000 ', + b'8821FF407100 ', + b'8821F0W01100 ', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646FF401700 ', + b'8646FF401800 ', + b'8646FF404000 ', + b'8646FF406000 ', + b'8646FF407000 ', + ], + }, + CAR.CHRH: { + (Ecu.engine, 0x700, None): [ + b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0189663F438000\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152610012\x00\x00\x00\x00\x00\x00', + b'F152610013\x00\x00\x00\x00\x00\x00', + b'F152610014\x00\x00\x00\x00\x00\x00', + b'F152610040\x00\x00\x00\x00\x00\x00', + b'F152610190\x00\x00\x00\x00\x00\x00', + b'F152610200\x00\x00\x00\x00\x00\x00', + b'F152610230\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'8821F0W01000 ', + b'8821FF402300 ', + b'8821FF402400 ', + b'8821FF404000 ', + b'8821FF404100 ', + b'8821FF405000 ', + b'8821FF406000 ', + b'8821FF407100 ', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B10011\x00\x00\x00\x00\x00\x00', + b'8965B10020\x00\x00\x00\x00\x00\x00', + b'8965B10040\x00\x00\x00\x00\x00\x00', + b'8965B10050\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F0W01000 ', + b'8821FF402300 ', + b'8821FF402400 ', + b'8821FF404000 ', + b'8821FF404100 ', + b'8821FF405000 ', + b'8821FF406000 ', + b'8821FF407100 ', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646FF401700 ', + b'8646FF402100 ', + b'8646FF404000 ', + b'8646FF406000 ', + b'8646FF407000 ', + ], + }, + CAR.COROLLA: { + (Ecu.engine, 0x7e0, None): [ + b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230ZC2100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230ZC2200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230ZC2300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230ZC3000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230ZC3100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230ZC3200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230ZC3300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0330ZC1200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510201100\x00\x00\x00\x00', + b'881510201200\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152602190\x00\x00\x00\x00\x00\x00', + b'F152602191\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B02181\x00\x00\x00\x00\x00\x00', + b'8965B02191\x00\x00\x00\x00\x00\x00', + b'8965B48150\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0201101\x00\x00\x00\x00', + b'8646F0201200\x00\x00\x00\x00', + ], + }, + CAR.COROLLA_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x01896630ZG2000\x00\x00\x00\x00', + b'\x01896630ZG5000\x00\x00\x00\x00', + b'\x01896630ZG5100\x00\x00\x00\x00', + b'\x01896630ZG5200\x00\x00\x00\x00', + b'\x01896630ZG5300\x00\x00\x00\x00', + b'\x01896630ZP1000\x00\x00\x00\x00', + b'\x01896630ZP2000\x00\x00\x00\x00', + b'\x01896630ZQ5000\x00\x00\x00\x00', + b'\x01896630ZU9000\x00\x00\x00\x00', + b'\x018966312L8000\x00\x00\x00\x00', + b'\x018966312M0000\x00\x00\x00\x00', + b'\x018966312M9000\x00\x00\x00\x00', + b'\x018966312P9000\x00\x00\x00\x00', + b'\x018966312P9100\x00\x00\x00\x00', + b'\x018966312P9200\x00\x00\x00\x00', + b'\x018966312P9300\x00\x00\x00\x00', + b'\x018966312Q2300\x00\x00\x00\x00', + b'\x018966312Q8000\x00\x00\x00\x00', + b'\x018966312R0000\x00\x00\x00\x00', + b'\x018966312R0100\x00\x00\x00\x00', + b'\x018966312R1000\x00\x00\x00\x00', + b'\x018966312R1100\x00\x00\x00\x00', + b'\x018966312R3100\x00\x00\x00\x00', + b'\x018966312S5000\x00\x00\x00\x00', + b'\x018966312S7000\x00\x00\x00\x00', + b'\x018966312W3000\x00\x00\x00\x00', + b'\x018966312W9000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0230A10000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230A11000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230ZN4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x03312K7000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00', + b'\x03312M3000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00', + b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', + b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', + b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00', + b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', + b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00', + b'\x02312K4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02312U5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x018965B12350\x00\x00\x00\x00\x00\x00', + b'\x018965B12470\x00\x00\x00\x00\x00\x00', + b'\x018965B12490\x00\x00\x00\x00\x00\x00', + b'\x018965B12500\x00\x00\x00\x00\x00\x00', + b'\x018965B12520\x00\x00\x00\x00\x00\x00', + b'\x018965B12530\x00\x00\x00\x00\x00\x00', + b'\x018965B1255000\x00\x00\x00\x00', + b'8965B12361\x00\x00\x00\x00\x00\x00', + b'8965B16011\x00\x00\x00\x00\x00\x00', + b'\x018965B12510\x00\x00\x00\x00\x00\x00', + b'\x018965B1256000\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'\x01F152602280\x00\x00\x00\x00\x00\x00', + b'\x01F152602560\x00\x00\x00\x00\x00\x00', + b'\x01F152602590\x00\x00\x00\x00\x00\x00', + b'\x01F152602650\x00\x00\x00\x00\x00\x00', + b"\x01F15260A010\x00\x00\x00\x00\x00\x00", + b'\x01F15260A050\x00\x00\x00\x00\x00\x00', + b'\x01F152612641\x00\x00\x00\x00\x00\x00', + b'\x01F152612651\x00\x00\x00\x00\x00\x00', + b'\x01F152612B10\x00\x00\x00\x00\x00\x00', + b'\x01F152612B51\x00\x00\x00\x00\x00\x00', + b'\x01F152612B60\x00\x00\x00\x00\x00\x00', + b'\x01F152612B61\x00\x00\x00\x00\x00\x00', + b'\x01F152612B62\x00\x00\x00\x00\x00\x00', + b'\x01F152612B71\x00\x00\x00\x00\x00\x00', + b'\x01F152612B81\x00\x00\x00\x00\x00\x00', + b'\x01F152612B90\x00\x00\x00\x00\x00\x00', + b'\x01F152612C00\x00\x00\x00\x00\x00\x00', + b'F152602191\x00\x00\x00\x00\x00\x00', + b'\x01F152612862\x00\x00\x00\x00\x00\x00', + b'\x01F152612B91\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301100\x00\x00\x00\x00', + b'\x018821F3301200\x00\x00\x00\x00', + b'\x018821F3301300\x00\x00\x00\x00', + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', + b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', + b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', + b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F1201400\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, + CAR.COROLLAH_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x01896630ZJ1000\x00\x00\x00\x00', + b'\x01896630ZU8000\x00\x00\x00\x00', + b'\x01896637621000\x00\x00\x00\x00', + b'\x01896637624000\x00\x00\x00\x00', + b'\x01896637626000\x00\x00\x00\x00', + b'\x01896637648000\x00\x00\x00\x00', + b'\x01896637643000\x00\x00\x00\x00', + b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + 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b'\x01896630E43200\x00\x00\x00\x00', + b'\x01896630E44200\x00\x00\x00\x00', + b'\x01896630E45000\x00\x00\x00\x00', + b'\x01896630E45100\x00\x00\x00\x00', + b'\x01896630E45200\x00\x00\x00\x00', + b'\x01896630E46000\x00\x00\x00\x00', + b'\x01896630E46200\x00\x00\x00\x00', + b'\x01896630E74000\x00\x00\x00\x00', + b'\x01896630E75000\x00\x00\x00\x00', + b'\x01896630E76000\x00\x00\x00\x00', + b'\x01896630E77000\x00\x00\x00\x00', + b'\x01896630E83000\x00\x00\x00\x00', + b'\x01896630E84000\x00\x00\x00\x00', + b'\x01896630E85000\x00\x00\x00\x00', + b'\x01896630E86000\x00\x00\x00\x00', + b'\x01896630E88000\x00\x00\x00\x00', + b'\x01896630EA0000\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B48140\x00\x00\x00\x00\x00\x00', + b'8965B48150\x00\x00\x00\x00\x00\x00', + b'8965B48210\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [b'F15260E011\x00\x00\x00\x00\x00\x00'], + (Ecu.dsu, 0x791, None): [ + b'881510E01100\x00\x00\x00\x00', + b'881510E01200\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0E01200\x00\x00\x00\x00', + b'8646F0E01300\x00\x00\x00\x00', + ], + }, + CAR.HIGHLANDERH: { + (Ecu.eps, 0x7a1, None): [ + b'8965B48160\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152648541\x00\x00\x00\x00\x00\x00', + b'F152648542\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0E01200\x00\x00\x00\x00', + b'8646F0E01300\x00\x00\x00\x00', + ], + }, + CAR.HIGHLANDER_TSS2: { + (Ecu.eps, 0x7a1, None): [ + b'8965B48241\x00\x00\x00\x00\x00\x00', + b'8965B48310\x00\x00\x00\x00\x00\x00', + b'8965B48320\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'\x01F15260E051\x00\x00\x00\x00\x00\x00', + b'\x01F15260E061\x00\x00\x00\x00\x00\x00', + b'\x01F15260E110\x00\x00\x00\x00\x00\x00', + b'\x01F15260E170\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896630E62100\x00\x00\x00\x00', + b'\x01896630E62200\x00\x00\x00\x00', + b'\x01896630E64100\x00\x00\x00\x00', + b'\x01896630E64200\x00\x00\x00\x00', + b'\x01896630EB1000\x00\x00\x00\x00', + b'\x01896630EB1100\x00\x00\x00\x00', + b'\x01896630EB1200\x00\x00\x00\x00', + b'\x01896630EB2000\x00\x00\x00\x00', + b'\x01896630EB2100\x00\x00\x00\x00', + b'\x01896630EB2200\x00\x00\x00\x00', + b'\x01896630EC4000\x00\x00\x00\x00', + b'\x01896630ED9000\x00\x00\x00\x00', + b'\x01896630EE1000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + ], + }, + CAR.HIGHLANDERH_TSS2: { + (Ecu.eps, 0x7a1, None): [ + b'8965B48241\x00\x00\x00\x00\x00\x00', + b'8965B48310\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'\x01F15264872300\x00\x00\x00\x00', + b'\x01F15264872400\x00\x00\x00\x00', + b'\x01F15264872500\x00\x00\x00\x00', + b'\x01F15264873500\x00\x00\x00\x00', + b'\x01F152648C6300\x00\x00\x00\x00', + b'\x01F152648J4000\x00\x00\x00\x00', + b'\x01F152648J6000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896630EE4000\x00\x00\x00\x00', + b'\x01896630EE6000\x00\x00\x00\x00', + b'\x01896630E67000\x00\x00\x00\x00', + b'\x01896630EA1000\x00\x00\x00\x00', + b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_IS: { + (Ecu.engine, 0x700, None): [ + b'\x018966353M7000\x00\x00\x00\x00', + b'\x018966353M7100\x00\x00\x00\x00', + b'\x018966353Q2000\x00\x00\x00\x00', + b'\x018966353Q2300\x00\x00\x00\x00', + b'\x018966353Q4000\x00\x00\x00\x00', + b'\x018966353R1100\x00\x00\x00\x00', + b'\x018966353R7100\x00\x00\x00\x00', + b'\x018966353R8100\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0232480000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02353P7000\x00\x00\x00\x00\x00\x00\x00\x00530J5000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02353P9000\x00\x00\x00\x00\x00\x00\x00\x00553C1000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152653300\x00\x00\x00\x00\x00\x00', + b'F152653301\x00\x00\x00\x00\x00\x00', + b'F152653310\x00\x00\x00\x00\x00\x00', + b'F152653330\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881515306200\x00\x00\x00\x00', + b'881515306400\x00\x00\x00\x00', + b'881515306500\x00\x00\x00\x00', + b'881515307400\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B53270\x00\x00\x00\x00\x00\x00', + b'8965B53271\x00\x00\x00\x00\x00\x00', + b'8965B53280\x00\x00\x00\x00\x00\x00', + b'8965B53281\x00\x00\x00\x00\x00\x00', + b'8965B53311\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + b'8821F4702100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F5301101\x00\x00\x00\x00', + b'8646F5301200\x00\x00\x00\x00', + b'8646F5301300\x00\x00\x00\x00', + b'8646F5301400\x00\x00\x00\x00', + ], + }, + CAR.PRIUS: { + (Ecu.engine, 0x700, None): [ + b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634761200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634762000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634763000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634763100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634765000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634765100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634769000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634769100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634769200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634770000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634774000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634774100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634774200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634782000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634784000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347A0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347A5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347A8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347B0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x03896634759100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', + b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', + b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00', + b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00', + b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701002\x00\x00\x00\x00', + b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', + b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00', + b'\x03896634760100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', + b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', + b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00', + b'\x03896634760300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00', + b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703001\x00\x00\x00\x00', + b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00', + b'\x03896634768100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00', + b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00', + b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', + b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00', + b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', + b'\x03896634789000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00', + b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', + b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00', + b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', + b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B47021\x00\x00\x00\x00\x00\x00', + b'8965B47022\x00\x00\x00\x00\x00\x00', + b'8965B47023\x00\x00\x00\x00\x00\x00', + b'8965B47050\x00\x00\x00\x00\x00\x00', + b'8965B47060\x00\x00\x00\x00\x00\x00', # This is the EPS with good angle sensor + ], + (Ecu.esp, 0x7b0, None): [ + b'F152647290\x00\x00\x00\x00\x00\x00', + b'F152647300\x00\x00\x00\x00\x00\x00', + b'F152647310\x00\x00\x00\x00\x00\x00', + b'F152647414\x00\x00\x00\x00\x00\x00', + b'F152647415\x00\x00\x00\x00\x00\x00', + b'F152647416\x00\x00\x00\x00\x00\x00', + b'F152647417\x00\x00\x00\x00\x00\x00', + b'F152647470\x00\x00\x00\x00\x00\x00', + b'F152647490\x00\x00\x00\x00\x00\x00', + b'F152647682\x00\x00\x00\x00\x00\x00', + b'F152647683\x00\x00\x00\x00\x00\x00', + b'F152647684\x00\x00\x00\x00\x00\x00', + b'F152647862\x00\x00\x00\x00\x00\x00', + b'F152647863\x00\x00\x00\x00\x00\x00', + b'F152647864\x00\x00\x00\x00\x00\x00', + b'F152647865\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881514702300\x00\x00\x00\x00', + b'881514702400\x00\x00\x00\x00', + b'881514703100\x00\x00\x00\x00', + b'881514704100\x00\x00\x00\x00', + b'881514706000\x00\x00\x00\x00', + b'881514706100\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702000\x00\x00\x00\x00', + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F4701300\x00\x00\x00\x00', + b'8646F4702001\x00\x00\x00\x00', + b'8646F4702100\x00\x00\x00\x00', + b'8646F4702200\x00\x00\x00\x00', + b'8646F4705000\x00\x00\x00\x00', + b'8646F4705200\x00\x00\x00\x00', + ], + }, + CAR.PRIUS_V: { + (Ecu.esp, 0x7b0, None): [ + b'F152647280\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0234781000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881514705100\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F4703300\x00\x00\x00\x00', + ], + }, + CAR.RAV4: { + (Ecu.engine, 0x7e0, None): [ + b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02342Q1200\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02342Q1300\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02342Q2000\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02342Q2100\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02342Q2200\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02342Q4000\x00\x00\x00\x00\x00\x00\x00\x0054215000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B42063\x00\x00\x00\x00\x00\x00', + b'8965B42073\x00\x00\x00\x00\x00\x00', + b'8965B42082\x00\x00\x00\x00\x00\x00', + b'8965B42083\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F15260R102\x00\x00\x00\x00\x00\x00', + b'F15260R103\x00\x00\x00\x00\x00\x00', + b'F152642493\x00\x00\x00\x00\x00\x00', + b'F152642492\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881514201200\x00\x00\x00\x00', + b'881514201300\x00\x00\x00\x00', + b'881514201400\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702000\x00\x00\x00\x00', + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F4201100\x00\x00\x00\x00', + b'8646F4201200\x00\x00\x00\x00', + b'8646F4202001\x00\x00\x00\x00', + b'8646F4202100\x00\x00\x00\x00', + b'8646F4204000\x00\x00\x00\x00', + ], + }, + CAR.RAV4H: { + (Ecu.engine, 0x7e0, None): [ + b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02342P0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B42102\x00\x00\x00\x00\x00\x00', + b'8965B42103\x00\x00\x00\x00\x00\x00', + b'8965B42112\x00\x00\x00\x00\x00\x00', + b'8965B42162\x00\x00\x00\x00\x00\x00', + b'8965B42163\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152642090\x00\x00\x00\x00\x00\x00', + b'F152642110\x00\x00\x00\x00\x00\x00', + b'F152642120\x00\x00\x00\x00\x00\x00', + b'F152642400\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881514202200\x00\x00\x00\x00', + b'881514202300\x00\x00\x00\x00', + b'881514202400\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702000\x00\x00\x00\x00', + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F4201100\x00\x00\x00\x00', + b'8646F4201200\x00\x00\x00\x00', + b'8646F4202001\x00\x00\x00\x00', + b'8646F4202100\x00\x00\x00\x00', + b'8646F4204000\x00\x00\x00\x00', + ], + }, + CAR.RAV4_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x01896630R58000\x00\x00\x00\x00', + b'\x01896630R58100\x00\x00\x00\x00', + b'\x018966342E2000\x00\x00\x00\x00', + b'\x018966342M8000\x00\x00\x00\x00', + b'\x018966342S9000\x00\x00\x00\x00', + b'\x018966342T1000\x00\x00\x00\x00', + b'\x018966342T6000\x00\x00\x00\x00', + b'\x018966342T9000\x00\x00\x00\x00', + b'\x018966342U4000\x00\x00\x00\x00', + b'\x018966342U4100\x00\x00\x00\x00', + b'\x018966342U5100\x00\x00\x00\x00', + b'\x018966342V0000\x00\x00\x00\x00', + b'\x018966342V3000\x00\x00\x00\x00', + b'\x018966342V3100\x00\x00\x00\x00', + b'\x018966342V3200\x00\x00\x00\x00', + b'\x01896634A05000\x00\x00\x00\x00', + b'\x01896634A19000\x00\x00\x00\x00', + b'\x01896634A19100\x00\x00\x00\x00', + b'\x01896634A20000\x00\x00\x00\x00', + b'\x01896634A20100\x00\x00\x00\x00', + b'\x01896634A22000\x00\x00\x00\x00', + b'\x01896634A22100\x00\x00\x00\x00', + b'\x01896634A30000\x00\x00\x00\x00', + b'\x01896634A44000\x00\x00\x00\x00', + b'\x01896634A45000\x00\x00\x00\x00', + b'\x01896634A46000\x00\x00\x00\x00', + b'\x028966342M7000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', + b'\x028966342T0000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', + b'\x028966342V1000\x00\x00\x00\x00897CF1202001\x00\x00\x00\x00', + b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', + b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', + b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', + b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00', + b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'\x01F15260R210\x00\x00\x00\x00\x00\x00', + b'\x01F15260R220\x00\x00\x00\x00\x00\x00', + b'\x01F15260R290\x00\x00\x00\x00\x00\x00', + b'\x01F15260R300\x00\x00\x00\x00\x00\x00', + b'\x01F15260R302\x00\x00\x00\x00\x00\x00', + b'\x01F152642551\x00\x00\x00\x00\x00\x00', + b'\x01F152642561\x00\x00\x00\x00\x00\x00', + b'\x01F152642700\x00\x00\x00\x00\x00\x00', + b'\x01F152642701\x00\x00\x00\x00\x00\x00', + b'\x01F152642710\x00\x00\x00\x00\x00\x00', + b'\x01F152642711\x00\x00\x00\x00\x00\x00', + b'\x01F152642750\x00\x00\x00\x00\x00\x00', + b'\x01F152642751\x00\x00\x00\x00\x00\x00', + b'\x01F15260R292\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B42170\x00\x00\x00\x00\x00\x00', + b'8965B42171\x00\x00\x00\x00\x00\x00', + b'8965B42180\x00\x00\x00\x00\x00\x00', + b'8965B42181\x00\x00\x00\x00\x00\x00', + b'\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00', + b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00', + b'\x028965B0R01400\x00\x00\x00\x008965B0R02400\x00\x00\x00\x00', + ], + 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b'881517601100\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152676144\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0237635000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F7601100\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_ES_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x018966306U6000\x00\x00\x00\x00', + b'\x01896630EC9100\x00\x00\x00\x00', + b'\x018966333T5000\x00\x00\x00\x00', + b'\x018966333T5100\x00\x00\x00\x00', + b'\x018966333X6000\x00\x00\x00\x00', + b'\x01896633T07000\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'\x01F152606281\x00\x00\x00\x00\x00\x00', + b'\x01F152606340\x00\x00\x00\x00\x00\x00', + b'\x01F152606461\x00\x00\x00\x00\x00\x00', + b'\x01F15260E031\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B33252\x00\x00\x00\x00\x00\x00', + 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CAR.LEXUS_NX: { + (Ecu.engine, 0x700, None): [ + b'\x01896637850000\x00\x00\x00\x00', + b'\x01896637851000\x00\x00\x00\x00', + b'\x01896637852000\x00\x00\x00\x00', + b'\x01896637854000\x00\x00\x00\x00', + b'\x01896637878000\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152678130\x00\x00\x00\x00\x00\x00', + b'F152678140\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881517803100\x00\x00\x00\x00', + b'881517803300\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B78060\x00\x00\x00\x00\x00\x00', + b'8965B78080\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F7801100\x00\x00\x00\x00', + b'8646F7801300\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_NX_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x018966378B2100\x00\x00\x00\x00', + b'\x018966378B3000\x00\x00\x00\x00', + b'\x018966378G3000\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'\x01F152678221\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B78120\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b"\x018821F3301400\x00\x00\x00\x00", + b'\x018821F3301200\x00\x00\x00\x00', + b'\x018821F3301300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_NXH_TSS2: { + (Ecu.engine, 0x7e0, None): [ + b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152678210\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B78120\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_NXH: { + (Ecu.engine, 0x7e0, None): [ + b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0237842000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0237880000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152678160\x00\x00\x00\x00\x00\x00', + b'F152678170\x00\x00\x00\x00\x00\x00', + b'F152678171\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881517804300\x00\x00\x00\x00', + b'881517804100\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B78060\x00\x00\x00\x00\x00\x00', + b'8965B78080\x00\x00\x00\x00\x00\x00', + b'8965B78100\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + b'8821F4702100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F7801300\x00\x00\x00\x00', + b'8646F7801100\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_RC: { + (Ecu.engine, 0x7e0, None): [ + b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152624221\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881512409100\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B24081\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F2402200\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_RX: { + (Ecu.engine, 0x700, None): [ + b'\x01896630E36200\x00\x00\x00\x00', + b'\x01896630E36300\x00\x00\x00\x00', + b'\x01896630E37200\x00\x00\x00\x00', + b'\x01896630E37300\x00\x00\x00\x00', + b'\x01896630E41000\x00\x00\x00\x00', + b'\x01896630E41100\x00\x00\x00\x00', + b'\x01896630E41200\x00\x00\x00\x00', + b'\x01896630E41500\x00\x00\x00\x00', + b'\x01896630EA3100\x00\x00\x00\x00', + b'\x01896630EA3400\x00\x00\x00\x00', + b'\x01896630EA4100\x00\x00\x00\x00', + b'\x01896630EA4300\x00\x00\x00\x00', + b'\x01896630EA4400\x00\x00\x00\x00', + b'\x01896630EA6300\x00\x00\x00\x00', + b'\x018966348R1300\x00\x00\x00\x00', + b'\x018966348R8500\x00\x00\x00\x00', + b'\x018966348W1300\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152648472\x00\x00\x00\x00\x00\x00', + b'F152648473\x00\x00\x00\x00\x00\x00', + b'F152648492\x00\x00\x00\x00\x00\x00', + b'F152648493\x00\x00\x00\x00\x00\x00', + b'F152648474\x00\x00\x00\x00\x00\x00', + b'F152648630\x00\x00\x00\x00\x00\x00', + b'F152648494\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881514810300\x00\x00\x00\x00', + b'881514810500\x00\x00\x00\x00', + b'881514810700\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B0E011\x00\x00\x00\x00\x00\x00', + b'8965B0E012\x00\x00\x00\x00\x00\x00', + b'8965B48102\x00\x00\x00\x00\x00\x00', + b'8965B48111\x00\x00\x00\x00\x00\x00', + b'8965B48112\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4701000\x00\x00\x00\x00', + b'8821F4701100\x00\x00\x00\x00', + b'8821F4701200\x00\x00\x00\x00', + b'8821F4701300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F4801100\x00\x00\x00\x00', + b'8646F4801200\x00\x00\x00\x00', + b'8646F4802001\x00\x00\x00\x00', + b'8646F4802100\x00\x00\x00\x00', + b'8646F4802200\x00\x00\x00\x00', + b'8646F4809000\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_RXH: { + (Ecu.engine, 0x7e0, None): [ + b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152648361\x00\x00\x00\x00\x00\x00', + b'F152648501\x00\x00\x00\x00\x00\x00', + b'F152648502\x00\x00\x00\x00\x00\x00', + b'F152648504\x00\x00\x00\x00\x00\x00', + b'F152648740\x00\x00\x00\x00\x00\x00', + b'F152648A30\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881514811300\x00\x00\x00\x00', + b'881514811500\x00\x00\x00\x00', + b'881514811700\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B0E011\x00\x00\x00\x00\x00\x00', + b'8965B0E012\x00\x00\x00\x00\x00\x00', + b'8965B48111\x00\x00\x00\x00\x00\x00', + b'8965B48112\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4701000\x00\x00\x00\x00', + b'8821F4701100\x00\x00\x00\x00', + b'8821F4701200\x00\x00\x00\x00', + b'8821F4701300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F4801200\x00\x00\x00\x00', + b'8646F4802001\x00\x00\x00\x00', + b'8646F4802100\x00\x00\x00\x00', + b'8646F4802200\x00\x00\x00\x00', + b'8646F4809000\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_RX_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x01896630EA9000\x00\x00\x00\x00', + b'\x01896630EB0000\x00\x00\x00\x00', + b'\x01896630EC9000\x00\x00\x00\x00', + b'\x01896630ED0000\x00\x00\x00\x00', + b'\x01896630ED0100\x00\x00\x00\x00', + b'\x01896630ED6000\x00\x00\x00\x00', + b'\x018966348W5100\x00\x00\x00\x00', + b'\x018966348W9000\x00\x00\x00\x00', + b'\x01896634D12000\x00\x00\x00\x00', + b'\x01896634D12100\x00\x00\x00\x00', + b'\x01896634D43000\x00\x00\x00\x00', + b'\x01896634D44000\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'\x01F15260E031\x00\x00\x00\x00\x00\x00', + b'\x01F15260E041\x00\x00\x00\x00\x00\x00', + b'\x01F152648781\x00\x00\x00\x00\x00\x00', + b'\x01F152648801\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B48261\x00\x00\x00\x00\x00\x00', + b'8965B48271\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301100\x00\x00\x00\x00', + b'\x018821F3301300\x00\x00\x00\x00', + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_RXH_TSS2: { + (Ecu.engine, 0x7e0, None): [ + b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152648831\x00\x00\x00\x00\x00\x00', + b'F152648891\x00\x00\x00\x00\x00\x00', + b'F152648D00\x00\x00\x00\x00\x00\x00', + b'F152648D60\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B48271\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + ], + }, + CAR.PRIUS_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', + b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', + b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', + b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152647500\x00\x00\x00\x00\x00\x00', + b'F152647510\x00\x00\x00\x00\x00\x00', + b'F152647520\x00\x00\x00\x00\x00\x00', + b'F152647521\x00\x00\x00\x00\x00\x00', + b'F152647531\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B47070\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + ], + }, + CAR.MIRAI: { + (Ecu.esp, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',], + (Ecu.esp, 0x7B0, None): [ # a second ESP ECU + b'\x01F15266203200\x00\x00\x00\x00', + b'\x01F15266203500\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',], + (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',], + (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',], + }, + CAR.ALPHARD_TSS2: { + (Ecu.engine, 0x7e0, None): [ + b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B58040\x00\x00\x00\x00\x00\x00', + b'8965B58052\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301200\x00\x00\x00\x00', + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', + b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, + CAR.ALPHARDH_TSS2: { + (Ecu.engine, 0x7e0, None): [ + b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B58040\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152658341\x00\x00\x00\x00\x00\x00' + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, +} + +STEER_THRESHOLD = 100 + +DBC = { + CAR.RAV4H: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.RAV4: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_RXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + CAR.CHRH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None), + CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + CAR.CAMRYH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.CAMRYH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.HIGHLANDERH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + CAR.AVALONH_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), + CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), + CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_NXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.ALPHARDH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), +} + +# These cars have non-standard EPS torque scale factors. All others are 73 +EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) + +# Toyota/Lexus Safety Sense 2.0 and 2.5 +TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, + CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2} + +NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} + +# these cars have a radar which sends ACC messages instead of the camera +RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022} + +EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, + CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, + CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} + +# no resume button press required +NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py new file mode 100755 index 000000000..5ace68649 --- /dev/null +++ b/selfdrive/car/vin.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python3 +import re +import struct +import traceback + +import cereal.messaging as messaging +import panda.python.uds as uds +from panda.python.uds import FUNCTIONAL_ADDRS +from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from system.swaglog import cloudlog + +OBD_VIN_REQUEST = b'\x09\x02' +OBD_VIN_RESPONSE = b'\x49\x02\x01' + +UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN) +UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN) + +VIN_UNKNOWN = "0" * 17 +VIN_RE = "[A-HJ-NPR-Z0-9]{17}" + + +def is_valid_vin(vin: str): + return re.fullmatch(VIN_RE, vin) is not None + + +def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): + for i in range(retry): + for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)): + try: + query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [request, ], [response, ], functional_addr=True, debug=debug) + for (addr, rx_addr), vin in query.get_data(timeout).items(): + + # Honda Bosch response starts with a length, trim to correct length + if vin.startswith(b'\x11'): + vin = vin[1:18] + + return addr[0], rx_addr, vin.decode() + print(f"vin query retry ({i+1}) ...") + except Exception: + cloudlog.warning(f"VIN query exception: {traceback.format_exc()}") + + return 0, 0, VIN_UNKNOWN + + +if __name__ == "__main__": + import time + sendcan = messaging.pub_sock('sendcan') + logcan = messaging.sub_sock('can') + time.sleep(1) + addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, debug=False) + print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}') diff --git a/selfdrive/car/volkswagen/__init__.py b/selfdrive/car/volkswagen/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py new file mode 100644 index 000000000..99a3ce55f --- /dev/null +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -0,0 +1,93 @@ +from cereal import car +from opendbc.can.packer import CANPacker +from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car.volkswagen import volkswagencan +from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, CarControllerParams as P + +VisualAlert = car.CarControl.HUDControl.VisualAlert + + +class CarController: + def __init__(self, dbc_name, CP, VM): + self.CP = CP + self.apply_steer_last = 0 + self.frame = 0 + + self.packer_pt = CANPacker(DBC_FILES.mqb) + + self.hcaSameTorqueCount = 0 + self.hcaEnabledFrameCount = 0 + + def update(self, CC, CS, ext_bus): + actuators = CC.actuators + hud_control = CC.hudControl + + can_sends = [] + + # **** Steering Controls ************************************************ # + + if self.frame % P.HCA_STEP == 0: + # Logic to avoid HCA state 4 "refused": + # * Don't steer unless HCA is in state 3 "ready" or 5 "active" + # * Don't steer at standstill + # * Don't send > 3.00 Newton-meters torque + # * Don't send the same torque for > 6 seconds + # * Don't send uninterrupted steering for > 360 seconds + # One frame of HCA disabled is enough to reset the timer, without zeroing the + # torque value. Do that anytime we happen to have 0 torque, or failing that, + # when exceeding ~1/3 the 360 second timer. + + if CC.latActive: + new_steer = int(round(actuators.steer * P.STEER_MAX)) + apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P) + if apply_steer == 0: + hcaEnabled = False + self.hcaEnabledFrameCount = 0 + else: + self.hcaEnabledFrameCount += 1 + if self.hcaEnabledFrameCount >= 118 * (100 / P.HCA_STEP): # 118s + hcaEnabled = False + self.hcaEnabledFrameCount = 0 + else: + hcaEnabled = True + if self.apply_steer_last == apply_steer: + self.hcaSameTorqueCount += 1 + if self.hcaSameTorqueCount > 1.9 * (100 / P.HCA_STEP): # 1.9s + apply_steer -= (1, -1)[apply_steer < 0] + self.hcaSameTorqueCount = 0 + else: + self.hcaSameTorqueCount = 0 + else: + hcaEnabled = False + apply_steer = 0 + + self.apply_steer_last = apply_steer + can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled)) + + # **** HUD Controls ***************************************************** # + + if self.frame % P.LDW_STEP == 0: + if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw): + hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"] + else: + hud_alert = MQB_LDW_MESSAGES["none"] + + can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled, + CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, CS.ldw_stock_values, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + + # **** ACC Button Controls ********************************************** # + + if self.CP.pcmCruise and self.frame % P.GRA_ACC_STEP == 0: + idx = (CS.gra_stock_values["COUNTER"] + 1) % 16 + if CC.cruiseControl.cancel: + can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True)) + elif CC.cruiseControl.resume: + can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True)) + + new_actuators = actuators.copy() + new_actuators.steer = self.apply_steer_last / P.STEER_MAX + + self.frame += 1 + return new_actuators, can_sends diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py new file mode 100644 index 000000000..0ba00d1f5 --- /dev/null +++ b/selfdrive/car/volkswagen/carstate.py @@ -0,0 +1,272 @@ +import numpy as np +from cereal import car +from common.conversions import Conversions as CV +from selfdrive.car.interfaces import CarStateBase +from opendbc.can.parser import CANParser +from opendbc.can.can_define import CANDefine +from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, \ + CarControllerParams, MQB_BUTTONS + +class CarState(CarStateBase): + def __init__(self, CP): + super().__init__(CP) + self.button_states = {button.event_type: False for button in MQB_BUTTONS} + can_define = CANDefine(DBC_FILES.mqb) + if CP.transmissionType == TransmissionType.automatic: + self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"] + elif CP.transmissionType == TransmissionType.direct: + self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"] + self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"] + + def update(self, pt_cp, cam_cp, ext_cp, trans_type): + ret = car.CarState.new_message() + # Update vehicle speed and acceleration from ABS wheel speeds. + ret.wheelSpeeds = self.get_wheel_speeds( + pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"], + pt_cp.vl["ESP_19"]["ESP_VR_Radgeschw_02"], + pt_cp.vl["ESP_19"]["ESP_HL_Radgeschw_02"], + pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"], + ) + + ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])) + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = ret.vEgo < 0.1 + + # Update steering angle, rate, yaw rate, and driver input torque. VW send + # the sign/direction in a separate signal so they must be recombined. + ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])] + ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])] + ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])] + ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE + ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD + + # Verify EPS readiness to accept steering commands + hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"]) + ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT") + ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED") + + # Update gas, brakes, and gearshift. + ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0 + ret.gasPressed = ret.gas > 0 + ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects + ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) + ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well + + # Update gear and/or clutch position data. + if trans_type == TransmissionType.automatic: + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None)) + elif trans_type == TransmissionType.direct: + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None)) + elif trans_type == TransmissionType.manual: + ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"] + if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]): + ret.gearShifter = GearShifter.reverse + else: + ret.gearShifter = GearShifter.drive + + # Update door and trunk/hatch lid open status. + ret.doorOpen = any([pt_cp.vl["Gateway_72"]["ZV_FT_offen"], + pt_cp.vl["Gateway_72"]["ZV_BT_offen"], + pt_cp.vl["Gateway_72"]["ZV_HFS_offen"], + pt_cp.vl["Gateway_72"]["ZV_HBFS_offen"], + pt_cp.vl["Gateway_72"]["ZV_HD_offen"]]) + + # Update seatbelt fastened status. + ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3 + + # Consume blind-spot monitoring info/warning LED states, if available. + # Infostufe: BSM LED on, Warnung: BSM LED flashing + if self.CP.enableBsm: + ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"]) + ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"]) + + # Consume factory LDW data relevant for factory SWA (Lane Change Assist) + # and capture it for forwarding to the blind spot radar controller + self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {} + + # Stock FCW is considered active if the release bit for brake-jerk warning + # is set. Stock AEB considered active if the partial braking or target + # braking release bits are set. + # Refer to VW Self Study Program 890253: Volkswagen Driver Assistance + # Systems, chapter on Front Assist with Braking: Golf Family for all MQB + ret.stockFcw = bool(ext_cp.vl["ACC_10"]["AWV2_Freigabe"]) + ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"]) + + # Update ACC radar status. + if pt_cp.vl["TSK_06"]["TSK_Status"] == 2: + # ACC okay and enabled, but not currently engaged + ret.cruiseState.available = True + ret.cruiseState.enabled = False + elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5): + # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5) + ret.cruiseState.available = True + ret.cruiseState.enabled = True + else: + # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7) + ret.cruiseState.available = False + ret.cruiseState.enabled = False + ret.cruiseState.standstill = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]) + ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7) + + # Update ACC setpoint. When the setpoint is zero or there's an error, the + # radar sends a set-speed of ~90.69 m/s / 203mph. + if self.CP.pcmCruise: + ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS + if ret.cruiseState.speed > 90: + ret.cruiseState.speed = 0 + + # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough + ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"]) + ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"]) + self.gra_stock_values = pt_cp.vl["GRA_ACC_01"] + buttonEvents = [] + for button in MQB_BUTTONS: + state = pt_cp.vl[button.can_addr][button.can_msg] in button.values + if self.button_states[button.event_type] != state: + event = car.CarState.ButtonEvent.new_message() + event.type = button.event_type + event.pressed = state + buttonEvents.append(event) + self.button_states[button.event_type] = state + ret.buttonEvents = buttonEvents + + # Additional safety checks performed in CarInterface. + ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0 + + ret.cruiseActualEnabled = ret.cruiseState.enabled + return ret + + @staticmethod + def get_can_parser(CP): + signals = [ + # sig_name, sig_address + ("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle + ("LWI_VZ_Lenkradwinkel", "LWI_01"), # Steering angle sign + ("LWI_Lenkradw_Geschw", "LWI_01"), # Absolute steering rate + ("LWI_VZ_Lenkradw_Geschw", "LWI_01"), # Steering rate sign + ("ESP_VL_Radgeschw_02", "ESP_19"), # ABS wheel speed, front left + ("ESP_VR_Radgeschw_02", "ESP_19"), # ABS wheel speed, front right + ("ESP_HL_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear left + ("ESP_HR_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear right + ("ESP_Gierrate", "ESP_02"), # Absolute yaw rate + ("ESP_VZ_Gierrate", "ESP_02"), # Yaw rate sign + ("ZV_FT_offen", "Gateway_72"), # Door open, driver + ("ZV_BT_offen", "Gateway_72"), # Door open, passenger + ("ZV_HFS_offen", "Gateway_72"), # Door open, rear left + ("ZV_HBFS_offen", "Gateway_72"), # Door open, rear right + ("ZV_HD_offen", "Gateway_72"), # Trunk or hatch open + ("Comfort_Signal_Left", "Blinkmodi_02"), # Left turn signal including comfort blink interval + ("Comfort_Signal_Right", "Blinkmodi_02"), # Right turn signal including comfort blink interval + ("AB_Gurtschloss_FA", "Airbag_02"), # Seatbelt status, driver + ("AB_Gurtschloss_BF", "Airbag_02"), # Seatbelt status, passenger + ("ESP_Fahrer_bremst", "ESP_05"), # Brake pedal pressed + ("ESP_Bremsdruck", "ESP_05"), # Brake pressure applied + ("MO_Fahrpedalrohwert_01", "Motor_20"), # Accelerator pedal value + ("EPS_Lenkmoment", "LH_EPS_03"), # Absolute driver torque input + ("EPS_VZ_Lenkmoment", "LH_EPS_03"), # Driver torque input sign + ("EPS_HCA_Status", "LH_EPS_03"), # EPS HCA control status + ("ESP_Tastung_passiv", "ESP_21"), # Stability control disabled + ("ESP_Haltebestaetigung", "ESP_21"), # ESP hold confirmation + ("KBI_Handbremse", "Kombi_01"), # Manual handbrake applied + ("TSK_Status", "TSK_06"), # ACC engagement status from drivetrain coordinator + ("GRA_Hauptschalter", "GRA_ACC_01"), # ACC button, on/off + ("GRA_Abbrechen", "GRA_ACC_01"), # ACC button, cancel + ("GRA_Tip_Setzen", "GRA_ACC_01"), # ACC button, set + ("GRA_Tip_Hoch", "GRA_ACC_01"), # ACC button, increase or accel + ("GRA_Tip_Runter", "GRA_ACC_01"), # ACC button, decrease or decel + ("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"), # ACC button, resume + ("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"), # ACC button, time gap adj + ("GRA_Typ_Hauptschalter", "GRA_ACC_01"), # ACC main button type + ("GRA_Codierung", "GRA_ACC_01"), # ACC button configuration/coding + ("GRA_Tip_Stufe_2", "GRA_ACC_01"), # unknown related to stalk type + ("GRA_ButtonTypeInfo", "GRA_ACC_01"), # unknown related to stalk type + ("COUNTER", "GRA_ACC_01"), # GRA_ACC_01 CAN message counter + ] + + checks = [ + # sig_address, frequency + ("LWI_01", 100), # From J500 Steering Assist with integrated sensors + ("LH_EPS_03", 100), # From J500 Steering Assist with integrated sensors + ("ESP_19", 100), # From J104 ABS/ESP controller + ("ESP_05", 50), # From J104 ABS/ESP controller + ("ESP_21", 50), # From J104 ABS/ESP controller + ("Motor_20", 50), # From J623 Engine control module + ("TSK_06", 50), # From J623 Engine control module + ("ESP_02", 50), # From J104 ABS/ESP controller + ("GRA_ACC_01", 33), # From J533 CAN gateway (via LIN from steering wheel controls) + ("Gateway_72", 10), # From J533 CAN gateway (aggregated data) + ("Airbag_02", 5), # From J234 Airbag control module + ("Kombi_01", 2), # From J285 Instrument cluster + ("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active) + ] + + if CP.transmissionType == TransmissionType.automatic: + signals.append(("GE_Fahrstufe", "Getriebe_11")) # Auto trans gear selector position + checks.append(("Getriebe_11", 20)) # From J743 Auto transmission control module + elif CP.transmissionType == TransmissionType.direct: + signals.append(("GearPosition", "EV_Gearshift")) # EV gear selector position + checks.append(("EV_Gearshift", 10)) # From J??? unknown EV control module + elif CP.transmissionType == TransmissionType.manual: + signals += [("MO_Kuppl_schalter", "Motor_14"), # Clutch switch + ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")] # Reverse light from BCM + checks.append(("Motor_14", 10)) # From J623 Engine control module + + if CP.networkLocation == NetworkLocation.fwdCamera: + # Radars are here on CANBUS.pt + signals += MqbExtraSignals.fwd_radar_signals + checks += MqbExtraSignals.fwd_radar_checks + if CP.enableBsm: + signals += MqbExtraSignals.bsm_radar_signals + checks += MqbExtraSignals.bsm_radar_checks + + return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt) + + @staticmethod + def get_cam_can_parser(CP): + signals = [] + checks = [] + + if CP.networkLocation == NetworkLocation.fwdCamera: + signals += [ + # sig_name, sig_address + ("LDW_SW_Warnung_links", "LDW_02"), # Blind spot in warning mode on left side due to lane departure + ("LDW_SW_Warnung_rechts", "LDW_02"), # Blind spot in warning mode on right side due to lane departure + ("LDW_Seite_DLCTLC", "LDW_02"), # Direction of most likely lane departure (left or right) + ("LDW_DLC", "LDW_02"), # Lane departure, distance to line crossing + ("LDW_TLC", "LDW_02"), # Lane departure, time to line crossing + ] + checks += [ + # sig_address, frequency + ("LDW_02", 10) # From R242 Driver assistance camera + ] + else: + # Radars are here on CANBUS.cam + signals += MqbExtraSignals.fwd_radar_signals + checks += MqbExtraSignals.fwd_radar_checks + if CP.enableBsm: + signals += MqbExtraSignals.bsm_radar_signals + checks += MqbExtraSignals.bsm_radar_checks + + return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam) + +class MqbExtraSignals: + # Additional signal and message lists for optional or bus-portable controllers + fwd_radar_signals = [ + ("ACC_Wunschgeschw", "ACC_02"), # ACC set speed + ("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release + ("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release + ("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release + ] + fwd_radar_checks = [ + ("ACC_10", 50), # From J428 ACC radar control module + ("ACC_02", 17), # From J428 ACC radar control module + ] + bsm_radar_signals = [ + ("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left + ("SWA_Warnung_SWA_li", "SWA_01"), # Blind spot object warning, left + ("SWA_Infostufe_SWA_re", "SWA_01"), # Blind spot object info, right + ("SWA_Warnung_SWA_re", "SWA_01"), # Blind spot object warning, right + ] + bsm_radar_checks = [ + ("SWA_01", 20), # From J1086 Lane Change Assist + ] diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py new file mode 100644 index 000000000..37638e401 --- /dev/null +++ b/selfdrive/car/volkswagen/interface.py @@ -0,0 +1,180 @@ +from cereal import car +from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car.interfaces import CarInterfaceBase + +EventName = car.CarEvent.EventName + + +class CarInterface(CarInterfaceBase): + def __init__(self, CP, CarController, CarState): + super().__init__(CP, CarController, CarState) + + if CP.networkLocation == NetworkLocation.fwdCamera: + self.ext_bus = CANBUS.pt + self.cp_ext = self.cp + else: + self.ext_bus = CANBUS.cam + self.cp_ext = self.cp_cam + + @staticmethod + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + ret.carName = "volkswagen" + ret.radarOffCan = True + + if True: # pylint: disable=using-constant-test + # Set global MQB parameters + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] + ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 + + if 0xAD in fingerprint[0]: # Getriebe_11 + ret.transmissionType = TransmissionType.automatic + elif 0x187 in fingerprint[0]: # EV_Gearshift + ret.transmissionType = TransmissionType.direct + else: + ret.transmissionType = TransmissionType.manual + + if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21 + ret.networkLocation = NetworkLocation.gateway + else: + ret.networkLocation = NetworkLocation.fwdCamera + + # Global lateral tuning defaults, can be overridden per-vehicle + + ret.steerActuatorDelay = 0.1 + ret.steerLimitTimer = 0.4 + ret.steerRatio = 15.6 # Let the params learner figure this out + tire_stiffness_factor = 1.0 # Let the params learner figure this out + ret.lateralTuning.pid.kpBP = [0.] + ret.lateralTuning.pid.kiBP = [0.] + ret.lateralTuning.pid.kf = 0.00006 + ret.lateralTuning.pid.kpV = [0.6] + ret.lateralTuning.pid.kiV = [0.2] + + # Per-chassis tuning values, override tuning defaults here if desired + + if candidate == CAR.ARTEON_MK1: + ret.mass = 1733 + STD_CARGO_KG + ret.wheelbase = 2.84 + + elif candidate == CAR.ATLAS_MK1: + ret.mass = 2011 + STD_CARGO_KG + ret.wheelbase = 2.98 + + elif candidate == CAR.GOLF_MK7: + ret.mass = 1397 + STD_CARGO_KG + ret.wheelbase = 2.62 + + elif candidate == CAR.JETTA_MK7: + ret.mass = 1328 + STD_CARGO_KG + ret.wheelbase = 2.71 + + elif candidate == CAR.PASSAT_MK8: + ret.mass = 1551 + STD_CARGO_KG + ret.wheelbase = 2.79 + + elif candidate == CAR.POLO_MK6: + ret.mass = 1230 + STD_CARGO_KG + ret.wheelbase = 2.55 + + elif candidate == CAR.TAOS_MK1: + ret.mass = 1498 + STD_CARGO_KG + ret.wheelbase = 2.69 + + elif candidate == CAR.TCROSS_MK1: + ret.mass = 1150 + STD_CARGO_KG + ret.wheelbase = 2.60 + + elif candidate == CAR.TIGUAN_MK2: + ret.mass = 1715 + STD_CARGO_KG + ret.wheelbase = 2.74 + + elif candidate == CAR.TOURAN_MK2: + ret.mass = 1516 + STD_CARGO_KG + ret.wheelbase = 2.79 + + elif candidate == CAR.TRANSPORTER_T61: + ret.mass = 1926 + STD_CARGO_KG + ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference + ret.minSteerSpeed = 14.0 + + elif candidate == CAR.TROC_MK1: + ret.mass = 1413 + STD_CARGO_KG + ret.wheelbase = 2.63 + + elif candidate == CAR.AUDI_A3_MK3: + ret.mass = 1335 + STD_CARGO_KG + ret.wheelbase = 2.61 + + elif candidate == CAR.AUDI_Q2_MK1: + ret.mass = 1205 + STD_CARGO_KG + ret.wheelbase = 2.61 + + elif candidate == CAR.AUDI_Q3_MK2: + ret.mass = 1623 + STD_CARGO_KG + ret.wheelbase = 2.68 + + elif candidate == CAR.SEAT_ATECA_MK1: + ret.mass = 1900 + STD_CARGO_KG + ret.wheelbase = 2.64 + + elif candidate == CAR.SEAT_LEON_MK3: + ret.mass = 1227 + STD_CARGO_KG + ret.wheelbase = 2.64 + + elif candidate == CAR.SKODA_KAMIQ_MK1: + ret.mass = 1265 + STD_CARGO_KG + ret.wheelbase = 2.66 + + elif candidate == CAR.SKODA_KAROQ_MK1: + ret.mass = 1278 + STD_CARGO_KG + ret.wheelbase = 2.66 + + elif candidate == CAR.SKODA_KODIAQ_MK1: + ret.mass = 1569 + STD_CARGO_KG + ret.wheelbase = 2.79 + + elif candidate == CAR.SKODA_OCTAVIA_MK3: + ret.mass = 1388 + STD_CARGO_KG + ret.wheelbase = 2.68 + + elif candidate == CAR.SKODA_SCALA_MK1: + ret.mass = 1192 + STD_CARGO_KG + ret.wheelbase = 2.65 + + elif candidate == CAR.SKODA_SUPERB_MK3: + ret.mass = 1505 + STD_CARGO_KG + ret.wheelbase = 2.84 + + else: + raise ValueError(f"unsupported car {candidate}") + + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + ret.centerToFront = ret.wheelbase * 0.45 + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, + tire_stiffness_factor=tire_stiffness_factor) + return ret + + # returns a car.CarState + def _update(self, c): + ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType) + ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret) + + events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic]) + events = self.dp_atl_warning(ret, events) + + # Low speed steer alert hysteresis logic + if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.): + self.low_speed_alert = True + elif ret.vEgo > (self.CP.minSteerSpeed + 2.): + self.low_speed_alert = False + if self.low_speed_alert: + events.add(EventName.belowSteerSpeed) + + ret.events = events.to_msg() + + return ret + + def apply(self, c): + return self.CC.update(c, self.CS, self.ext_bus) diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py new file mode 100644 index 000000000..b2f765113 --- /dev/null +++ b/selfdrive/car/volkswagen/radar_interface.py @@ -0,0 +1,5 @@ +#!/usr/bin/env python3 +from selfdrive.car.interfaces import RadarInterfaceBase + +class RadarInterface(RadarInterfaceBase): + pass diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py new file mode 100755 index 000000000..52a03c320 --- /dev/null +++ b/selfdrive/car/volkswagen/values.py @@ -0,0 +1,959 @@ +from collections import defaultdict, namedtuple +from dataclasses import dataclass +from enum import Enum +from typing import Dict, List, Union + +from cereal import car +from selfdrive.car import dbc_dict +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness + +Ecu = car.CarParams.Ecu +NetworkLocation = car.CarParams.NetworkLocation +TransmissionType = car.CarParams.TransmissionType +GearShifter = car.CarState.GearShifter +Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) + + +class CarControllerParams: + HCA_STEP = 2 # HCA_01 message frequency 50Hz + LDW_STEP = 10 # LDW_02 message frequency 10Hz + GRA_ACC_STEP = 3 # GRA_ACC_01 message frequency 33Hz + + # Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec. + # Limiting rate-of-change based on real-world testing and Comma's safety + # requirements for minimum time to lane departure. + STEER_MAX = 300 # Max heading control assist torque 3.00 Nm + STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50)) + STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) + STEER_DRIVER_ALLOWANCE = 80 + STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily + STEER_DRIVER_FACTOR = 1 # from dbc + + +class CANBUS: + pt = 0 + cam = 2 + + +class DBC_FILES: + mqb = "vw_mqb_2010" # Used for all cars with MQB-style CAN messaging + + +DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None)) + + +MQB_BUTTONS = [ + Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]), + Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]), + Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]), + Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]), + Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]), + Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]), +] + + +MQB_LDW_MESSAGES = { + "none": 0, # Nothing to display + "laneAssistUnavailChime": 1, # "Lane Assist currently not available." with chime + "laneAssistUnavailNoSensorChime": 3, # "Lane Assist not available. No sensor view." with chime + "laneAssistTakeOverUrgent": 4, # "Lane Assist: Please Take Over Steering" with urgent beep + "emergencyAssistUrgent": 6, # "Emergency Assist: Please Take Over Steering" with urgent beep + "laneAssistTakeOverChime": 7, # "Lane Assist: Please Take Over Steering" with chime + "laneAssistTakeOverSilent": 8, # "Lane Assist: Please Take Over Steering" silent + "emergencyAssistChangingLanes": 9, # "Emergency Assist: Changing lanes..." with urgent beep + "laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward +} + + +# Check the 7th and 8th characters of the VIN before adding a new CAR. If the +# chassis code is already listed below, don't add a new CAR, just add to the +# FW_VERSIONS for that existing CAR. +# Exception: SEAT Leon and SEAT Ateca share a chassis code + +class CAR: + ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN" # Chassis AN, Mk1 VW Arteon and variants + ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport + GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants + JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN" # Chassis BU, Mk7 VW Jetta + PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants + POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN" # Chassis AW, Mk6 VW Polo + TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN" # Chassis B2, Mk1 VW Taos and Tharu + TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN" # Chassis C1, Mk1 VW T-Cross SWB and LWB variants + TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants + TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN" # Chassis 1T, Mk2 VW Touran and variants + TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1" # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California + TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN" # Chassis A1, Mk1 VW VW T-Roc and variants + AUDI_A3_MK3 = "AUDI A3 3RD GEN" # Chassis 8V/FF, Mk3 Audi A3 and variants + AUDI_Q2_MK1 = "AUDI Q2 1ST GEN" # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only) + AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants + SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca + SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants + SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq + SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq + SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq + SKODA_SCALA_MK1 = "SKODA SCALA 1ST GEN" # Chassis NW, Mk1 Skoda Scala and Skoda Kamiq + SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN" # Chassis 3V/NP, Mk3 Skoda Superb and variants + SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants + + +class Footnote(Enum): + KAMIQ = CarFootnote( + "Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.", + Column.MODEL) + PASSAT = CarFootnote( + "Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.", + Column.MODEL) + VW_HARNESS = CarFootnote( + "Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " + + "store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black " + + "(older design) or light brown (newer design). For the newer design, in the interim, choose \"VW J533 Development\" " + + "from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.", + Column.MODEL) + VW_VARIANT = CarFootnote( + "Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)", + Column.MODEL) + + +@dataclass +class VWCarInfo(CarInfo): + package: str = "Driver Assistance" + harness: Enum = Harness.vw + + +CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { + CAR.ARTEON_MK1: [ + VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + ], + CAR.ATLAS_MK1: [ + VWCarInfo("Volkswagen Atlas 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Atlas Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Teramont 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Teramont Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Teramont X 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + ], + CAR.GOLF_MK7: [ + VWCarInfo("Volkswagen e-Golf 2014-20"), + VWCarInfo("Volkswagen Golf 2015-20", footnotes=[Footnote.VW_VARIANT]), + VWCarInfo("Volkswagen Golf Alltrack 2015-19"), + VWCarInfo("Volkswagen Golf GTD 2015-20"), + VWCarInfo("Volkswagen Golf GTE 2015-20"), + VWCarInfo("Volkswagen Golf GTI 2015-21"), + VWCarInfo("Volkswagen Golf R 2015-19", footnotes=[Footnote.VW_VARIANT]), + VWCarInfo("Volkswagen Golf SportsVan 2015-20"), + ], + CAR.JETTA_MK7: [ + VWCarInfo("Volkswagen Jetta 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Jetta GLI 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + ], + CAR.PASSAT_MK8: [ + VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.PASSAT, Footnote.VW_VARIANT], harness=Harness.j533), + VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + ], + CAR.POLO_MK6: [ + VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + ], + CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"), + CAR.TRANSPORTER_T61: [ + VWCarInfo("Volkswagen Caravelle 2020", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen California 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + ], + CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + CAR.AUDI_A3_MK3: [ + VWCarInfo("Audi A3 2014-19", "ACC + Lane Assist"), + VWCarInfo("Audi A3 Sportback e-tron 2017-18", "ACC + Lane Assist"), + VWCarInfo("Audi RS3 2018", "ACC + Lane Assist"), + VWCarInfo("Audi S3 2015-17", "ACC + Lane Assist"), + ], + CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018", "ACC + Lane Assist"), + CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2020-21", "ACC + Lane Assist"), + CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), + CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), + CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]), + CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), + CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"), + CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020"), + CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"), + CAR.SKODA_OCTAVIA_MK3: [ + VWCarInfo("Škoda Octavia 2015, 2018-19"), + VWCarInfo("Škoda Octavia RS 2016"), + ], +} + +# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars +# with a manual trans won't return transmission firmware, but all other cars will. +# +# The 0xF187 SW part number query should return in the form of N[NX][NX] NNN NNN [X[X]], +# where N=number, X=letter, and the trailing two letters are optional. Performance +# tuners sometimes tamper with that field (e.g. 8V0 9C0 BB0 1 from COBB/EQT). Tampered +# ECU SW part numbers are invalid for vehicle ID and compatibility checks. Try to have +# them repaired by the tuner before including them in openpilot. + +FW_VERSIONS = { + CAR.ARTEON_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x873G0906259F \xf1\x890004', + b'\xf1\x873G0906259P \xf1\x890001', + b'\xf1\x875NA907115H \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158L \xf1\x893611', + b'\xf1\x870GC300011L \xf1\x891401', + b'\xf1\x870GC300040P \xf1\x891401', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', + b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', + b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x875Q0907572J \xf1\x890654', + ], + }, + CAR.ATLAS_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703H906026AA\xf1\x899970', + b'\xf1\x8703H906026AT\xf1\x891922', + b'\xf1\x8703H906026F \xf1\x896696', + b'\xf1\x8703H906026F \xf1\x899970', + b'\xf1\x8703H906026J \xf1\x896026', + b'\xf1\x8703H906026J \xf1\x899971', + b'\xf1\x8703H906026S \xf1\x896693', + b'\xf1\x8703H906026S \xf1\x899970', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158A \xf1\x893387', + b'\xf1\x8709G927158DR\xf1\x893536', + b'\xf1\x8709G927158FT\xf1\x893835', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\0161914151912001103111122031200', + b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\0162214152212001105141122052900', + b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\0162214152212001105141122052900', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1', + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572P \xf1\x890682', + ], + }, + CAR.GOLF_MK7: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906016A \xf1\x897697', + b'\xf1\x8704E906016AD\xf1\x895758', + b'\xf1\x8704E906016CE\xf1\x899096', + b'\xf1\x8704E906023AG\xf1\x891726', + b'\xf1\x8704E906023BN\xf1\x894518', + b'\xf1\x8704E906024K \xf1\x896811', + b'\xf1\x8704E906027GR\xf1\x892394', + b'\xf1\x8704E906027HD\xf1\x892603', + b'\xf1\x8704E906027HD\xf1\x893742', + b'\xf1\x8704E906027MA\xf1\x894958', + b'\xf1\x8704L906021DT\xf1\x895520', + b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906026BP\xf1\x897608', + b'\xf1\x8704L906026NF\xf1\x899528', + b'\xf1\x8704L906056CL\xf1\x893823', + b'\xf1\x8704L906056CR\xf1\x895813', + b'\xf1\x8704L906056HE\xf1\x893758', + b'\xf1\x8704L906056HN\xf1\x896590', + b'\xf1\x870EA906016A \xf1\x898343', + b'\xf1\x870EA906016E \xf1\x894219', + b'\xf1\x870EA906016F \xf1\x894238', + b'\xf1\x870EA906016F \xf1\x895002', + b'\xf1\x870EA906016Q \xf1\x895993', + b'\xf1\x870EA906016S \xf1\x897207', + b'\xf1\x875G0906259 \xf1\x890007', + b'\xf1\x875G0906259J \xf1\x890002', + b'\xf1\x875G0906259L \xf1\x890002', + b'\xf1\x875G0906259N \xf1\x890003', + b'\xf1\x875G0906259Q \xf1\x890002', + b'\xf1\x875G0906259Q \xf1\x892313', + b'\xf1\x875G0906259T \xf1\x890003', + b'\xf1\x878V0906259H \xf1\x890002', + b'\xf1\x878V0906259J \xf1\x890003', + b'\xf1\x878V0906259K \xf1\x890001', + b'\xf1\x878V0906259P \xf1\x890001', + b'\xf1\x878V0906259Q \xf1\x890002', + b'\xf1\x878V0906264F \xf1\x890003', + b'\xf1\x878V0906264L \xf1\x890002', + b'\xf1\x878V0906264M \xf1\x890001', + b'\xf1\x878V09C0BB01 \xf1\x890001', + b'\xf1\x8704E906024K \xf1\x899970', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927749AP\xf1\x892943', + b'\xf1\x8709S927158A \xf1\x893585', + b'\xf1\x870CW300040H \xf1\x890606', + b'\xf1\x870CW300041H \xf1\x891010', + b'\xf1\x870CW300042F \xf1\x891604', + b'\xf1\x870CW300043B \xf1\x891601', + b'\xf1\x870CW300044S \xf1\x894530', + b'\xf1\x870CW300044T \xf1\x895245', + b'\xf1\x870CW300045 \xf1\x894531', + b'\xf1\x870CW300047D \xf1\x895261', + b'\xf1\x870CW300048J \xf1\x890611', + b'\xf1\x870D9300012 \xf1\x894904', + b'\xf1\x870D9300012 \xf1\x894913', + b'\xf1\x870D9300012 \xf1\x894937', + b'\xf1\x870D9300012 \xf1\x895045', + b'\xf1\x870D9300014M \xf1\x895004', + b'\xf1\x870D9300020S \xf1\x895201', + b'\xf1\x870D9300040A \xf1\x893613', + b'\xf1\x870D9300040S \xf1\x894311', + b'\xf1\x870D9300041H \xf1\x895220', + b'\xf1\x870D9300041P \xf1\x894507', + b'\xf1\x870DD300045K \xf1\x891120', + b'\xf1\x870DD300046F \xf1\x891601', + b'\xf1\x870GC300012A \xf1\x891403', + b'\xf1\x870GC300014B \xf1\x892401', + b'\xf1\x870GC300014B \xf1\x892405', + b'\xf1\x870GC300020G \xf1\x892401', + b'\xf1\x870GC300020G \xf1\x892403', + b'\xf1\x870GC300020G \xf1\x892404', + b'\xf1\x870GC300020N \xf1\x892804', + b'\xf1\x870GC300043T \xf1\x899999', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', + b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', + b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211', + b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111', + b'\xf1\x875Q0959655S 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b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0', + b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0', + b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1', + b'\xf1\x875QD909144B 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b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', + ], + }, + CAR.JETTA_MK7: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906024AK\xf1\x899937', + b'\xf1\x8704E906024AS\xf1\x899912', + b'\xf1\x8704E906024BC\xf1\x899971', + b'\xf1\x8704E906024BG\xf1\x891057', + b'\xf1\x8704E906024B \xf1\x895594', + b'\xf1\x8704E906024C \xf1\x899970', + b'\xf1\x8704E906024L \xf1\x895595', + b'\xf1\x8704E906024L \xf1\x899970', + b'\xf1\x8704E906027MS\xf1\x896223', + b'\xf1\x875G0906259T \xf1\x890003', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158BQ\xf1\x893545', + b'\xf1\x8709S927158BS\xf1\x893642', + b'\xf1\x8709S927158BS\xf1\x893694', + b'\xf1\x8709S927158CK\xf1\x893770', + b'\xf1\x8709S927158R \xf1\x893552', + b'\xf1\x8709S927158R \xf1\x893587', + b'\xf1\x870GC300020N \xf1\x892803', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\02314171231313500314611011630169333463100', + b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1314171231313500314611011630169333463100', + b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314642011650169333463100', + b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314643011650169333463100', + b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02311170031313300314240011150119333433100', + b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02319170031313300314240011550159333463100', + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100', + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A10A01A1', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A00642A1', + b'\xf1\x875QM909144C 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b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', + b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', + b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', + b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x873Q0907572A \xf1\x890130', + 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b'\xf1\x8704E906016ER\xf1\x895823', + b'\xf1\x8704E906027HD\xf1\x893742', + b'\xf1\x8704E906027MH\xf1\x894786', + b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906026BS\xf1\x891541', + b'\xf1\x875G0906259C \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300041L \xf1\x891601', + b'\xf1\x870CW300041N \xf1\x891605', + b'\xf1\x870CW300043B \xf1\x891601', + b'\xf1\x870D9300041C \xf1\x894936', + b'\xf1\x870D9300041J \xf1\x894902', + b'\xf1\x870D9300041P \xf1\x894507', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100', + b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100', + b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', + b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111101000011110006110411111111119111', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', + b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', + b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.SKODA_SCALA_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704C906025AK\xf1\x897053', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300050 \xf1\x891709', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\022111104111104112104040404111111112H14', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872Q1909144M \xf1\x896041', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572R \xf1\x890372', + ], + }, + CAR.SKODA_SUPERB_MK3: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906026FP\xf1\x891196', + b'\xf1\x8704L906026KB\xf1\x894071', + b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906264A \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870D9300011T \xf1\x894801', + b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870GC300043 \xf1\x892301', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', + b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x873Q0907572B \xf1\x890192', + b'\xf1\x873Q0907572B \xf1\x890194', + b'\xf1\x873Q0907572C \xf1\x890195', + ], + }, +} diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py new file mode 100644 index 000000000..f4c21eeed --- /dev/null +++ b/selfdrive/car/volkswagen/volkswagencan.py @@ -0,0 +1,42 @@ +# CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT. +# PQ35/PQ46/NMS, and any future MLB, to come later. + +def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled): + values = { + "SET_ME_0X3": 0x3, + "Assist_Torque": abs(apply_steer), + "Assist_Requested": lkas_enabled, + "Assist_VZ": 1 if apply_steer < 0 else 0, + "HCA_Available": 1, + "HCA_Standby": not lkas_enabled, + "HCA_Active": lkas_enabled, + "SET_ME_0XFE": 0xFE, + "SET_ME_0X07": 0x07, + } + return packer.make_can_msg("HCA_01", bus, values) + +def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible, + ldw_stock_values, left_lane_depart, right_lane_depart): + # Lane color reference: + # 0 (LKAS disabled) - off + # 1 (LKAS enabled, no lane detected) - dark gray + # 2 (LKAS enabled, lane detected) - light gray on VW, green or white on Audi depending on year or virtual cockpit. On a color MFD on a 2015 A3 TDI it is white, virtual cockpit on a 2018 A3 e-Tron its green. + # 3 (LKAS enabled, lane departure detected) - white on VW, red on Audi + values = ldw_stock_values.copy() + values.update({ + "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0, + "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0, + "LDW_Lernmodus_links": 3 if left_lane_depart else 1 + left_lane_visible, + "LDW_Lernmodus_rechts": 3 if right_lane_depart else 1 + right_lane_visible, + "LDW_Texte": hud_alert, + }) + return packer.make_can_msg("LDW_02", bus, values) + +def create_mqb_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False): + values = gra_stock_values.copy() + + values["COUNTER"] = idx + values["GRA_Abbrechen"] = cancel + values["GRA_Tip_Wiederaufnahme"] = resume + + return packer.make_can_msg("GRA_ACC_01", bus, values) diff --git a/selfdrive/controls/__init__.py b/selfdrive/controls/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py new file mode 100755 index 000000000..e6e0db64a --- /dev/null +++ b/selfdrive/controls/controlsd.py @@ -0,0 +1,872 @@ +#!/usr/bin/env python3 +import os +import math +from typing import SupportsFloat + +from cereal import car, log +from common.numpy_fast import clip +from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL +from common.profiler import Profiler +from common.params import Params, put_nonblocking +import cereal.messaging as messaging +from common.conversions import Conversions as CV +from panda import ALTERNATIVE_EXPERIENCE +from system.swaglog import cloudlog +from system.version import get_short_branch +from selfdrive.boardd.boardd import can_list_to_can_capnp +from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can +from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET +from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise +from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature +from selfdrive.controls.lib.latcontrol import LatControl +from selfdrive.controls.lib.longcontrol import LongControl +from selfdrive.controls.lib.latcontrol_pid import LatControlPID +from selfdrive.controls.lib.latcontrol_indi import LatControlINDI +from selfdrive.controls.lib.latcontrol_angle import LatControlAngle +from selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from selfdrive.controls.lib.events import Events, ET +from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert +from selfdrive.controls.lib.vehicle_model import VehicleModel +from selfdrive.locationd.calibrationd import Calibration +from system.hardware import HARDWARE, TICI +from selfdrive.manager.process_config import managed_processes + +SOFT_DISABLE_TIME = 3 # seconds +LDW_MIN_SPEED = 31 * CV.MPH_TO_MS +LANE_DEPARTURE_THRESHOLD = 0.1 + +REPLAY = "REPLAY" in os.environ +SIMULATION = "SIMULATION" in os.environ +NOSENSOR = "NOSENSOR" in os.environ +IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd", "mapd" + "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad", "laikad"} | \ + {k for k, v in managed_processes.items() if not v.enabled} + +ThermalStatus = log.DeviceState.ThermalStatus +State = log.ControlsState.OpenpilotState +PandaType = log.PandaState.PandaType +Desire = log.LateralPlan.Desire +LaneChangeState = log.LateralPlan.LaneChangeState +LaneChangeDirection = log.LateralPlan.LaneChangeDirection +EventName = car.CarEvent.EventName +ButtonEvent = car.CarState.ButtonEvent +SafetyModel = car.CarParams.SafetyModel + +IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) +CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError} +ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys()) +ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding) +ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES) + + +class Controls: + def __init__(self, sm=None, pm=None, can_sock=None, CI=None): + config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH) + + # Ensure the current branch is cached, otherwise the first iteration of controlsd lags + self.branch = get_short_branch("") + + # dp + self.dp_jetson = Params().get_bool('dp_jetson') + + # Setup sockets + self.pm = pm + if self.pm is None: + self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', + 'carControl', 'carEvents', 'carParams']) + + self.camera_packets = ["roadCameraState"] + + self.can_sock = can_sock + if can_sock is None: + can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100 + self.can_sock = messaging.sub_sock('can', timeout=can_timeout) + + # self.log_sock = messaging.sub_sock('androidLog') + + if CI is None: + # wait for one pandaState and one CAN packet + print("Waiting for CAN messages...") + get_one_can(self.can_sock) + + self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan']) + else: + self.CI, self.CP = CI, CI.CP + + params = Params() + self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) + joystick_packet = ['testJoystick'] if self.joystick_mode else [] + + self.sm = sm + if self.sm is None: + ignore = [] + if SIMULATION: + ignore += ['driverCameraState', 'managerState'] + if params.get_bool('WideCameraOnly'): + ignore += ['roadCameraState'] + if self.dp_jetson: + ignore += ['driverCameraState', 'driverMonitoringState'] + self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', + 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', + 'managerState', 'liveParameters', 'radarState', 'dragonConf'] + self.camera_packets + joystick_packet, + ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'dragonConf']) + + # dp + self.sm['dragonConf'].dpAtl = int(Params().get('dp_atl', encoding='utf8')) + + # set alternative experiences from parameters + self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator") + if self.sm['dragonConf'].dpAtl > 0: + self.disengage_on_accelerator = False + self.CP.alternativeExperience = 0 + if not self.disengage_on_accelerator: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS + + if self.CP.dashcamOnly and params.get_bool("DashcamOverride"): + self.CP.dashcamOnly = False + + # read params + self.is_metric = params.get_bool("IsMetric") + self.is_ldw_enabled = params.get_bool("IsLdwEnabled") + openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle") + passive = params.get_bool("Passive") or not openpilot_enabled_toggle + + # detect sound card presence and ensure successful init + sounds_available = HARDWARE.get_sound_card_online() + + car_recognized = self.CP.carName != 'mock' + + controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly + self.read_only = not car_recognized or not controller_available or self.CP.dashcamOnly + if self.read_only: + safety_config = car.CarParams.SafetyConfig.new_message() + safety_config.safetyModel = car.CarParams.SafetyModel.noOutput + self.CP.safetyConfigs = [safety_config] + + # Write CarParams for radard + cp_bytes = self.CP.to_bytes() + params.put("CarParams", cp_bytes) + put_nonblocking("CarParamsCache", cp_bytes) + + self.CC = car.CarControl.new_message() + self.CS_prev = car.CarState.new_message() + self.AM = AlertManager() + self.events = Events() + + self.LoC = LongControl(self.CP) + self.VM = VehicleModel(self.CP) + + self.LaC: LatControl + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + self.LaC = LatControlAngle(self.CP, self.CI) + elif self.CP.lateralTuning.which() == 'pid': + self.LaC = LatControlPID(self.CP, self.CI) + elif self.CP.lateralTuning.which() == 'indi': + self.LaC = LatControlINDI(self.CP, self.CI) + elif self.CP.lateralTuning.which() == 'torque': + self.LaC = LatControlTorque(self.CP, self.CI) + + self.initialized = False + self.state = State.disabled + self.enabled = False + self.active = False + self.can_rcv_error = False + self.soft_disable_timer = 0 + self.v_cruise_kph = 255 + self.v_cruise_cluster_kph = 255 + self.v_cruise_kph_last = 0 + self.mismatch_counter = 0 + self.cruise_mismatch_counter = 0 + self.can_rcv_error_counter = 0 + self.last_blinker_frame = 0 + self.distance_traveled = 0 + self.last_functional_fan_frame = 0 + self.events_prev = [] + self.current_alert_types = [ET.PERMANENT] + self.logged_comm_issue = None + self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0} + self.last_actuators = car.CarControl.Actuators.new_message() + self.steer_limited = False + self.desired_curvature = 0.0 + self.desired_curvature_rate = 0.0 + + # TODO: no longer necessary, aside from process replay + self.sm['liveParameters'].valid = True + + self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0) + + # if not sounds_available: + # self.events.add(EventName.soundsUnavailable, static=True) + if not car_recognized: + self.events.add(EventName.carUnrecognized, static=True) + if len(self.CP.carFw) > 0: + set_offroad_alert("Offroad_CarUnrecognized", True) + else: + set_offroad_alert("Offroad_NoFirmware", True) + elif self.read_only: + self.events.add(EventName.dashcamMode, static=True) + elif self.joystick_mode: + self.events.add(EventName.joystickDebug, static=True) + self.startup_event = None + + # controlsd is driven by can recv, expected at 100Hz + self.rk = Ratekeeper(100, print_delay_threshold=None) + self.prof = Profiler(False) # off by default + + def update_events(self, CS): + """Compute carEvents from carState""" + + self.events.clear() + + # Add startup event + if self.startup_event is not None: + self.events.add(self.startup_event) + self.startup_event = None + + # Don't add any more events if not initialized + if not self.initialized: + self.events.add(EventName.controlsInitializing) + return + + # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 + if self.sm['dragonConf'].dpAtl == 0 and ((CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ + (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill))): + self.events.add(EventName.pedalPressed) + + if CS.gasPressed: + self.events.add(EventName.pedalPressedPreEnable if self.disengage_on_accelerator else + EventName.gasPressedOverride) + + if not self.CP.notCar and not self.dp_jetson: + self.events.add_from_msg(self.sm['driverMonitoringState'].events) + self.events.add_from_msg(self.sm['longitudinalPlan'].eventsDEPRECATED) + + # Add car events, ignore if CAN isn't valid + if CS.canValid: + self.events.add_from_msg(CS.events) + + # Create events for temperature, disk space, and memory + if self.sm['deviceState'].thermalStatus >= ThermalStatus.red: + self.events.add(EventName.overheat) + if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION: + # under 7% of space free no enable allowed + self.events.add(EventName.outOfSpace) + # TODO: make tici threshold the same + if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION: + self.events.add(EventName.lowMemory) + + # TODO: enable this once loggerd CPU usage is more reasonable + #cpus = list(self.sm['deviceState'].cpuUsagePercent) + #if max(cpus, default=0) > 95 and not SIMULATION: + # self.events.add(EventName.highCpuUsage) + + # Alert if fan isn't spinning for 5 seconds + if self.sm['peripheralState'].pandaType in (PandaType.uno, PandaType.dos): + if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: + if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: + self.events.add(EventName.fanMalfunction) + else: + self.last_functional_fan_frame = self.sm.frame + + # Handle calibration status + cal_status = self.sm['liveCalibration'].calStatus + if cal_status != Calibration.CALIBRATED: + if cal_status == Calibration.UNCALIBRATED: + self.events.add(EventName.calibrationIncomplete) + else: + self.events.add(EventName.calibrationInvalid) + + # Handle lane change + if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange: + direction = self.sm['lateralPlan'].laneChangeDirection + if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ + (CS.rightBlindspot and direction == LaneChangeDirection.right): + self.events.add(EventName.laneChangeBlocked) + else: + if direction == LaneChangeDirection.left: + self.events.add(EventName.preLaneChangeLeft) + else: + self.events.add(EventName.preLaneChangeRight) + elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting, + LaneChangeState.laneChangeFinishing): + self.events.add(EventName.laneChange) + + for i, pandaState in enumerate(self.sm['pandaStates']): + # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput + if i < len(self.CP.safetyConfigs): + safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \ + pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \ + pandaState.alternativeExperience != self.CP.alternativeExperience + else: + safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES + + if safety_mismatch or self.mismatch_counter >= 200: + self.events.add(EventName.controlsMismatch) + + if log.PandaState.FaultType.relayMalfunction in pandaState.faults: + self.events.add(EventName.relayMalfunction) + + # Handle HW and system malfunctions + # Order is very intentional here. Be careful when modifying this. + # All events here should at least have NO_ENTRY and SOFT_DISABLE. + num_events = len(self.events) + + not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning} + if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES): + self.events.add(EventName.processNotRunning) + else: + if not SIMULATION and not self.rk.lagging: + if not self.sm.all_alive(self.camera_packets): + self.events.add(EventName.cameraMalfunction) + elif not self.sm.all_freq_ok(self.camera_packets): + self.events.add(EventName.cameraFrameRate) + # if self.rk.lagging: + # self.events.add(EventName.controlsdLagging) + if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']): + self.events.add(EventName.radarFault) + if not self.sm.valid['pandaStates']: + self.events.add(EventName.usbError) + if CS.canTimeout: + self.events.add(EventName.canBusMissing) + elif not CS.canValid: + self.events.add(EventName.canError) + + # generic catch-all. ideally, a more specific event should be added above instead + has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE)) + no_system_errors = (not has_disable_events) or (len(self.events) == num_events) + if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors: + if not self.sm.all_alive(): + self.events.add(EventName.commIssue) + elif not self.sm.all_freq_ok(): + self.events.add(EventName.commIssueAvgFreq) + else: # invalid or can_rcv_error. + self.events.add(EventName.commIssue) + + logs = { + 'invalid': [s for s, valid in self.sm.valid.items() if not valid], + 'not_alive': [s for s, alive in self.sm.alive.items() if not alive], + 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], + 'can_error': self.can_rcv_error, + } + if logs != self.logged_comm_issue: + cloudlog.event("commIssue", error=True, **logs) + self.logged_comm_issue = logs + else: + self.logged_comm_issue = None + + if not self.sm['liveParameters'].valid: + self.events.add(EventName.vehicleModelInvalid) + if not self.sm['lateralPlan'].mpcSolutionValid: + self.events.add(EventName.plannerError) + if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR: + if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs + self.events.add(EventName.sensorDataInvalid) + if not self.sm['liveLocationKalman'].posenetOK: + self.events.add(EventName.posenetInvalid) + if not self.sm['liveLocationKalman'].deviceStable: + self.events.add(EventName.deviceFalling) + + if not REPLAY: + # Check for mismatch between openpilot and car's PCM + cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) + self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0 + if self.cruise_mismatch_counter > int(6. / DT_CTRL): + self.events.add(EventName.cruiseMismatch) + + # Check for FCW + stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25 + model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking + planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled + if planner_fcw or model_fcw: + self.events.add(EventName.fcw) + + # for m in messaging.drain_sock(self.log_sock, wait_for_one=False): + # try: + # msg = m.androidLog.message + # if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")): + # csid = msg.split("CSID:")[-1].split(" ")[0] + # evt = CSID_MAP.get(csid, None) + # if evt is not None: + # self.events.add(evt) + # except UnicodeDecodeError: + # pass + + # TODO: fix simulator + if not SIMULATION: + # dp - since we are supporting old devices, lets stop warning about GPS signals + # if not NOSENSOR: + # if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000): + # # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes + # self.events.add(EventName.noGps) + + if self.sm['modelV2'].frameDropPerc > 20: + self.events.add(EventName.modeldLagging) + if self.sm['liveLocationKalman'].excessiveResets: + self.events.add(EventName.localizerMalfunction) + + # Only allow engagement with brake pressed when stopped behind another stopped car + if self.sm['dragonConf'].dpAtl == 0: + speeds = self.sm['longitudinalPlan'].speeds + if len(speeds) > 1: + v_future = speeds[-1] + else: + v_future = 100.0 + if CS.brakePressed and v_future >= self.CP.vEgoStarting \ + and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3: + self.events.add(EventName.noTarget) + + def data_sample(self): + """Receive data from sockets and update carState""" + + # Update carState from CAN + can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) + CS = self.CI.update(self.CC, can_strs, self.sm['dragonConf']) + + self.sm.update(0) + + if not self.initialized: + all_valid = CS.canValid and self.sm.all_checks() + timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5) + if all_valid or timed_out or SIMULATION: + if not self.read_only: + self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) + self.initialized = True + + if REPLAY and self.sm['pandaStates'][0].controlsAllowed: + self.state = State.enabled + + Params().put_bool("ControlsReady", True) + + # Check for CAN timeout + if not can_strs: + self.can_rcv_error_counter += 1 + self.can_rcv_error = True + else: + self.can_rcv_error = False + + # When the panda and controlsd do not agree on controls_allowed + # we want to disengage openpilot. However the status from the panda goes through + # another socket other than the CAN messages and one can arrive earlier than the other. + # Therefore we allow a mismatch for two samples, then we trigger the disengagement. + if not self.enabled: + self.mismatch_counter = 0 + + # All pandas not in silent mode must have controlsAllowed when openpilot is enabled + if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates'] + if ps.safetyModel not in IGNORED_SAFETY_MODES): + self.mismatch_counter += 1 + + self.distance_traveled += CS.vEgo * DT_CTRL + + return CS + + def state_transition(self, CS): + """Compute conditional state transitions and execute actions on state transitions""" + + self.v_cruise_kph_last = self.v_cruise_kph + + # if stock cruise is completely disabled, then we can use our own set speed logic + if not self.CP.pcmCruise: + self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents, + self.button_timers, self.enabled, self.is_metric) + self.v_cruise_cluster_kph = self.v_cruise_kph + else: + if CS.cruiseState.available: + self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH + self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH + else: + self.v_cruise_kph = 0 + self.v_cruise_cluster_kph = 0 + + # decrement the soft disable timer at every step, as it's reset on + # entrance in SOFT_DISABLING state + self.soft_disable_timer = max(0, self.soft_disable_timer - 1) + + self.current_alert_types = [ET.PERMANENT] + + # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING + if self.state != State.disabled: + # user and immediate disable always have priority in a non-disabled state + if self.events.any(ET.USER_DISABLE): + self.state = State.disabled + self.current_alert_types.append(ET.USER_DISABLE) + + elif self.events.any(ET.IMMEDIATE_DISABLE): + self.state = State.disabled + self.current_alert_types.append(ET.IMMEDIATE_DISABLE) + + else: + # ENABLED + if self.state == State.enabled: + if self.events.any(ET.SOFT_DISABLE): + self.state = State.softDisabling + self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) + self.current_alert_types.append(ET.SOFT_DISABLE) + + elif self.events.any(ET.OVERRIDE): + self.state = State.overriding + self.current_alert_types.append(ET.OVERRIDE) + + # SOFT DISABLING + elif self.state == State.softDisabling: + if not self.events.any(ET.SOFT_DISABLE): + # no more soft disabling condition, so go back to ENABLED + self.state = State.enabled + + elif self.soft_disable_timer > 0: + self.current_alert_types.append(ET.SOFT_DISABLE) + + elif self.soft_disable_timer <= 0: + self.state = State.disabled + + # PRE ENABLING + elif self.state == State.preEnabled: + if self.events.any(ET.NO_ENTRY): + self.state = State.disabled + self.current_alert_types.append(ET.NO_ENTRY) + elif not self.events.any(ET.PRE_ENABLE): + self.state = State.enabled + else: + self.current_alert_types.append(ET.PRE_ENABLE) + + # OVERRIDING + elif self.state == State.overriding: + if self.events.any(ET.SOFT_DISABLE): + self.state = State.softDisabling + self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) + self.current_alert_types.append(ET.SOFT_DISABLE) + elif not self.events.any(ET.OVERRIDE): + self.state = State.enabled + else: + self.current_alert_types.append(ET.OVERRIDE) + + # DISABLED + elif self.state == State.disabled: + if self.events.any(ET.ENABLE): + if self.events.any(ET.NO_ENTRY): + self.current_alert_types.append(ET.NO_ENTRY) + + else: + if self.events.any(ET.PRE_ENABLE): + self.state = State.preEnabled + elif self.events.any(ET.OVERRIDE): + self.state = State.overriding + else: + self.state = State.enabled + self.current_alert_types.append(ET.ENABLE) + if not self.CP.pcmCruise: + self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last) + self.v_cruise_cluster_kph = self.v_cruise_kph + + # Check if openpilot is engaged and actuators are enabled + self.enabled = self.state in ENABLED_STATES + self.active = self.state in ACTIVE_STATES + if self.active: + self.current_alert_types.append(ET.WARNING) + + def state_control(self, CS): + """Given the state, this function returns a CarControl packet""" + + # Update VehicleModel + params = self.sm['liveParameters'] + x = max(params.stiffnessFactor, 0.1) + sr = max(params.steerRatio, 0.1) + self.VM.update_params(x, sr) + + lat_plan = self.sm['lateralPlan'] + long_plan = self.sm['longitudinalPlan'] + + CC = car.CarControl.new_message() + CC.enabled = self.enabled + # Check which actuators can be enabled + CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ + CS.vEgo > self.CP.minSteerSpeed and not CS.standstill + CC.longActive = self.active and not self.events.any(ET.OVERRIDE) and self.CP.openpilotLongitudinalControl + + if self.sm['dragonConf'].dpAtl == 2 and not CS.cruiseActualEnabled: + CC.longActive = False + + actuators = CC.actuators + actuators.longControlState = self.LoC.long_control_state + + if CS.leftBlinker or CS.rightBlinker: + self.last_blinker_frame = self.sm.frame + + # State specific actions + + if not CC.latActive: + self.LaC.reset() + if not CC.longActive: + self.LoC.reset(v_pid=CS.vEgo) + + if not self.joystick_mode: + # accel PID loop + pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS) + t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL + actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) + + # Steering PID loop and lateral MPC + self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo, + lat_plan.psis, + lat_plan.curvatures, + lat_plan.curvatureRates) + actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params, + self.last_actuators, self.steer_limited, self.desired_curvature, + self.desired_curvature_rate, self.sm['liveLocationKalman']) + else: + lac_log = log.ControlsState.LateralDebugState.new_message() + if self.sm.rcv_frame['testJoystick'] > 0: + if CC.longActive: + actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1) + + if CC.latActive: + steer = clip(self.sm['testJoystick'].axes[1], -1, 1) + # max angle is 45 for angle-based cars + actuators.steer, actuators.steeringAngleDeg = steer, steer * 45. + + lac_log.active = self.active + lac_log.steeringAngleDeg = CS.steeringAngleDeg + lac_log.output = actuators.steer + lac_log.saturated = abs(actuators.steer) >= 0.9 + + # Send a "steering required alert" if saturation count has reached the limit + if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode: + undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 + turning = abs(lac_log.desiredLateralAccel) > 1.0 + good_speed = CS.vEgo > 5 + max_torque = abs(self.last_actuators.steer) > 0.99 + if undershooting and turning and good_speed and max_torque: + self.events.add(EventName.steerSaturated) + elif lac_log.active and not CS.steeringPressed and lac_log.saturated: + dpath_points = lat_plan.dPathPoints + if len(dpath_points): + # Check if we deviated from the path + # TODO use desired vs actual curvature + left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20 + right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20 + + if left_deviation or right_deviation: + self.events.add(EventName.steerSaturated) + + # Ensure no NaNs/Infs + for p in ACTUATOR_FIELDS: + attr = getattr(actuators, p) + if not isinstance(attr, SupportsFloat): + continue + + if not math.isfinite(attr): + cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}") + setattr(actuators, p, 0.0) + + return CC, lac_log + + def update_button_timers(self, buttonEvents): + # increment timer for buttons still pressed + for k in self.button_timers: + if self.button_timers[k] > 0: + self.button_timers[k] += 1 + + for b in buttonEvents: + if b.type.raw in self.button_timers: + self.button_timers[b.type.raw] = 1 if b.pressed else 0 + + def publish_logs(self, CS, start_time, CC, lac_log): + """Send actuators and hud commands to the car, send controlsstate and MPC logging""" + + # Orientation and angle rates can be useful for carcontroller + # Only calibrated (car) frame is relevant for the carcontroller + orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value) + if len(orientation_value) > 2: + CC.orientationNED = orientation_value + angular_rate_value = list(self.sm['liveLocationKalman'].angularVelocityCalibrated.value) + if len(angular_rate_value) > 2: + CC.angularVelocity = angular_rate_value + + CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) + if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]: + CC.cruiseControl.cancel = True + + speeds = self.sm['longitudinalPlan'].speeds + if len(speeds): + CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1 + + hudControl = CC.hudControl + hudControl.setSpeed = float(self.v_cruise_cluster_kph * CV.KPH_TO_MS) + hudControl.speedVisible = self.enabled + hudControl.lanesVisible = self.enabled + hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead + + hudControl.rightLaneVisible = True + hudControl.leftLaneVisible = True + + recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown + ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \ + and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED + + model_v2 = self.sm['modelV2'] + desire_prediction = model_v2.meta.desirePrediction + if len(desire_prediction) and ldw_allowed: + right_lane_visible = self.sm['lateralPlan'].rProb > 0.5 + left_lane_visible = self.sm['lateralPlan'].lProb > 0.5 + l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1] + r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1] + + lane_lines = model_v2.laneLines + l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET)) + r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET)) + + hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close) + hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close) + + if hudControl.rightLaneDepart or hudControl.leftLaneDepart: + self.events.add(EventName.ldw) + + clear_event_types = set() + if ET.WARNING not in self.current_alert_types: + clear_event_types.add(ET.WARNING) + if self.enabled: + clear_event_types.add(ET.NO_ENTRY) + + alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer]) + self.AM.add_many(self.sm.frame, alerts) + current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types) + if current_alert: + hudControl.visualAlert = current_alert.visual_alert + + if not self.read_only and self.initialized: + # send car controls over can + self.last_actuators, can_sends = self.CI.apply(CC) + self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) + CC.actuatorsOutput = self.last_actuators + self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2 + + force_decel = False if self.dp_jetson else (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \ + (self.state == State.softDisabling) + + # Curvature & Steering angle + params = self.sm['liveParameters'] + + steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg) + curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, params.roll) + + # controlsState + dat = messaging.new_message('controlsState') + dat.valid = CS.canValid + controlsState = dat.controlsState + if current_alert: + controlsState.alertText1 = current_alert.alert_text_1 + controlsState.alertText2 = current_alert.alert_text_2 + controlsState.alertSize = current_alert.alert_size + controlsState.alertStatus = current_alert.alert_status + controlsState.alertBlinkingRate = current_alert.alert_rate + controlsState.alertType = current_alert.alert_type + controlsState.alertSound = current_alert.audible_alert + + controlsState.canMonoTimes = list(CS.canMonoTimes) + controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] + controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan'] + controlsState.enabled = self.enabled + controlsState.active = self.active + controlsState.curvature = curvature + controlsState.desiredCurvature = self.desired_curvature + controlsState.desiredCurvatureRate = self.desired_curvature_rate + controlsState.state = self.state + controlsState.engageable = not self.events.any(ET.NO_ENTRY) + controlsState.longControlState = self.LoC.long_control_state + controlsState.vPid = float(self.LoC.v_pid) + controlsState.vCruise = float(self.v_cruise_kph) + controlsState.vCruiseCluster = float(self.v_cruise_cluster_kph) + controlsState.upAccelCmd = float(self.LoC.pid.p) + controlsState.uiAccelCmd = float(self.LoC.pid.i) + controlsState.ufAccelCmd = float(self.LoC.pid.f) + controlsState.cumLagMs = -self.rk.remaining * 1000. + controlsState.startMonoTime = int(start_time * 1e9) + controlsState.forceDecel = bool(force_decel) + controlsState.canErrorCounter = self.can_rcv_error_counter + + lat_tuning = self.CP.lateralTuning.which() + if self.joystick_mode: + controlsState.lateralControlState.debugState = lac_log + elif self.CP.steerControlType == car.CarParams.SteerControlType.angle: + controlsState.lateralControlState.angleState = lac_log + elif lat_tuning == 'pid': + controlsState.lateralControlState.pidState = lac_log + elif lat_tuning == 'torque': + controlsState.lateralControlState.torqueState = lac_log + elif lat_tuning == 'indi': + controlsState.lateralControlState.indiState = lac_log + + self.pm.send('controlsState', dat) + + # carState + car_events = self.events.to_msg() + cs_send = messaging.new_message('carState') + cs_send.valid = CS.canValid + cs_send.carState = CS + cs_send.carState.events = car_events + self.pm.send('carState', cs_send) + + # carEvents - logged every second or on change + if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev): + ce_send = messaging.new_message('carEvents', len(self.events)) + ce_send.carEvents = car_events + self.pm.send('carEvents', ce_send) + self.events_prev = self.events.names.copy() + + # carParams - logged every 50 seconds (> 1 per segment) + if (self.sm.frame % int(50. / DT_CTRL) == 0): + cp_send = messaging.new_message('carParams') + cp_send.carParams = self.CP + self.pm.send('carParams', cp_send) + + # carControl + cc_send = messaging.new_message('carControl') + cc_send.valid = CS.canValid + cc_send.carControl = CC + self.pm.send('carControl', cc_send) + + # copy CarControl to pass to CarInterface on the next iteration + self.CC = CC + + def step(self): + start_time = sec_since_boot() + self.prof.checkpoint("Ratekeeper", ignore=True) + + # Sample data from sockets and get a carState + CS = self.data_sample() + cloudlog.timestamp("Data sampled") + self.prof.checkpoint("Sample") + + self.update_events(CS) + cloudlog.timestamp("Events updated") + + if not self.read_only and self.initialized: + # Update control state + self.state_transition(CS) + self.prof.checkpoint("State transition") + + # Compute actuators (runs PID loops and lateral MPC) + CC, lac_log = self.state_control(CS) + + self.prof.checkpoint("State Control") + + # Publish data + self.publish_logs(CS, start_time, CC, lac_log) + self.prof.checkpoint("Sent") + + self.update_button_timers(CS.buttonEvents) + self.CS_prev = CS + + def controlsd_thread(self): + while True: + self.step() + self.rk.monitor_time() + self.prof.display() + +def main(sm=None, pm=None, logcan=None): + controls = Controls(sm, pm, logcan) + controls.controlsd_thread() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/controls/lib/__init__.py b/selfdrive/controls/lib/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py new file mode 100644 index 000000000..2dad05e21 --- /dev/null +++ b/selfdrive/controls/lib/alertmanager.py @@ -0,0 +1,64 @@ +import copy +import os +import json +from collections import defaultdict +from dataclasses import dataclass +from typing import List, Dict, Optional + +from common.basedir import BASEDIR +from common.params import Params +from selfdrive.controls.lib.events import Alert + + +with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: + OFFROAD_ALERTS = json.load(f) + + +def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = None) -> None: + if show_alert: + a = OFFROAD_ALERTS[alert] + if extra_text is not None: + a = copy.copy(OFFROAD_ALERTS[alert]) + a['text'] += extra_text + Params().put(alert, json.dumps(a)) + else: + Params().delete(alert) + + +@dataclass +class AlertEntry: + alert: Optional[Alert] = None + start_frame: int = -1 + end_frame: int = -1 + + def active(self, frame: int) -> bool: + return frame <= self.end_frame + +class AlertManager: + def __init__(self): + self.alerts: Dict[str, AlertEntry] = defaultdict(AlertEntry) + + def add_many(self, frame: int, alerts: List[Alert]) -> None: + for alert in alerts: + entry = self.alerts[alert.alert_type] + entry.alert = alert + if not entry.active(frame): + entry.start_frame = frame + min_end_frame = entry.start_frame + alert.duration + entry.end_frame = max(frame + 1, min_end_frame) + + def process_alerts(self, frame: int, clear_event_types: set) -> Optional[Alert]: + current_alert = AlertEntry() + for v in self.alerts.values(): + if not v.alert: + continue + + if v.alert.event_type in clear_event_types: + v.end_frame = -1 + + # sort by priority first and then by start_frame + greater = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame) + if v.active(frame) and greater: + current_alert = v + + return current_alert.alert diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json new file mode 100644 index 000000000..2f85ea917 --- /dev/null +++ b/selfdrive/controls/lib/alerts_offroad.json @@ -0,0 +1,52 @@ +{ + "Offroad_TemperatureTooHigh": { + "text": "Device temperature too high. System won't start.", + "severity": 1 + }, + "Offroad_ConnectivityNeededPrompt": { + "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in ", + "severity": 0, + "_comment": "Append the number of days at the end of the text" + }, + "Offroad_ConnectivityNeeded": { + "text": "Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates.", + "severity": 1 + }, + "Offroad_UpdateFailed": { + "text": "Unable to download updates\n", + "severity": 1, + "_comment": "Append the command and error to the text." + }, + "Offroad_InvalidTime": { + "text": "Invalid date and time settings, system won't start. Connect to internet to set time.", + "severity": 1 + }, + "Offroad_IsTakingSnapshot": { + "text": "Taking camera snapshots. System won't start until finished.", + "severity": 0 + }, + "Offroad_NeosUpdate": { + "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.", + "severity": 0 + }, + "Offroad_UnofficialHardware": { + "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, contact support@comma.ai.", + "severity": 1 + }, + "Offroad_StorageMissing": { + "text": "NVMe drive not mounted.", + "severity": 1 + }, + "Offroad_BadNvme": { + "text": "Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.", + "severity": 1 + }, + "Offroad_CarUnrecognized": { + "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.", + "severity": 0 + }, + "Offroad_NoFirmware": { + "text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.", + "severity": 0 + } +} diff --git a/selfdrive/controls/lib/cluster/LICENSE b/selfdrive/controls/lib/cluster/LICENSE new file mode 100644 index 000000000..ab8b4db7d --- /dev/null +++ b/selfdrive/controls/lib/cluster/LICENSE @@ -0,0 +1,13 @@ +Copyright: + * fastcluster_dm.cpp & fastcluster_R_dm.cpp: + © 2011 Daniel Müllner + * fastcluster.(h|cpp) & demo.cpp & plotresult.r: + © 2018 Christoph Dalitz +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/selfdrive/controls/lib/cluster/README b/selfdrive/controls/lib/cluster/README new file mode 100644 index 000000000..acb18bc72 --- /dev/null +++ b/selfdrive/controls/lib/cluster/README @@ -0,0 +1,79 @@ +C++ interface to fast hierarchical clustering algorithms +======================================================== + +This is a simplified C++ interface to fast implementations of hierarchical +clustering by Daniel Müllner. The original library with interfaces to R +and Python is described in: + +Daniel Müllner: "fastcluster: Fast Hierarchical, Agglomerative Clustering +Routines for R and Python." Journal of Statistical Software 53 (2013), +no. 9, pp. 1–18, http://www.jstatsoft.org/v53/i09/ + + +Usage of the library +-------------------- + +For using the library, the following source files are needed: + +fastcluster_dm.cpp, fastcluster_R_dm.cpp + original code by Daniel Müllner + these are included by fastcluster.cpp via #include, and therefore + need not be compiled to object code + +fastcluster.[h|cpp] + simplified C++ interface + fastcluster.cpp is the only file that must be compiled + +The library provides the clustering function *hclust_fast* for +creating the dendrogram information in an encoding as used by the +R function *hclust*. For a description of the parameters, see fastcluster.h. +Its parameter *method* can be one of + +HCLUST_METHOD_SINGLE + single link with the minimum spanning tree algorithm (Rohlf, 1973) + +HHCLUST_METHOD_COMPLETE + complete link with the nearest-neighbor-chain algorithm (Murtagh, 1984) + +HCLUST_METHOD_AVERAGE + complete link with the nearest-neighbor-chain algorithm (Murtagh, 1984) + +HCLUST_METHOD_MEDIAN + median link with the generic algorithm (Müllner, 2011) + +For splitting the dendrogram into clusters, the two functions *cutree_k* +and *cutree_cdist* are provided. + +Note that output parameters must be allocated beforehand, e.g. + int* merge = new int[2*(npoints-1)]; +For a complete usage example, see lines 135-142 of demo.cpp. + + +Demonstration program +--------------------- + +A simple demo is implemented in demo.cpp, which can be compiled and run with + + make + ./hclust-demo -m complete lines.csv + +It creates two clusters of line segments such that the segment angle between +line segments of different clusters have a maximum (cosine) dissimilarity. +For visualizing the result, plotresult.r can be used as follows +(requires R to be installed): + + ./hclust-demo -m complete lines.csv | Rscript plotresult.r + + +Authors & Copyright +------------------- + +Daniel Müllner, 2011, +Christoph Dalitz, 2018, + + +License +------- + +This code is provided under a BSD-style license. +See the file LICENSE for details. diff --git a/selfdrive/controls/lib/cluster/__init__.py b/selfdrive/controls/lib/cluster/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/controls/lib/cluster/fastcluster.cpp b/selfdrive/controls/lib/cluster/fastcluster.cpp new file mode 100644 index 000000000..d2b557d6f --- /dev/null +++ b/selfdrive/controls/lib/cluster/fastcluster.cpp @@ -0,0 +1,218 @@ +// +// C++ standalone verion of fastcluster by Daniel Müllner +// +// Copyright: Christoph Dalitz, 2018 +// Daniel Müllner, 2011 +// License: BSD style license +// (see the file LICENSE for details) +// + + +#include +#include +#include + + +extern "C" { +#include "fastcluster.h" +} + +// Code by Daniel Müllner +// workaround to make it usable as a standalone version (without R) +bool fc_isnan(double x) { return false; } +#include "fastcluster_dm.cpp" +#include "fastcluster_R_dm.cpp" + +extern "C" { +// +// Assigns cluster labels (0, ..., nclust-1) to the n points such +// that the cluster result is split into nclust clusters. +// +// Input arguments: +// n = number of observables +// merge = clustering result in R format +// nclust = number of clusters +// Output arguments: +// labels = allocated integer array of size n for result +// + void cutree_k(int n, const int* merge, int nclust, int* labels) { + + int k,m1,m2,j,l; + + if (nclust > n || nclust < 2) { + for (j=0; j last_merge(n, 0); + for (k=1; k<=(n-nclust); k++) { + // (m1,m2) = merge[k,] + m1 = merge[k-1]; + m2 = merge[n-1+k-1]; + if (m1 < 0 && m2 < 0) { // both single observables + last_merge[-m1-1] = last_merge[-m2-1] = k; + } + else if (m1 < 0 || m2 < 0) { // one is a cluster + if(m1 < 0) { j = -m1; m1 = m2; } else j = -m2; + // merging single observable and cluster + for(l = 0; l < n; l++) + if (last_merge[l] == m1) + last_merge[l] = k; + last_merge[j-1] = k; + } + else { // both cluster + for(l=0; l < n; l++) { + if( last_merge[l] == m1 || last_merge[l] == m2 ) + last_merge[l] = k; + } + } + } + + // assign cluster labels + int label = 0; + std::vector z(n,-1); + for (j=0; j= cdist + // + // Input arguments: + // n = number of observables + // merge = clustering result in R format + // height = cluster distance at each merge step + // cdist = cutoff cluster distance + // Output arguments: + // labels = allocated integer array of size n for result + // + void cutree_cdist(int n, const int* merge, double* height, double cdist, int* labels) { + + int k; + + for (k=0; k<(n-1); k++) { + if (height[k] >= cdist) { + break; + } + } + cutree_k(n, merge, n-k, labels); + } + + + // + // Hierarchical clustering with one of Daniel Muellner's fast algorithms + // + // Input arguments: + // n = number of observables + // distmat = condensed distance matrix, i.e. an n*(n-1)/2 array representing + // the upper triangle (without diagonal elements) of the distance + // matrix, e.g. for n=4: + // d00 d01 d02 d03 + // d10 d11 d12 d13 -> d01 d02 d03 d12 d13 d23 + // d20 d21 d22 d23 + // d30 d31 d32 d33 + // method = cluster metric (see enum method_code) + // Output arguments: + // merge = allocated (n-1)x2 matrix (2*(n-1) array) for storing result. + // Result follows R hclust convention: + // - observabe indices start with one + // - merge[i][] contains the merged nodes in step i + // - merge[i][j] is negative when the node is an atom + // height = allocated (n-1) array with distances at each merge step + // Return code: + // 0 = ok + // 1 = invalid method + // + int hclust_fast(int n, double* distmat, int method, int* merge, double* height) { + + // call appropriate culstering function + cluster_result Z2(n-1); + if (method == HCLUST_METHOD_SINGLE) { + // single link + MST_linkage_core(n, distmat, Z2); + } + else if (method == HCLUST_METHOD_COMPLETE) { + // complete link + NN_chain_core(n, distmat, NULL, Z2); + } + else if (method == HCLUST_METHOD_AVERAGE) { + // best average distance + double* members = new double[n]; + for (int i=0; i(n, distmat, members, Z2); + delete[] members; + } + else if (method == HCLUST_METHOD_MEDIAN) { + // best median distance (beware: O(n^3)) + generic_linkage(n, distmat, NULL, Z2); + } + else if (method == HCLUST_METHOD_CENTROID) { + // best centroid distance (beware: O(n^3)) + double* members = new double[n]; + for (int i=0; i(n, distmat, members, Z2); + delete[] members; + } + else { + return 1; + } + + int* order = new int[n]; + if (method == HCLUST_METHOD_MEDIAN || method == HCLUST_METHOD_CENTROID) { + generate_R_dendrogram(merge, height, order, Z2, n); + } else { + generate_R_dendrogram(merge, height, order, Z2, n); + } + delete[] order; // only needed for visualization + + return 0; + } + + + // Build condensed distance matrix + // Input arguments: + // n = number of observables + // m = dimension of observable + // Output arguments: + // out = allocated integer array of size n * (n - 1) / 2 for result + void hclust_pdist(int n, int m, double* pts, double* out) { + int ii = 0; + for (int i = 0; i < n; i++) { + for (int j = i + 1; j < n; j++) { + // Compute euclidian distance + double d = 0; + for (int k = 0; k < m; k ++) { + double error = pts[i * m + k] - pts[j * m + k]; + d += (error * error); + } + out[ii] = d;//sqrt(d); + ii++; + } + } + } + + void cluster_points_centroid(int n, int m, double* pts, double dist, int* idx) { + double* pdist = new double[n * (n - 1) / 2]; + int* merge = new int[2 * (n - 1)]; + double* height = new double[n - 1]; + + hclust_pdist(n, m, pts, pdist); + hclust_fast(n, pdist, HCLUST_METHOD_CENTROID, merge, height); + cutree_cdist(n, merge, height, dist, idx); + + delete[] pdist; + delete[] merge; + delete[] height; + } +} diff --git a/selfdrive/controls/lib/cluster/fastcluster.h b/selfdrive/controls/lib/cluster/fastcluster.h new file mode 100644 index 000000000..56c63b6a5 --- /dev/null +++ b/selfdrive/controls/lib/cluster/fastcluster.h @@ -0,0 +1,77 @@ +// +// C++ standalone verion of fastcluster by Daniel Muellner +// +// Copyright: Daniel Muellner, 2011 +// Christoph Dalitz, 2018 +// License: BSD style license +// (see the file LICENSE for details) +// + +#ifndef fastclustercpp_H +#define fastclustercpp_H + +// +// Assigns cluster labels (0, ..., nclust-1) to the n points such +// that the cluster result is split into nclust clusters. +// +// Input arguments: +// n = number of observables +// merge = clustering result in R format +// nclust = number of clusters +// Output arguments: +// labels = allocated integer array of size n for result +// +void cutree_k(int n, const int* merge, int nclust, int* labels); + +// +// Assigns cluster labels (0, ..., nclust-1) to the n points such +// that the hierarchical clsutering is stopped at cluster distance cdist +// +// Input arguments: +// n = number of observables +// merge = clustering result in R format +// height = cluster distance at each merge step +// cdist = cutoff cluster distance +// Output arguments: +// labels = allocated integer array of size n for result +// +void cutree_cdist(int n, const int* merge, double* height, double cdist, int* labels); + +// +// Hierarchical clustering with one of Daniel Muellner's fast algorithms +// +// Input arguments: +// n = number of observables +// distmat = condensed distance matrix, i.e. an n*(n-1)/2 array representing +// the upper triangle (without diagonal elements) of the distance +// matrix, e.g. for n=4: +// d00 d01 d02 d03 +// d10 d11 d12 d13 -> d01 d02 d03 d12 d13 d23 +// d20 d21 d22 d23 +// d30 d31 d32 d33 +// method = cluster metric (see enum method_code) +// Output arguments: +// merge = allocated (n-1)x2 matrix (2*(n-1) array) for storing result. +// Result follows R hclust convention: +// - observabe indices start with one +// - merge[i][] contains the merged nodes in step i +// - merge[i][j] is negative when the node is an atom +// height = allocated (n-1) array with distances at each merge step +// Return code: +// 0 = ok +// 1 = invalid method +// +int hclust_fast(int n, double* distmat, int method, int* merge, double* height); +enum hclust_fast_methods { + HCLUST_METHOD_SINGLE = 0, + HCLUST_METHOD_COMPLETE = 1, + HCLUST_METHOD_AVERAGE = 2, + HCLUST_METHOD_MEDIAN = 3, + HCLUST_METHOD_CENTROID = 5, +}; + +void hclust_pdist(int n, int m, double* pts, double* out); +void cluster_points_centroid(int n, int m, double* pts, double dist, int* idx); + + +#endif diff --git a/selfdrive/controls/lib/cluster/fastcluster_R_dm.cpp b/selfdrive/controls/lib/cluster/fastcluster_R_dm.cpp new file mode 100644 index 000000000..cbe126c15 --- /dev/null +++ b/selfdrive/controls/lib/cluster/fastcluster_R_dm.cpp @@ -0,0 +1,115 @@ +// +// Excerpt from fastcluster_R.cpp +// +// Copyright: Daniel Müllner, 2011 +// + +struct pos_node { + t_index pos; + int node; +}; + +void order_nodes(const int N, const int * const merge, const t_index * const node_size, int * const order) { + /* Parameters: + N : number of data points + merge : (N-1)×2 array which specifies the node indices which are + merged in each step of the clustering procedure. + Negative entries -1...-N point to singleton nodes, while + positive entries 1...(N-1) point to nodes which are themselves + parents of other nodes. + node_size : array of node sizes - makes it easier + order : output array of size N + + Runtime: Θ(N) + */ + auto_array_ptr queue(N/2); + + int parent; + int child; + t_index pos = 0; + + queue[0].pos = 0; + queue[0].node = N-2; + t_index idx = 1; + + do { + --idx; + pos = queue[idx].pos; + parent = queue[idx].node; + + // First child + child = merge[parent]; + if (child<0) { // singleton node, write this into the 'order' array. + order[pos] = -child; + ++pos; + } + else { /* compound node: put it on top of the queue and decompose it + in a later iteration. */ + queue[idx].pos = pos; + queue[idx].node = child-1; // convert index-1 based to index-0 based + ++idx; + pos += node_size[child-1]; + } + // Second child + child = merge[parent+N-1]; + if (child<0) { + order[pos] = -child; + } + else { + queue[idx].pos = pos; + queue[idx].node = child-1; + ++idx; + } + } while (idx>0); +} + +#define size_(r_) ( ((r_ +void generate_R_dendrogram(int * const merge, double * const height, int * const order, cluster_result & Z2, const int N) { + // The array "nodes" is a union-find data structure for the cluster + // identites (only needed for unsorted cluster_result input). + union_find nodes(sorted ? 0 : N); + if (!sorted) { + std::stable_sort(Z2[0], Z2[N-1]); + } + + t_index node1, node2; + auto_array_ptr node_size(N-1); + + for (t_index i=0; inode1; + node2 = Z2[i]->node2; + } + else { + node1 = nodes.Find(Z2[i]->node1); + node2 = nodes.Find(Z2[i]->node2); + // Merge the nodes in the union-find data structure by making them + // children of a new node. + nodes.Union(node1, node2); + } + // Sort the nodes in the output array. + if (node1>node2) { + t_index tmp = node1; + node1 = node2; + node2 = tmp; + } + /* Conversion between labeling conventions. + Input: singleton nodes 0,...,N-1 + compound nodes N,...,2N-2 + Output: singleton nodes -1,...,-N + compound nodes 1,...,N + */ + merge[i] = (node1(node1)-1 + : static_cast(node1)-N+1; + merge[i+N-1] = (node2(node2)-1 + : static_cast(node2)-N+1; + height[i] = Z2[i]->dist; + node_size[i] = size_(node1) + size_(node2); + } + + order_nodes(N, merge, node_size, order); +} diff --git a/selfdrive/controls/lib/cluster/fastcluster_dm.cpp b/selfdrive/controls/lib/cluster/fastcluster_dm.cpp new file mode 100644 index 000000000..ee6670c20 --- /dev/null +++ b/selfdrive/controls/lib/cluster/fastcluster_dm.cpp @@ -0,0 +1,1794 @@ +/* + fastcluster: Fast hierarchical clustering routines for R and Python + + Copyright © 2011 Daniel Müllner + + + This library implements various fast algorithms for hierarchical, + agglomerative clustering methods: + + (1) Algorithms for the "stored matrix approach": the input is the array of + pairwise dissimilarities. + + MST_linkage_core: single linkage clustering with the "minimum spanning + tree algorithm (Rohlfs) + + NN_chain_core: nearest-neighbor-chain algorithm, suitable for single, + complete, average, weighted and Ward linkage (Murtagh) + + generic_linkage: generic algorithm, suitable for all distance update + formulas (Müllner) + + (2) Algorithms for the "stored data approach": the input are points in a + vector space. + + MST_linkage_core_vector: single linkage clustering for vector data + + generic_linkage_vector: generic algorithm for vector data, suitable for + the Ward, centroid and median methods. + + generic_linkage_vector_alternative: alternative scheme for updating the + nearest neighbors. This method seems faster than "generic_linkage_vector" + for the centroid and median methods but slower for the Ward method. + + All these implementation treat infinity values correctly. They throw an + exception if a NaN distance value occurs. +*/ + +// Older versions of Microsoft Visual Studio do not have the fenv header. +#ifdef _MSC_VER +#if (_MSC_VER == 1500 || _MSC_VER == 1600) +#define NO_INCLUDE_FENV +#endif +#endif +// NaN detection via fenv might not work on systems with software +// floating-point emulation (bug report for Debian armel). +#ifdef __SOFTFP__ +#define NO_INCLUDE_FENV +#endif +#ifdef NO_INCLUDE_FENV +#pragma message("Do not use fenv header.") +#else +//#pragma message("Use fenv header. If there is a warning about unknown #pragma STDC FENV_ACCESS, this can be ignored.") +//#pragma STDC FENV_ACCESS on +#include +#endif + +#include // for std::pow, std::sqrt +#include // for std::ptrdiff_t +#include // for std::numeric_limits<...>::infinity() +#include // for std::fill_n +#include // for std::runtime_error +#include // for std::string + +#include // also for DBL_MAX, DBL_MIN +#ifndef DBL_MANT_DIG +#error The constant DBL_MANT_DIG could not be defined. +#endif +#define T_FLOAT_MANT_DIG DBL_MANT_DIG + +#ifndef LONG_MAX +#include +#endif +#ifndef LONG_MAX +#error The constant LONG_MAX could not be defined. +#endif +#ifndef INT_MAX +#error The constant INT_MAX could not be defined. +#endif + +#ifndef INT32_MAX +#ifdef _MSC_VER +#if _MSC_VER >= 1600 +#define __STDC_LIMIT_MACROS +#include +#else +typedef __int32 int_fast32_t; +typedef __int64 int64_t; +#endif +#else +#define __STDC_LIMIT_MACROS +#include +#endif +#endif + +#define FILL_N std::fill_n +#ifdef _MSC_VER +#if _MSC_VER < 1600 +#undef FILL_N +#define FILL_N stdext::unchecked_fill_n +#endif +#endif + +// Suppress warnings about (potentially) uninitialized variables. +#ifdef _MSC_VER + #pragma warning (disable:4700) +#endif + +#ifndef HAVE_DIAGNOSTIC +#if __GNUC__ > 4 || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 6)) +#define HAVE_DIAGNOSTIC 1 +#endif +#endif + +#ifndef HAVE_VISIBILITY +#if __GNUC__ >= 4 +#define HAVE_VISIBILITY 1 +#endif +#endif + +/* Since the public interface is given by the Python respectively R interface, + * we do not want other symbols than the interface initalization routines to be + * visible in the shared object file. The "visibility" switch is a GCC concept. + * Hiding symbols keeps the relocation table small and decreases startup time. + * See http://gcc.gnu.org/wiki/Visibility + */ +#if HAVE_VISIBILITY +#pragma GCC visibility push(hidden) +#endif + +typedef int_fast32_t t_index; +#ifndef INT32_MAX +#define MAX_INDEX 0x7fffffffL +#else +#define MAX_INDEX INT32_MAX +#endif +#if (LONG_MAX < MAX_INDEX) +#error The integer format "t_index" must not have a greater range than "long int". +#endif +#if (INT_MAX > MAX_INDEX) +#error The integer format "int" must not have a greater range than "t_index". +#endif +typedef double t_float; + +/* Method codes. + + These codes must agree with the METHODS array in fastcluster.R and the + dictionary mthidx in fastcluster.py. +*/ +enum method_codes { + // non-Euclidean methods + METHOD_METR_SINGLE = 0, + METHOD_METR_COMPLETE = 1, + METHOD_METR_AVERAGE = 2, + METHOD_METR_WEIGHTED = 3, + METHOD_METR_WARD = 4, + METHOD_METR_WARD_D = METHOD_METR_WARD, + METHOD_METR_CENTROID = 5, + METHOD_METR_MEDIAN = 6, + METHOD_METR_WARD_D2 = 7, + + MIN_METHOD_CODE = 0, + MAX_METHOD_CODE = 7 +}; + +enum method_codes_vector { + // Euclidean methods + METHOD_VECTOR_SINGLE = 0, + METHOD_VECTOR_WARD = 1, + METHOD_VECTOR_CENTROID = 2, + METHOD_VECTOR_MEDIAN = 3, + + MIN_METHOD_VECTOR_CODE = 0, + MAX_METHOD_VECTOR_CODE = 3 +}; + +// self-destructing array pointer +template +class auto_array_ptr{ +private: + type * ptr; + auto_array_ptr(auto_array_ptr const &); // non construction-copyable + auto_array_ptr& operator=(auto_array_ptr const &); // non copyable +public: + auto_array_ptr() + : ptr(NULL) + { } + template + auto_array_ptr(index const size) + : ptr(new type[size]) + { } + template + auto_array_ptr(index const size, value const val) + : ptr(new type[size]) + { + FILL_N(ptr, size, val); + } + ~auto_array_ptr() { + delete [] ptr; } + void free() { + delete [] ptr; + ptr = NULL; + } + template + void init(index const size) { + ptr = new type [size]; + } + template + void init(index const size, value const val) { + init(size); + FILL_N(ptr, size, val); + } + inline operator type *() const { return ptr; } +}; + +struct node { + t_index node1, node2; + t_float dist; +}; + +inline bool operator< (const node a, const node b) { + return (a.dist < b.dist); +} + +class cluster_result { +private: + auto_array_ptr Z; + t_index pos; + +public: + cluster_result(const t_index size) + : Z(size) + , pos(0) + {} + + void append(const t_index node1, const t_index node2, const t_float dist) { + Z[pos].node1 = node1; + Z[pos].node2 = node2; + Z[pos].dist = dist; + ++pos; + } + + node * operator[] (const t_index idx) const { return Z + idx; } + + /* Define several methods to postprocess the distances. All these functions + are monotone, so they do not change the sorted order of distances. */ + + void sqrt() const { + for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { + ZZ->dist = std::sqrt(ZZ->dist); + } + } + + void sqrt(const t_float) const { // ignore the argument + sqrt(); + } + + void sqrtdouble(const t_float) const { // ignore the argument + for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { + ZZ->dist = std::sqrt(2*ZZ->dist); + } + } + + #ifdef R_pow + #define my_pow R_pow + #else + #define my_pow std::pow + #endif + + void power(const t_float p) const { + t_float const q = 1/p; + for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { + ZZ->dist = my_pow(ZZ->dist,q); + } + } + + void plusone(const t_float) const { // ignore the argument + for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { + ZZ->dist += 1; + } + } + + void divide(const t_float denom) const { + for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { + ZZ->dist /= denom; + } + } +}; + +class doubly_linked_list { + /* + Class for a doubly linked list. Initially, the list is the integer range + [0, size]. We provide a forward iterator and a method to delete an index + from the list. + + Typical use: for (i=L.start; L succ; + +private: + auto_array_ptr pred; + // Not necessarily private, we just do not need it in this instance. + +public: + doubly_linked_list(const t_index size) + // Initialize to the given size. + : start(0) + , succ(size+1) + , pred(size+1) + { + for (t_index i=0; i(2*N-3-(r_))*(r_)>>1)+(c_)-1] ) +// Z is an ((N-1)x4)-array +#define Z_(_r, _c) (Z[(_r)*4 + (_c)]) + +/* + Lookup function for a union-find data structure. + + The function finds the root of idx by going iteratively through all + parent elements until a root is found. An element i is a root if + nodes[i] is zero. To make subsequent searches faster, the entry for + idx and all its parents is updated with the root element. + */ +class union_find { +private: + auto_array_ptr parent; + t_index nextparent; + +public: + union_find(const t_index size) + : parent(size>0 ? 2*size-1 : 0, 0) + , nextparent(size) + { } + + t_index Find (t_index idx) const { + if (parent[idx] != 0 ) { // a → b + t_index p = idx; + idx = parent[idx]; + if (parent[idx] != 0 ) { // a → b → c + do { + idx = parent[idx]; + } while (parent[idx] != 0); + do { + t_index tmp = parent[p]; + parent[p] = idx; + p = tmp; + } while (parent[p] != idx); + } + } + return idx; + } + + void Union (const t_index node1, const t_index node2) { + parent[node1] = parent[node2] = nextparent++; + } +}; + +class nan_error{}; +#ifdef FE_INVALID +class fenv_error{}; +#endif + +static void MST_linkage_core(const t_index N, const t_float * const D, + cluster_result & Z2) { +/* + N: integer, number of data points + D: condensed distance matrix N*(N-1)/2 + Z2: output data structure + + The basis of this algorithm is an algorithm by Rohlf: + + F. James Rohlf, Hierarchical clustering using the minimum spanning tree, + The Computer Journal, vol. 16, 1973, p. 93–95. +*/ + t_index i; + t_index idx2; + doubly_linked_list active_nodes(N); + auto_array_ptr d(N); + + t_index prev_node; + t_float min; + + // first iteration + idx2 = 1; + min = std::numeric_limits::infinity(); + for (i=1; i tmp) + d[i] = tmp; + else if (fc_isnan(tmp)) + throw (nan_error()); +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + if (d[i] < min) { + min = d[i]; + idx2 = i; + } + } + Z2.append(prev_node, idx2, min); + } +} + +/* Functions for the update of the dissimilarity array */ + +inline static void f_single( t_float * const b, const t_float a ) { + if (*b > a) *b = a; +} +inline static void f_complete( t_float * const b, const t_float a ) { + if (*b < a) *b = a; +} +inline static void f_average( t_float * const b, const t_float a, const t_float s, const t_float t) { + *b = s*a + t*(*b); + #ifndef FE_INVALID +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wfloat-equal" +#endif + if (fc_isnan(*b)) { + throw(nan_error()); + } +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + #endif +} +inline static void f_weighted( t_float * const b, const t_float a) { + *b = (a+*b)*.5; + #ifndef FE_INVALID +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wfloat-equal" +#endif + if (fc_isnan(*b)) { + throw(nan_error()); + } +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + #endif +} +inline static void f_ward( t_float * const b, const t_float a, const t_float c, const t_float s, const t_float t, const t_float v) { + *b = ( (v+s)*a - v*c + (v+t)*(*b) ) / (s+t+v); + //*b = a+(*b)-(t*a+s*(*b)+v*c)/(s+t+v); + #ifndef FE_INVALID +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wfloat-equal" +#endif + if (fc_isnan(*b)) { + throw(nan_error()); + } +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + #endif +} +inline static void f_centroid( t_float * const b, const t_float a, const t_float stc, const t_float s, const t_float t) { + *b = s*a - stc + t*(*b); + #ifndef FE_INVALID + if (fc_isnan(*b)) { + throw(nan_error()); + } +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + #endif +} +inline static void f_median( t_float * const b, const t_float a, const t_float c_4) { + *b = (a+(*b))*.5 - c_4; + #ifndef FE_INVALID +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wfloat-equal" +#endif + if (fc_isnan(*b)) { + throw(nan_error()); + } +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + #endif +} + +template +static void NN_chain_core(const t_index N, t_float * const D, t_members * const members, cluster_result & Z2) { +/* + N: integer + D: condensed distance matrix N*(N-1)/2 + Z2: output data structure + + This is the NN-chain algorithm, described on page 86 in the following book: + + Fionn Murtagh, Multidimensional Clustering Algorithms, + Vienna, Würzburg: Physica-Verlag, 1985. +*/ + t_index i; + + auto_array_ptr NN_chain(N); + t_index NN_chain_tip = 0; + + t_index idx1, idx2; + + t_float size1, size2; + doubly_linked_list active_nodes(N); + + t_float min; + + for (t_float const * DD=D; DD!=D+(static_cast(N)*(N-1)>>1); + ++DD) { +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wfloat-equal" +#endif + if (fc_isnan(*DD)) { + throw(nan_error()); + } +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + } + + #ifdef FE_INVALID + if (feclearexcept(FE_INVALID)) throw fenv_error(); + #endif + + for (t_index j=0; jidx2) { + t_index tmp = idx1; + idx1 = idx2; + idx2 = tmp; + } + + if (method==METHOD_METR_AVERAGE || + method==METHOD_METR_WARD) { + size1 = static_cast(members[idx1]); + size2 = static_cast(members[idx2]); + members[idx2] += members[idx1]; + } + + // Remove the smaller index from the valid indices (active_nodes). + active_nodes.remove(idx1); + + switch (method) { + case METHOD_METR_SINGLE: + /* + Single linkage. + + Characteristic: new distances are never longer than the old distances. + */ + // Update the distance matrix in the range [start, idx1). + for (i=active_nodes.start; i(members[i]); + for (i=active_nodes.start; i(members[i]) ); + // Update the distance matrix in the range (idx1, idx2). + for (; i(members[i]) ); + // Update the distance matrix in the range (idx2, N). + for (i=active_nodes.succ[idx2]; i(members[i]) ); + break; + + default: + throw std::runtime_error(std::string("Invalid method.")); + } + } + #ifdef FE_INVALID + if (fetestexcept(FE_INVALID)) throw fenv_error(); + #endif +} + +class binary_min_heap { + /* + Class for a binary min-heap. The data resides in an array A. The elements of + A are not changed but two lists I and R of indices are generated which point + to elements of A and backwards. + + The heap tree structure is + + H[2*i+1] H[2*i+2] + \ / + \ / + ≤ ≤ + \ / + \ / + H[i] + + where the children must be less or equal than their parent. Thus, H[0] + contains the minimum. The lists I and R are made such that H[i] = A[I[i]] + and R[I[i]] = i. + + This implementation is not designed to handle NaN values. + */ +private: + t_float * const A; + t_index size; + auto_array_ptr I; + auto_array_ptr R; + + // no default constructor + binary_min_heap(); + // noncopyable + binary_min_heap(binary_min_heap const &); + binary_min_heap & operator=(binary_min_heap const &); + +public: + binary_min_heap(t_float * const A_, const t_index size_) + : A(A_), size(size_), I(size), R(size) + { // Allocate memory and initialize the lists I and R to the identity. This + // does not make it a heap. Call heapify afterwards! + for (t_index i=0; i>1); idx>0; ) { + --idx; + update_geq_(idx); + } + } + + inline t_index argmin() const { + // Return the minimal element. + return I[0]; + } + + void heap_pop() { + // Remove the minimal element from the heap. + --size; + I[0] = I[size]; + R[I[0]] = 0; + update_geq_(0); + } + + void remove(t_index idx) { + // Remove an element from the heap. + --size; + R[I[size]] = R[idx]; + I[R[idx]] = I[size]; + if ( H(size)<=A[idx] ) { + update_leq_(R[idx]); + } + else { + update_geq_(R[idx]); + } + } + + void replace ( const t_index idxold, const t_index idxnew, + const t_float val) { + R[idxnew] = R[idxold]; + I[R[idxnew]] = idxnew; + if (val<=A[idxold]) + update_leq(idxnew, val); + else + update_geq(idxnew, val); + } + + void update ( const t_index idx, const t_float val ) const { + // Update the element A[i] with val and re-arrange the indices to preserve + // the heap condition. + if (val<=A[idx]) + update_leq(idx, val); + else + update_geq(idx, val); + } + + void update_leq ( const t_index idx, const t_float val ) const { + // Use this when the new value is not more than the old value. + A[idx] = val; + update_leq_(R[idx]); + } + + void update_geq ( const t_index idx, const t_float val ) const { + // Use this when the new value is not less than the old value. + A[idx] = val; + update_geq_(R[idx]); + } + +private: + void update_leq_ (t_index i) const { + t_index j; + for ( ; (i>0) && ( H(i)>1) ); i=j) + heap_swap(i,j); + } + + void update_geq_ (t_index i) const { + t_index j; + for ( ; (j=2*i+1)=H(i) ) { + ++j; + if ( j>=size || H(j)>=H(i) ) break; + } + else if ( j+1 +static void generic_linkage(const t_index N, t_float * const D, t_members * const members, cluster_result & Z2) { + /* + N: integer, number of data points + D: condensed distance matrix N*(N-1)/2 + Z2: output data structure + */ + + const t_index N_1 = N-1; + t_index i, j; // loop variables + t_index idx1, idx2; // row and column indices + + auto_array_ptr n_nghbr(N_1); // array of nearest neighbors + auto_array_ptr mindist(N_1); // distances to the nearest neighbors + auto_array_ptr row_repr(N); // row_repr[i]: node number that the + // i-th row represents + doubly_linked_list active_nodes(N); + binary_min_heap nn_distances(&*mindist, N_1); // minimum heap structure for + // the distance to the nearest neighbor of each point + t_index node1, node2; // node numbers in the output + t_float size1, size2; // and their cardinalities + + t_float min; // minimum and row index for nearest-neighbor search + t_index idx; + + for (i=0; ii} D(i,j) for i in range(N-1) + t_float const * DD = D; + for (i=0; i::infinity(); + for (idx=j=i+1; ji} D(i,j) + + Normally, we have equality. However, this minimum may become invalid due + to the updates in the distance matrix. The rules are: + + 1) If mindist[i] is equal to D(i, n_nghbr[i]), this is the correct + minimum and n_nghbr[i] is a nearest neighbor. + + 2) If mindist[i] is smaller than D(i, n_nghbr[i]), this might not be the + correct minimum. The minimum needs to be recomputed. + + 3) mindist[i] is never bigger than the true minimum. Hence, we never + miss the true minimum if we take the smallest mindist entry, + re-compute the value if necessary (thus maybe increasing it) and + looking for the now smallest mindist entry until a valid minimal + entry is found. This step is done in the lines below. + + The update process for D below takes care that these rules are + fulfilled. This makes sure that the minima in the rows D(i,i+1:)of D are + re-calculated when necessary but re-calculation is avoided whenever + possible. + + The re-calculation of the minima makes the worst-case runtime of this + algorithm cubic in N. We avoid this whenever possible, and in most cases + the runtime appears to be quadratic. + */ + idx1 = nn_distances.argmin(); + if (method != METHOD_METR_SINGLE) { + while ( mindist[idx1] < D_(idx1, n_nghbr[idx1]) ) { + // Recompute the minimum mindist[idx1] and n_nghbr[idx1]. + n_nghbr[idx1] = j = active_nodes.succ[idx1]; // exists, maximally N-1 + min = D_(idx1,j); + for (j=active_nodes.succ[j]; j(members[idx1]); + size2 = static_cast(members[idx2]); + members[idx2] += members[idx1]; + } + Z2.append(node1, node2, mindist[idx1]); + + // Remove idx1 from the list of active indices (active_nodes). + active_nodes.remove(idx1); + // Index idx2 now represents the new (merged) node with label N+i. + row_repr[idx2] = N+i; + + // Update the distance matrix + switch (method) { + case METHOD_METR_SINGLE: + /* + Single linkage. + + Characteristic: new distances are never longer than the old distances. + */ + // Update the distance matrix in the range [start, idx1). + for (j=active_nodes.start; j(members[j]) ); + if (n_nghbr[j] == idx1) + n_nghbr[j] = idx2; + } + // Update the distance matrix in the range (idx1, idx2). + for (; j(members[j]) ); + if (D_(j, idx2) < mindist[j]) { + nn_distances.update_leq(j, D_(j, idx2)); + n_nghbr[j] = idx2; + } + } + // Update the distance matrix in the range (idx2, N). + if (idx2(members[j]) ); + min = D_(idx2,j); + for (j=active_nodes.succ[j]; j(members[j]) ); + if (D_(idx2,j) < min) { + min = D_(idx2,j); + n_nghbr[idx2] = j; + } + } + nn_distances.update(idx2, min); + } + break; + + case METHOD_METR_CENTROID: { + /* + Centroid linkage. + + Shorter and longer distances can occur, not bigger than max(d1,d2) + but maybe smaller than min(d1,d2). + */ + // Update the distance matrix in the range [start, idx1). + t_float s = size1/(size1+size2); + t_float t = size2/(size1+size2); + t_float stc = s*t*mindist[idx1]; + for (j=active_nodes.start; j +static void MST_linkage_core_vector(const t_index N, + t_dissimilarity & dist, + cluster_result & Z2) { +/* + N: integer, number of data points + dist: function pointer to the metric + Z2: output data structure + + The basis of this algorithm is an algorithm by Rohlf: + + F. James Rohlf, Hierarchical clustering using the minimum spanning tree, + The Computer Journal, vol. 16, 1973, p. 93–95. +*/ + t_index i; + t_index idx2; + doubly_linked_list active_nodes(N); + auto_array_ptr d(N); + + t_index prev_node; + t_float min; + + // first iteration + idx2 = 1; + min = std::numeric_limits::infinity(); + for (i=1; i tmp) + d[i] = tmp; + else if (fc_isnan(tmp)) + throw (nan_error()); +#if HAVE_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + if (d[i] < min) { + min = d[i]; + idx2 = i; + } + } + Z2.append(prev_node, idx2, min); + } +} + +template +static void generic_linkage_vector(const t_index N, + t_dissimilarity & dist, + cluster_result & Z2) { + /* + N: integer, number of data points + dist: function pointer to the metric + Z2: output data structure + + This algorithm is valid for the distance update methods + "Ward", "centroid" and "median" only! + */ + const t_index N_1 = N-1; + t_index i, j; // loop variables + t_index idx1, idx2; // row and column indices + + auto_array_ptr n_nghbr(N_1); // array of nearest neighbors + auto_array_ptr mindist(N_1); // distances to the nearest neighbors + auto_array_ptr row_repr(N); // row_repr[i]: node number that the + // i-th row represents + doubly_linked_list active_nodes(N); + binary_min_heap nn_distances(&*mindist, N_1); // minimum heap structure for + // the distance to the nearest neighbor of each point + t_index node1, node2; // node numbers in the output + t_float min; // minimum and row index for nearest-neighbor search + + for (i=0; ii} D(i,j) for i in range(N-1) + for (i=0; i::infinity(); + t_index idx; + for (idx=j=i+1; j(i,j); + } + if (tmp(idx1,j); + for (j=active_nodes.succ[j]; j(idx1,j); + if (tmp(j, idx2); + if (tmp < mindist[j]) { + nn_distances.update_leq(j, tmp); + n_nghbr[j] = idx2; + } + else if (n_nghbr[j] == idx2) + n_nghbr[j] = idx1; // invalidate + } + // Find the nearest neighbor for idx2. + if (idx2(idx2,j); + for (j=active_nodes.succ[j]; j(idx2, j); + if (tmp < min) { + min = tmp; + n_nghbr[idx2] = j; + } + } + nn_distances.update(idx2, min); + } + } + } +} + +template +static void generic_linkage_vector_alternative(const t_index N, + t_dissimilarity & dist, + cluster_result & Z2) { + /* + N: integer, number of data points + dist: function pointer to the metric + Z2: output data structure + + This algorithm is valid for the distance update methods + "Ward", "centroid" and "median" only! + */ + const t_index N_1 = N-1; + t_index i, j=0; // loop variables + t_index idx1, idx2; // row and column indices + + auto_array_ptr n_nghbr(2*N-2); // array of nearest neighbors + auto_array_ptr mindist(2*N-2); // distances to the nearest neighbors + + doubly_linked_list active_nodes(N+N_1); + binary_min_heap nn_distances(&*mindist, N_1, 2*N-2, 1); // minimum heap + // structure for the distance to the nearest neighbor of each point + + t_float min; // minimum for nearest-neighbor searches + + // Initialize the minimal distances: + // Find the nearest neighbor of each point. + // n_nghbr[i] = argmin_{j>i} D(i,j) for i in range(N-1) + for (i=1; i::infinity(); + t_index idx; + for (idx=j=0; j(i,j); + } + if (tmp + +extern "C" { +#include "fastcluster.h" +} + + +int main(int argc, const char* argv[]) { + const int n = 11; + const int m = 3; + double* pts = new double[n*m]{59.26000137, -9.35999966, -5.42500019, + 91.61999817, -0.31999999, -2.75, + 31.38000031, 0.40000001, -0.2, + 89.57999725, -8.07999992, -18.04999924, + 53.42000122, 0.63999999, -0.175, + 31.38000031, 0.47999999, -0.2, + 36.33999939, 0.16, -0.2, + 53.33999939, 0.95999998, -0.175, + 59.26000137, -9.76000023, -5.44999981, + 33.93999977, 0.40000001, -0.22499999, + 106.74000092, -5.76000023, -18.04999924}; + + int * idx = new int[n]; + int * correct_idx = new int[n]{0, 1, 2, 3, 4, 2, 5, 4, 0, 5, 6}; + + cluster_points_centroid(n, m, pts, 2.5 * 2.5, idx); + + for (int i = 0; i < n; i++) { + assert(idx[i] == correct_idx[i]); + } + + delete[] idx; + delete[] correct_idx; + delete[] pts; +} diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py new file mode 100644 index 000000000..077a618d3 --- /dev/null +++ b/selfdrive/controls/lib/desire_helper.py @@ -0,0 +1,142 @@ +from cereal import log +from common.conversions import Conversions as CV +from common.realtime import DT_MDL, sec_since_boot + +LaneChangeState = log.LateralPlan.LaneChangeState +LaneChangeDirection = log.LateralPlan.LaneChangeDirection + +LANE_CHANGE_SPEED_MIN = 30 * CV.MPH_TO_MS +LANE_CHANGE_TIME_MAX = 10. + +DESIRES = { + LaneChangeDirection.none: { + LaneChangeState.off: log.LateralPlan.Desire.none, + LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, + LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none, + LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none, + }, + LaneChangeDirection.left: { + LaneChangeState.off: log.LateralPlan.Desire.none, + LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, + LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft, + LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft, + }, + LaneChangeDirection.right: { + LaneChangeState.off: log.LateralPlan.Desire.none, + LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, + LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight, + LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight, + }, +} + + +class DesireHelper: + def __init__(self): + self.lane_change_state = LaneChangeState.off + self.lane_change_direction = LaneChangeDirection.none + self.lane_change_timer = 0.0 + self.lane_change_ll_prob = 1.0 + self.keep_pulse_timer = 0.0 + self.prev_one_blinker = False + self.desire = log.LateralPlan.Desire.none + + # dp + self.dp_lc_auto_done = False + self.dp_lc_auto_delay_start_sec = None + self.dp_lateral_mode = 1 # 0 = blinker mode (should we remove?), 1 = assist lane change, 2 = auto lane change + self.dp_lc_min_mph = LANE_CHANGE_SPEED_MIN + self.dp_lc_auto_min_mph = LANE_CHANGE_SPEED_MIN + 10 + self.dp_lc_auto_delay = 3 # secs + + def update(self, carstate, active, lane_change_prob, dragonconf): + # dp - sync with dragonConf + self.dp_lateral_mode = dragonconf.dpLateralMode + self.dp_lc_min_mph = dragonconf.dpLcMinMph * CV.MPH_TO_MS + self.dp_lc_auto_min_mph = dragonconf.dpLcAutoMinMph * CV.MPH_TO_MS + self.dp_lc_auto_min_mph = self.dp_lc_min_mph if self.dp_lc_auto_min_mph < self.dp_lc_min_mph else self.dp_lc_auto_min_mph + self.dp_lc_auto_delay = dragonconf.dpLcAutoDelay + + v_ego = carstate.vEgo + one_blinker = carstate.leftBlinker != carstate.rightBlinker + below_lane_change_speed = v_ego < self.dp_lc_min_mph + below_alc_speed = v_ego < self.dp_lc_auto_min_mph + + if not active or self.lane_change_timer > LANE_CHANGE_TIME_MAX: + self.lane_change_state = LaneChangeState.off + self.lane_change_direction = LaneChangeDirection.none + else: + # LaneChangeState.off + if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed: + self.lane_change_state = LaneChangeState.preLaneChange + self.lane_change_ll_prob = 1.0 + + self.dp_lc_auto_done = False + self.dp_lc_auto_delay_start_sec = None + + # LaneChangeState.preLaneChange + elif self.lane_change_state == LaneChangeState.preLaneChange: + # Set lane change direction + self.lane_change_direction = LaneChangeDirection.left if \ + carstate.leftBlinker else LaneChangeDirection.right + + torque_applied = carstate.steeringPressed and \ + ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or + (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right)) + + if self.dp_lateral_mode == 2: + if self.dp_lc_auto_delay_start_sec is None: + self.dp_lc_auto_delay_start_sec = sec_since_boot() + else: + if one_blinker and not below_alc_speed and (not self.dp_lc_auto_done) and \ + (sec_since_boot() - self.dp_lc_auto_delay_start_sec >= self.dp_lc_auto_delay): + torque_applied = True + + blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or + (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right)) + + if not one_blinker or below_lane_change_speed: + self.lane_change_state = LaneChangeState.off + elif torque_applied and not blindspot_detected: + self.lane_change_state = LaneChangeState.laneChangeStarting + + # LaneChangeState.laneChangeStarting + elif self.lane_change_state == LaneChangeState.laneChangeStarting: + # fade out over .5s + self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2 * DT_MDL, 0.0) + + # 98% certainty + if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01: + self.lane_change_state = LaneChangeState.laneChangeFinishing + + # LaneChangeState.laneChangeFinishing + elif self.lane_change_state == LaneChangeState.laneChangeFinishing: + # fade in laneline over 1s + self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0) + + if self.lane_change_ll_prob > 0.99: + self.lane_change_direction = LaneChangeDirection.none + if one_blinker: + self.lane_change_state = LaneChangeState.preLaneChange + else: + self.lane_change_state = LaneChangeState.off + + self.dp_lc_auto_done = True + + if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange): + self.lane_change_timer = 0.0 + else: + self.lane_change_timer += DT_MDL + + self.prev_one_blinker = one_blinker + + self.desire = DESIRES[self.lane_change_direction][self.lane_change_state] + + # Send keep pulse once per second during LaneChangeStart.preLaneChange + if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting): + self.keep_pulse_timer = 0.0 + elif self.lane_change_state == LaneChangeState.preLaneChange: + self.keep_pulse_timer += DT_MDL + if self.keep_pulse_timer > 1.0: + self.keep_pulse_timer = 0.0 + elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight): + self.desire = log.LateralPlan.Desire.none diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py new file mode 100644 index 000000000..856c23aa3 --- /dev/null +++ b/selfdrive/controls/lib/drive_helpers.py @@ -0,0 +1,141 @@ +import math + +from cereal import car +from common.conversions import Conversions as CV +from common.numpy_fast import clip, interp +from common.realtime import DT_MDL +from selfdrive.modeld.constants import T_IDXS + +# WARNING: this value was determined based on the model's training distribution, +# model predictions above this speed can be unpredictable +V_CRUISE_MAX = 145 # kph +V_CRUISE_MIN = 8 # kph +V_CRUISE_ENABLE_MIN = 40 # kph + +LAT_MPC_N = 16 +LON_MPC_N = 32 +CONTROL_N = 17 +CAR_ROTATION_RADIUS = 0.0 + +# EU guidelines +MAX_LATERAL_JERK = 5.0 + +ButtonType = car.CarState.ButtonEvent.Type +CRUISE_LONG_PRESS = 50 +CRUISE_NEAREST_FUNC = { + ButtonType.accelCruise: math.ceil, + ButtonType.decelCruise: math.floor, +} +CRUISE_INTERVAL_SIGN = { + ButtonType.accelCruise: +1, + ButtonType.decelCruise: -1, +} + +# Constants for Limit controllers. +LIMIT_ADAPT_ACC = -0.8 # (closer to zero ealier it decel) m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits. +LIMIT_MIN_ACC = -1.4 # m/s^2 Maximum deceleration allowed for limit controllers to provide. +LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acelration allowed for limit controllers to provide while active. +LIMIT_MIN_SPEED = 8.33 # m/s, Minimum speed limit to provide as solution on limit controllers. +LIMIT_SPEED_OFFSET_TH = -1. # m/s Maximum offset between speed limit and current speed for adapting state. +LIMIT_MAX_MAP_DATA_AGE = 10. # s Maximum time to hold to map data, then consider it invalid inside limits controllers. + + +class MPC_COST_LAT: + PATH = 1.0 + HEADING = 1.0 + STEER_RATE = 1.0 + + +def apply_deadzone(error, deadzone): + if error > deadzone: + error -= deadzone + elif error < - deadzone: + error += deadzone + else: + error = 0. + return error + + +def rate_limit(new_value, last_value, dw_step, up_step): + return clip(new_value, last_value + dw_step, last_value + up_step) + + +def update_v_cruise(v_cruise_kph, v_ego, gas_pressed, buttonEvents, button_timers, enabled, metric): + # handle button presses. TODO: this should be in state_control, but a decelCruise press + # would have the effect of both enabling and changing speed is checked after the state transition + if not enabled: + return v_cruise_kph + + long_press = False + button_type = None + + # should be CV.MPH_TO_KPH, but this causes rounding errors + v_cruise_delta = 1. if metric else 1.6 + + for b in buttonEvents: + if b.type.raw in button_timers and not b.pressed: + if button_timers[b.type.raw] > CRUISE_LONG_PRESS: + return v_cruise_kph # end long press + button_type = b.type.raw + break + else: + for k in button_timers.keys(): + if button_timers[k] and button_timers[k] % CRUISE_LONG_PRESS == 0: + button_type = k + long_press = True + break + + if button_type: + v_cruise_delta = v_cruise_delta * (5 if long_press else 1) + if long_press and v_cruise_kph % v_cruise_delta != 0: # partial interval + v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](v_cruise_kph / v_cruise_delta) * v_cruise_delta + else: + v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type] + + # If set is pressed while overriding, clip cruise speed to minimum of vEgo + if gas_pressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise): + v_cruise_kph = max(v_cruise_kph, v_ego * CV.MS_TO_KPH) + + v_cruise_kph = clip(round(v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX) + + return v_cruise_kph + + +def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last): + for b in buttonEvents: + # 250kph or above probably means we never had a set speed + if b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) and v_cruise_last < 250: + return v_cruise_last + + return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX))) + + +def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): + if len(psis) != CONTROL_N: + psis = [0.0]*CONTROL_N + curvatures = [0.0]*CONTROL_N + curvature_rates = [0.0]*CONTROL_N + v_ego = max(v_ego, 0.1) + + # TODO this needs more thought, use .2s extra for now to estimate other delays + delay = CP.steerActuatorDelay + .2 + + # MPC can plan to turn the wheel and turn back before t_delay. This means + # in high delay cases some corrections never even get commanded. So just use + # psi to calculate a simple linearization of desired curvature + current_curvature_desired = curvatures[0] + psi = interp(delay, T_IDXS[:CONTROL_N], psis) + average_curvature_desired = psi / (v_ego * delay) + desired_curvature = 2 * average_curvature_desired - current_curvature_desired + + # This is the "desired rate of the setpoint" not an actual desired rate + desired_curvature_rate = curvature_rates[0] + max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 + safe_desired_curvature_rate = clip(desired_curvature_rate, + -max_curvature_rate, + max_curvature_rate) + safe_desired_curvature = clip(desired_curvature, + current_curvature_desired - max_curvature_rate * DT_MDL, + current_curvature_desired + max_curvature_rate * DT_MDL) + + return safe_desired_curvature, safe_desired_curvature_rate diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py new file mode 100644 index 000000000..c76a4563a --- /dev/null +++ b/selfdrive/controls/lib/events.py @@ -0,0 +1,973 @@ +# This Python file uses the following encoding: utf-8 +# -*- coding: utf-8 -*- +from common.i18n import events +_ = events() + +import math +import os +from enum import IntEnum +from typing import Dict, Union, Callable, List, Optional + +from cereal import log, car +import cereal.messaging as messaging +from common.conversions import Conversions as CV +from common.realtime import DT_CTRL +from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER +from system.version import get_short_branch + +AlertSize = log.ControlsState.AlertSize +AlertStatus = log.ControlsState.AlertStatus +VisualAlert = car.CarControl.HUDControl.VisualAlert +AudibleAlert = car.CarControl.HUDControl.AudibleAlert +EventName = car.CarEvent.EventName + + +# Alert priorities +class Priority(IntEnum): + LOWEST = 0 + LOWER = 1 + LOW = 2 + MID = 3 + HIGH = 4 + HIGHEST = 5 + + +# Event types +class ET: + ENABLE = 'enable' + PRE_ENABLE = 'preEnable' + OVERRIDE = 'override' + NO_ENTRY = 'noEntry' + WARNING = 'warning' + USER_DISABLE = 'userDisable' + SOFT_DISABLE = 'softDisable' + IMMEDIATE_DISABLE = 'immediateDisable' + PERMANENT = 'permanent' + + +# get event name from enum +EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()} + + +class Events: + def __init__(self): + self.events: List[int] = [] + self.static_events: List[int] = [] + self.events_prev = dict.fromkeys(EVENTS.keys(), 0) + + @property + def names(self) -> List[int]: + return self.events + + def __len__(self) -> int: + return len(self.events) + + def add(self, event_name: int, static: bool=False) -> None: + if static: + self.static_events.append(event_name) + self.events.append(event_name) + + def clear(self) -> None: + self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()} + self.events = self.static_events.copy() + + def any(self, event_type: str) -> bool: + return any(event_type in EVENTS.get(e, {}) for e in self.events) + + def create_alerts(self, event_types: List[str], callback_args=None): + if callback_args is None: + callback_args = [] + + ret = [] + for e in self.events: + types = EVENTS[e].keys() + for et in event_types: + if et in types: + alert = EVENTS[e][et] + if not isinstance(alert, Alert): + alert = alert(*callback_args) + + if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay: + alert.alert_type = f"{EVENT_NAME[e]}/{et}" + alert.event_type = et + ret.append(alert) + return ret + + def add_from_msg(self, events): + for e in events: + self.events.append(e.name.raw) + + def to_msg(self): + ret = [] + for event_name in self.events: + event = car.CarEvent.new_message() + event.name = event_name + for event_type in EVENTS.get(event_name, {}): + setattr(event, event_type, True) + ret.append(event) + return ret + + +class Alert: + def __init__(self, + alert_text_1: str, + alert_text_2: str, + alert_status: log.ControlsState.AlertStatus, + alert_size: log.ControlsState.AlertSize, + priority: Priority, + visual_alert: car.CarControl.HUDControl.VisualAlert, + audible_alert: car.CarControl.HUDControl.AudibleAlert, + duration: float, + alert_rate: float = 0., + creation_delay: float = 0.): + + self.alert_text_1 = alert_text_1 + self.alert_text_2 = alert_text_2 + self.alert_status = alert_status + self.alert_size = alert_size + self.priority = priority + self.visual_alert = visual_alert + self.audible_alert = audible_alert + + self.duration = int(duration / DT_CTRL) + + self.alert_rate = alert_rate + self.creation_delay = creation_delay + + self.alert_type = "" + self.event_type: Optional[str] = None + + def __str__(self) -> str: + return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}" + + def __gt__(self, alert2) -> bool: + if not isinstance(alert2, Alert): + return False + return self.priority > alert2.priority + + +class NoEntryAlert(Alert): + def __init__(self, alert_text_2: str, + alert_text_1: str = _("openpilot Unavailable"), + visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none): + super().__init__(alert_text_1, alert_text_2, AlertStatus.normal, + AlertSize.mid, Priority.LOW, visual_alert, + AudibleAlert.refuse, 3.) + + +class SoftDisableAlert(Alert): + def __init__(self, alert_text_2: str): + super().__init__(_("TAKE CONTROL IMMEDIATELY"), alert_text_2, + AlertStatus.userPrompt, AlertSize.full, + Priority.MID, VisualAlert.steerRequired, + AudibleAlert.warningSoft, 2.), + + +# less harsh version of SoftDisable, where the condition is user-triggered +class UserSoftDisableAlert(SoftDisableAlert): + def __init__(self, alert_text_2: str): + super().__init__(alert_text_2), + self.alert_text_1 = _("openpilot will disengage") + + +class ImmediateDisableAlert(Alert): + def __init__(self, alert_text_2: str): + super().__init__(_("TAKE CONTROL IMMEDIATELY"), alert_text_2, + AlertStatus.critical, AlertSize.full, + Priority.HIGHEST, VisualAlert.steerRequired, + AudibleAlert.warningImmediate, 4.), + + +class EngagementAlert(Alert): + def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert): + super().__init__("", "", + AlertStatus.normal, AlertSize.none, + Priority.MID, VisualAlert.none, + audible_alert, .2), + + +class NormalPermanentAlert(Alert): + def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.): + super().__init__(alert_text_1, alert_text_2, + AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small, + priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay), + + +class StartupAlert(Alert): + def __init__(self, alert_text_1: str, alert_text_2: str = _("Always keep hands on wheel and eyes on road"), alert_status=AlertStatus.normal): + super().__init__(alert_text_1, alert_text_2, + alert_status, AlertSize.mid, + Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + + +# ********** helper functions ********** +def get_display_speed(speed_ms: float, metric: bool) -> str: + speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))) + unit = 'km/h' if metric else 'mph' + return f"{speed} {unit}" + + +# ********** alert callback functions ********** + +AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int], Alert] + + +def soft_disable_alert(alert_text_2: str) -> AlertCallbackType: + def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + if soft_disable_time < int(0.5 / DT_CTRL): + return ImmediateDisableAlert(alert_text_2) + return SoftDisableAlert(alert_text_2) + return func + +def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType: + def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + if soft_disable_time < int(0.5 / DT_CTRL): + return ImmediateDisableAlert(alert_text_2) + return UserSoftDisableAlert(alert_text_2) + return func + +def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + branch = get_short_branch("") # Ensure get_short_branch is cached to avoid lags on startup + if "REPLAY" in os.environ: + branch = "replay" + + return StartupAlert(_("WARNING: This branch is not tested"), branch, alert_status=AlertStatus.userPrompt) + +def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + return NoEntryAlert(f"Speed Below {get_display_speed(CP.minEnableSpeed, metric)}") + + +def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + return Alert( + _("Steer Unavailable Below %s") % get_display_speed(CP.minSteerSpeed, metric), + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.MID, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4) + + +def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + return Alert( + _("Calibration in Progress: %d%%") % sm['liveCalibration'].calPerc, + _("Drive Above %s") % get_display_speed(MIN_SPEED_FILTER, metric), + AlertStatus.normal, AlertSize.mid, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2) + + +def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos) + return Alert( + _("Poor GPS reception"), + _("Hardware malfunctioning if sky is visible") if gps_integrated else _("Check GPS antenna placement"), + AlertStatus.normal, AlertSize.mid, + Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.) + +# *** debug alerts *** + +def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + full_perc = round(100. - sm['deviceState'].freeSpacePercent) + return NormalPermanentAlert(_("Out of Storage"), _("%s%% full") % full_perc) + + +def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan + err = CS.vEgo - mdl + msg = f"Speed Error: {err:.1f} m/s" + return NoEntryAlert(msg, alert_text_1=_("Posenet Speed Invalid")) + + +def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning] + msg = ', '.join(not_running) + return NoEntryAlert(msg, alert_text_1=_("Process Not Running")) + + +def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])] + msg = ', '.join(bs[:4]) # can't fit too many on one line + return NoEntryAlert(msg, alert_text_1=_("Communication Issue Between Processes")) + + +def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + all_cams = ('roadCameraState') + bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])] + return NormalPermanentAlert(_("Camera Malfunction"), ', '.join(bad_cams)) + + +def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + rpy = sm['liveCalibration'].rpyCalib + yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan) + pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan) + angles = f"Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°" + return NormalPermanentAlert(_("Calibration Invalid"), angles) + + +def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + cpu = max(sm['deviceState'].cpuTempC, default=0.) + gpu = max(sm['deviceState'].gpuTempC, default=0.) + temp = max((cpu, gpu, sm['deviceState'].memoryTempC)) + return NormalPermanentAlert(_("System Overheated"), f"{temp:.0f} °C") + + +def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + return NormalPermanentAlert(_("Low Memory"), f"{sm['deviceState'].memoryUsagePercent}% used") + + +def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + x = max(sm['deviceState'].cpuUsagePercent, default=0.) + return NormalPermanentAlert(_("High CPU Usage"), _("%s%% used") % x) + + +def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + return NormalPermanentAlert(_("Driving Model Lagging"), f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped") + + +def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + text = _("Cruise Mode Disabled") + if CP.carName == "honda": + text = _("Main Switch Off") + return NoEntryAlert(text) + + +def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + axes = sm['testJoystick'].axes + gb, steer = list(axes)[:2] if len(axes) else (0., 0.) + vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%" + return NormalPermanentAlert(_("Joystick Mode"), vals) + +def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + speedLimit = sm['longitudinalPlan'].speedLimit + speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)) + message = _("Adjusting to %(speed)s %(unit)s") % ({"speed": speed, "unit": (_("km/h") if metric else _("mph"))}) + return Alert( + message, + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.) + + +EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { + # ********** events with no alerts ********** + + EventName.stockFcw: {}, + + # ********** events only containing alerts displayed in all states ********** + + EventName.joystickDebug: { + ET.WARNING: joystick_alert, + ET.PERMANENT: NormalPermanentAlert(_("Joystick Mode")), + }, + + EventName.controlsInitializing: { + ET.NO_ENTRY: NoEntryAlert(_("System Initializing")), + }, + + EventName.startup: { + ET.PERMANENT: StartupAlert(_("Be ready to take over at any time")) + }, + + EventName.startupMaster: { + ET.PERMANENT: startup_master_alert, + }, + + # Car is recognized, but marked as dashcam only + EventName.startupNoControl: { + ET.PERMANENT: StartupAlert(_("Dashcam mode")), + }, + + # Car is not recognized + EventName.startupNoCar: { + ET.PERMANENT: StartupAlert(_("Dashcam mode for unsupported car")), + }, + + EventName.startupNoFw: { + ET.PERMANENT: StartupAlert(_("Car Unrecognized"), + _("Check comma power connections"), + alert_status=AlertStatus.userPrompt), + }, + + EventName.dashcamMode: { + ET.PERMANENT: NormalPermanentAlert(_("Dashcam Mode"), + priority=Priority.LOWEST), + }, + + EventName.invalidLkasSetting: { + ET.PERMANENT: NormalPermanentAlert(_("Stock LKAS is on"), + _("Turn off stock LKAS to engage")), + }, + + EventName.cruiseMismatch: { + #ET.PERMANENT: ImmediateDisableAlert(_("openpilot failed to cancel cruise")), + }, + + # openpilot doesn't recognize the car. This switches openpilot into a + # read-only mode. This can be solved by adding your fingerprint. + # See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information + EventName.carUnrecognized: { + ET.PERMANENT: NormalPermanentAlert(_("Dashcam Mode"), + _("Car Unrecognized"), + priority=Priority.LOWEST), + }, + + EventName.stockAeb: { + ET.PERMANENT: Alert( + _("BRAKE!"), + _("Stock AEB: Risk of Collision"), + AlertStatus.critical, AlertSize.full, + Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.), + ET.NO_ENTRY: NoEntryAlert(_("Stock AEB: Risk of Collision")), + }, + + EventName.fcw: { + ET.PERMANENT: Alert( + _("BRAKE!"), + _("Risk of Collision"), + AlertStatus.critical, AlertSize.full, + Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.warningSoft, 2.), + }, + + EventName.ldw: { + ET.PERMANENT: Alert( + _("Lane Departure Detected"), + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.), + }, + + # ********** events only containing alerts that display while engaged ********** + + # openpilot tries to learn certain parameters about your car by observing + # how the car behaves to steering inputs from both human and openpilot driving. + # This includes: + # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle + # - tire stiffness: how much grip your tires have + # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight + # This alert is thrown when any of these values exceed a sanity check. This can be caused by + # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub + EventName.vehicleModelInvalid: { + ET.NO_ENTRY: NoEntryAlert(_("Vehicle Parameter Identification Failed")), + ET.SOFT_DISABLE: soft_disable_alert(_("Vehicle Parameter Identification Failed")), + }, + + EventName.steerTempUnavailableSilent: { + ET.WARNING: Alert( + _("Steering Temporarily Unavailable"), + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8), + }, + + EventName.preDriverDistracted: { + ET.WARNING: Alert( + _("Pay Attention"), + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), + }, + + EventName.promptDriverDistracted: { + ET.WARNING: Alert( + _("Pay Attention"), + _("Driver Distracted"), + AlertStatus.userPrompt, AlertSize.mid, + Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), + }, + + EventName.driverDistracted: { + ET.WARNING: Alert( + _("DISENGAGE IMMEDIATELY"), + _("Driver Distracted"), + AlertStatus.critical, AlertSize.full, + Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1), + }, + + EventName.preDriverUnresponsive: { + ET.WARNING: Alert( + _("Touch Steering Wheel: No Face Detected"), + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75), + }, + + EventName.promptDriverUnresponsive: { + ET.WARNING: Alert( + _("Touch Steering Wheel"), + _("Driver Unresponsive"), + AlertStatus.userPrompt, AlertSize.mid, + Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), + }, + + EventName.driverUnresponsive: { + ET.WARNING: Alert( + _("DISENGAGE IMMEDIATELY"), + _("Driver Unresponsive"), + AlertStatus.critical, AlertSize.full, + Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1), + }, + + EventName.manualRestart: { + ET.WARNING: Alert( + _("TAKE CONTROL"), + _("Resume Driving Manually"), + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), + }, + + EventName.resumeRequired: { + ET.WARNING: Alert( + _("STOPPED"), + _("Press Resume to Go"), + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), + }, + + EventName.belowSteerSpeed: { + ET.WARNING: below_steer_speed_alert, + }, + + EventName.preLaneChangeLeft: { + ET.WARNING: Alert( + _("Steer Left to Start Lane Change Once Safe"), + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75), + }, + + EventName.preLaneChangeRight: { + ET.WARNING: Alert( + _("Steer Right to Start Lane Change Once Safe"), + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75), + }, + + EventName.laneChangeBlocked: { + ET.WARNING: Alert( + _("Car Detected in Blindspot"), + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1), + }, + + EventName.laneChange: { + ET.WARNING: Alert( + _("Changing Lanes"), + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), + }, + + EventName.steerSaturated: { + ET.WARNING: Alert( + _("Take Control"), + _("Turn Exceeds Steering Limit"), + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.), + }, + + # Thrown when the fan is driven at >50% but is not rotating + EventName.fanMalfunction: { + ET.PERMANENT: NormalPermanentAlert(_("Fan Malfunction"), _("Likely Hardware Issue")), + }, + + # Camera is not outputting frames + EventName.cameraMalfunction: { + ET.PERMANENT: camera_malfunction_alert, + ET.SOFT_DISABLE: soft_disable_alert(_("Camera Malfunction")), + ET.NO_ENTRY: NoEntryAlert(_("Camera Malfunction: Reboot Your Device")), + }, + # Camera framerate too low + EventName.cameraFrameRate: { + ET.PERMANENT: NormalPermanentAlert(_("Camera Frame Rate Low"), _("Reboot your Device")), + ET.SOFT_DISABLE: soft_disable_alert(_("Camera Frame Rate Low")), + ET.NO_ENTRY: NoEntryAlert(_("Camera Frame Rate Low: Reboot Your Device")), + }, + + # Unused + EventName.gpsMalfunction: { + ET.PERMANENT: NormalPermanentAlert(_("GPS Malfunction"), _("Likely Hardware Issue")), + }, + + # When the GPS position and localizer diverge the localizer is reset to the + # current GPS position. This alert is thrown when the localizer is reset + # more often than expected. + EventName.localizerMalfunction: { + # ET.PERMANENT: NormalPermanentAlert(_("Sensor Malfunction"), _("Hardware Malfunction")), + }, + + EventName.speedLimitActive: { + ET.WARNING: Alert( + "Cruise set to speed limit", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 2.), + }, + + EventName.speedLimitValueChange: { + ET.WARNING: speed_limit_adjust_alert, + }, + + # ********** events that affect controls state transitions ********** + + EventName.pcmEnable: { + ET.ENABLE: EngagementAlert(AudibleAlert.engage), + }, + + EventName.buttonEnable: { + ET.ENABLE: EngagementAlert(AudibleAlert.engage), + }, + + EventName.pcmDisable: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + }, + + EventName.buttonCancel: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + }, + + EventName.brakeHold: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert(_("Brake Hold Active")), + }, + + EventName.parkBrake: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert(_("Parking Brake Engaged")), + }, + + EventName.pedalPressed: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert(_("Pedal Pressed"), + visual_alert=VisualAlert.brakePressed), + }, + + EventName.pedalPressedPreEnable: { + ET.PRE_ENABLE: Alert( + _("Release Pedal to Engage"), + "", + AlertStatus.normal, AlertSize.small, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.), + }, + + EventName.gasPressedOverride: { + ET.OVERRIDE: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1), + }, + + EventName.wrongCarMode: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: wrong_car_mode_alert, + }, + + EventName.wrongCruiseMode: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert(_("Adaptive Cruise Disabled")), + }, + + EventName.steerTempUnavailable: { + ET.SOFT_DISABLE: soft_disable_alert(_("Steering Temporarily Unavailable")), + ET.NO_ENTRY: NoEntryAlert(_("Steering Temporarily Unavailable")), + }, + + EventName.outOfSpace: { + ET.PERMANENT: out_of_space_alert, + ET.NO_ENTRY: NoEntryAlert(_("Out of Storage")), + }, + + EventName.belowEngageSpeed: { + ET.NO_ENTRY: below_engage_speed_alert, + }, + + EventName.sensorDataInvalid: { + ET.PERMANENT: Alert( + _("No Data from Device Sensors"), + _("Reboot your Device"), + AlertStatus.normal, AlertSize.mid, + Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.), + ET.NO_ENTRY: NoEntryAlert(_("No Data from Device Sensors")), + }, + + EventName.noGps: { + ET.PERMANENT: no_gps_alert, + }, + + EventName.soundsUnavailable: { + ET.PERMANENT: NormalPermanentAlert(_("Speaker not found"), _("Reboot your Device")), + ET.NO_ENTRY: NoEntryAlert(_("Speaker not found")), + }, + + EventName.tooDistracted: { + ET.NO_ENTRY: NoEntryAlert(_("Distraction Level Too High")), + }, + + EventName.overheat: { + ET.PERMANENT: overheat_alert, + ET.SOFT_DISABLE: soft_disable_alert(_("System Overheated")), + ET.NO_ENTRY: NoEntryAlert(_("System Overheated")), + }, + + EventName.wrongGear: { + # ET.SOFT_DISABLE: user_soft_disable_alert(_("Gear not D")), + ET.NO_ENTRY: NoEntryAlert(_("Gear not D")), + }, + + # This alert is thrown when the calibration angles are outside of the acceptable range. + # For example if the device is pointed too much to the left or the right. + # Usually this can only be solved by removing the mount from the windshield completely, + # and attaching while making sure the device is pointed straight forward and is level. + # See https://comma.ai/setup for more information + EventName.calibrationInvalid: { + ET.PERMANENT: calibration_invalid_alert, + ET.SOFT_DISABLE: soft_disable_alert(_("Calibration Invalid: Remount Device & Recalibrate")), + ET.NO_ENTRY: NoEntryAlert(_("Calibration Invalid: Remount Device & Recalibrate")), + }, + + EventName.calibrationIncomplete: { + ET.PERMANENT: calibration_incomplete_alert, + ET.SOFT_DISABLE: soft_disable_alert(_("Calibration in Progress")), + ET.NO_ENTRY: NoEntryAlert(_("Calibration in Progress")), + }, + + EventName.doorOpen: { + ET.SOFT_DISABLE: user_soft_disable_alert(_("Door Open")), + ET.NO_ENTRY: NoEntryAlert(_("Door Open")), + }, + + EventName.seatbeltNotLatched: { + ET.SOFT_DISABLE: user_soft_disable_alert(_("Seatbelt Unlatched")), + ET.NO_ENTRY: NoEntryAlert(_("Seatbelt Unlatched")), + }, + + EventName.espDisabled: { + ET.SOFT_DISABLE: soft_disable_alert(_("ESP Off")), + ET.NO_ENTRY: NoEntryAlert(_("ESP Off")), + }, + + EventName.lowBattery: { + ET.SOFT_DISABLE: soft_disable_alert(_("Low Battery")), + ET.NO_ENTRY: NoEntryAlert(_("Low Battery")), + }, + + # Different openpilot services communicate between each other at a certain + # interval. If communication does not follow the regular schedule this alert + # is thrown. This can mean a service crashed, did not broadcast a message for + # ten times the regular interval, or the average interval is more than 10% too high. + EventName.commIssue: { + ET.SOFT_DISABLE: soft_disable_alert(_("Communication Issue between Processes")), + ET.NO_ENTRY: comm_issue_alert, + }, + EventName.commIssueAvgFreq: { + ET.SOFT_DISABLE: soft_disable_alert(_("Low Communication Rate between Processes")), + ET.NO_ENTRY: NoEntryAlert(_("Low Communication Rate between Processes")), + }, + + EventName.controlsdLagging: { + ET.SOFT_DISABLE: soft_disable_alert(_("Controls Lagging")), + ET.NO_ENTRY: NoEntryAlert(_("Controls Process Lagging: Reboot Your Device")), + }, + + # Thrown when manager detects a service exited unexpectedly while driving + EventName.processNotRunning: { + ET.NO_ENTRY: process_not_running_alert, + ET.SOFT_DISABLE: soft_disable_alert(_("Process Not Running")), + }, + + EventName.radarFault: { + ET.SOFT_DISABLE: soft_disable_alert(_("Radar Error: Restart the Car")), + ET.NO_ENTRY: NoEntryAlert(_("Radar Error: Restart the Car")), + }, + + # Every frame from the camera should be processed by the model. If modeld + # is not processing frames fast enough they have to be dropped. This alert is + # thrown when over 20% of frames are dropped. + EventName.modeldLagging: { + ET.SOFT_DISABLE: soft_disable_alert(_("Driving Model Lagging")), + ET.NO_ENTRY: NoEntryAlert(_("Driving Model Lagging")), + ET.PERMANENT: modeld_lagging_alert, + }, + + # Besides predicting the path, lane lines and lead car data the model also + # predicts the current velocity and rotation speed of the car. If the model is + # very uncertain about the current velocity while the car is moving, this + # usually means the model has trouble understanding the scene. This is used + # as a heuristic to warn the driver. + EventName.posenetInvalid: { + ET.SOFT_DISABLE: soft_disable_alert(_("Posenet Speed Invalid")), + ET.NO_ENTRY: posenet_invalid_alert, + }, + + # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we + # alert the driver the device might have fallen from the windshield. + EventName.deviceFalling: { + ET.SOFT_DISABLE: soft_disable_alert(_("Device Fell Off Mount")), + ET.NO_ENTRY: NoEntryAlert(_("Device Fell Off Mount")), + }, + + EventName.lowMemory: { + ET.SOFT_DISABLE: soft_disable_alert(_("Low Memory: Reboot Your Device")), + ET.PERMANENT: low_memory_alert, + ET.NO_ENTRY: NoEntryAlert(_("Low Memory: Reboot Your Device")), + }, + + EventName.highCpuUsage: { + #ET.SOFT_DISABLE: soft_disable_alert(_("System Malfunction: Reboot Your Device")), + #ET.PERMANENT: NormalPermanentAlert(_("System Malfunction"), _("Reboot your Device")), + ET.NO_ENTRY: high_cpu_usage_alert, + }, + + EventName.accFaulted: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Cruise Faulted")), + ET.PERMANENT: NormalPermanentAlert(_("Cruise Faulted"), ""), + ET.NO_ENTRY: NoEntryAlert(_("Cruise Faulted")), + }, + + EventName.controlsMismatch: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Controls Mismatch")), + ET.NO_ENTRY: NoEntryAlert(_("Controls Mismatch")), + }, + + EventName.roadCameraError: { + ET.PERMANENT: NormalPermanentAlert(_("Camera CRC Error - Road"), + duration=1., + creation_delay=30.), + }, + + EventName.wideRoadCameraError: { + ET.PERMANENT: NormalPermanentAlert(_("Camera CRC Error - Road Fisheye"), + duration=1., + creation_delay=30.), + }, + + EventName.driverCameraError: { + ET.PERMANENT: NormalPermanentAlert(_("Camera CRC Error - Driver"), + duration=1., + creation_delay=30.), + }, + + # Sometimes the USB stack on the device can get into a bad state + # causing the connection to the panda to be lost + EventName.usbError: { + ET.SOFT_DISABLE: soft_disable_alert(_("USB Error: Reboot Your Device")), + ET.PERMANENT: NormalPermanentAlert(_("USB Error: Reboot Your Device"), ""), + ET.NO_ENTRY: NoEntryAlert(_("USB Error: Reboot Your Device")), + }, + + # This alert can be thrown for the following reasons: + # - No CAN data received at all + # - CAN data is received, but some message are not received at the right frequency + # If you're not writing a new car port, this is usually cause by faulty wiring + EventName.canError: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("CAN Error")), + ET.PERMANENT: Alert( + _("CAN Error: Check Connections"), + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.), + ET.NO_ENTRY: NoEntryAlert(_("CAN Error: Check Connections")), + }, + + EventName.canBusMissing: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("CAN Bus Disconnected")), + ET.PERMANENT: Alert( + _("CAN Bus Disconnected: Likely Faulty Cable"), + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.), + ET.NO_ENTRY: NoEntryAlert(_("CAN Bus Disconnected: Check Connections")), + }, + + EventName.steerUnavailable: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("LKAS Fault: Restart the Car")), + ET.PERMANENT: NormalPermanentAlert(_("LKAS Fault: Restart the car to engage")), + ET.NO_ENTRY: NoEntryAlert(_("LKAS Fault: Restart the Car")), + }, + + EventName.brakeUnavailable: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Cruise Fault: Restart the Car")), + ET.PERMANENT: NormalPermanentAlert(_("Cruise Fault: Restart the car to engage")), + ET.NO_ENTRY: NoEntryAlert(_("Cruise Fault: Restart the Car")), + }, + + EventName.reverseGear: { + ET.PERMANENT: Alert( + _("Reverse\nGear"), + "", + AlertStatus.normal, AlertSize.full, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5), + # ET.USER_DISABLE: ImmediateDisableAlert(_("Reverse Gear")), + ET.NO_ENTRY: NoEntryAlert(_("Reverse Gear")), + }, + + # On cars that use stock ACC the car can decide to cancel ACC for various reasons. + # When this happens we can no long control the car so the user needs to be warned immediately. + EventName.cruiseDisabled: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Cruise Is Off")), + }, + + # For planning the trajectory Model Predictive Control (MPC) is used. This is + # an optimization algorithm that is not guaranteed to find a feasible solution. + # If no solution is found or the solution has a very high cost this alert is thrown. + EventName.plannerError: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Planner Solution Error")), + ET.NO_ENTRY: NoEntryAlert(_("Planner Solution Error")), + }, + + # When the relay in the harness box opens the CAN bus between the LKAS camera + # and the rest of the car is separated. When messages from the LKAS camera + # are received on the car side this usually means the relay hasn't opened correctly + # and this alert is thrown. + EventName.relayMalfunction: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Harness Relay Malfunction")), + ET.PERMANENT: NormalPermanentAlert(_("Harness Relay Malfunction"), _("Check Hardware")), + ET.NO_ENTRY: NoEntryAlert(_("Harness Relay Malfunction")), + }, + + EventName.noTarget: { + ET.IMMEDIATE_DISABLE: Alert( + _("openpilot Canceled"), + _("No close lead car"), + AlertStatus.normal, AlertSize.mid, + Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.), + ET.NO_ENTRY: NoEntryAlert(_("No Close Lead Car")), + }, + + EventName.speedTooLow: { + ET.IMMEDIATE_DISABLE: Alert( + _("openpilot Canceled"), + _("Speed too low"), + AlertStatus.normal, AlertSize.mid, + Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.), + }, + + # When the car is driving faster than most cars in the training data, the model outputs can be unpredictable. + EventName.speedTooHigh: { + ET.WARNING: Alert( + _("Speed Too High"), + _("Model uncertain at this speed"), + AlertStatus.userPrompt, AlertSize.mid, + Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 4.), + ET.NO_ENTRY: NoEntryAlert(_("Slow down to engage")), + }, + + EventName.lowSpeedLockout: { + ET.PERMANENT: NormalPermanentAlert(_("Cruise Fault: Restart the car to engage")), + ET.NO_ENTRY: NoEntryAlert(_("Cruise Fault: Restart the Car")), + }, + + EventName.lkasDisabled: { + ET.PERMANENT: NormalPermanentAlert(_("LKAS Disabled: Enable LKAS to engage")), + ET.NO_ENTRY: NoEntryAlert(_("LKAS Disabled")), + }, + + # dp - use for atl alert + EventName.communityFeatureDisallowedDEPRECATED: { + ET.OVERRIDE: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.MID, VisualAlert.none, + AudibleAlert.disengage, .2), + }, +} diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py new file mode 100644 index 000000000..1aff3ce92 --- /dev/null +++ b/selfdrive/controls/lib/lane_planner.py @@ -0,0 +1,105 @@ +import numpy as np +from cereal import log +from common.filter_simple import FirstOrderFilter +from common.numpy_fast import interp +from common.realtime import DT_MDL +from system.swaglog import cloudlog +from system.hardware import EON, TICI + + +TRAJECTORY_SIZE = 33 +# camera offset is meters from center car to camera +# model path is in the frame of the camera. Empirically +# the model knows the difference between TICI and EON +# so a path offset is not needed +PATH_OFFSET = 0.00 +if EON: + CAMERA_OFFSET = -0.06 +elif TICI: + CAMERA_OFFSET = 0.04 +else: + CAMERA_OFFSET = 0.0 + + +class LanePlanner: + def __init__(self, wide_camera=False): + self.ll_t = np.zeros((TRAJECTORY_SIZE,)) + self.ll_x = np.zeros((TRAJECTORY_SIZE,)) + self.lll_y = np.zeros((TRAJECTORY_SIZE,)) + self.rll_y = np.zeros((TRAJECTORY_SIZE,)) + self.lane_width_estimate = FirstOrderFilter(3.7, 9.95, DT_MDL) + self.lane_width_certainty = FirstOrderFilter(1.0, 0.95, DT_MDL) + self.lane_width = 3.7 + + self.lll_prob = 0. + self.rll_prob = 0. + self.d_prob = 0. + + self.lll_std = 0. + self.rll_std = 0. + + self.l_lane_change_prob = 0. + self.r_lane_change_prob = 0. + + self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET + self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET + + def parse_model(self, md): + lane_lines = md.laneLines + if len(lane_lines) == 4 and len(lane_lines[0].t) == TRAJECTORY_SIZE: + self.ll_t = (np.array(lane_lines[1].t) + np.array(lane_lines[2].t))/2 + # left and right ll x is the same + self.ll_x = lane_lines[1].x + self.lll_y = np.array(lane_lines[1].y) + self.camera_offset + self.rll_y = np.array(lane_lines[2].y) + self.camera_offset + self.lll_prob = md.laneLineProbs[1] + self.rll_prob = md.laneLineProbs[2] + self.lll_std = md.laneLineStds[1] + self.rll_std = md.laneLineStds[2] + + desire_state = md.meta.desireState + if len(desire_state): + self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft] + self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight] + + def get_d_path(self, v_ego, path_t, path_xyz): + # Reduce reliance on lanelines that are too far apart or + # will be in a few seconds + path_xyz[:, 1] += self.path_offset + l_prob, r_prob = self.lll_prob, self.rll_prob + width_pts = self.rll_y - self.lll_y + prob_mods = [] + for t_check in (0.0, 1.5, 3.0): + width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts) + prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0])) + mod = min(prob_mods) + l_prob *= mod + r_prob *= mod + + # Reduce reliance on uncertain lanelines + l_std_mod = interp(self.lll_std, [.15, .3], [1.0, 0.0]) + r_std_mod = interp(self.rll_std, [.15, .3], [1.0, 0.0]) + l_prob *= l_std_mod + r_prob *= r_std_mod + + # Find current lanewidth + self.lane_width_certainty.update(l_prob * r_prob) + current_lane_width = abs(self.rll_y[0] - self.lll_y[0]) + self.lane_width_estimate.update(current_lane_width) + speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5]) + self.lane_width = self.lane_width_certainty.x * self.lane_width_estimate.x + \ + (1 - self.lane_width_certainty.x) * speed_lane_width + + clipped_lane_width = min(4.0, self.lane_width) + path_from_left_lane = self.lll_y + clipped_lane_width / 2.0 + path_from_right_lane = self.rll_y - clipped_lane_width / 2.0 + + self.d_prob = l_prob + r_prob - l_prob * r_prob + lane_path_y = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001) + safe_idxs = np.isfinite(self.ll_t) + if safe_idxs[0]: + lane_path_y_interp = np.interp(path_t, self.ll_t[safe_idxs], lane_path_y[safe_idxs]) + path_xyz[:,1] = self.d_prob * lane_path_y_interp + (1.0 - self.d_prob) * path_xyz[:,1] + else: + cloudlog.warning("Lateral mpc - NaNs in laneline times, ignoring") + return path_xyz diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py new file mode 100644 index 000000000..78b59fda5 --- /dev/null +++ b/selfdrive/controls/lib/latcontrol.py @@ -0,0 +1,31 @@ +from abc import abstractmethod, ABC + +from common.numpy_fast import clip +from common.realtime import DT_CTRL + +MIN_STEER_SPEED = 0.3 + + +class LatControl(ABC): + def __init__(self, CP, CI): + self.sat_count_rate = 1.0 * DT_CTRL + self.sat_limit = CP.steerLimitTimer + self.sat_count = 0. + + # we define the steer torque scale as [-1.0...1.0] + self.steer_max = 1.0 + + @abstractmethod + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): + pass + + def reset(self): + self.sat_count = 0. + + def _check_saturation(self, saturated, CS, steer_limited): + if saturated and CS.vEgo > 10. and not steer_limited and not CS.steeringPressed: + self.sat_count += self.sat_count_rate + else: + self.sat_count -= self.sat_count_rate + self.sat_count = clip(self.sat_count, 0.0, self.sat_limit) + return self.sat_count > (self.sat_limit - 1e-3) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py new file mode 100644 index 000000000..0e5be4a97 --- /dev/null +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -0,0 +1,25 @@ +import math + +from cereal import log +from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED + +STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees + + +class LatControlAngle(LatControl): + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): + angle_log = log.ControlsState.LateralAngleState.new_message() + + if CS.vEgo < MIN_STEER_SPEED or not active: + angle_log.active = False + angle_steers_des = float(CS.steeringAngleDeg) + else: + angle_log.active = True + angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) + angle_steers_des += params.angleOffsetDeg + + angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD + angle_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited) + angle_log.steeringAngleDeg = float(CS.steeringAngleDeg) + angle_log.steeringAngleDesiredDeg = angle_steers_des + return 0, float(angle_steers_des), angle_log diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py new file mode 100644 index 000000000..2bc3cef76 --- /dev/null +++ b/selfdrive/controls/lib/latcontrol_indi.py @@ -0,0 +1,120 @@ +import math +import numpy as np + +from cereal import log +from common.filter_simple import FirstOrderFilter +from common.numpy_fast import clip, interp +from common.realtime import DT_CTRL +from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED + + +class LatControlINDI(LatControl): + def __init__(self, CP, CI): + super().__init__(CP, CI) + self.angle_steers_des = 0. + + A = np.array([[1.0, DT_CTRL, 0.0], + [0.0, 1.0, DT_CTRL], + [0.0, 0.0, 1.0]]) + C = np.array([[1.0, 0.0, 0.0], + [0.0, 1.0, 0.0]]) + + # Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]]) + # R = np.matrix([[1e-2, 0.0], [0.0, 1e3]]) + + # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R) + # K = np.transpose(K) + K = np.array([[7.30262179e-01, 2.07003658e-04], + [7.29394177e+00, 1.39159419e-02], + [1.71022442e+01, 3.38495381e-02]]) + + self.speed = 0. + + self.K = K + self.A_K = A - np.dot(K, C) + self.x = np.array([[0.], [0.], [0.]]) + + self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV) + self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV) + self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV) + self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV) + + self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL) + self.reset() + + @property + def RC(self): + return interp(self.speed, self._RC[0], self._RC[1]) + + @property + def G(self): + return interp(self.speed, self._G[0], self._G[1]) + + @property + def outer_loop_gain(self): + return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1]) + + @property + def inner_loop_gain(self): + return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1]) + + def reset(self): + super().reset() + self.steer_filter.x = 0. + self.speed = 0. + + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): + self.speed = CS.vEgo + # Update Kalman filter + y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]]) + self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y) + + indi_log = log.ControlsState.LateralINDIState.new_message() + indi_log.steeringAngleDeg = math.degrees(self.x[0]) + indi_log.steeringRateDeg = math.degrees(self.x[1]) + indi_log.steeringAccelDeg = math.degrees(self.x[2]) + + steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll) + steers_des += math.radians(params.angleOffsetDeg) + indi_log.steeringAngleDesiredDeg = math.degrees(steers_des) + + # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature + rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0) + indi_log.steeringRateDesiredDeg = math.degrees(rate_des) + + if CS.vEgo < MIN_STEER_SPEED or not active: + indi_log.active = False + self.steer_filter.x = 0.0 + output_steer = 0 + else: + # Expected actuator value + self.steer_filter.update_alpha(self.RC) + self.steer_filter.update(last_actuators.steer) + + # Compute acceleration error + rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des + accel_sp = self.inner_loop_gain * (rate_sp - self.x[1]) + accel_error = accel_sp - self.x[2] + + # Compute change in actuator + g_inv = 1. / self.G + delta_u = g_inv * accel_error + + # If steering pressed, only allow wind down + if CS.steeringPressed and (delta_u * last_actuators.steer > 0): + delta_u = 0 + + output_steer = self.steer_filter.x + delta_u + + output_steer = clip(output_steer, -self.steer_max, self.steer_max) + + indi_log.active = True + indi_log.rateSetPoint = float(rate_sp) + indi_log.accelSetPoint = float(accel_sp) + indi_log.accelError = float(accel_error) + indi_log.delayedOutput = float(self.steer_filter.x) + indi_log.delta = float(delta_u) + indi_log.output = float(output_steer) + indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) + + return float(output_steer), float(steers_des), indi_log diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py new file mode 100644 index 000000000..6bd678073 --- /dev/null +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -0,0 +1,48 @@ +import math + +from cereal import log +from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED +from selfdrive.controls.lib.pid import PIDController + + +class LatControlPID(LatControl): + def __init__(self, CP, CI): + super().__init__(CP, CI) + self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV), + (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV), + k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) + self.get_steer_feedforward = CI.get_steer_feedforward_function() + + def reset(self): + super().reset() + self.pid.reset() + + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): + pid_log = log.ControlsState.LateralPIDState.new_message() + pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) + pid_log.steeringRateDeg = float(CS.steeringRateDeg) + + angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) + angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg + error = angle_steers_des - CS.steeringAngleDeg + + pid_log.steeringAngleDesiredDeg = angle_steers_des + pid_log.angleError = error + if CS.vEgo < MIN_STEER_SPEED or not active: + output_steer = 0.0 + pid_log.active = False + self.pid.reset() + else: + # offset does not contribute to resistive torque + steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo) + + output_steer = self.pid.update(error, override=CS.steeringPressed, + feedforward=steer_feedforward, speed=CS.vEgo) + pid_log.active = True + pid_log.p = self.pid.p + pid_log.i = self.pid.i + pid_log.f = self.pid.f + pid_log.output = output_steer + pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) + + return output_steer, angle_steers_des, pid_log diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py new file mode 100644 index 000000000..c4604d90e --- /dev/null +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -0,0 +1,86 @@ +import math + +from cereal import log +from common.numpy_fast import interp +from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED +from selfdrive.controls.lib.pid import PIDController +from selfdrive.controls.lib.drive_helpers import apply_deadzone +from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY + +# At higher speeds (25+mph) we can assume: +# Lateral acceleration achieved by a specific car correlates to +# torque applied to the steering rack. It does not correlate to +# wheel slip, or to speed. + +# This controller applies torque to achieve desired lateral +# accelerations. To compensate for the low speed effects we +# use a LOW_SPEED_FACTOR in the error. Additionally, there is +# friction in the steering wheel that needs to be overcome to +# move it at all, this is compensated for too. + + +FRICTION_THRESHOLD = 0.2 + + +class LatControlTorque(LatControl): + def __init__(self, CP, CI): + super().__init__(CP, CI) + self.pid = PIDController(CP.lateralTuning.torque.kp, CP.lateralTuning.torque.ki, + k_f=CP.lateralTuning.torque.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) + self.get_steer_feedforward = CI.get_steer_feedforward_function() + self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle + self.friction = CP.lateralTuning.torque.friction + self.kf = CP.lateralTuning.torque.kf + self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg + + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): + pid_log = log.ControlsState.LateralTorqueState.new_message() + + if CS.vEgo < MIN_STEER_SPEED or not active: + output_torque = 0.0 + pid_log.active = False + else: + if self.use_steering_angle: + actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) + curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) + else: + actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) + actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo + actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) + curvature_deadzone = 0.0 + desired_lateral_accel = desired_curvature * CS.vEgo ** 2 + + # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature + #desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 + actual_lateral_accel = actual_curvature * CS.vEgo ** 2 + lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 + + + low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200]) + setpoint = desired_lateral_accel + low_speed_factor * desired_curvature + measurement = actual_lateral_accel + low_speed_factor * actual_curvature + error = setpoint - measurement + pid_log.error = error + + ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY + # convert friction into lateral accel units for feedforward + friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) + ff += friction_compensation / self.kf + freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 + output_torque = self.pid.update(error, + feedforward=ff, + speed=CS.vEgo, + freeze_integrator=freeze_integrator) + + pid_log.active = True + pid_log.p = self.pid.p + pid_log.i = self.pid.i + pid_log.d = self.pid.d + pid_log.f = self.pid.f + pid_log.output = -output_torque + pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited) + pid_log.actualLateralAccel = actual_lateral_accel + pid_log.desiredLateralAccel = desired_lateral_accel + + # TODO left is positive in this convention + return -output_torque, 0.0, pid_log diff --git a/selfdrive/controls/lib/lateral_mpc_lib/.gitignore b/selfdrive/controls/lib/lateral_mpc_lib/.gitignore new file mode 100644 index 000000000..aff2eb082 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/.gitignore @@ -0,0 +1,2 @@ +acados_ocp_lat.json +c_generated_code/ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/__init__.py b/selfdrive/controls/lib/lateral_mpc_lib/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json b/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json new file mode 100644 index 000000000..e8d17507c --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json @@ -0,0 +1,450 @@ +{ + "acados_include_path": "/data/openpilot/third_party/acados/include/acados/include", + "acados_lib_path": "/data/openpilot/third_party/acados/include/acados/lib", + "code_export_directory": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code", + "constraints": { + "C": [], + "C_e": [], + "D": [], + "constr_type": "BGH", + "constr_type_e": "BGH", + "idxbu": [], + "idxbx": [ + 2, + 3 + ], + "idxbx_0": [ + 0, + 1, + 2, + 3 + ], + "idxbx_e": [], + "idxbxe_0": [ + 0, + 1, + 2, + 3 + ], + "idxsbu": [], + "idxsbx": [], + "idxsbx_e": [], + "idxsg": [], + "idxsg_e": [], + "idxsh": [], + "idxsh_e": [], + "idxsphi": [], + "idxsphi_e": [], + "lbu": [], + "lbx": [ + -1.5707963267948966, + -0.8726646259971648 + ], + "lbx_0": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "lbx_e": [], + "lg": [], + "lg_e": [], + "lh": [], + "lh_e": [], + "lphi": [], + "lphi_e": [], + "lsbu": [], + "lsbx": [], + "lsbx_e": [], + "lsg": [], + "lsg_e": [], + "lsh": [], + "lsh_e": [], + "lsphi": [], + "lsphi_e": [], + "ubu": [], + "ubx": [ + 1.5707963267948966, + 0.8726646259971648 + ], + "ubx_0": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "ubx_e": [], + "ug": [], + "ug_e": [], + "uh": [], + "uh_e": [], + "uphi": [], + "uphi_e": [], + "usbu": [], + "usbx": [], + "usbx_e": [], + "usg": [], + "usg_e": [], + "ush": [], + "ush_e": [], + "usphi": [], + "usphi_e": [] + }, + "cost": { + "Vu": [ + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "Vu_0": [ + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "Vx": [ + [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "Vx_0": [ + [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "Vx_e": [ + [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "Vz": [], + "Vz_0": [], + "W": [ + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ] + ], + "W_0": [ + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ] + ], + "W_e": [ + [ + 0.0, + 0.0 + ], + [ + 0.0, + 0.0 + ] + ], + "Zl": [], + "Zl_e": [], + "Zu": [], + "Zu_e": [], + "cost_ext_fun_type": "casadi", + "cost_ext_fun_type_0": "casadi", + "cost_ext_fun_type_e": "casadi", + "cost_type": "NONLINEAR_LS", + "cost_type_0": "NONLINEAR_LS", + "cost_type_e": "NONLINEAR_LS", + "yref": [ + 0.0, + 0.0, + 0.0 + ], + "yref_0": [ + 0.0, + 0.0, + 0.0 + ], + "yref_e": [ + 0.0, + 0.0 + ], + "zl": [], + "zl_e": [], + "zu": [], + "zu_e": [] + }, + "cython_include_dirs": "/data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include", + "dims": { + "N": 16, + "nbu": 0, + "nbx": 2, + "nbx_0": 4, + "nbx_e": 0, + "nbxe_0": 4, + "ng": 0, + "ng_e": 0, + "nh": 0, + "nh_e": 0, + "np": 2, + "nphi": 0, + "nphi_e": 0, + "nr": 0, + "nr_e": 0, + "ns": 0, + "ns_e": 0, + "nsbu": 0, + "nsbx": 0, + "nsbx_e": 0, + "nsg": 0, + "nsg_e": 0, + "nsh": 0, + "nsh_e": 0, + "nsphi": 0, + "nsphi_e": 0, + "nu": 1, + "nx": 4, + "ny": 3, + "ny_0": 3, + "ny_e": 2, + "nz": 0 + }, + "model": { + "dyn_disc_fun": null, + "dyn_disc_fun_jac": null, + "dyn_disc_fun_jac_hess": null, + "dyn_ext_fun_type": "casadi", + "dyn_source_discrete": null, + "gnsf": { + "nontrivial_f_LO": 1, + "purely_linear": 0 + }, + "name": "lat" + }, + "parameter_values": [ + 0.0, + 0.0 + ], + "problem_class": "OCP", + "simulink_opts": { + "inputs": { + "cost_W": 0, + "cost_W_0": 0, + "cost_W_e": 0, + "lbu": 1, + "lbx": 1, + "lbx_0": 1, + "lbx_e": 1, + "lg": 1, + "lh": 1, + "parameter_traj": 1, + "reset_solver": 0, + "u_init": 0, + "ubu": 1, + "ubx": 1, + "ubx_0": 1, + "ubx_e": 1, + "ug": 1, + "uh": 1, + "x_init": 0, + "y_ref": 1, + "y_ref_0": 1, + "y_ref_e": 1 + }, + "outputs": { + "CPU_time": 1, + "CPU_time_lin": 0, + "CPU_time_qp": 0, + "CPU_time_sim": 0, + "KKT_residual": 1, + "solver_status": 1, + "sqp_iter": 1, + "u0": 1, + "utraj": 0, + "x1": 1, + "xtraj": 0 + }, + "samplingtime": "t0" + }, + "solver_options": { + "Tsim": 0.009765625, + "alpha_min": 0.05, + "alpha_reduction": 0.7, + "collocation_type": "GAUSS_LEGENDRE", + "eps_sufficient_descent": 0.0001, + "exact_hess_constr": 1, + "exact_hess_cost": 1, + "exact_hess_dyn": 1, + "ext_cost_num_hess": 0, + "full_step_dual": 0, + "globalization": "FIXED_STEP", + "globalization_use_SOC": 0, + "hessian_approx": "GAUSS_NEWTON", + "hpipm_mode": "BALANCE", + "initialize_t_slacks": 0, + "integrator_type": "ERK", + "levenberg_marquardt": 0.0, + "line_search_use_sufficient_descent": 0, + "model_external_shared_lib_dir": null, + "model_external_shared_lib_name": null, + "nlp_solver_max_iter": 100, + "nlp_solver_step_length": 1.0, + "nlp_solver_tol_comp": 1e-06, + "nlp_solver_tol_eq": 1e-06, + "nlp_solver_tol_ineq": 1e-06, + "nlp_solver_tol_stat": 1e-06, + "nlp_solver_type": "SQP_RTI", + "print_level": 0, + "qp_solver": "PARTIAL_CONDENSING_HPIPM", + "qp_solver_cond_N": 1, + "qp_solver_iter_max": 1, + "qp_solver_tol_comp": null, + "qp_solver_tol_eq": null, + "qp_solver_tol_ineq": null, + "qp_solver_tol_stat": null, + "qp_solver_warm_start": 0, + "regularize_method": null, + "sim_method_jac_reuse": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "sim_method_newton_iter": 3, + "sim_method_num_stages": [ + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4 + ], + "sim_method_num_steps": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ], + "tf": 2.5, + "time_steps": [ + 0.009765625, + 0.029296875, + 0.048828125, + 0.068359375, + 0.087890625, + 0.107421875, + 0.126953125, + 0.146484375, + 0.166015625, + 0.185546875, + 0.205078125, + 0.224609375, + 0.244140625, + 0.263671875, + 0.283203125, + 0.302734375 + ] + } +} \ No newline at end of file diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile new file mode 100644 index 000000000..e2cfc6128 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile @@ -0,0 +1,179 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + + + + +# define sources and use make's implicit rules to generate object files (*.o) + +# model +MODEL_SRC= +MODEL_SRC+= lat_model/lat_expl_ode_fun.c +MODEL_SRC+= lat_model/lat_expl_vde_forw.c +MODEL_OBJ := $(MODEL_SRC:.c=.o) + +# optimal control problem - mostly CasADi exports +OCP_SRC= +OCP_SRC+= lat_cost/lat_cost_y_0_fun.c +OCP_SRC+= lat_cost/lat_cost_y_0_fun_jac_ut_xt.c +OCP_SRC+= lat_cost/lat_cost_y_0_hess.c +OCP_SRC+= lat_cost/lat_cost_y_fun.c +OCP_SRC+= lat_cost/lat_cost_y_fun_jac_ut_xt.c +OCP_SRC+= lat_cost/lat_cost_y_hess.c +OCP_SRC+= lat_cost/lat_cost_y_e_fun.c +OCP_SRC+= lat_cost/lat_cost_y_e_fun_jac_ut_xt.c +OCP_SRC+= lat_cost/lat_cost_y_e_hess.c +OCP_SRC+= acados_solver_lat.c +OCP_OBJ := $(OCP_SRC:.c=.o) + +# for sim solver +SIM_SRC= acados_sim_solver_lat.c +SIM_OBJ := $(SIM_SRC:.c=.o) + +# for target example +EX_SRC= main_lat.c +EX_OBJ := $(EX_SRC:.c=.o) +EX_EXE := $(EX_SRC:.c=) + +# for target example_sim +EX_SIM_SRC= main_sim_lat.c +EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o) +EX_SIM_EXE := $(EX_SIM_SRC:.c=) + +# combine model, sim and ocp object files +OBJ= +OBJ+= $(MODEL_OBJ) +OBJ+= $(SIM_OBJ) +OBJ+= $(OCP_OBJ) + +EXTERNAL_DIR= +EXTERNAL_LIB= + +INCLUDE_PATH = /data/openpilot/third_party/acados/include/acados/include +LIB_PATH = /data/openpilot/third_party/acados/include/acados/lib + +# preprocessor flags for make's implicit rules +CPPFLAGS+= -I$(INCLUDE_PATH) +CPPFLAGS+= -I$(INCLUDE_PATH)/acados +CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include +CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include + + +# define the c-compiler flags for make's implicit rules +CFLAGS = -fPIC -std=c99 #-fno-diagnostics-show-line-numbers -g +# # Debugging +# CFLAGS += -g3 + +# linker flags +LDFLAGS+= -L$(LIB_PATH) + +# link to libraries +LDLIBS+= -lacados +LDLIBS+= -lhpipm +LDLIBS+= -lblasfeo +LDLIBS+= -lm +LDLIBS+= + +# libraries +LIBACADOS_SOLVER=libacados_solver_lat.so +LIBACADOS_OCP_SOLVER=libacados_ocp_solver_lat.so +LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so) + +# virtual targets +.PHONY : all clean + +#all: clean example_sim example shared_lib + +all: clean example_sim example +shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib + +# some linker targets +example: $(EX_OBJ) $(OBJ) + $(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS) + +example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) + $(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS) + +bundled_shared_lib: $(OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS) + +ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \ + -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) + +sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS) + + +# Cython targets +ocp_cython_c: ocp_shared_lib + cython \ + -o acados_ocp_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ + -I /data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code \ + +ocp_cython_o: ocp_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_ocp_solver_pyx.o \ + -I /usr/include/python3.8 \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I /data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include \ + acados_ocp_solver_pyx.c \ + +ocp_cython: ocp_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_ocp_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_ocp_solver_pyx.o \ + $(abspath .)/libacados_ocp_solver_lat.so \ + $(LDFLAGS) $(LDLIBS) + +clean: + $(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ) + $(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER) + $(RM) $(EX_EXE) $(EX_SIM_EXE) + +clean_ocp_shared_lib: + $(RM) $(LIBACADOS_OCP_SOLVER) + $(RM) $(OCP_OBJ) + +clean_ocp_cython: + $(RM) libacados_ocp_solver_lat.so + $(RM) acados_solver_lat.o + $(RM) acados_ocp_solver_pyx.so + $(RM) acados_ocp_solver_pyx.o diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c new file mode 100644 index 000000000..d48df6dc3 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c @@ -0,0 +1,33809 @@ +/* Generated by Cython 0.29.26 */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #elif defined(__GNUC__) + #define CYTHON_INLINE __inline__ + #elif defined(_MSC_VER) + #define CYTHON_INLINE __inline + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_INLINE inline + #else + #define CYTHON_INLINE + #endif +#endif + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__acados_template__acados_ocp_solver_pyx +#define __PYX_HAVE_API__acados_template__acados_ocp_solver_pyx +/* Early includes */ +#include +#include "acados/ocp_nlp/ocp_nlp_common.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_lat.h" +#include +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" + + /* NumPy API declarations from "numpy/__init__.pxd" */ + +#include "pythread.h" +#include +#include "pystate.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +static PyObject *__pyx_m = NULL; +static PyObject *__pyx_d; +static PyObject *__pyx_b; +static PyObject *__pyx_cython_runtime = NULL; +static PyObject *__pyx_empty_tuple; +static PyObject *__pyx_empty_bytes; +static PyObject *__pyx_empty_unicode; +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm= __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif defined(_Complex_I) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + + +static const char *__pyx_f[] = { + "pyextra/acados_template/acados_ocp_solver_pyx.pyx", + "stringsource", + "__init__.pxd", + "type.pxd", +}; +/* BufferFormatStructs.proto */ +#define IS_UNSIGNED(type) (((type) -1) > 0) +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __pyx_atomic_int_type int +#if CYTHON_ATOMICS && __GNUC__ >= 4 && (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL >= 2)) &&\ + !defined(__i386__) + #define __pyx_atomic_incr_aligned(value, lock) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value, lock) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) && 0 + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type LONG + #define __pyx_atomic_incr_aligned(value, lock) InterlockedIncrement(value) + #define __pyx_atomic_decr_aligned(value, lock) InterlockedDecrement(value) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#elif CYTHON_ATOMICS && (defined(__ICC) || defined(__INTEL_COMPILER)) && 0 + #define __pyx_atomic_incr_aligned(value, lock) _InterlockedIncrement(value) + #define __pyx_atomic_decr_aligned(value, lock) _InterlockedDecrement(value) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using Intel atomics" + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +typedef volatile __pyx_atomic_int_type __pyx_atomic_int; +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview), memview->lock) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":690 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":691 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":692 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":693 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":697 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":698 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":699 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":700 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":704 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":705 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":714 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong long_t + * ctypedef npy_longlong longlong_t + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":715 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong long_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_longlong __pyx_t_5numpy_long_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":716 + * ctypedef npy_long int_t + * ctypedef npy_longlong long_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":718 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulong_t + * ctypedef npy_ulonglong ulonglong_t + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":719 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulong_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulonglong __pyx_t_5numpy_ulong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":720 + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulong_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":722 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":723 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":725 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":726 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":727 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* Declarations.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + + +/*--- Type declarations ---*/ +struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":729 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":730 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":731 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":733 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "acados_template/acados_ocp_solver_pyx.pyx":52 + * + * + * cdef class AcadosOcpSolverCython: # <<<<<<<<<<<<<< + * """ + * Class to interact with the acados ocp solver C object. + */ +struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython { + PyObject_HEAD + lat_solver_capsule *capsule; + void *nlp_opts; + ocp_nlp_dims *nlp_dims; + ocp_nlp_config *nlp_config; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_in *nlp_in; + ocp_nlp_solver *nlp_solver; + int status; + int solver_created; + PyObject *model_name; + int N; + PyObject *nlp_solver_type; +}; + + +/* "View.MemoryView":105 + * + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":279 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":330 + * + * @cname('__pyx_memoryview') + * cdef class memoryview(object): # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; 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r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#else +#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if CYTHON_FAST_PYCALL + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif // CYTHON_FAST_PYCALL +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectCallNoArg.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); +#else +#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL) +#endif + +/* PyCFunctionFastCall.proto */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); +#else +#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) +#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyObjectCall2Args.proto */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_str(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_str(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +/* IncludeStringH.proto */ +#include + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely((Py_TYPE(obj) == type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* SliceObject.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice( + PyObject* obj, Py_ssize_t cstart, Py_ssize_t cstop, + PyObject** py_start, PyObject** py_stop, PyObject** py_slice, + int has_cstart, int has_cstop, int wraparound); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return __Pyx_PyObject_GetAttrStr(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#else +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* FetchCommonType.proto */ +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED 1 +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { + PyCFunctionObject func; +#if PY_VERSION_HEX < 0x030500A0 + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; + PyObject *func_classobj; + void *defaults; + int defaults_pyobjects; + size_t defaults_size; // used by FusedFunction for copying defaults + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; +} __pyx_CyFunctionObject; +static PyTypeObject *__pyx_CyFunctionType = 0; +#define __Pyx_CyFunction_Check(obj) (__Pyx_TypeCheck(obj, __pyx_CyFunctionType)) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *self, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(void); + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* UnpackTupleError.proto */ +static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); + +/* UnpackTuple2.proto */ +#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ + (likely(is_tuple || PyTuple_Check(tuple)) ?\ + (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ + __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ + (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ + __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); +static int __Pyx_unpack_tuple2_generic( + PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); + +/* dict_iter.proto */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_is_dict); +static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); + +/* None.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* PyIntBinop.proto */ +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); +#else +#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ + (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +#define __Pyx_BufPtrStrided1d(type, buf, i0, s0) (type)((char*)buf + i0 * s0) +/* PyUnicode_Unicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (memview->acquisition_count_aligned_p) +#define __pyx_get_slice_count(memview) (*__pyx_get_slice_count_pointer(memview)) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XDEC_MEMVIEW(slice, have_gil) __Pyx_XDEC_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* None.proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +static CYTHON_UNUSED int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +static CYTHON_UNUSED int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + PyList_SET_ITEM(list, len, x); + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* ListExtend.proto */ +static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) { +#if CYTHON_COMPILING_IN_CPYTHON + PyObject* none = _PyList_Extend((PyListObject*)L, v); + if (unlikely(!none)) + return -1; + Py_DECREF(none); + return 0; +#else + return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v); +#endif +} + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + PyList_SET_ITEM(list, len, x); + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* None.proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* SetupReduce.proto */ +static int __Pyx_setup_reduce(PyObject* type_obj); + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable); + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto +#define __PYX_HAVE_RT_ImportType_proto +enum __Pyx_ImportType_CheckSize { + __Pyx_ImportType_CheckSize_Error = 0, + __Pyx_ImportType_CheckSize_Warn = 1, + __Pyx_ImportType_CheckSize_Ignore = 2 +}; +static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size); +#endif + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* Capsule.proto */ +static CYTHON_INLINE PyObject *__pyx_capsule_create(void *p, const char *sig); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *, int writable_flag); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *, int writable_flag); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ + +/* Module declarations from 'cython.view' */ + +/* Module declarations from 'cython' */ + +/* Module declarations from 'libc.string' */ + +/* Module declarations from 'libc.stdio' */ + +/* Module declarations from 'libc' */ + +/* Module declarations from 'acados_solver_common' */ + +/* Module declarations from 'acados_solver' */ + +/* Module declarations from 'cpython.buffer' */ + +/* Module declarations from '__builtin__' */ + +/* Module declarations from 'cpython.type' */ +static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; + +/* Module declarations from 'cpython' */ + +/* Module declarations from 'cpython.object' */ + +/* Module declarations from 'cpython.ref' */ + +/* Module declarations from 'cpython.mem' */ + +/* Module declarations from 'numpy' */ + +/* Module declarations from 'numpy' */ +static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; +static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; +static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; +static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; +static PyTypeObject *__pyx_ptype_5numpy_generic = 0; +static PyTypeObject *__pyx_ptype_5numpy_number = 0; +static PyTypeObject *__pyx_ptype_5numpy_integer = 0; +static PyTypeObject *__pyx_ptype_5numpy_signedinteger = 0; +static PyTypeObject *__pyx_ptype_5numpy_unsignedinteger = 0; +static PyTypeObject *__pyx_ptype_5numpy_inexact = 0; +static PyTypeObject *__pyx_ptype_5numpy_floating = 0; +static PyTypeObject *__pyx_ptype_5numpy_complexfloating = 0; +static PyTypeObject *__pyx_ptype_5numpy_flexible = 0; +static PyTypeObject *__pyx_ptype_5numpy_character = 0; +static PyTypeObject *__pyx_ptype_5numpy_ufunc = 0; + +/* Module declarations from 'acados_template.acados_ocp_solver_pyx' */ +static PyTypeObject *__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython = 0; +static PyTypeObject *__pyx_array_type = 0; +static PyTypeObject *__pyx_MemviewEnum_type = 0; +static PyTypeObject *__pyx_memoryview_type = 0; +static PyTypeObject *__pyx_memoryviewslice_type = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static CYTHON_INLINE PyObject *__Pyx_carray_to_py_int(int *, Py_ssize_t); /*proto*/ +static CYTHON_INLINE PyObject *__Pyx_carray_to_tuple_int(int *, Py_ssize_t); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static void *__pyx_align_pointer(void *, size_t); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static PyObject *assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, char *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, char *); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char = { "unsigned char", NULL, sizeof(unsigned char), { 0 }, 0, IS_UNSIGNED(unsigned char) ? 'U' : 'I', IS_UNSIGNED(unsigned char), 0 }; +#define __Pyx_MODULE_NAME "acados_template.acados_ocp_solver_pyx" +extern int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx; +int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx = 0; + +/* Implementation of 'acados_template.acados_ocp_solver_pyx' */ +static PyObject *__pyx_builtin_NotImplementedError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_open; +static PyObject *__pyx_builtin_print; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_ImportError; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static const char __pyx_k_F[] = "F"; +static const char __pyx_k_N[] = "N"; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k_m[] = "m"; +static const char __pyx_k_n[] = "n"; +static const char __pyx_k_p[] = "p"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k_t[] = "t"; +static const char __pyx_k_u[] = "u"; +static const char __pyx_k_w[] = "w"; +static const char __pyx_k_x[] = "x"; +static const char __pyx_k_z[] = "z"; +static const char __pyx_k__4[] = "."; +static const char __pyx_k__5[] = ""; +static const char __pyx_k__6[] = "_"; +static const char __pyx_k_ex[] = "ex"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_np[] = "np"; +static const char __pyx_k_os[] = "os"; +static const char __pyx_k_pi[] = "pi"; +static const char __pyx_k_sl[] = "sl"; +static const char __pyx_k_su[] = "su"; +static const char __pyx_k_SQP[] = "SQP"; +static const char __pyx_k__19[] = ")"; +static const char __pyx_k__22[] = ", "; +static const char __pyx_k_get[] = "get"; +static const char __pyx_k_lam[] = "lam"; +static const char __pyx_k_lbu[] = "lbu"; +static const char __pyx_k_lbx[] = "lbx"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_set[] = "set"; +static const char __pyx_k_t_2[] = "t_"; +static const char __pyx_k_u_2[] = "u_"; +static const char __pyx_k_ubu[] = "ubu"; +static const char __pyx_k_ubx[] = "ubx"; +static const char __pyx_k_x_2[] = "x_"; +static const char __pyx_k_z_2[] = "z_"; +static const char __pyx_k_None[] = "None"; +static const char __pyx_k_TODO[] = "TODO!"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_dump[] = "dump"; +static const char __pyx_k_exit[] = "__exit__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_json[] = "json"; +static const char __pyx_k_keys[] = "keys"; +static const char __pyx_k_load[] = "load"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_open[] = "open"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_pi_2[] = "pi_"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_sl_2[] = "sl_"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_su_2[] = "su_"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_yref[] = "yref"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_alpha[] = "alpha"; +static const char __pyx_k_array[] = "array"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_enter[] = "__enter__"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_field[] = "field"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_lam_2[] = "lam_"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_order[] = "order"; +static const char __pyx_k_print[] = "print"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_split[] = "split"; +static const char __pyx_k_stage[] = "stage"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_utf_8[] = "utf-8"; +static const char __pyx_k_value[] = "value_"; +static const char __pyx_k_y_ref[] = "y_ref"; +static const char __pyx_k_zeros[] = "zeros"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_getcwd[] = "getcwd"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_indent[] = "indent"; +static const char __pyx_k_isfile[] = "isfile"; +static const char __pyx_k_json_2[] = ".json"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_qp_mu0[] = "qp_mu0"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_res_eq[] = "res_eq"; +static const char __pyx_k_stat_m[] = "stat_m"; +static const char __pyx_k_stat_n[] = "stat_n"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_tol_eq[] = "tol_eq"; +static const char __pyx_k_tolist[] = "tolist"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_utcnow[] = "utcnow"; +static const char __pyx_k_SQP_RTI[] = "SQP_RTI"; +static const char __pyx_k_default[] = "default"; +static const char __pyx_k_field_2[] = "field_"; +static const char __pyx_k_float64[] = "float64"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_iterate[] = "iterate"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_qp_iter[] = "qp_iter"; +static const char __pyx_k_time_qp[] = "time_qp"; +static const char __pyx_k_z_guess[] = "z_guess"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_at_stage[] = "\" at stage "; +static const char __pyx_k_datetime[] = "datetime"; +static const char __pyx_k_filename[] = "filename"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_res_comp[] = "res_comp"; +static const char __pyx_k_res_ineq[] = "res_ineq"; +static const char __pyx_k_res_stat[] = "res_stat"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_sqp_iter[] = "sqp_iter"; +static const char __pyx_k_strftime[] = "strftime"; +static const char __pyx_k_time_lin[] = "time_lin"; +static const char __pyx_k_time_reg[] = "time_reg"; +static const char __pyx_k_time_sim[] = "time_sim"; +static const char __pyx_k_time_tot[] = "time_tot"; +static const char __pyx_k_tol_comp[] = "tol_comp"; +static const char __pyx_k_tol_ineq[] = "tol_ineq"; +static const char __pyx_k_tol_stat[] = "tol_stat"; +static const char __pyx_k_you_have[] = " (you have "; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_alpha_min[] = "alpha_min"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_for_field[] = " for field \""; +static const char __pyx_k_get_stats[] = "get_stats"; +static const char __pyx_k_overwrite[] = "overwrite"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_qp_tol_eq[] = "qp_tol_eq"; +static const char __pyx_k_recompute[] = "recompute"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_residuals[] = "residuals"; +static const char __pyx_k_rti_phase[] = "rti_phase"; +static const char __pyx_k_sort_keys[] = "sort_keys"; +static const char __pyx_k_time_glob[] = "time_glob"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_model_name[] = "model_name"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_qp_tau_min[] = "qp_tau_min"; +static const char __pyx_k_statistics[] = "statistics"; +static const char __pyx_k_xdot_guess[] = "xdot_guess"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_print_level[] = "print_level"; +static const char __pyx_k_qp_tol_comp[] = "qp_tol_comp"; +static const char __pyx_k_qp_tol_ineq[] = "qp_tol_ineq"; +static const char __pyx_k_qp_tol_stat[] = "qp_tol_stat"; +static const char __pyx_k_step_length[] = "step_length"; +static const char __pyx_k_time_sim_ad[] = "time_sim_ad"; +static const char __pyx_k_time_sim_la[] = "time_sim_la"; +static const char __pyx_k_get_stat_int[] = "__get_stat_int"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = "stringsource"; +static const char __pyx_k_Y_m_d_H_M_S_f[] = "%Y-%m-%d-%H:%M:%S.%f"; +static const char __pyx_k_get_residuals[] = "get_residuals"; +static const char __pyx_k_globalization[] = "globalization"; +static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; +static const char __pyx_k_qp_warm_start[] = "qp_warm_start"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_time_qp_xcond[] = "time_qp_xcond"; +static const char __pyx_k_asfortranarray[] = "asfortranarray"; +static const char __pyx_k_full_step_dual[] = "full_step_dual"; +static const char __pyx_k_with_dimension[] = " with dimension "; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_alpha_reduction[] = "alpha_reduction"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_get_stat_double[] = "__get_stat_double"; +static const char __pyx_k_get_stat_matrix[] = "__get_stat_matrix"; +static const char __pyx_k_nlp_solver_type[] = "nlp_solver_type"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; +static const char __pyx_k_get_pointers_solver[] = "__get_pointers_solver"; +static const char __pyx_k_initialize_t_slacks[] = "initialize_t_slacks"; +static const char __pyx_k_time_qp_solver_call[] = "time_qp_solver_call"; +static const char __pyx_k_warm_start_first_qp[] = "warm_start_first_qp"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_AcadosOcpSolverCython[] = "AcadosOcpSolverCython"; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_globalization_use_SOC[] = "globalization_use_SOC"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_eps_sufficient_descent[] = "eps_sufficient_descent"; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_with_dimension_you_have[] = "with dimension {} (you have {})"; +static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'"; +static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d."; +static const char __pyx_k_stored_current_iterate_in[] = "stored current iterate in "; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_store_iterate_locals_lambda[] = "store_iterate.."; +static const char __pyx_k_time_solution_sensitivities[] = "time_solution_sensitivities"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_AcadosOcpSolverCython_get_field[] = "AcadosOcpSolverCython.get(): field {} does not exist at final stage {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_is_an[] = "AcadosOcpSolverCython.get(): {} is an invalid argument. \n Possible values are {}. Exiting."; +static const char __pyx_k_AcadosOcpSolverCython_get_stage[] = "AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}."; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_AcadosOcpSolverCython_constraint[] = "AcadosOcpSolverCython.constraints_set(): mismatching dimension"; +static const char __pyx_k_AcadosOcpSolverCython_cost_set_m[] = "AcadosOcpSolverCython.cost_set(): mismatching dimension"; +static const char __pyx_k_AcadosOcpSolverCython_does_not_s[] = "AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature"; +static const char __pyx_k_AcadosOcpSolverCython_eval_param[] = "AcadosOcpSolverCython.eval_param_sens(): index must be Integer."; +static const char __pyx_k_AcadosOcpSolverCython_options_se[] = "AcadosOcpSolverCython.options_set() does not support field {}.\n Possible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_set_is_not[] = "AcadosOcpSolverCython.set(): {} is not a valid argument. \nPossible values are {}. Exiting."; +static const char __pyx_k_AcadosOcpSolverCython_set_mismat[] = "AcadosOcpSolverCython.set(): mismatching dimension for field \"{}\" "; +static const char __pyx_k_AcadosOcpSolverCython_solve_argu[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only values 0, 1, 2 for SQP-RTI-type solvers"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_s_vs_0xb0[] = "Incompatible checksums (%s vs 0xb068931 = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s"; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)"; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_acados_template_acados_ocp_solve[] = "acados_template.acados_ocp_solver_pyx"; +static const char __pyx_k_alpha_values_are_not_available_f[] = "alpha values are not available for SQP_RTI"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)"; +static const char __pyx_k_line_search_use_sufficient_desce[] = "line_search_use_sufficient_descent"; +static const char __pyx_k_load_iterate_failed_file_does_no[] = "load_iterate: failed, file does not exist: "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_solver_option_must_be_of_type_fl[] = "solver option {} must be of type float. You have {}."; +static const char __pyx_k_solver_option_must_be_of_type_in[] = "solver option {} must be of type int. You have {}."; +static const char __pyx_k_solver_option_must_be_of_type_st[] = "solver option {} must be of type str. You have {}."; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_AcadosOcpSolverCython_does_not_s_2[] = "AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature"; +static const char __pyx_k_AcadosOcpSolverCython_eval_param_2[] = "AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: "; +static const char __pyx_k_AcadosOcpSolverCython_solve_argu_2[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only value 0 for SQP-type solvers"; +static PyObject *__pyx_n_s_ASCII; +static PyObject *__pyx_n_s_AcadosOcpSolverCython; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_constraint; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_cost_set_m; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param_2; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_field; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_is_an; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_stage; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_options_se; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_is_not; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_mismat; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2; +static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; +static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; +static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; +static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; +static PyObject *__pyx_kp_s_Cannot_index_with_type_s; +static PyObject *__pyx_n_s_Ellipsis; +static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; +static PyObject *__pyx_n_u_F; +static PyObject *__pyx_n_s_ImportError; +static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0; +static PyObject *__pyx_n_s_IndexError; +static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; +static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr; +static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d; +static PyObject *__pyx_n_s_MemoryError; +static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; +static PyObject *__pyx_kp_s_MemoryView_of_r_object; +static PyObject *__pyx_n_s_N; +static PyObject *__pyx_kp_u_None; +static PyObject *__pyx_n_s_NotImplementedError; +static PyObject *__pyx_n_b_O; +static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a; +static PyObject *__pyx_n_s_PickleError; +static PyObject *__pyx_n_u_SQP; +static PyObject *__pyx_n_u_SQP_RTI; +static PyObject *__pyx_kp_u_TODO; +static PyObject *__pyx_n_s_TypeError; +static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; +static PyObject *__pyx_n_s_ValueError; +static PyObject *__pyx_n_s_View_MemoryView; +static PyObject *__pyx_kp_u_Y_m_d_H_M_S_f; +static PyObject *__pyx_kp_u__19; +static PyObject *__pyx_kp_u__22; +static PyObject *__pyx_kp_u__4; +static PyObject *__pyx_kp_u__5; +static PyObject *__pyx_n_u__6; +static PyObject *__pyx_n_s_acados_template_acados_ocp_solve; +static PyObject *__pyx_n_s_allocate_buffer; +static PyObject *__pyx_n_u_alpha; +static PyObject *__pyx_n_u_alpha_min; +static PyObject *__pyx_n_u_alpha_reduction; +static PyObject *__pyx_kp_u_alpha_values_are_not_available_f; +static PyObject *__pyx_n_s_array; +static PyObject *__pyx_n_s_ascontiguousarray; +static PyObject *__pyx_n_s_asfortranarray; +static PyObject *__pyx_kp_u_at_stage; +static PyObject *__pyx_n_s_base; +static PyObject *__pyx_n_s_c; +static PyObject *__pyx_n_u_c; +static PyObject *__pyx_n_s_class; +static PyObject *__pyx_n_s_cline_in_traceback; +static PyObject *__pyx_kp_s_contiguous_and_direct; +static PyObject *__pyx_kp_s_contiguous_and_indirect; +static PyObject *__pyx_n_s_datetime; +static PyObject *__pyx_n_s_default; +static PyObject *__pyx_n_s_dict; +static PyObject *__pyx_n_s_dtype; +static PyObject *__pyx_n_s_dtype_is_object; +static PyObject *__pyx_n_s_dump; +static PyObject *__pyx_n_s_encode; +static PyObject *__pyx_n_s_enter; +static PyObject *__pyx_n_s_enumerate; +static PyObject *__pyx_n_u_eps_sufficient_descent; +static PyObject *__pyx_n_s_error; +static PyObject *__pyx_n_u_ex; +static PyObject *__pyx_n_s_exit; +static PyObject *__pyx_n_s_field; +static PyObject *__pyx_n_s_field_2; +static PyObject *__pyx_n_s_filename; +static PyObject *__pyx_n_s_flags; +static PyObject *__pyx_n_s_float64; +static PyObject *__pyx_kp_u_for_field; +static PyObject *__pyx_n_s_format; +static PyObject *__pyx_n_s_fortran; +static PyObject *__pyx_n_u_fortran; +static PyObject *__pyx_n_u_full_step_dual; +static PyObject *__pyx_n_s_get; +static PyObject *__pyx_n_s_get_pointers_solver; +static PyObject *__pyx_n_s_get_residuals; +static PyObject *__pyx_n_s_get_stat_double; +static PyObject *__pyx_n_s_get_stat_int; +static PyObject *__pyx_n_s_get_stat_matrix; +static PyObject *__pyx_n_s_get_stats; +static PyObject *__pyx_n_s_getcwd; +static PyObject *__pyx_n_s_getstate; +static PyObject *__pyx_n_u_globalization; +static PyObject *__pyx_n_u_globalization_use_SOC; +static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; +static PyObject *__pyx_n_s_id; +static PyObject *__pyx_n_s_import; +static PyObject *__pyx_n_s_indent; +static PyObject *__pyx_n_s_index; +static PyObject *__pyx_n_u_initialize_t_slacks; +static PyObject *__pyx_n_s_isfile; +static PyObject *__pyx_n_s_itemsize; +static PyObject *__pyx_kp_s_itemsize_0_for_cython_array; +static PyObject *__pyx_n_u_iterate; +static PyObject *__pyx_n_s_join; +static PyObject *__pyx_n_s_json; +static PyObject *__pyx_kp_u_json_2; +static PyObject *__pyx_n_s_keys; +static PyObject *__pyx_n_u_lam; +static PyObject *__pyx_n_u_lam_2; +static PyObject *__pyx_n_u_lbu; +static PyObject *__pyx_n_u_lbx; +static PyObject *__pyx_n_u_line_search_use_sufficient_desce; +static PyObject *__pyx_n_s_load; +static PyObject *__pyx_kp_u_load_iterate_failed_file_does_no; +static PyObject *__pyx_n_s_m; +static PyObject *__pyx_n_s_main; +static PyObject *__pyx_n_s_memview; +static PyObject *__pyx_n_s_mode; +static PyObject *__pyx_n_s_model_name; +static PyObject *__pyx_n_s_n; +static PyObject *__pyx_n_s_name; +static PyObject *__pyx_n_s_name_2; +static PyObject *__pyx_n_s_ndim; +static PyObject *__pyx_n_s_new; +static PyObject *__pyx_n_s_nlp_solver_type; +static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; +static PyObject *__pyx_n_s_np; +static PyObject *__pyx_n_s_numpy; +static PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; +static PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; +static PyObject *__pyx_n_s_obj; +static PyObject *__pyx_n_s_open; +static PyObject *__pyx_n_s_order; +static PyObject *__pyx_n_s_os; +static PyObject *__pyx_n_s_overwrite; +static PyObject *__pyx_n_u_p; +static PyObject *__pyx_n_s_pack; +static PyObject *__pyx_n_s_path; +static PyObject *__pyx_n_u_pi; +static PyObject *__pyx_n_u_pi_2; +static PyObject *__pyx_n_s_pickle; +static PyObject *__pyx_n_s_print; +static PyObject *__pyx_n_u_print_level; +static PyObject *__pyx_n_s_pyx_PickleError; +static PyObject *__pyx_n_s_pyx_checksum; +static PyObject *__pyx_n_s_pyx_getbuffer; +static PyObject *__pyx_n_s_pyx_result; +static PyObject *__pyx_n_s_pyx_state; +static PyObject *__pyx_n_s_pyx_type; +static PyObject *__pyx_n_s_pyx_unpickle_Enum; +static PyObject *__pyx_n_s_pyx_vtable; +static PyObject *__pyx_n_u_qp_iter; +static PyObject *__pyx_n_u_qp_mu0; +static PyObject *__pyx_n_u_qp_tau_min; +static PyObject *__pyx_n_u_qp_tol_comp; +static PyObject *__pyx_n_u_qp_tol_eq; +static PyObject *__pyx_n_u_qp_tol_ineq; +static PyObject *__pyx_n_u_qp_tol_stat; +static PyObject *__pyx_n_u_qp_warm_start; +static PyObject *__pyx_n_u_r; +static PyObject *__pyx_n_s_range; +static PyObject *__pyx_n_s_recompute; +static PyObject *__pyx_n_s_reduce; +static PyObject *__pyx_n_s_reduce_cython; +static PyObject *__pyx_n_s_reduce_ex; +static PyObject *__pyx_n_b_res_comp; +static PyObject *__pyx_n_b_res_eq; +static PyObject *__pyx_n_b_res_ineq; +static PyObject *__pyx_n_b_res_stat; +static PyObject *__pyx_n_u_residuals; +static PyObject *__pyx_n_u_rti_phase; +static PyObject *__pyx_n_s_set; +static PyObject *__pyx_n_s_setstate; +static PyObject *__pyx_n_s_setstate_cython; +static PyObject *__pyx_n_s_shape; +static PyObject *__pyx_n_s_size; +static PyObject *__pyx_n_u_sl; +static PyObject *__pyx_n_u_sl_2; +static PyObject *__pyx_kp_u_solver_option_must_be_of_type_fl; +static PyObject *__pyx_kp_u_solver_option_must_be_of_type_in; +static PyObject *__pyx_kp_u_solver_option_must_be_of_type_st; +static PyObject *__pyx_n_s_sort_keys; +static PyObject *__pyx_n_s_split; +static PyObject *__pyx_n_u_sqp_iter; +static PyObject *__pyx_n_s_stage; +static PyObject *__pyx_n_s_start; +static PyObject *__pyx_n_u_stat_m; +static PyObject *__pyx_n_u_stat_n; +static PyObject *__pyx_n_u_statistics; +static PyObject *__pyx_n_s_step; +static PyObject *__pyx_n_u_step_length; +static PyObject *__pyx_n_s_stop; +static PyObject *__pyx_n_s_store_iterate_locals_lambda; +static PyObject *__pyx_kp_u_stored_current_iterate_in; +static PyObject *__pyx_n_s_strftime; +static PyObject *__pyx_kp_s_strided_and_direct; +static PyObject *__pyx_kp_s_strided_and_direct_or_indirect; +static PyObject *__pyx_kp_s_strided_and_indirect; +static PyObject *__pyx_kp_s_stringsource; +static PyObject *__pyx_n_s_struct; +static PyObject *__pyx_n_u_su; +static PyObject *__pyx_n_u_su_2; +static PyObject *__pyx_n_u_t; +static PyObject *__pyx_n_u_t_2; +static PyObject *__pyx_n_s_test; +static PyObject *__pyx_n_u_time_glob; +static PyObject *__pyx_n_u_time_lin; +static PyObject *__pyx_n_u_time_qp; +static PyObject *__pyx_n_u_time_qp_solver_call; +static PyObject *__pyx_n_u_time_qp_xcond; +static PyObject *__pyx_n_u_time_reg; +static PyObject *__pyx_n_u_time_sim; +static PyObject *__pyx_n_u_time_sim_ad; +static PyObject *__pyx_n_u_time_sim_la; +static PyObject *__pyx_n_u_time_solution_sensitivities; +static PyObject *__pyx_n_u_time_tot; +static PyObject *__pyx_n_u_tol_comp; +static PyObject *__pyx_n_u_tol_eq; +static PyObject *__pyx_n_u_tol_ineq; +static PyObject *__pyx_n_u_tol_stat; +static PyObject *__pyx_n_s_tolist; +static PyObject *__pyx_n_u_u; +static PyObject *__pyx_n_u_u_2; +static PyObject *__pyx_n_u_ubu; +static PyObject *__pyx_n_u_ubx; +static PyObject *__pyx_kp_s_unable_to_allocate_array_data; +static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; +static PyObject *__pyx_n_s_unpack; +static PyObject *__pyx_n_s_update; +static PyObject *__pyx_n_s_utcnow; +static PyObject *__pyx_kp_u_utf_8; +static PyObject *__pyx_n_s_value; +static PyObject *__pyx_n_u_w; +static PyObject *__pyx_n_u_warm_start_first_qp; +static PyObject *__pyx_kp_u_with_dimension; +static PyObject *__pyx_kp_u_with_dimension_you_have; +static PyObject *__pyx_n_b_x; +static PyObject *__pyx_n_u_x; +static PyObject *__pyx_n_u_x_2; +static PyObject *__pyx_n_u_xdot_guess; +static PyObject *__pyx_n_u_y_ref; +static PyObject *__pyx_kp_u_you_have; +static PyObject *__pyx_n_u_yref; +static PyObject *__pyx_n_u_z; +static PyObject *__pyx_n_u_z_2; +static PyObject *__pyx_n_u_z_guess; +static PyObject *__pyx_n_s_zeros; +static int __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython___cinit__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_model_name, PyObject *__pyx_v_nlp_solver_type, PyObject *__pyx_v_N); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6reset(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8set_new_time_steps(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_new_time_steps); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10update_qp_solver_cond_N(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_qp_solver_cond_N); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12eval_param_sens(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_stage, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16print_statistics(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_lambda_funcdef_lambda(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18store_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename, PyObject *__pyx_v_overwrite); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20load_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22get_stats(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24__get_stat_int(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26__get_stat_double(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_28__get_stat_matrix(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field, PyObject *__pyx_v_n, PyObject *__pyx_v_m); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_30get_cost(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32get_residuals(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_recompute); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36cost_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38constraints_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40dynamics_get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42options_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_44__del__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_46__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_48__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_16_memoryviewslice_4base___get__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); 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function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1140 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + Py_ssize_t __pyx_t_6; + + /* "View.MemoryView":1147 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1148 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1150 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1152 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = ((__pyx_v_ndim == 1) != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = ((__pyx_v_src_stride > 0) != 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = ((__pyx_v_dst_stride > 0) != 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1154 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_3 = (__pyx_t_2 != 0); + __pyx_t_1 = __pyx_t_3; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1155 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_4 = __pyx_v_dst_extent; + __pyx_t_5 = __pyx_t_4; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1158 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1159 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1160 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1152 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1162 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_4 = __pyx_v_dst_extent; + __pyx_t_5 = __pyx_t_4; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1163 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1168 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1140 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1170 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1173 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1170 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1177 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1179 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1181 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1182 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1184 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1177 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1187 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1196 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = ((__pyx_v_order == 'F') != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":1197 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1198 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1199 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1196 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1201 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1202 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1203 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* "View.MemoryView":1205 + * stride *= shape[idx] + * + * return stride # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_copy_data_to_temp') + */ + __pyx_r = __pyx_v_stride; + goto __pyx_L0; + + /* "View.MemoryView":1187 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) nogil: + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1208 + * + * @cname('__pyx_memoryview_copy_data_to_temp') + * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *tmpslice, + * char order, + */ + +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { + int __pyx_v_i; + void *__pyx_v_result; + size_t __pyx_v_itemsize; + size_t __pyx_v_size; + void *__pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + struct __pyx_memoryview_obj *__pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "View.MemoryView":1219 + * cdef void *result + * + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef size_t size = slice_get_size(src, ndim) + * + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":1220 + * + * cdef size_t itemsize = src.memview.view.itemsize + * cdef size_t size = slice_get_size(src, ndim) # <<<<<<<<<<<<<< + * + * result = malloc(size) + */ + __pyx_v_size = __pyx_memoryview_slice_get_size(__pyx_v_src, __pyx_v_ndim); + + /* "View.MemoryView":1222 + * cdef size_t size = slice_get_size(src, ndim) + * + * result = malloc(size) # <<<<<<<<<<<<<< + * if not result: + * _err(MemoryError, NULL) + */ + __pyx_v_result = malloc(__pyx_v_size); + + /* "View.MemoryView":1223 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err(MemoryError, NULL) + * + */ + __pyx_t_2 = ((!(__pyx_v_result != 0)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1224 + * result = malloc(size) + * if not result: + * _err(MemoryError, NULL) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_3 = __pyx_memoryview_err(__pyx_builtin_MemoryError, NULL); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 1224, __pyx_L1_error) + + /* "View.MemoryView":1223 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err(MemoryError, NULL) + * + */ + } + + /* "View.MemoryView":1227 + * + * + * tmpslice.data = result # <<<<<<<<<<<<<< + * tmpslice.memview = src.memview + * for i in range(ndim): + */ + __pyx_v_tmpslice->data = ((char *)__pyx_v_result); + + /* "View.MemoryView":1228 + * + * tmpslice.data = result + * tmpslice.memview = src.memview # <<<<<<<<<<<<<< + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + */ + __pyx_t_4 = __pyx_v_src->memview; + __pyx_v_tmpslice->memview = __pyx_t_4; + + /* "View.MemoryView":1229 + * tmpslice.data = result + * tmpslice.memview = src.memview + * for i in range(ndim): # <<<<<<<<<<<<<< + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1230 + * tmpslice.memview = src.memview + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] # <<<<<<<<<<<<<< + * tmpslice.suboffsets[i] = -1 + * + */ + (__pyx_v_tmpslice->shape[__pyx_v_i]) = (__pyx_v_src->shape[__pyx_v_i]); + + /* "View.MemoryView":1231 + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, + */ + (__pyx_v_tmpslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1233 + * tmpslice.suboffsets[i] = -1 + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, # <<<<<<<<<<<<<< + * ndim, order) + * + */ + (void)(__pyx_fill_contig_strides_array((&(__pyx_v_tmpslice->shape[0])), (&(__pyx_v_tmpslice->strides[0])), __pyx_v_itemsize, __pyx_v_ndim, __pyx_v_order)); + + /* "View.MemoryView":1237 + * + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1238 + * + * for i in range(ndim): + * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< + * tmpslice.strides[i] = 0 + * + */ + __pyx_t_2 = (((__pyx_v_tmpslice->shape[__pyx_v_i]) == 1) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1239 + * for i in range(ndim): + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 # <<<<<<<<<<<<<< + * + * if slice_is_contig(src[0], order, ndim): + */ + (__pyx_v_tmpslice->strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1238 + * + * for i in range(ndim): + * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< + * tmpslice.strides[i] = 0 + * + */ + } + } + + /* "View.MemoryView":1241 + * tmpslice.strides[i] = 0 + * + * if slice_is_contig(src[0], order, ndim): # <<<<<<<<<<<<<< + * memcpy(result, src.data, size) + * else: + */ + __pyx_t_2 = 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"View.MemoryView":1285 + * + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_src), __pyx_v_src_ndim, __pyx_v_dst_ndim); + + /* "View.MemoryView":1284 + * cdef __Pyx_memviewslice tmp + * + * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1286 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + __pyx_t_2 = ((__pyx_v_dst_ndim < __pyx_v_src_ndim) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1287 + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) # <<<<<<<<<<<<<< + * + * cdef int ndim = max(src_ndim, dst_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_dst), __pyx_v_dst_ndim, __pyx_v_src_ndim); + + /* "View.MemoryView":1286 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + } + __pyx_L3:; + + /* "View.MemoryView":1289 + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + * cdef int ndim = max(src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + __pyx_t_3 = __pyx_v_dst_ndim; + __pyx_t_4 = __pyx_v_src_ndim; + if (((__pyx_t_3 > __pyx_t_4) != 0)) { + __pyx_t_5 = __pyx_t_3; + } else { + __pyx_t_5 = __pyx_t_4; + } + __pyx_v_ndim = __pyx_t_5; + + /* "View.MemoryView":1291 + * cdef int ndim = max(src_ndim, dst_ndim) + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + */ + __pyx_t_5 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_5; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1292 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + __pyx_t_2 = (((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1293 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + __pyx_t_2 = (((__pyx_v_src.shape[__pyx_v_i]) == 1) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1294 + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + * broadcasting = True # <<<<<<<<<<<<<< + * src.strides[i] = 0 + * else: + */ + __pyx_v_broadcasting = 1; + + /* "View.MemoryView":1295 + * if src.shape[i] == 1: + * broadcasting = True + * src.strides[i] = 0 # <<<<<<<<<<<<<< + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) + */ + (__pyx_v_src.strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1293 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + goto __pyx_L7; + } + + /* "View.MemoryView":1297 + * src.strides[i] = 0 + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + * + * if src.suboffsets[i] >= 0: + */ + /*else*/ { + __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1297, __pyx_L1_error) + } + __pyx_L7:; + + /* "View.MemoryView":1292 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + } + + /* "View.MemoryView":1299 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(ValueError, "Dimension %d is not direct", i) + * + */ + __pyx_t_2 = (((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1300 + * + * if src.suboffsets[i] >= 0: + * _err_dim(ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< + * + * if slices_overlap(&src, &dst, ndim, itemsize): + */ + __pyx_t_6 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Dimension %d is not direct"), __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1300, __pyx_L1_error) + + /* "View.MemoryView":1299 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(ValueError, "Dimension %d is not direct", i) + * + */ + } + } + + /* "View.MemoryView":1302 + * _err_dim(ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + __pyx_t_2 = (__pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1304 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = ((!(__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim) != 0)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1305 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1304 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1307 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1307, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1308 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1302 + * _err_dim(ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1310 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = ((!(__pyx_v_broadcasting != 0)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1314 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1313 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1315 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1316 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1315 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1318 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + */ + __pyx_t_2 = (__pyx_v_direct_copy != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1320 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1321 + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1322 + * refcount_copying(&dst, dtype_is_object, ndim, False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1323 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1324 + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1318 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + */ + } + + /* "View.MemoryView":1310 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1326 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + __pyx_t_8 = (__pyx_t_2 != 0); + if (__pyx_t_8) { + + /* "View.MemoryView":1329 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)0))) __PYX_ERR(1, 1329, __pyx_L1_error) + + /* "View.MemoryView":1330 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)0))) __PYX_ERR(1, 1330, __pyx_L1_error) + + /* "View.MemoryView":1326 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1332 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1333 + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1334 + * refcount_copying(&dst, dtype_is_object, ndim, False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1336 + * refcount_copying(&dst, dtype_is_object, ndim, True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1337 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1268 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + } + __pyx_r = -1; + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1340 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1344 + * int ndim_other) nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1346 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1347 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1348 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1349 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1351 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1352 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1353 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1354 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1340 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1362 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, # <<<<<<<<<<<<<< + * int ndim, bint inc) nogil: + * + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + int __pyx_t_1; + + /* "View.MemoryView":1366 + * + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, + * dst.strides, ndim, inc) + */ + __pyx_t_1 = (__pyx_v_dtype_is_object != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":1367 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, # <<<<<<<<<<<<<< + * dst.strides, ndim, inc) + * + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1366 + * + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, + * dst.strides, ndim, 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(PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_33get_residuals, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32get_residuals}, + {"set", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_35set, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34set}, + {"cost_set", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_37cost_set, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36cost_set}, + {"constraints_set", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_39constraints_set, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38constraints_set}, + {"dynamics_get", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_41dynamics_get, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40dynamics_get}, + {"options_set", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_43options_set, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42options_set}, + {"__del__", (PyCFunction)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_45__del__, METH_NOARGS, 0}, + {"__reduce_cython__", (PyCFunction)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_47__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_49__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.AcadosOcpSolverCython", /*tp_name*/ + sizeof(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + "\n Class to interact with the acados ocp solver C object.\n ", /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void 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i, v); + } + else { + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by %.200s", Py_TYPE(o)->tp_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_array_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_array_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", 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(likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + (*Py_TYPE(o)->tp_free)(o); +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + (*Py_TYPE(o)->tp_free)(o); +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by %.200s", Py_TYPE(o)->tp_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"is_c_contig", (PyCFunction)__pyx_memoryview_is_c_contig, METH_NOARGS, 0}, + {"is_f_contig", (PyCFunction)__pyx_memoryview_is_f_contig, METH_NOARGS, 0}, + {"copy", (PyCFunction)__pyx_memoryview_copy, METH_NOARGS, 0}, + {"copy_fortran", (PyCFunction)__pyx_memoryview_copy_fortran, METH_NOARGS, 0}, + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XDEC_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyObject *__pyx_getprop___pyx_memoryviewslice_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_16_memoryviewslice_4base_1__get__(o); +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets__memoryviewslice[] = { + {(char *)"base", __pyx_getprop___pyx_memoryviewslice_base, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx._memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + "Internal class for passing memoryview slices to Python", /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets__memoryviewslice, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; + +#if PY_MAJOR_VERSION >= 3 +#if CYTHON_PEP489_MULTI_PHASE_INIT +static PyObject* __pyx_pymod_create(PyObject *spec, PyModuleDef *def); /*proto*/ +static int __pyx_pymod_exec_acados_ocp_solver_pyx(PyObject* module); /*proto*/ +static PyModuleDef_Slot __pyx_moduledef_slots[] = { + {Py_mod_create, (void*)__pyx_pymod_create}, + {Py_mod_exec, (void*)__pyx_pymod_exec_acados_ocp_solver_pyx}, + {0, NULL} +}; +#endif + +static struct PyModuleDef __pyx_moduledef = { + PyModuleDef_HEAD_INIT, + "acados_ocp_solver_pyx", + 0, /* m_doc */ + #if CYTHON_PEP489_MULTI_PHASE_INIT + 0, /* m_size */ + #else + -1, /* m_size */ + #endif + __pyx_methods /* m_methods */, + #if CYTHON_PEP489_MULTI_PHASE_INIT + __pyx_moduledef_slots, /* m_slots */ + #else + NULL, /* m_reload */ + #endif + NULL, /* m_traverse */ + NULL, /* m_clear */ + NULL /* m_free */ +}; +#endif +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif + +static __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_n_s_ASCII, __pyx_k_ASCII, sizeof(__pyx_k_ASCII), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython, __pyx_k_AcadosOcpSolverCython, sizeof(__pyx_k_AcadosOcpSolverCython), 0, 0, 1, 1}, + {&__pyx_kp_u_AcadosOcpSolverCython_constraint, __pyx_k_AcadosOcpSolverCython_constraint, sizeof(__pyx_k_AcadosOcpSolverCython_constraint), 0, 1, 0, 0}, + {&__pyx_kp_u_AcadosOcpSolverCython_cost_set_m, __pyx_k_AcadosOcpSolverCython_cost_set_m, sizeof(__pyx_k_AcadosOcpSolverCython_cost_set_m), 0, 1, 0, 0}, + {&__pyx_kp_u_AcadosOcpSolverCython_does_not_s, __pyx_k_AcadosOcpSolverCython_does_not_s, sizeof(__pyx_k_AcadosOcpSolverCython_does_not_s), 0, 1, 0, 0}, + {&__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2, __pyx_k_AcadosOcpSolverCython_does_not_s_2, sizeof(__pyx_k_AcadosOcpSolverCython_does_not_s_2), 0, 1, 0, 0}, + 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"" : "s", num_found); +} + +/* RaiseDoubleKeywords */ +static void __Pyx_RaiseDoubleKeywordsError( + const char* func_name, + PyObject* kw_name) +{ + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION >= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + while (PyDict_Next(kwds, &pos, &key, &value)) { + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; + continue; + } + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = (**name == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + return -1; +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { + return NULL; + } + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallNoArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, NULL, 0); + } +#endif +#ifdef __Pyx_CyFunction_USED + if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) +#else + if (likely(PyCFunction_Check(func))) +#endif + { + if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { + return __Pyx_PyObject_CallMethO(func, NULL); + } + } + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); +} +#endif + +/* PyCFunctionFastCall */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); + } else { + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); + } +} +#endif + +/* PyObjectCallOneArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); + } +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (__Pyx_PyFastCFunction_Check(func)) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } + } + return __Pyx__PyObject_CallOneArg(func, arg); +} +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +} +#endif + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); + } + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); + } + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + CYTHON_UNUSED Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind; + Py_ssize_t i, char_pos; + void *result_udata; +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely(char_pos + ulength < 0)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + char_pos * result_ukind, udata, (size_t) (ulength * result_ukind)); + } else { + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + result_ulength++; + value_count++; + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", + name, type->tp_name, Py_TYPE(obj)->tp_name); + return 0; +} + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", + Py_TYPE(obj)->tp_name, type->tp_name); + return 0; +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparseable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static PyObject * +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) + return PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + if (*ts != ',' && *ts != ')') + return PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + if (*ts == ',') ts++; + i++; + } + if (i != ndim) + return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return NULL; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return Py_None; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* Import */ + static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *empty_list = 0; + PyObject *module = 0; + PyObject *global_dict = 0; + PyObject *empty_dict = 0; + PyObject *list; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (!py_import) + goto bad; + #endif + if (from_list) + list = from_list; + else { + empty_list = PyList_New(0); + if (!empty_list) + goto bad; + list = empty_list; + } + global_dict = PyModule_GetDict(__pyx_m); + if (!global_dict) + goto bad; + empty_dict = PyDict_New(); + if (!empty_dict) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, 1); + if (!module) { + if (!PyErr_ExceptionMatches(PyExc_ImportError)) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (!py_level) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, level); + #endif + } + } +bad: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + Py_XDECREF(empty_list); + Py_XDECREF(empty_dict); + return module; +} + +/* SliceObject */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj, + Py_ssize_t cstart, Py_ssize_t cstop, + PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice, + int has_cstart, int has_cstop, CYTHON_UNUSED int wraparound) { +#if CYTHON_USE_TYPE_SLOTS + PyMappingMethods* mp; +#if PY_MAJOR_VERSION < 3 + PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence; + if (likely(ms && ms->sq_slice)) { + if (!has_cstart) { + if (_py_start && (*_py_start != Py_None)) { + cstart = __Pyx_PyIndex_AsSsize_t(*_py_start); + if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; + } else + cstart = 0; + } + if (!has_cstop) { + if (_py_stop && (*_py_stop != Py_None)) { + cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop); + if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; + } else + cstop = PY_SSIZE_T_MAX; + } + if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) { + Py_ssize_t l = ms->sq_length(obj); + if (likely(l >= 0)) { + if (cstop < 0) { + cstop += l; + if (cstop < 0) cstop = 0; + } + if (cstart < 0) { + cstart += l; + if (cstart < 0) cstart = 0; + } + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + goto bad; + PyErr_Clear(); + } + } + return ms->sq_slice(obj, cstart, cstop); + } +#endif + mp = Py_TYPE(obj)->tp_as_mapping; + if (likely(mp && mp->mp_subscript)) +#endif + { + PyObject* result; + PyObject *py_slice, *py_start, *py_stop; + if (_py_slice) { + py_slice = *_py_slice; + } else { + PyObject* owned_start = NULL; + PyObject* owned_stop = NULL; + if (_py_start) { + py_start = *_py_start; + } else { + if (has_cstart) { + owned_start = py_start = PyInt_FromSsize_t(cstart); + if (unlikely(!py_start)) goto bad; + } else + py_start = Py_None; + } + if (_py_stop) { + py_stop = *_py_stop; + } else { + if (has_cstop) { + owned_stop = py_stop = PyInt_FromSsize_t(cstop); + if (unlikely(!py_stop)) { + Py_XDECREF(owned_start); + goto bad; + } + } else + py_stop = Py_None; + } + py_slice = PySlice_New(py_start, py_stop, Py_None); + Py_XDECREF(owned_start); + Py_XDECREF(owned_stop); + if (unlikely(!py_slice)) goto bad; + } +#if CYTHON_USE_TYPE_SLOTS + result = mp->mp_subscript(obj, py_slice); +#else + result = PyObject_GetItem(obj, py_slice); +#endif + if (!_py_slice) { + Py_DECREF(py_slice); + } + return result; + } + PyErr_Format(PyExc_TypeError, + "'%.200s' object is unsliceable", Py_TYPE(obj)->tp_name); +bad: + return NULL; +} + +/* FetchCommonType */ + static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* fake_module; + PyTypeObject* cached_type = NULL; + fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI); + if (!fake_module) return NULL; + Py_INCREF(fake_module); + cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name); + if (cached_type) { + if (!PyType_Check((PyObject*)cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", + type->tp_name); + goto bad; + } + if (cached_type->tp_basicsize != type->tp_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + type->tp_name); + goto bad; + } + } else { + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; + } +done: + Py_DECREF(fake_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} + +/* CythonFunctionShared */ + #include +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure) +{ + if (unlikely(op->func_doc == NULL)) { + if (op->func.m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(op->func.m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(op->func.m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp = op->func_doc; + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + op->func_doc = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + if (unlikely(op->func_name == NULL)) { +#if PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(op->func.m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(op->func.m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + tmp = op->func_name; + Py_INCREF(value); + op->func_name = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + tmp = op->func_qualname; + Py_INCREF(value); + op->func_qualname = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_self(__pyx_CyFunctionObject *m, CYTHON_UNUSED void *closure) +{ + PyObject *self; + self = m->func_closure; + if (self == NULL) + self = Py_None; + Py_INCREF(self); + return self; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + tmp = op->func_dict; + Py_INCREF(value); + op->func_dict = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(CYTHON_UNUSED __pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value) { + value = Py_None; + } else if (value != Py_None && !PyTuple_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + Py_INCREF(value); + tmp = op->defaults_tuple; + op->defaults_tuple = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->defaults_tuple; + if (unlikely(!result)) { + if (op->defaults_getter) { + if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value) { + value = Py_None; + } else if (value != Py_None && !PyDict_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + Py_INCREF(value); + tmp = op->defaults_kwdict; + op->defaults_kwdict = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->defaults_kwdict; + if (unlikely(!result)) { + if (op->defaults_getter) { + if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value || value == Py_None) { + value = NULL; + } else if (!PyDict_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + tmp = op->func_annotations; + op->func_annotations = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->func_annotations; + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "__self__", (getter)__Pyx_CyFunction_get_self, 0, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), PY_WRITE_RESTRICTED, 0}, + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, CYTHON_UNUSED PyObject *args) +{ +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(m->func.m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func.m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + if (unlikely(op == NULL)) + return NULL; + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; + op->func.m_ml = ml; + op->func.m_self = (PyObject *) op; + Py_XINCREF(closure); + op->func_closure = closure; + Py_XINCREF(module); + op->func.m_module = module; + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; + op->func_classobj = NULL; + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); + Py_CLEAR(m->func.m_module); + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); + Py_CLEAR(m->func_classobj); + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + PyObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); + Py_VISIT(m->func.m_module); + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); + Py_VISIT(m->func_classobj); + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type) +{ +#if PY_MAJOR_VERSION < 3 + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) { + Py_INCREF(func); + return func; + } + if (m->flags & __Pyx_CYFUNCTION_CLASSMETHOD) { + if (type == NULL) + type = (PyObject *)(Py_TYPE(obj)); + return __Pyx_PyMethod_New(func, type, (PyObject *)(Py_TYPE(type))); + } + if (obj == Py_None) + obj = NULL; +#endif + return __Pyx_PyMethod_New(func, obj, type); +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + Py_ssize_t size; + switch (f->m_ml->ml_flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { + size = PyTuple_GET_SIZE(arg); + if (likely(size == 0)) + return (*meth)(self, NULL); + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { + size = PyTuple_GET_SIZE(arg); + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags in " + "__Pyx_CyFunction_Call. METH_OLDARGS is no " + "longer supported!"); + return NULL; + } + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + return __Pyx_CyFunction_CallMethod(func, ((PyCFunctionObject*)func)->m_self, arg, kw); +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; + argc = PyTuple_GET_SIZE(args); + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, + 0, + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_CyFunction_descr_get, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, +#endif +}; +static int __pyx_CyFunction_init(void) { + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ + static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* GetTopmostException */ + #if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ + #if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + #endif + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +#endif + +/* GetException */ + #if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type, *local_value, *local_tb; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* IterFinish */ + static CYTHON_INLINE int __Pyx_IterFinish(void) { +#if CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* exc_type = tstate->curexc_type; + if (unlikely(exc_type)) { + if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) { + PyObject *exc_value, *exc_tb; + exc_value = tstate->curexc_value; + exc_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + Py_DECREF(exc_type); + Py_XDECREF(exc_value); + Py_XDECREF(exc_tb); + return 0; + } else { + return -1; + } + } + return 0; +#else + if (unlikely(PyErr_Occurred())) { + if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) { + PyErr_Clear(); + return 0; + } else { + return -1; + } + } + return 0; +#endif +} + +/* PyObjectGetMethod */ + static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (descr != NULL) { + *method = descr; + return 0; + } + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(name)); +#endif + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ + static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* RaiseNeedMoreValuesToUnpack */ + static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseTooManyValuesToUnpack */ + static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* UnpackItemEndCheck */ + static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } else { + return __Pyx_IterFinish(); + } + return 0; +} + +/* RaiseNoneIterError */ + static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* UnpackTupleError */ + static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { + if (t == Py_None) { + __Pyx_RaiseNoneNotIterableError(); + } else if (PyTuple_GET_SIZE(t) < index) { + __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); + } else { + __Pyx_RaiseTooManyValuesError(index); + } +} + +/* UnpackTuple2 */ + static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { + PyObject *value1 = NULL, *value2 = NULL; +#if CYTHON_COMPILING_IN_PYPY + value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; + value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; +#else + value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); + value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); +#endif + if (decref_tuple) { + Py_DECREF(tuple); + } + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +#if CYTHON_COMPILING_IN_PYPY +bad: + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +#endif +} +static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, + int has_known_size, int decref_tuple) { + Py_ssize_t index; + PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; + iternextfunc iternext; + iter = PyObject_GetIter(tuple); + if (unlikely(!iter)) goto bad; + if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } + iternext = Py_TYPE(iter)->tp_iternext; + value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } + value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } + if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; + Py_DECREF(iter); + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +unpacking_failed: + if (!has_known_size && __Pyx_IterFinish() == 0) + __Pyx_RaiseNeedMoreValuesError(index); +bad: + Py_XDECREF(iter); + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +} + +/* dict_iter */ + static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_source_is_dict) { + is_dict = is_dict || likely(PyDict_CheckExact(iterable)); + *p_source_is_dict = is_dict; + if (is_dict) { +#if !CYTHON_COMPILING_IN_PYPY + *p_orig_length = PyDict_Size(iterable); + Py_INCREF(iterable); + return iterable; +#elif PY_MAJOR_VERSION >= 3 + static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; + PyObject **pp = NULL; + if (method_name) { + const char *name = PyUnicode_AsUTF8(method_name); + if (strcmp(name, "iteritems") == 0) pp = &py_items; + else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; + else if (strcmp(name, "itervalues") == 0) pp = &py_values; + if (pp) { + if (!*pp) { + *pp = PyUnicode_FromString(name + 4); + if (!*pp) + return NULL; + } + method_name = *pp; + } + } +#endif + } + *p_orig_length = 0; + if (method_name) { + PyObject* iter; + iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); + if (!iterable) + return NULL; +#if !CYTHON_COMPILING_IN_PYPY + if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) + return iterable; +#endif + iter = PyObject_GetIter(iterable); + Py_DECREF(iterable); + return iter; + } + return PyObject_GetIter(iterable); +} +static CYTHON_INLINE int __Pyx_dict_iter_next( + PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { + PyObject* next_item; +#if !CYTHON_COMPILING_IN_PYPY + if (source_is_dict) { + PyObject *key, *value; + if (unlikely(orig_length != PyDict_Size(iter_obj))) { + PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); + return -1; + } + if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { + return 0; + } + if (pitem) { + PyObject* tuple = PyTuple_New(2); + if (unlikely(!tuple)) { + return -1; + } + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(tuple, 0, key); + PyTuple_SET_ITEM(tuple, 1, value); + *pitem = tuple; + } else { + if (pkey) { + Py_INCREF(key); + *pkey = key; + } + if (pvalue) { + Py_INCREF(value); + *pvalue = value; + } + } + return 1; + } else if (PyTuple_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyTuple_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else if (PyList_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyList_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else +#endif + { + next_item = PyIter_Next(iter_obj); + if (unlikely(!next_item)) { + return __Pyx_IterFinish(); + } + } + if (pitem) { + *pitem = next_item; + } else if (pkey && pvalue) { + if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) + return -1; + } else if (pkey) { + *pkey = next_item; + } else { + *pvalue = next_item; + } + return 1; +} + +/* None */ + static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* GetItemInt */ + static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (!j) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; + if (likely(m && m->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { + Py_ssize_t l = m->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return m->sq_item(o, i); + } + } +#else + if (is_list || PySequence_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* ObjectGetItem */ + #if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { + PyObject *runerr; + Py_ssize_t key_value; + PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; + if (unlikely(!(m && m->sq_item))) { + PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); + return NULL; + } + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { + PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; + if (likely(m && m->mp_subscript)) { + return m->mp_subscript(obj, key); + } + return __Pyx_PyObject_GetIndex(obj, key); +} +#endif + +/* PyIntBinop */ + #if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, int inplace, int zerodivision_check) { + (void)inplace; + (void)zerodivision_check; + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long x; + long a = PyInt_AS_LONG(op1); + x = (long)((unsigned long)a + b); + if (likely((x^a) >= 0 || (x^b) >= 0)) + return PyInt_FromLong(x); + return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + const long b = intval; + long a, x; +#ifdef HAVE_LONG_LONG + const PY_LONG_LONG llb = intval; + PY_LONG_LONG lla, llx; +#endif + const digit* digits = ((PyLongObject*)op1)->ob_digit; + const Py_ssize_t size = Py_SIZE(op1); + if (likely(__Pyx_sst_abs(size) <= 1)) { + a = likely(size) ? digits[0] : 0; + if (size == -1) a = -a; + } else { + switch (size) { + case -2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case -3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case -4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + default: return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + } + x = a + b; + return PyLong_FromLong(x); +#ifdef HAVE_LONG_LONG + long_long: + llx = lla + llb; + return PyLong_FromLongLong(llx); +#endif + + + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; + double a = PyFloat_AS_DOUBLE(op1); + double result; + PyFPE_START_PROTECT("add", return NULL) + result = ((double)a) + (double)b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); + } + return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); +} +#endif + +/* BufferIndexError */ + static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyUnicode_Unicode */ + static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { + if (unlikely(obj == Py_None)) + obj = __pyx_kp_u_None; + return __Pyx_NewRef(obj); +} + +/* CIntToDigits */ + static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ + static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ + static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + if (last_one_off) { + assert(*dpos == '0'); + dpos++; + } + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#ifdef HAVE_STDARG_PROTOTYPES + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + int first_time; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) + return; + if (unlikely(__pyx_get_slice_count(memview) < 0)) + __pyx_fatalerror("Acquisition count is %d (line %d)", + __pyx_get_slice_count(memview), lineno); + first_time = __pyx_add_acquisition_count(memview) == 0; + if (unlikely(first_time)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } +} +static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + int last_time; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + if (unlikely(__pyx_get_slice_count(memview) <= 0)) + __pyx_fatalerror("Acquisition count is %d (line %d)", + __pyx_get_slice_count(memview), lineno); + last_time = __pyx_sub_acquisition_count(memview) == 1; + memslice->data = NULL; + if (unlikely(last_time)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + memslice->memview = NULL; + } +} + +/* PyErrExceptionMatches */ + #if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); +} +#endif + +/* None */ + static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr */ + static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* decode_c_string */ + static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + Py_ssize_t length; + if (unlikely((start < 0) | (stop < 0))) { + size_t slen = strlen(cstring); + if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, + "c-string too long to convert to Python"); + return NULL; + } + length = (Py_ssize_t) slen; + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* GetAttr3 */ + static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r = __Pyx_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +} + +/* SwapException */ + #if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* FastTypeChecks */ + #if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ + static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +} + +/* SetupReduce */ + static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* SetVTable */ + static int __Pyx_SetVtable(PyObject *dict, void *vtable) { +#if PY_VERSION_HEX >= 0x02070000 + PyObject *ob = PyCapsule_New(vtable, 0, 0); +#else + PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); +#endif + if (!ob) + goto bad; + if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType +#define __PYX_HAVE_RT_ImportType +static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, + size_t size, enum __Pyx_ImportType_CheckSize check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; +#ifdef Py_LIMITED_API + PyObject *py_basicsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#ifndef Py_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if ((size_t)basicsize < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* MemviewSliceIsContig */ + static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ + static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* Capsule */ + static CYTHON_INLINE PyObject * +__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) +{ + PyObject *cobj; +#if PY_VERSION_HEX >= 0x02070000 + cobj = PyCapsule_New(p, sig, NULL); +#else + cobj = PyCObject_FromVoidPtr(p, NULL); +#endif + return cobj; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) +{ + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_F_CONTIG, + (PyBUF_F_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG, + (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1, + &__Pyx_TypeInfo_unsigned_char, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if (b.imag == 0) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if (b.imag == 0) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(size_t) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (size_t) 0; + case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) + case 2: + if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(size_t) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (size_t) 0; + case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) + case -2: + if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } +#endif + if (sizeof(size_t) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(char) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (char) 0; + case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) + case 2: + if (8 * sizeof(char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(char) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (char) 0; + case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) + case -2: + if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } +#endif + if (sizeof(char) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(char) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* CheckBinaryVersion */ + static int __Pyx_check_binary_version(void) { + char ctversion[4], rtversion[4]; + PyOS_snprintf(ctversion, 4, "%d.%d", PY_MAJOR_VERSION, PY_MINOR_VERSION); + PyOS_snprintf(rtversion, 4, "%s", Py_GetVersion()); + if (ctversion[0] != rtversion[0] || ctversion[2] != rtversion[2]) { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compiletime version %s of module '%.100s' " + "does not match runtime version %s", + ctversion, __Pyx_MODULE_NAME, rtversion); + return PyErr_WarnEx(NULL, message, 1); + } + return 0; +} + +/* InitStrings */ + static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so new file mode 100755 index 000000000..fc5ec38c0 Binary files /dev/null and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c new file mode 100644 index 000000000..d0c541d3b --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c @@ -0,0 +1,278 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ +// standard +#include +#include + +// acados +#include "acados_c/external_function_interface.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#include "acados/sim/sim_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/print.h" + + +// example specific +#include "lat_model/lat_model.h" +#include "acados_sim_solver_lat.h" + + +// ** solver data ** + +sim_solver_capsule * lat_acados_sim_solver_create_capsule() +{ + void* capsule_mem = malloc(sizeof(sim_solver_capsule)); + sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; + + return capsule; +} + + +int lat_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) +{ + free(capsule); + return 0; +} + + +int lat_acados_sim_create(sim_solver_capsule * capsule) +{ + // initialize + const int nx = LAT_NX; + const int nu = LAT_NU; + const int nz = LAT_NZ; + const int np = LAT_NP; + bool tmp_bool; + + + double Tsim = 0.009765625; + + + // explicit ode + capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + + capsule->sim_forw_vde_casadi->casadi_fun = &lat_expl_vde_forw; + capsule->sim_forw_vde_casadi->casadi_n_in = &lat_expl_vde_forw_n_in; + capsule->sim_forw_vde_casadi->casadi_n_out = &lat_expl_vde_forw_n_out; + capsule->sim_forw_vde_casadi->casadi_sparsity_in = &lat_expl_vde_forw_sparsity_in; + capsule->sim_forw_vde_casadi->casadi_sparsity_out = &lat_expl_vde_forw_sparsity_out; + capsule->sim_forw_vde_casadi->casadi_work = &lat_expl_vde_forw_work; + external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); + + capsule->sim_expl_ode_fun_casadi->casadi_fun = &lat_expl_ode_fun; + capsule->sim_expl_ode_fun_casadi->casadi_n_in = &lat_expl_ode_fun_n_in; + capsule->sim_expl_ode_fun_casadi->casadi_n_out = &lat_expl_ode_fun_n_out; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &lat_expl_ode_fun_sparsity_in; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &lat_expl_ode_fun_sparsity_out; + capsule->sim_expl_ode_fun_casadi->casadi_work = &lat_expl_ode_fun_work; + external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); + + + + // sim plan & config + sim_solver_plan_t plan; + plan.sim_solver = ERK; + + // create correct config based on plan + sim_config * lat_sim_config = sim_config_create(plan); + capsule->acados_sim_config = lat_sim_config; + + // sim dims + void *lat_sim_dims = sim_dims_create(lat_sim_config); + capsule->acados_sim_dims = lat_sim_dims; + sim_dims_set(lat_sim_config, lat_sim_dims, "nx", &nx); + sim_dims_set(lat_sim_config, lat_sim_dims, "nu", &nu); + sim_dims_set(lat_sim_config, lat_sim_dims, "nz", &nz); + + + // sim opts + sim_opts *lat_sim_opts = sim_opts_create(lat_sim_config, lat_sim_dims); + capsule->acados_sim_opts = lat_sim_opts; + int tmp_int = 3; + sim_opts_set(lat_sim_config, lat_sim_opts, "newton_iter", &tmp_int); + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + sim_opts_set(lat_sim_config, lat_sim_opts, "collocation_type", &collocation_type); + + + tmp_int = 4; + sim_opts_set(lat_sim_config, lat_sim_opts, "num_stages", &tmp_int); + tmp_int = 1; + sim_opts_set(lat_sim_config, lat_sim_opts, "num_steps", &tmp_int); + tmp_bool = 0; + sim_opts_set(lat_sim_config, lat_sim_opts, "jac_reuse", &tmp_bool); + + + // sim in / out + sim_in *lat_sim_in = sim_in_create(lat_sim_config, lat_sim_dims); + capsule->acados_sim_in = lat_sim_in; + sim_out *lat_sim_out = sim_out_create(lat_sim_config, lat_sim_dims); + capsule->acados_sim_out = lat_sim_out; + + sim_in_set(lat_sim_config, lat_sim_dims, + lat_sim_in, "T", &Tsim); + + // model functions + lat_sim_config->model_set(lat_sim_in->model, + "expl_vde_for", capsule->sim_forw_vde_casadi); + lat_sim_config->model_set(lat_sim_in->model, + "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); + + // sim solver + sim_solver *lat_sim_solver = sim_solver_create(lat_sim_config, + lat_sim_dims, lat_sim_opts); + capsule->acados_sim_solver = lat_sim_solver; + + + /* initialize parameter values */ + double* p = calloc(np, sizeof(double)); + + + lat_acados_sim_update_params(capsule, p, np); + free(p); + + + /* initialize input */ + // x + double x0[4]; + for (int ii = 0; ii < 4; ii++) + x0[ii] = 0.0; + + sim_in_set(lat_sim_config, lat_sim_dims, + lat_sim_in, "x", x0); + + + // u + double u0[1]; + for (int ii = 0; ii < 1; ii++) + u0[ii] = 0.0; + + sim_in_set(lat_sim_config, lat_sim_dims, + lat_sim_in, "u", u0); + + // S_forw + double S_forw[20]; + for (int ii = 0; ii < 20; ii++) + S_forw[ii] = 0.0; + for (int ii = 0; ii < 4; ii++) + S_forw[ii + ii * 4 ] = 1.0; + + + sim_in_set(lat_sim_config, lat_sim_dims, + lat_sim_in, "S_forw", S_forw); + + int status = sim_precompute(lat_sim_solver, lat_sim_in, lat_sim_out); + + return status; +} + + +int lat_acados_sim_solve(sim_solver_capsule *capsule) +{ + // integrate dynamics using acados sim_solver + int status = sim_solve(capsule->acados_sim_solver, + capsule->acados_sim_in, capsule->acados_sim_out); + if (status != 0) + printf("error in lat_acados_sim_solve()! Exiting.\n"); + + return status; +} + + +int lat_acados_sim_free(sim_solver_capsule *capsule) +{ + // free memory + sim_solver_destroy(capsule->acados_sim_solver); + sim_in_destroy(capsule->acados_sim_in); + sim_out_destroy(capsule->acados_sim_out); + sim_opts_destroy(capsule->acados_sim_opts); + sim_dims_destroy(capsule->acados_sim_dims); + sim_config_destroy(capsule->acados_sim_config); + + // free external function + external_function_param_casadi_free(capsule->sim_forw_vde_casadi); + external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); + + return 0; +} + + +int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) +{ + int status = 0; + int casadi_np = LAT_NP; + + if (casadi_np != np) { + printf("lat_acados_sim_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); + capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); + + return status; +} + +/* getters pointers to C objects*/ +sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_config; +}; + +sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_in; +}; + +sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_out; +}; + +void * lat_acados_get_sim_dims(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_dims; +}; + +sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_opts; +}; + +sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_solver; +}; + diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h new file mode 100644 index 000000000..86b9c84c9 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h @@ -0,0 +1,103 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SIM_lat_H_ +#define ACADOS_SIM_lat_H_ + +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#define LAT_NX 4 +#define LAT_NZ 0 +#define LAT_NU 1 +#define LAT_NP 2 + +#ifdef __cplusplus +extern "C" { +#endif + + +// ** capsule for solver data ** +typedef struct sim_solver_capsule +{ + // acados objects + sim_in *acados_sim_in; + sim_out *acados_sim_out; + sim_solver *acados_sim_solver; + sim_opts *acados_sim_opts; + sim_config *acados_sim_config; + void *acados_sim_dims; + + /* external functions */ + // ERK + external_function_param_casadi * sim_forw_vde_casadi; + external_function_param_casadi * sim_expl_ode_fun_casadi; + external_function_param_casadi * sim_expl_ode_hess; + + // IRK + external_function_param_casadi * sim_impl_dae_fun; + external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z; + external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z; + external_function_param_casadi * sim_impl_dae_hess; + + // GNSF + external_function_param_casadi * sim_gnsf_phi_fun; + external_function_param_casadi * sim_gnsf_phi_fun_jac_y; + external_function_param_casadi * sim_gnsf_phi_jac_y_uhat; + external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z; + external_function_param_casadi * sim_gnsf_get_matrices_fun; + +} sim_solver_capsule; + + +ACADOS_SYMBOL_EXPORT int lat_acados_sim_create(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int lat_acados_sim_solve(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int lat_acados_sim_free(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np); + +ACADOS_SYMBOL_EXPORT sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT void * lat_acados_get_sim_dims(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule); + + +ACADOS_SYMBOL_EXPORT sim_solver_capsule * lat_acados_sim_solver_create_capsule(void); +ACADOS_SYMBOL_EXPORT int lat_acados_sim_solver_free_capsule(sim_solver_capsule *capsule); + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_SIM_lat_H_ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd new file mode 100644 index 000000000..8397f8e9d --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd @@ -0,0 +1,62 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_solver_common + +cdef extern from "acados_solver_lat.h": + ctypedef struct nlp_solver_capsule "lat_solver_capsule": + pass + + nlp_solver_capsule * acados_create_capsule "lat_acados_create_capsule"() + int acados_free_capsule "lat_acados_free_capsule"(nlp_solver_capsule *capsule) + + int acados_create "lat_acados_create"(nlp_solver_capsule * capsule) + + int acados_create_with_discretization "lat_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps) + int acados_update_time_steps "lat_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps) + int acados_update_qp_solver_cond_N "lat_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) + + int acados_update_params "lat_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) + int acados_solve "lat_acados_solve"(nlp_solver_capsule * capsule) + int acados_reset "lat_acados_reset"(nlp_solver_capsule * capsule) + int acados_free "lat_acados_free"(nlp_solver_capsule * capsule) + void acados_print_stats "lat_acados_print_stats"(nlp_solver_capsule * capsule) + + acados_solver_common.ocp_nlp_in *acados_get_nlp_in "lat_acados_get_nlp_in"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_nlp_out "lat_acados_get_nlp_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_sens_out "lat_acados_get_sens_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "lat_acados_get_nlp_solver"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_config *acados_get_nlp_config "lat_acados_get_nlp_config"(nlp_solver_capsule * capsule) + void *acados_get_nlp_opts "lat_acados_get_nlp_opts"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "lat_acados_get_nlp_dims"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "lat_acados_get_nlp_plan"(nlp_solver_capsule * capsule) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c new file mode 100644 index 000000000..578d3d1b3 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c @@ -0,0 +1,944 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// standard +#include +#include +#include +// acados +// #include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "lat_model/lat_model.h" + + + + +#include "lat_cost/lat_cost_y_fun.h" +#include "lat_cost/lat_cost_y_0_fun.h" +#include "lat_cost/lat_cost_y_e_fun.h" + +#include "acados_solver_lat.h" + +#define NX LAT_NX +#define NZ LAT_NZ +#define NU LAT_NU +#define NP LAT_NP +#define NBX LAT_NBX +#define NBX0 LAT_NBX0 +#define NBU LAT_NBU +#define NSBX LAT_NSBX +#define NSBU LAT_NSBU +#define NSH LAT_NSH +#define NSG LAT_NSG +#define NSPHI LAT_NSPHI +#define NSHN LAT_NSHN +#define NSGN LAT_NSGN +#define NSPHIN LAT_NSPHIN +#define NSBXN LAT_NSBXN +#define NS LAT_NS +#define NSN LAT_NSN +#define NG LAT_NG +#define NBXN LAT_NBXN +#define NGN LAT_NGN +#define NY0 LAT_NY0 +#define NY LAT_NY +#define NYN LAT_NYN +// #define N LAT_N +#define NH LAT_NH +#define NPHI LAT_NPHI +#define NHN LAT_NHN +#define NPHIN LAT_NPHIN +#define NR LAT_NR + + +// ** solver data ** + +lat_solver_capsule * lat_acados_create_capsule(void) +{ + void* capsule_mem = malloc(sizeof(lat_solver_capsule)); + lat_solver_capsule *capsule = (lat_solver_capsule *) capsule_mem; + + return capsule; +} + + +int lat_acados_free_capsule(lat_solver_capsule *capsule) +{ + free(capsule); + return 0; +} + + +int lat_acados_create(lat_solver_capsule* capsule) +{ + int N_shooting_intervals = LAT_N; + double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps + return lat_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); +} + + +int lat_acados_update_time_steps(lat_solver_capsule* capsule, int N, double* new_time_steps) +{ + if (N != capsule->nlp_solver_plan->N) { + fprintf(stderr, "lat_acados_update_time_steps: given number of time steps (= %d) " \ + "differs from the currently allocated number of " \ + "time steps (= %d)!\n" \ + "Please recreate with new discretization and provide a new vector of time_stamps!\n", + N, capsule->nlp_solver_plan->N); + return 1; + } + + ocp_nlp_config * nlp_config = capsule->nlp_config; + ocp_nlp_dims * nlp_dims = capsule->nlp_dims; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); + } + return 0; +} + +/** + * Internal function for lat_acados_create: step 1 + */ +void lat_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) +{ + assert(N == nlp_solver_plan->N); + + /************************************************ + * plan + ************************************************/ + nlp_solver_plan->nlp_solver = SQP_RTI; + + nlp_solver_plan->ocp_qp_solver_plan.qp_solver = PARTIAL_CONDENSING_HPIPM; + + nlp_solver_plan->nlp_cost[0] = NONLINEAR_LS; + for (int i = 1; i < N; i++) + nlp_solver_plan->nlp_cost[i] = NONLINEAR_LS; + + nlp_solver_plan->nlp_cost[N] = NONLINEAR_LS; + + for (int i = 0; i < N; i++) + { + nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; + nlp_solver_plan->sim_solver_plan[i].sim_solver = ERK; + } + + for (int i = 0; i < N; i++) + {nlp_solver_plan->nlp_constraints[i] = BGH; + } + nlp_solver_plan->nlp_constraints[N] = BGH; +} + + +/** + * Internal function for lat_acados_create: step 2 + */ +ocp_nlp_dims* lat_acados_create_2_create_and_set_dimensions(lat_solver_capsule* capsule) +{ + ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; + const int N = nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * dimensions + ************************************************/ + #define NINTNP1MEMS 17 + int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); + + int* nx = intNp1mem + (N+1)*0; + int* nu = intNp1mem + (N+1)*1; + int* nbx = intNp1mem + (N+1)*2; + int* nbu = intNp1mem + (N+1)*3; + int* nsbx = intNp1mem + (N+1)*4; + int* nsbu = intNp1mem + (N+1)*5; + int* nsg = intNp1mem + (N+1)*6; + int* nsh = intNp1mem + (N+1)*7; + int* nsphi = intNp1mem + (N+1)*8; + int* ns = intNp1mem + (N+1)*9; + int* ng = intNp1mem + (N+1)*10; + int* nh = intNp1mem + (N+1)*11; + int* nphi = intNp1mem + (N+1)*12; + int* nz = intNp1mem + (N+1)*13; + int* ny = intNp1mem + (N+1)*14; + int* nr = intNp1mem + (N+1)*15; + int* nbxe = intNp1mem + (N+1)*16; + + for (int i = 0; i < N+1; i++) + { + // common + nx[i] = NX; + nu[i] = NU; + nz[i] = NZ; + ns[i] = NS; + // cost + ny[i] = NY; + // constraints + nbx[i] = NBX; + nbu[i] = NBU; + nsbx[i] = NSBX; + nsbu[i] = NSBU; + nsg[i] = NSG; + nsh[i] = NSH; + nsphi[i] = NSPHI; + ng[i] = NG; + nh[i] = NH; + nphi[i] = NPHI; + nr[i] = NR; + nbxe[i] = 0; + } + + // for initial state + nbx[0] = NBX0; + nsbx[0] = 0; + ns[0] = NS - NSBX; + nbxe[0] = 4; + ny[0] = NY0; + + // terminal - common + nu[N] = 0; + nz[N] = 0; + ns[N] = NSN; + // cost + ny[N] = NYN; + // constraint + nbx[N] = NBXN; + nbu[N] = 0; + ng[N] = NGN; + nh[N] = NHN; + nphi[N] = NPHIN; + nr[N] = 0; + + nsbx[N] = NSBXN; + nsbu[N] = 0; + nsg[N] = NSGN; + nsh[N] = NSHN; + nsphi[N] = NSPHIN; + + /* create and set ocp_nlp_dims */ + ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); + + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); + + for (int i = 0; i <= N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); + } + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); + for (int i = 1; i < N; i++) + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); + + for (int i = 0; i < N; i++) + { + } + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); + free(intNp1mem); +return nlp_dims; +} + + +/** + * Internal function for lat_acados_create: step 3 + */ +void lat_acados_create_3_create_and_set_functions(lat_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * external functions + ************************************************/ + +#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ + capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ + capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ + capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ + capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ + external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , 2); \ + }while(false) + + + + + // explicit ode + capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(forw_vde_casadi[i], lat_expl_vde_forw); + } + + capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(expl_ode_fun[i], lat_expl_ode_fun); + } + + + // nonlinear least squares function + MAP_CASADI_FNC(cost_y_0_fun, lat_cost_y_0_fun); + MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, lat_cost_y_0_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_0_hess, lat_cost_y_0_hess); + // nonlinear least squares cost + capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun[i], lat_cost_y_fun); + } + + capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], lat_cost_y_fun_jac_ut_xt); + } + + capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_hess[i], lat_cost_y_hess); + } + // nonlinear least square function + MAP_CASADI_FNC(cost_y_e_fun, lat_cost_y_e_fun); + MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, lat_cost_y_e_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_e_hess, lat_cost_y_e_hess); + +#undef MAP_CASADI_FNC +} + + +/** + * Internal function for lat_acados_create: step 4 + */ +void lat_acados_create_4_set_default_parameters(lat_solver_capsule* capsule) { + const int N = capsule->nlp_solver_plan->N; + // initialize parameters to nominal value + double* p = calloc(NP, sizeof(double)); + + for (int i = 0; i <= N; i++) { + lat_acados_update_params(capsule, i, p, NP); + } + free(p); +} + + +/** + * Internal function for lat_acados_create: step 5 + */ +void lat_acados_create_5_set_nlp_in(lat_solver_capsule* capsule, const int N, double* new_time_steps) +{ + assert(N == capsule->nlp_solver_plan->N); + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + + /************************************************ + * nlp_in + ************************************************/ +// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); +// capsule->nlp_in = nlp_in; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + // set up time_steps + + + if (new_time_steps) { + lat_acados_update_time_steps(capsule, N, new_time_steps); + } else {// time_steps are different + double* time_steps = malloc(N*sizeof(double)); + time_steps[0] = 0.009765625; + time_steps[1] = 0.029296875; + time_steps[2] = 0.048828125; + time_steps[3] = 0.068359375; + time_steps[4] = 0.087890625; + time_steps[5] = 0.107421875; + time_steps[6] = 0.126953125; + time_steps[7] = 0.146484375; + time_steps[8] = 0.166015625; + time_steps[9] = 0.185546875; + time_steps[10] = 0.205078125; + time_steps[11] = 0.224609375; + time_steps[12] = 0.244140625; + time_steps[13] = 0.263671875; + time_steps[14] = 0.283203125; + time_steps[15] = 0.302734375; + lat_acados_update_time_steps(capsule, N, time_steps); + free(time_steps); + } + + /**** Dynamics ****/ + for (int i = 0; i < N; i++) + { + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); + + } + + /**** Cost ****/ + double* W_0 = calloc(NY0*NY0, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); + free(W_0); + + double* yref_0 = calloc(NY0, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); + free(yref_0); + double* W = calloc(NY*NY, sizeof(double)); + // change only the non-zero elements: + + double* yref = calloc(NY, sizeof(double)); + // change only the non-zero elements: + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); + } + free(W); + free(yref); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); + } + + // terminal cost + double* yref_e = calloc(NYN, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); + free(yref_e); + + double* W_e = calloc(NYN*NYN, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); + free(W_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); + + + + /**** Constraints ****/ + + // bounds for initial stage + // x0 + int* idxbx0 = malloc(NBX0 * sizeof(int)); + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + idxbx0[3] = 3; + + double* lubx0 = calloc(2*NBX0, sizeof(double)); + double* lbx0 = lubx0; + double* ubx0 = lubx0 + NBX0; + // change only the non-zero elements: + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + free(idxbx0); + free(lubx0); + // idxbxe_0 + int* idxbxe_0 = malloc(4 * sizeof(int)); + + idxbxe_0[0] = 0; + idxbxe_0[1] = 1; + idxbxe_0[2] = 2; + idxbxe_0[3] = 3; + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); + free(idxbxe_0); + + /* constraints that are the same for initial and intermediate */ + + + + + + + + + // x + int* idxbx = malloc(NBX * sizeof(int)); + + idxbx[0] = 2; + idxbx[1] = 3; + double* lubx = calloc(2*NBX, sizeof(double)); + double* lbx = lubx; + double* ubx = lubx + NBX; + + lbx[0] = -1.5707963267948966; + ubx[0] = 1.5707963267948966; + lbx[1] = -0.8726646259971648; + ubx[1] = 0.8726646259971648; + + for (int i = 1; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx); + } + free(idxbx); + free(lubx); + + + + + + + + /* terminal constraints */ + + + + + + + + + + + + + + + +} + + +/** + * Internal function for lat_acados_create: step 6 + */ +void lat_acados_create_6_set_opts(lat_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + void *nlp_opts = capsule->nlp_opts; + + /************************************************ + * opts + ************************************************/ + + + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");int full_step_dual = 0; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); + + // set collocation type (relevant for implicit integrators) + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); + + // set up sim_method_num_steps + // all sim_method_num_steps are identical + int sim_method_num_steps = 1; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); + + // set up sim_method_num_stages + // all sim_method_num_stages are identical + int sim_method_num_stages = 4; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); + + int newton_iter_val = 3; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); + + + // set up sim_method_jac_reuse + bool tmp_bool = (bool) 0; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); + + double nlp_solver_step_length = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); + + double levenberg_marquardt = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); + + /* options QP solver */ + int qp_solver_cond_N; + + const int qp_solver_cond_N_ori = 1; + qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); + // set HPIPM mode: should be done before setting other QP solver options + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "BALANCE"); + + + + int qp_solver_iter_max = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); + +int print_level = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); + + + int ext_cost_num_hess = 0; +} + + +/** + * Internal function for lat_acados_create: step 7 + */ +void lat_acados_create_7_set_nlp_out(lat_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + + // initialize primal solution + double* xu0 = calloc(NX+NU, sizeof(double)); + double* x0 = xu0; + + // initialize with x0 + + + + double* u0 = xu0 + NX; + + for (int i = 0; i < N; i++) + { + // x0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); + // u0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); + free(xu0); +} + + +/** + * Internal function for lat_acados_create: step 8 + */ +//void lat_acados_create_8_create_solver(lat_solver_capsule* capsule) +//{ +// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); +//} + +/** + * Internal function for lat_acados_create: step 9 + */ +int lat_acados_create_9_precompute(lat_solver_capsule* capsule) { + int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + if (status != ACADOS_SUCCESS) { + printf("\nocp_nlp_precompute failed!\n\n"); + exit(1); + } + + return status; +} + + +int lat_acados_create_with_discretization(lat_solver_capsule* capsule, int N, double* new_time_steps) +{ + // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. + if (N != LAT_N && !new_time_steps) { + fprintf(stderr, "lat_acados_create_with_discretization: new_time_steps is NULL " \ + "but the number of shooting intervals (= %d) differs from the number of " \ + "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ + N, LAT_N); + return 1; + } + + // number of expected runtime parameters + capsule->nlp_np = NP; + + // 1) create and set nlp_solver_plan; create nlp_config + capsule->nlp_solver_plan = ocp_nlp_plan_create(N); + lat_acados_create_1_set_plan(capsule->nlp_solver_plan, N); + capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); + + // 3) create and set dimensions + capsule->nlp_dims = lat_acados_create_2_create_and_set_dimensions(capsule); + lat_acados_create_3_create_and_set_functions(capsule); + + // 4) set default parameters in functions + lat_acados_create_4_set_default_parameters(capsule); + + // 5) create and set nlp_in + capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); + lat_acados_create_5_set_nlp_in(capsule, N, new_time_steps); + + // 6) create and set nlp_opts + capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); + lat_acados_create_6_set_opts(capsule); + + // 7) create and set nlp_out + // 7.1) nlp_out + capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + // 7.2) sens_out + capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + lat_acados_create_7_set_nlp_out(capsule); + + // 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + //lat_acados_create_8_create_solver(capsule); + + // 9) do precomputations + int status = lat_acados_create_9_precompute(capsule); + return status; +} + +/** + * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. + */ +int lat_acados_update_qp_solver_cond_N(lat_solver_capsule* capsule, int qp_solver_cond_N) +{ + // 1) destroy solver + ocp_nlp_solver_destroy(capsule->nlp_solver); + + // 2) set new value for "qp_cond_N" + const int N = capsule->nlp_solver_plan->N; + if(qp_solver_cond_N > N) + printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); + ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + // 3) continue with the remaining steps from lat_acados_create_with_discretization(...): + // -> 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + + // -> 9) do precomputations + int status = lat_acados_create_9_precompute(capsule); + return status; +} + + +int lat_acados_reset(lat_solver_capsule* capsule) +{ + + // set initialization to all zeros + + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + ocp_nlp_in* nlp_in = capsule->nlp_in; + ocp_nlp_solver* nlp_solver = capsule->nlp_solver; + + int nx, nu, nv, ns, nz, ni, dim; + + double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); + + for(int i=0; i reset memory + int qp_status; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); + if (qp_status == 3) + { + // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); + ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); + } + + free(buffer); + return 0; +} + + + + +int lat_acados_update_params(lat_solver_capsule* capsule, int stage, double *p, int np) +{ + int solver_status = 0; + + int casadi_np = 2; + if (casadi_np != np) { + printf("acados_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); + capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); + + + // constraints + + + // cost + if (stage == 0) + { + capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); + capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); + } + else // 0 < stage < N + { + capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); + capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); + capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); + // constraints + + } + + + return solver_status; +} + + + +int lat_acados_solve(lat_solver_capsule* capsule) +{ + // solve NLP + int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + return solver_status; +} + + +int lat_acados_free(lat_solver_capsule* capsule) +{ + // before destroying, keep some info + const int N = capsule->nlp_solver_plan->N; + // free memory + ocp_nlp_solver_opts_destroy(capsule->nlp_opts); + ocp_nlp_in_destroy(capsule->nlp_in); + ocp_nlp_out_destroy(capsule->nlp_out); + ocp_nlp_out_destroy(capsule->sens_out); + ocp_nlp_solver_destroy(capsule->nlp_solver); + ocp_nlp_dims_destroy(capsule->nlp_dims); + ocp_nlp_config_destroy(capsule->nlp_config); + ocp_nlp_plan_destroy(capsule->nlp_solver_plan); + + /* free external function */ + // dynamics + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); + external_function_param_casadi_free(&capsule->expl_ode_fun[i]); + } + free(capsule->forw_vde_casadi); + free(capsule->expl_ode_fun); + + // cost + external_function_param_casadi_free(&capsule->cost_y_0_fun); + external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_0_hess); + for (int i = 0; i < N - 1; i++) + { + external_function_param_casadi_free(&capsule->cost_y_fun[i]); + external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); + external_function_param_casadi_free(&capsule->cost_y_hess[i]); + } + free(capsule->cost_y_fun); + free(capsule->cost_y_fun_jac_ut_xt); + free(capsule->cost_y_hess); + external_function_param_casadi_free(&capsule->cost_y_e_fun); + external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_e_hess); + + // constraints + + return 0; +} + +ocp_nlp_in *lat_acados_get_nlp_in(lat_solver_capsule* capsule) { return capsule->nlp_in; } +ocp_nlp_out *lat_acados_get_nlp_out(lat_solver_capsule* capsule) { return capsule->nlp_out; } +ocp_nlp_out *lat_acados_get_sens_out(lat_solver_capsule* capsule) { return capsule->sens_out; } +ocp_nlp_solver *lat_acados_get_nlp_solver(lat_solver_capsule* capsule) { return capsule->nlp_solver; } +ocp_nlp_config *lat_acados_get_nlp_config(lat_solver_capsule* capsule) { return capsule->nlp_config; } +void *lat_acados_get_nlp_opts(lat_solver_capsule* capsule) { return capsule->nlp_opts; } +ocp_nlp_dims *lat_acados_get_nlp_dims(lat_solver_capsule* capsule) { return capsule->nlp_dims; } +ocp_nlp_plan_t *lat_acados_get_nlp_plan(lat_solver_capsule* capsule) { return capsule->nlp_solver_plan; } + + +void lat_acados_print_stats(lat_solver_capsule* capsule) +{ + int sqp_iter, stat_m, stat_n, tmp_int; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); + + + double stat[1200]; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); + + int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; + printf("iter\tqp_stat\tqp_iter\n"); + for (int i = 0; i < nrow; i++) + { + for (int j = 0; j < stat_n + 1; j++) + { + tmp_int = (int) stat[i + j * nrow]; + printf("%d\t", tmp_int); + } + printf("\n"); + } +} + diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h new file mode 100644 index 000000000..824df5467 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h @@ -0,0 +1,167 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SOLVER_lat_H_ +#define ACADOS_SOLVER_lat_H_ + +#include "acados/utils/types.h" + +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +#define LAT_NX 4 +#define LAT_NZ 0 +#define LAT_NU 1 +#define LAT_NP 2 +#define LAT_NBX 2 +#define LAT_NBX0 4 +#define LAT_NBU 0 +#define LAT_NSBX 0 +#define LAT_NSBU 0 +#define LAT_NSH 0 +#define LAT_NSG 0 +#define LAT_NSPHI 0 +#define LAT_NSHN 0 +#define LAT_NSGN 0 +#define LAT_NSPHIN 0 +#define LAT_NSBXN 0 +#define LAT_NS 0 +#define LAT_NSN 0 +#define LAT_NG 0 +#define LAT_NBXN 0 +#define LAT_NGN 0 +#define LAT_NY0 3 +#define LAT_NY 3 +#define LAT_NYN 2 +#define LAT_N 16 +#define LAT_NH 0 +#define LAT_NPHI 0 +#define LAT_NHN 0 +#define LAT_NPHIN 0 +#define LAT_NR 0 + +#ifdef __cplusplus +extern "C" { +#endif + +// ** capsule for solver data ** +typedef struct lat_solver_capsule +{ + // acados objects + ocp_nlp_in *nlp_in; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_solver *nlp_solver; + void *nlp_opts; + ocp_nlp_plan_t *nlp_solver_plan; + ocp_nlp_config *nlp_config; + ocp_nlp_dims *nlp_dims; + + // number of expected runtime parameters + unsigned int nlp_np; + + /* external functions */ + // dynamics + + external_function_param_casadi *forw_vde_casadi; + external_function_param_casadi *expl_ode_fun; + + + + + // cost + + external_function_param_casadi *cost_y_fun; + external_function_param_casadi *cost_y_fun_jac_ut_xt; + external_function_param_casadi *cost_y_hess; + + + external_function_param_casadi cost_y_0_fun; + external_function_param_casadi cost_y_0_fun_jac_ut_xt; + external_function_param_casadi cost_y_0_hess; + + + + external_function_param_casadi cost_y_e_fun; + external_function_param_casadi cost_y_e_fun_jac_ut_xt; + external_function_param_casadi cost_y_e_hess; + + + // constraints + + + + +} lat_solver_capsule; + +ACADOS_SYMBOL_EXPORT lat_solver_capsule * lat_acados_create_capsule(void); +ACADOS_SYMBOL_EXPORT int lat_acados_free_capsule(lat_solver_capsule *capsule); + +ACADOS_SYMBOL_EXPORT int lat_acados_create(lat_solver_capsule * capsule); + +ACADOS_SYMBOL_EXPORT int lat_acados_reset(lat_solver_capsule* capsule); + +/** + * Generic version of lat_acados_create which allows to use a different number of shooting intervals than + * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code + * generation, the time-steps from code generation is used. + */ +ACADOS_SYMBOL_EXPORT int lat_acados_create_with_discretization(lat_solver_capsule * capsule, int n_time_steps, double* new_time_steps); +/** + * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the + * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0. + */ +ACADOS_SYMBOL_EXPORT int lat_acados_update_time_steps(lat_solver_capsule * capsule, int N, double* new_time_steps); +/** + * This function is used for updating an already initialized solver with a different number of qp_cond_N. + */ +ACADOS_SYMBOL_EXPORT int lat_acados_update_qp_solver_cond_N(lat_solver_capsule * capsule, int qp_solver_cond_N); +ACADOS_SYMBOL_EXPORT int lat_acados_update_params(lat_solver_capsule * capsule, int stage, double *value, int np); +ACADOS_SYMBOL_EXPORT int lat_acados_solve(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int lat_acados_free(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void lat_acados_print_stats(lat_solver_capsule * capsule); + +ACADOS_SYMBOL_EXPORT ocp_nlp_in *lat_acados_get_nlp_in(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *lat_acados_get_nlp_out(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *lat_acados_get_sens_out(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_solver *lat_acados_get_nlp_solver(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_config *lat_acados_get_nlp_config(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void *lat_acados_get_nlp_opts(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_dims *lat_acados_get_nlp_dims(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *lat_acados_get_nlp_plan(lat_solver_capsule * capsule); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SOLVER_lat_H_ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c new file mode 100644 index 000000000..827b6c7f0 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c @@ -0,0 +1,264 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#define S_FUNCTION_NAME acados_solver_sfunction_lat +#define S_FUNCTION_LEVEL 2 + +#define MDL_START + +// acados +// #include "acados/utils/print.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "lat_model/lat_model.h" +#include "acados_solver_lat.h" + +#include "simstruc.h" + +#define SAMPLINGTIME 0.009765625 + +static void mdlInitializeSizes (SimStruct *S) +{ + // specify the number of continuous and discrete states + ssSetNumContStates(S, 0); + ssSetNumDiscStates(S, 0);// specify the number of input ports + if ( !ssSetNumInputPorts(S, 8) ) + return; + + // specify the number of output ports + if ( !ssSetNumOutputPorts(S, 6) ) + return; + + // specify dimension information for the input ports + // lbx_0 + ssSetInputPortVectorDimension(S, 0, 4); + // ubx_0 + ssSetInputPortVectorDimension(S, 1, 4); + // parameters + ssSetInputPortVectorDimension(S, 2, (16+1) * 2); + // y_ref_0 + ssSetInputPortVectorDimension(S, 3, 3); + // y_ref + ssSetInputPortVectorDimension(S, 4, 45); + // y_ref_e + ssSetInputPortVectorDimension(S, 5, 2); + // lbx + ssSetInputPortVectorDimension(S, 6, 30); + // ubx + ssSetInputPortVectorDimension(S, 7, 30);/* specify dimension information for the OUTPUT ports */ + ssSetOutputPortVectorDimension(S, 0, 1 ); + ssSetOutputPortVectorDimension(S, 1, 1 ); + ssSetOutputPortVectorDimension(S, 2, 1 ); + ssSetOutputPortVectorDimension(S, 3, 4 ); // state at shooting node 1 + ssSetOutputPortVectorDimension(S, 4, 1); + ssSetOutputPortVectorDimension(S, 5, 1 ); + + // specify the direct feedthrough status + // should be set to 1 for all inputs used in mdlOutputs + ssSetInputPortDirectFeedThrough(S, 0, 1); + ssSetInputPortDirectFeedThrough(S, 1, 1); + ssSetInputPortDirectFeedThrough(S, 2, 1); + ssSetInputPortDirectFeedThrough(S, 3, 1); + ssSetInputPortDirectFeedThrough(S, 4, 1); + ssSetInputPortDirectFeedThrough(S, 5, 1); + ssSetInputPortDirectFeedThrough(S, 6, 1); + ssSetInputPortDirectFeedThrough(S, 7, 1); + + // one sample time + ssSetNumSampleTimes(S, 1); +} + + +#if defined(MATLAB_MEX_FILE) + +#define MDL_SET_INPUT_PORT_DIMENSION_INFO +#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO + +static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +#endif /* MATLAB_MEX_FILE */ + + +static void mdlInitializeSampleTimes(SimStruct *S) +{ + ssSetSampleTime(S, 0, SAMPLINGTIME); + ssSetOffsetTime(S, 0, 0.0); +} + + +static void mdlStart(SimStruct *S) +{ + lat_solver_capsule *capsule = lat_acados_create_capsule(); + lat_acados_create(capsule); + + ssSetUserData(S, (void*)capsule); +} + + +static void mdlOutputs(SimStruct *S, int_T tid) +{ + lat_solver_capsule *capsule = ssGetUserData(S); + ocp_nlp_config *nlp_config = lat_acados_get_nlp_config(capsule); + ocp_nlp_dims *nlp_dims = lat_acados_get_nlp_dims(capsule); + ocp_nlp_in *nlp_in = lat_acados_get_nlp_in(capsule); + ocp_nlp_out *nlp_out = lat_acados_get_nlp_out(capsule); + + InputRealPtrsType in_sign; + + // local buffer + real_t buffer[4]; + + /* go through inputs */ + // lbx_0 + in_sign = ssGetInputPortRealSignalPtrs(S, 0); + for (int i = 0; i < 4; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer); + // ubx_0 + in_sign = ssGetInputPortRealSignalPtrs(S, 1); + for (int i = 0; i < 4; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer); + // parameters - stage-variant !!! + in_sign = ssGetInputPortRealSignalPtrs(S, 2); + + // update value of parameters + for (int ii = 0; ii <= 16; ii++) + { + for (int jj = 0; jj < 2; jj++) + buffer[jj] = (double)(*in_sign[ii*2+jj]); + lat_acados_update_params(capsule, ii, buffer, 2); + } + + + // y_ref_0 + in_sign = ssGetInputPortRealSignalPtrs(S, 3); + + for (int i = 0; i < 3; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer); + + + // y_ref - for stages 1 to N-1 + in_sign = ssGetInputPortRealSignalPtrs(S, 4); + + for (int ii = 1; ii < 16; ii++) + { + for (int jj = 0; jj < 3; jj++) + buffer[jj] = (double)(*in_sign[(ii-1)*3+jj]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer); + } + + + // y_ref_e + in_sign = ssGetInputPortRealSignalPtrs(S, 5); + + for (int i = 0; i < 2; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 16, "yref", (void *) buffer); + // lbx + in_sign = ssGetInputPortRealSignalPtrs(S, 6); + for (int ii = 1; ii < 16; ii++) + { + for (int jj = 0; jj < 2; jj++) + buffer[jj] = (double)(*in_sign[(ii-1)*2+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer); + } + // ubx + in_sign = ssGetInputPortRealSignalPtrs(S, 7); + for (int ii = 1; ii < 16; ii++) + { + for (int jj = 0; jj < 2; jj++) + buffer[jj] = (double)(*in_sign[(ii-1)*2+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer); + } + + /* call solver */ + int rti_phase = 0; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase); + int acados_status = lat_acados_solve(capsule); + + + /* set outputs */ + // assign pointers to output signals + real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin; + int tmp_int; + out_u0 = ssGetOutputPortRealSignal(S, 0); + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0); + + + out_status = ssGetOutputPortRealSignal(S, 1); + *out_status = (real_t) acados_status; + out_KKT_res = ssGetOutputPortRealSignal(S, 2); + *out_KKT_res = (real_t) nlp_out->inf_norm_res; + out_x1 = ssGetOutputPortRealSignal(S, 3); + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1); + out_cpu_time = ssGetOutputPortRealSignal(S, 4); + // get solution time + ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time); + out_sqp_iter = ssGetOutputPortRealSignal(S, 5); + // get sqp iter + ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int); + *out_sqp_iter = (real_t) tmp_int; + +} + +static void mdlTerminate(SimStruct *S) +{ + lat_solver_capsule *capsule = ssGetUserData(S); + + lat_acados_free(capsule); + lat_acados_free_capsule(capsule); +} + + +#ifdef MATLAB_MEX_FILE +#include "simulink.c" +#else +#include "cg_sfun.h" +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c new file mode 100644 index 000000000..8bdbd2750 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c @@ -0,0 +1,154 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_0_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; + +/* lat_cost_y_0_fun:(i0[4],i1,i2[2])->(o0[3]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[2]? arg[2][0] : 0; + a1=5.; + a2=(a0+a1); + a3=arg[0]? arg[0][2] : 0; + a2=(a2*a3); + if (res[0]!=0) res[0][1]=a2; + a2=4.; + a0=(a0+a1); + a2=(a2*a0); + a0=arg[1]? arg[1][0] : 0; + a2=(a2*a0); + if (res[0]!=0) res[0][2]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h new file mode 100644 index 000000000..842fc03df --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef lat_Y_0_COST +#define lat_Y_0_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +int lat_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_0_fun_work(int *, int *, int *, int *); +const int *lat_cost_y_0_fun_sparsity_in(int); +const int *lat_cost_y_0_fun_sparsity_out(int); +int lat_cost_y_0_fun_n_in(void); +int lat_cost_y_0_fun_n_out(void); + +int lat_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *lat_cost_y_0_fun_jac_ut_xt_sparsity_in(int); +const int *lat_cost_y_0_fun_jac_ut_xt_sparsity_out(int); +int lat_cost_y_0_fun_jac_ut_xt_n_in(void); +int lat_cost_y_0_fun_jac_ut_xt_n_out(void); + +int lat_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_0_hess_work(int *, int *, int *, int *); +const int *lat_cost_y_0_hess_sparsity_in(int); +const int *lat_cost_y_0_hess_sparsity_out(int); +int lat_cost_y_0_hess_n_in(void); +int lat_cost_y_0_hess_n_out(void); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // lat_Y_0_COST diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c new file mode 100644 index 000000000..f8f0b6ad0 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c @@ -0,0 +1,162 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_0_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s4[9] = {5, 3, 0, 1, 2, 3, 2, 3, 0}; + +/* lat_cost_y_0_fun_jac_ut_xt:(i0[4],i1,i2[2])->(o0[3],o1[5x3,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[2]? arg[2][0] : 0; + a1=5.; + a2=(a0+a1); + a3=arg[0]? arg[0][2] : 0; + a3=(a2*a3); + if (res[0]!=0) res[0][1]=a3; + a3=4.; + a0=(a0+a1); + a3=(a3*a0); + a0=arg[1]? arg[1][0] : 0; + a0=(a3*a0); + if (res[0]!=0) res[0][2]=a0; + a0=1.; + if (res[1]!=0) res[1][0]=a0; + if (res[1]!=0) res[1][1]=a2; + if (res[1]!=0) res[1][2]=a3; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_jac_ut_xt_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_jac_ut_xt_n_out(void) { return 2;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 2; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c new file mode 100644 index 000000000..90dbbfb1e --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c @@ -0,0 +1,143 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_0_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s4[8] = {5, 5, 0, 0, 0, 0, 0, 0}; + +/* lat_cost_y_0_hess:(i0[4],i1,i2[3],i3[2])->(o0[5x5,0nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_hess_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_hess_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_hess_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_hess_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c new file mode 100644 index 000000000..a940186ce --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c @@ -0,0 +1,146 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_e_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; + +/* lat_cost_y_e_fun:(i0[4],i1[],i2[2])->(o0[2]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[2]? arg[2][0] : 0; + a1=5.; + a0=(a0+a1); + a1=arg[0]? arg[0][2] : 0; + a0=(a0*a1); + if (res[0]!=0) res[0][1]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h new file mode 100644 index 000000000..9e444b984 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef lat_Y_E_COST +#define lat_Y_E_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +int lat_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_e_fun_work(int *, int *, int *, int *); +const int *lat_cost_y_e_fun_sparsity_in(int); +const int *lat_cost_y_e_fun_sparsity_out(int); +int lat_cost_y_e_fun_n_in(void); +int lat_cost_y_e_fun_n_out(void); + +int lat_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *lat_cost_y_e_fun_jac_ut_xt_sparsity_in(int); +const int *lat_cost_y_e_fun_jac_ut_xt_sparsity_out(int); +int lat_cost_y_e_fun_jac_ut_xt_n_in(void); +int lat_cost_y_e_fun_jac_ut_xt_n_out(void); + +int lat_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_e_hess_work(int *, int *, int *, int *); +const int *lat_cost_y_e_hess_sparsity_in(int); +const int *lat_cost_y_e_hess_sparsity_out(int); +int lat_cost_y_e_hess_n_in(void); +int lat_cost_y_e_hess_n_out(void); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // lat_Y_E_COST diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c new file mode 100644 index 000000000..9b91f812c --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c @@ -0,0 +1,153 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_e_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s3[7] = {4, 2, 0, 1, 2, 1, 2}; + +/* lat_cost_y_e_fun_jac_ut_xt:(i0[4],i1[],i2[2])->(o0[2],o1[4x2,2nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[2]? arg[2][0] : 0; + a1=5.; + a0=(a0+a1); + a1=arg[0]? arg[0][2] : 0; + a1=(a0*a1); + if (res[0]!=0) res[0][1]=a1; + a1=1.; + if (res[1]!=0) res[1][0]=a1; + if (res[1]!=0) res[1][1]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_jac_ut_xt_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_jac_ut_xt_n_out(void) { return 2;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s2; + case 1: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 2; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c new file mode 100644 index 000000000..781daffaa --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c @@ -0,0 +1,141 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_e_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s3[7] = {4, 4, 0, 0, 0, 0, 0}; + +/* lat_cost_y_e_hess:(i0[4],i1[],i2[2],i3[2])->(o0[4x4,0nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_hess_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_hess_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_hess_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_hess_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c new file mode 100644 index 000000000..e300e8da2 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c @@ -0,0 +1,154 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; + +/* lat_cost_y_fun:(i0[4],i1,i2[2])->(o0[3]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[2]? arg[2][0] : 0; + a1=5.; + a2=(a0+a1); + a3=arg[0]? arg[0][2] : 0; + a2=(a2*a3); + if (res[0]!=0) res[0][1]=a2; + a2=4.; + a0=(a0+a1); + a2=(a2*a0); + a0=arg[1]? arg[1][0] : 0; + a2=(a2*a0); + if (res[0]!=0) res[0][2]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h new file mode 100644 index 000000000..0d475171f --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef lat_Y_COST +#define lat_Y_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +int lat_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_fun_work(int *, int *, int *, int *); +const int *lat_cost_y_fun_sparsity_in(int); +const int *lat_cost_y_fun_sparsity_out(int); +int lat_cost_y_fun_n_in(void); +int lat_cost_y_fun_n_out(void); + +int lat_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *lat_cost_y_fun_jac_ut_xt_sparsity_in(int); +const int *lat_cost_y_fun_jac_ut_xt_sparsity_out(int); +int lat_cost_y_fun_jac_ut_xt_n_in(void); +int lat_cost_y_fun_jac_ut_xt_n_out(void); + +int lat_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_cost_y_hess_work(int *, int *, int *, int *); +const int *lat_cost_y_hess_sparsity_in(int); +const int *lat_cost_y_hess_sparsity_out(int); +int lat_cost_y_hess_n_in(void); +int lat_cost_y_hess_n_out(void); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // lat_Y_COST diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c new file mode 100644 index 000000000..cc725e8c6 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c @@ -0,0 +1,162 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s4[9] = {5, 3, 0, 1, 2, 3, 2, 3, 0}; + +/* lat_cost_y_fun_jac_ut_xt:(i0[4],i1,i2[2])->(o0[3],o1[5x3,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[2]? arg[2][0] : 0; + a1=5.; + a2=(a0+a1); + a3=arg[0]? arg[0][2] : 0; + a3=(a2*a3); + if (res[0]!=0) res[0][1]=a3; + a3=4.; + a0=(a0+a1); + a3=(a3*a0); + a0=arg[1]? arg[1][0] : 0; + a0=(a3*a0); + if (res[0]!=0) res[0][2]=a0; + a0=1.; + if (res[1]!=0) res[1][0]=a0; + if (res[1]!=0) res[1][1]=a2; + if (res[1]!=0) res[1][2]=a3; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_jac_ut_xt_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_jac_ut_xt_n_out(void) { return 2;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_fun_jac_ut_xt_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_jac_ut_xt_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_jac_ut_xt_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 2; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c new file mode 100644 index 000000000..2a4258b0d --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c @@ -0,0 +1,143 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_cost_y_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s4[8] = {5, 5, 0, 0, 0, 0, 0, 0}; + +/* lat_cost_y_hess:(i0[4],i1,i2[3],i3[2])->(o0[5x5,0nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_cost_y_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_hess_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_hess_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_hess_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_cost_y_hess_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c new file mode 100644 index 000000000..084aef3f3 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c @@ -0,0 +1,162 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_expl_ode_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; + +/* lat_expl_ode_fun:(i0[4],i1,i2[2])->(o0[4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5, a6; + a0=arg[2]? arg[2][0] : 0; + a1=arg[0]? arg[0][2] : 0; + a2=cos(a1); + a2=(a0*a2); + a3=arg[2]? arg[2][1] : 0; + a4=sin(a1); + a4=(a3*a4); + a5=arg[0]? arg[0][3] : 0; + a6=(a0*a5); + a4=(a4*a6); + a2=(a2-a4); + if (res[0]!=0) res[0][0]=a2; + a2=sin(a1); + a2=(a0*a2); + a1=cos(a1); + a3=(a3*a1); + a1=(a0*a5); + a3=(a3*a1); + a2=(a2+a3); + if (res[0]!=0) res[0][1]=a2; + a0=(a0*a5); + if (res[0]!=0) res[0][2]=a0; + a0=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][3]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_ode_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_ode_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_expl_ode_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_ode_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_ode_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_ode_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_ode_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c new file mode 100644 index 000000000..a407cded8 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c @@ -0,0 +1,186 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_expl_vde_adj_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; + +/* lat_expl_vde_adj:(i0[4],i1[4],i2,i3[2])->(o0[5]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5, a6, a7; + a0=0.; + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[0]? arg[0][2] : 0; + a1=cos(a0); + a2=arg[3]? arg[3][0] : 0; + a3=arg[1]? arg[1][1] : 0; + a4=(a2*a3); + a1=(a1*a4); + a4=sin(a0); + a5=arg[3]? arg[3][1] : 0; + a6=arg[0]? arg[0][3] : 0; + a7=(a2*a6); + a7=(a7*a3); + a7=(a5*a7); + a4=(a4*a7); + a1=(a1-a4); + a4=cos(a0); + a6=(a2*a6); + a7=arg[1]? arg[1][0] : 0; + a6=(a6*a7); + a6=(a5*a6); + a4=(a4*a6); + a1=(a1-a4); + a4=sin(a0); + a6=(a2*a7); + a4=(a4*a6); + a1=(a1-a4); + if (res[0]!=0) res[0][2]=a1; + a1=arg[1]? arg[1][2] : 0; + a1=(a2*a1); + a4=cos(a0); + a4=(a5*a4); + a4=(a4*a3); + a4=(a2*a4); + a1=(a1+a4); + a0=sin(a0); + a5=(a5*a0); + a5=(a5*a7); + a2=(a2*a5); + a1=(a1-a2); + if (res[0]!=0) res[0][3]=a1; + a1=arg[1]? arg[1][3] : 0; + if (res[0]!=0) res[0][4]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_adj_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_adj_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real lat_expl_vde_adj_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_vde_adj_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_vde_adj_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_adj_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s0; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_adj_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c new file mode 100644 index 000000000..832f63096 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c @@ -0,0 +1,312 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) lat_expl_vde_forw_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s1[23] = {4, 4, 0, 4, 8, 12, 16, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3}; +static const casadi_int casadi_s2[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; + +/* lat_expl_vde_forw:(i0[4],i1[4x4],i2[4],i3,i4[2])->(o0[4],o1[4x4],o2[4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[4]? arg[4][0] : 0; + a1=arg[0]? arg[0][2] : 0; + a2=cos(a1); + a2=(a0*a2); + a3=arg[4]? arg[4][1] : 0; + a4=sin(a1); + a4=(a3*a4); + a5=arg[0]? arg[0][3] : 0; + a6=(a0*a5); + a7=(a4*a6); + a2=(a2-a7); + if (res[0]!=0) res[0][0]=a2; + a2=sin(a1); + a2=(a0*a2); + a7=cos(a1); + a7=(a3*a7); + a8=(a0*a5); + a9=(a7*a8); + a2=(a2+a9); + if (res[0]!=0) res[0][1]=a2; + a5=(a0*a5); + if (res[0]!=0) res[0][2]=a5; + a5=arg[3]? arg[3][0] : 0; + if (res[0]!=0) res[0][3]=a5; + a5=sin(a1); + a2=arg[1]? arg[1][2] : 0; + a9=(a5*a2); + a9=(a0*a9); + a10=cos(a1); + a11=(a10*a2); + a11=(a3*a11); + a11=(a6*a11); + a12=arg[1]? arg[1][3] : 0; + a13=(a0*a12); + a13=(a4*a13); + a11=(a11+a13); + a9=(a9+a11); + a9=(-a9); + if (res[1]!=0) res[1][0]=a9; + a9=cos(a1); + a11=(a9*a2); + a11=(a0*a11); + a13=(a0*a12); + a13=(a7*a13); + a14=sin(a1); + a2=(a14*a2); + a2=(a3*a2); + a2=(a8*a2); + a13=(a13-a2); + a11=(a11+a13); + if (res[1]!=0) res[1][1]=a11; + a12=(a0*a12); + if (res[1]!=0) res[1][2]=a12; + a12=0.; + if (res[1]!=0) res[1][3]=a12; + a11=arg[1]? arg[1][6] : 0; + a13=(a5*a11); + a13=(a0*a13); + a2=(a10*a11); + a2=(a3*a2); + a2=(a6*a2); + a15=arg[1]? arg[1][7] : 0; + a16=(a0*a15); + a16=(a4*a16); + a2=(a2+a16); + a13=(a13+a2); + a13=(-a13); + if (res[1]!=0) res[1][4]=a13; + a13=(a9*a11); + a13=(a0*a13); + a2=(a0*a15); + a2=(a7*a2); + a11=(a14*a11); + a11=(a3*a11); + a11=(a8*a11); + a2=(a2-a11); + a13=(a13+a2); + if (res[1]!=0) res[1][5]=a13; + a15=(a0*a15); + if (res[1]!=0) res[1][6]=a15; + if (res[1]!=0) res[1][7]=a12; + a15=arg[1]? arg[1][10] : 0; + a13=(a5*a15); + a13=(a0*a13); + a2=(a10*a15); + a2=(a3*a2); + a2=(a6*a2); + a11=arg[1]? arg[1][11] : 0; + a16=(a0*a11); + a16=(a4*a16); + a2=(a2+a16); + a13=(a13+a2); + a13=(-a13); + if (res[1]!=0) res[1][8]=a13; + a13=(a9*a15); + a13=(a0*a13); + a2=(a0*a11); + a2=(a7*a2); + a15=(a14*a15); + a15=(a3*a15); + a15=(a8*a15); + a2=(a2-a15); + a13=(a13+a2); + if (res[1]!=0) res[1][9]=a13; + a11=(a0*a11); + if (res[1]!=0) res[1][10]=a11; + if (res[1]!=0) res[1][11]=a12; + a11=arg[1]? arg[1][14] : 0; + a5=(a5*a11); + a5=(a0*a5); + a10=(a10*a11); + a10=(a3*a10); + a10=(a6*a10); + a13=arg[1]? arg[1][15] : 0; + a2=(a0*a13); + a2=(a4*a2); + a10=(a10+a2); + a5=(a5+a10); + a5=(-a5); + if (res[1]!=0) res[1][12]=a5; + a9=(a9*a11); + a9=(a0*a9); + a5=(a0*a13); + a5=(a7*a5); + a14=(a14*a11); + a14=(a3*a14); + a14=(a8*a14); + a5=(a5-a14); + a9=(a9+a5); + if (res[1]!=0) res[1][13]=a9; + a13=(a0*a13); + if (res[1]!=0) res[1][14]=a13; + if (res[1]!=0) res[1][15]=a12; + a12=sin(a1); + a13=arg[2]? arg[2][2] : 0; + a12=(a12*a13); + a12=(a0*a12); + a9=cos(a1); + a9=(a9*a13); + a9=(a3*a9); + a6=(a6*a9); + a9=arg[2]? arg[2][3] : 0; + a5=(a0*a9); + a4=(a4*a5); + a6=(a6+a4); + a12=(a12+a6); + a12=(-a12); + if (res[2]!=0) res[2][0]=a12; + a12=cos(a1); + a12=(a12*a13); + a12=(a0*a12); + a6=(a0*a9); + a7=(a7*a6); + a1=sin(a1); + a1=(a1*a13); + a3=(a3*a1); + a8=(a8*a3); + a7=(a7-a8); + a12=(a12+a7); + if (res[2]!=0) res[2][1]=a12; + a0=(a0*a9); + if (res[2]!=0) res[2][2]=a0; + a0=1.; + if (res[2]!=0) res[2][3]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_incref(void) { +} + +CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_forw_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_forw_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real lat_expl_vde_forw_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_vde_forw_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* lat_expl_vde_forw_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_forw_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s0; + case 3: return casadi_s2; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_forw_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h new file mode 100644 index 000000000..98ed49214 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h @@ -0,0 +1,74 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef lat_MODEL +#define lat_MODEL + +#ifdef __cplusplus +extern "C" { +#endif + + +/* explicit ODE */ + +// explicit ODE +int lat_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_expl_ode_fun_work(int *, int *, int *, int *); +const int *lat_expl_ode_fun_sparsity_in(int); +const int *lat_expl_ode_fun_sparsity_out(int); +int lat_expl_ode_fun_n_in(void); +int lat_expl_ode_fun_n_out(void); + +// explicit forward VDE +int lat_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_expl_vde_forw_work(int *, int *, int *, int *); +const int *lat_expl_vde_forw_sparsity_in(int); +const int *lat_expl_vde_forw_sparsity_out(int); +int lat_expl_vde_forw_n_in(void); +int lat_expl_vde_forw_n_out(void); + +// explicit adjoint VDE +int lat_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int lat_expl_vde_adj_work(int *, int *, int *, int *); +const int *lat_expl_vde_adj_sparsity_in(int); +const int *lat_expl_vde_adj_sparsity_out(int); +int lat_expl_vde_adj_n_in(void); +int lat_expl_vde_adj_n_out(void); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // lat_MODEL diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so new file mode 100755 index 000000000..823cd9429 Binary files /dev/null and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so differ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_lat.c new file mode 100644 index 000000000..53809769a --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_lat.c @@ -0,0 +1,216 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" +#include "acados_solver_lat.h" + +#define NX LAT_NX +#define NZ LAT_NZ +#define NU LAT_NU +#define NP LAT_NP +#define NBX LAT_NBX +#define NBX0 LAT_NBX0 +#define NBU LAT_NBU +#define NSBX LAT_NSBX +#define NSBU LAT_NSBU +#define NSH LAT_NSH +#define NSG LAT_NSG +#define NSPHI LAT_NSPHI +#define NSHN LAT_NSHN +#define NSGN LAT_NSGN +#define NSPHIN LAT_NSPHIN +#define NSBXN LAT_NSBXN +#define NS LAT_NS +#define NSN LAT_NSN +#define NG LAT_NG +#define NBXN LAT_NBXN +#define NGN LAT_NGN +#define NY0 LAT_NY0 +#define NY LAT_NY +#define NYN LAT_NYN +#define NH LAT_NH +#define NPHI LAT_NPHI +#define NHN LAT_NHN +#define NPHIN LAT_NPHIN +#define NR LAT_NR + + +int main() +{ + + lat_solver_capsule *acados_ocp_capsule = lat_acados_create_capsule(); + // there is an opportunity to change the number of shooting intervals in C without new code generation + int N = LAT_N; + // allocate the array and fill it accordingly + double* new_time_steps = NULL; + int status = lat_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); + + if (status) + { + printf("lat_acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + ocp_nlp_config *nlp_config = lat_acados_get_nlp_config(acados_ocp_capsule); + ocp_nlp_dims *nlp_dims = lat_acados_get_nlp_dims(acados_ocp_capsule); + ocp_nlp_in *nlp_in = lat_acados_get_nlp_in(acados_ocp_capsule); + ocp_nlp_out *nlp_out = lat_acados_get_nlp_out(acados_ocp_capsule); + ocp_nlp_solver *nlp_solver = lat_acados_get_nlp_solver(acados_ocp_capsule); + void *nlp_opts = lat_acados_get_nlp_opts(acados_ocp_capsule); + + // initial condition + int idxbx0[NBX0]; + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + idxbx0[3] = 3; + + double lbx0[NBX0]; + double ubx0[NBX0]; + lbx0[0] = 0; + ubx0[0] = 0; + lbx0[1] = 0; + ubx0[1] = 0; + lbx0[2] = 0; + ubx0[2] = 0; + lbx0[3] = 0; + ubx0[3] = 0; + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + + // initialization for state values + double x_init[NX]; + x_init[0] = 0.0; + x_init[1] = 0.0; + x_init[2] = 0.0; + x_init[3] = 0.0; + + // initial value for control input + double u0[NU]; + u0[0] = 0.0; + // set parameters + double p[NP]; + p[0] = 0; + p[1] = 0; + + for (int ii = 0; ii <= N; ii++) + { + lat_acados_update_params(acados_ocp_capsule, ii, p, NP); + } + + + // prepare evaluation + int NTIMINGS = 1; + double min_time = 1e12; + double kkt_norm_inf; + double elapsed_time; + int sqp_iter; + + double xtraj[NX * (N+1)]; + double utraj[NU * N]; + + + // solve ocp in loop + int rti_phase = 0; + + for (int ii = 0; ii < NTIMINGS; ii++) + { + // initialize solution + for (int i = 0; i < N; i++) + { + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); + status = lat_acados_solve(acados_ocp_capsule); + ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); + min_time = MIN(elapsed_time, min_time); + } + + /* print solution and statistics */ + for (int ii = 0; ii <= nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); + for (int ii = 0; ii < nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); + + printf("\n--- xtraj ---\n"); + d_print_exp_tran_mat( NX, N+1, xtraj, NX); + printf("\n--- utraj ---\n"); + d_print_exp_tran_mat( NU, N, utraj, NU ); + // ocp_nlp_out_print(nlp_solver->dims, nlp_out); + + printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); + + if (status == ACADOS_SUCCESS) + { + printf("lat_acados_solve(): SUCCESS!\n"); + } + else + { + printf("lat_acados_solve() failed with status %d.\n", status); + } + + // get solution + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); + ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); + + lat_acados_print_stats(acados_ocp_capsule); + + printf("\nSolver info:\n"); + printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", + sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); + + // free solver + status = lat_acados_free(acados_ocp_capsule); + if (status) { + printf("lat_acados_free() returned status %d. \n", status); + } + // free solver capsule + status = lat_acados_free_capsule(acados_ocp_capsule); + if (status) { + printf("lat_acados_free_capsule() returned status %d. \n", status); + } + + return status; +} diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c new file mode 100644 index 000000000..c536654fd --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c @@ -0,0 +1,128 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/sim_interface.h" +#include "acados_sim_solver_lat.h" + +#define NX LAT_NX +#define NZ LAT_NZ +#define NU LAT_NU +#define NP LAT_NP + + +int main() +{ + int status = 0; + sim_solver_capsule *capsule = lat_acados_sim_solver_create_capsule(); + status = lat_acados_sim_create(capsule); + + if (status) + { + printf("acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + sim_config *acados_sim_config = lat_acados_get_sim_config(capsule); + sim_in *acados_sim_in = lat_acados_get_sim_in(capsule); + sim_out *acados_sim_out = lat_acados_get_sim_out(capsule); + void *acados_sim_dims = lat_acados_get_sim_dims(capsule); + + // initial condition + double x_current[NX]; + x_current[0] = 0.0; + x_current[1] = 0.0; + x_current[2] = 0.0; + x_current[3] = 0.0; + + + x_current[0] = 0; + x_current[1] = 0; + x_current[2] = 0; + x_current[3] = 0; + + + + + // initial value for control input + double u0[NU]; + u0[0] = 0.0; + // set parameters + double p[NP]; + p[0] = 0; + p[1] = 0; + + lat_acados_sim_update_params(capsule, p, NP); + + + int n_sim_steps = 3; + // solve ocp in loop + for (int ii = 0; ii < n_sim_steps; ii++) + { + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "x", x_current); + status = lat_acados_sim_solve(capsule); + + if (status != ACADOS_SUCCESS) + { + printf("acados_solve() failed with status %d.\n", status); + } + + sim_out_get(acados_sim_config, acados_sim_dims, + acados_sim_out, "x", x_current); + + printf("\nx_current, %d\n", ii); + for (int jj = 0; jj < NX; jj++) + { + printf("%e\n", x_current[jj]); + } + } + + printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); + + // free solver + status = lat_acados_sim_free(capsule); + if (status) { + printf("lat_acados_sim_free() returned status %d. \n", status); + } + + lat_acados_sim_solver_free_capsule(capsule); + + return status; +} diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m new file mode 100644 index 000000000..2c6679ecb --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m @@ -0,0 +1,125 @@ +% +% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; +% + +SOURCES = { ... + 'lat_model/lat_expl_ode_fun.c', ... + 'lat_model/lat_expl_vde_forw.c',... + 'lat_cost/lat_cost_y_0_fun.c',... + 'lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',... + 'lat_cost/lat_cost_y_0_hess.c',... + 'lat_cost/lat_cost_y_fun.c',... + 'lat_cost/lat_cost_y_fun_jac_ut_xt.c',... + 'lat_cost/lat_cost_y_hess.c',... + 'lat_cost/lat_cost_y_e_fun.c',... + 'lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',... + 'lat_cost/lat_cost_y_e_hess.c',... + 'acados_solver_sfunction_lat.c', ... + 'acados_solver_lat.c' + }; + +INC_PATH = '/data/openpilot/third_party/acados/include/acados/include'; + +INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ... + ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ... + ['-I', fullfile(INC_PATH, 'acados')], ... + ['-I', fullfile(INC_PATH)]}; + + + +CFLAGS = 'CFLAGS=$CFLAGS'; +LDFLAGS = 'LDFLAGS=$LDFLAGS'; +COMPFLAGS = 'COMPFLAGS=$COMPFLAGS'; +COMPDEFINES = 'COMPDEFINES=$COMPDEFINES'; + + + +LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/include/acados/lib')]; + +LIBS = {'-lacados', '-lhpipm', '-lblasfeo'}; + +% acados linking libraries and flags + + +mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... + LIB_PATH, LIBS{:}, SOURCES{:}, ... + '-output', 'acados_solver_sfunction_lat' ); + +fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_lat', '.', ... + eval('mexext')] ); + + +%% print note on usage of s-function +fprintf('\n\nNote: Usage of Sfunction is as follows:\n') +input_note = 'Inputs are:\n'; +i_in = 1; +input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',... + ' size [4]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',... + ' size [4]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',... + ' size [34]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [3]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',... + ' size [45]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [2]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [30]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [30]\n '); +i_in = i_in + 1; + +fprintf(input_note) + +disp(' ') + +output_note = 'Outputs are:\n'; +i_out = 0; +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n '); +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n '); +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') KKT residual\n '); +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n '); +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') CPU time\n '); +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n '); + +fprintf(output_note) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py new file mode 100755 index 000000000..a1037f040 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -0,0 +1,179 @@ +#!/usr/bin/env python3 +import os +import numpy as np + +from casadi import SX, vertcat, sin, cos + +from common.realtime import sec_since_boot +from selfdrive.controls.lib.drive_helpers import LAT_MPC_N as N +from selfdrive.modeld.constants import T_IDXS + +if __name__ == '__main__': # generating code + from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver +else: + from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error + +LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) +EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") +JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json") +X_DIM = 4 +P_DIM = 2 +MODEL_NAME = 'lat' +ACADOS_SOLVER_TYPE = 'SQP_RTI' + +def gen_lat_model(): + model = AcadosModel() + model.name = MODEL_NAME + + # set up states & controls + x_ego = SX.sym('x_ego') + y_ego = SX.sym('y_ego') + psi_ego = SX.sym('psi_ego') + curv_ego = SX.sym('curv_ego') + model.x = vertcat(x_ego, y_ego, psi_ego, curv_ego) + + # parameters + v_ego = SX.sym('v_ego') + rotation_radius = SX.sym('rotation_radius') + model.p = vertcat(v_ego, rotation_radius) + + # controls + curv_rate = SX.sym('curv_rate') + model.u = vertcat(curv_rate) + + # xdot + x_ego_dot = SX.sym('x_ego_dot') + y_ego_dot = SX.sym('y_ego_dot') + psi_ego_dot = SX.sym('psi_ego_dot') + curv_ego_dot = SX.sym('curv_ego_dot') + + model.xdot = vertcat(x_ego_dot, y_ego_dot, psi_ego_dot, curv_ego_dot) + + # dynamics model + f_expl = vertcat(v_ego * cos(psi_ego) - rotation_radius * sin(psi_ego) * (v_ego * curv_ego), + v_ego * sin(psi_ego) + rotation_radius * cos(psi_ego) * (v_ego * curv_ego), + v_ego * curv_ego, + curv_rate) + model.f_impl_expr = model.xdot - f_expl + model.f_expl_expr = f_expl + return model + + +def gen_lat_ocp(): + ocp = AcadosOcp() + ocp.model = gen_lat_model() + + Tf = np.array(T_IDXS)[N] + + # set dimensions + ocp.dims.N = N + + # set cost module + ocp.cost.cost_type = 'NONLINEAR_LS' + ocp.cost.cost_type_e = 'NONLINEAR_LS' + + Q = np.diag([0.0, 0.0]) + QR = np.diag([0.0, 0.0, 0.0]) + + ocp.cost.W = QR + ocp.cost.W_e = Q + + y_ego, psi_ego = ocp.model.x[1], ocp.model.x[2] + curv_rate = ocp.model.u[0] + v_ego = ocp.model.p[0] + + ocp.parameter_values = np.zeros((P_DIM, )) + + ocp.cost.yref = np.zeros((3, )) + ocp.cost.yref_e = np.zeros((2, )) + # TODO hacky weights to keep behavior the same + ocp.model.cost_y_expr = vertcat(y_ego, + ((v_ego +5.0) * psi_ego), + ((v_ego +5.0) * 4 * curv_rate)) + ocp.model.cost_y_expr_e = vertcat(y_ego, + ((v_ego +5.0) * psi_ego)) + + # set constraints + ocp.constraints.constr_type = 'BGH' + ocp.constraints.idxbx = np.array([2,3]) + ocp.constraints.ubx = np.array([np.radians(90), np.radians(50)]) + ocp.constraints.lbx = np.array([-np.radians(90), -np.radians(50)]) + x0 = np.zeros((X_DIM,)) + ocp.constraints.x0 = x0 + + ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM' + ocp.solver_options.hessian_approx = 'GAUSS_NEWTON' + ocp.solver_options.integrator_type = 'ERK' + ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE + ocp.solver_options.qp_solver_iter_max = 1 + ocp.solver_options.qp_solver_cond_N = 1 + + # set prediction horizon + ocp.solver_options.tf = Tf + ocp.solver_options.shooting_nodes = np.array(T_IDXS)[:N+1] + + ocp.code_export_directory = EXPORT_DIR + return ocp + + +class LateralMpc(): + def __init__(self, x0=np.zeros(X_DIM)): + self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) + self.reset(x0) + + def reset(self, x0=np.zeros(X_DIM)): + self.x_sol = np.zeros((N+1, X_DIM)) + self.u_sol = np.zeros((N, 1)) + self.yref = np.zeros((N+1, 3)) + for i in range(N): + self.solver.cost_set(i, "yref", self.yref[i]) + self.solver.cost_set(N, "yref", self.yref[N][:2]) + + # Somehow needed for stable init + for i in range(N+1): + self.solver.set(i, 'x', np.zeros(X_DIM)) + self.solver.set(i, 'p', np.zeros(P_DIM)) + self.solver.constraints_set(0, "lbx", x0) + self.solver.constraints_set(0, "ubx", x0) + self.solver.solve() + self.solution_status = 0 + self.solve_time = 0.0 + self.cost = 0 + + def set_weights(self, path_weight, heading_weight, steer_rate_weight): + W = np.asfortranarray(np.diag([path_weight, heading_weight, steer_rate_weight])) + for i in range(N): + self.solver.cost_set(i, 'W', W) + #TODO hacky weights to keep behavior the same + self.solver.cost_set(N, 'W', (3/20.)*W[:2,:2]) + + def run(self, x0, p, y_pts, heading_pts): + x0_cp = np.copy(x0) + p_cp = np.copy(p) + self.solver.constraints_set(0, "lbx", x0_cp) + self.solver.constraints_set(0, "ubx", x0_cp) + self.yref[:,0] = y_pts + v_ego = p_cp[0] + # rotation_radius = p_cp[1] + self.yref[:,1] = heading_pts*(v_ego+5.0) + for i in range(N): + self.solver.cost_set(i, "yref", self.yref[i]) + self.solver.set(i, "p", p_cp) + self.solver.set(N, "p", p_cp) + self.solver.cost_set(N, "yref", self.yref[N][:2]) + + t = sec_since_boot() + self.solution_status = self.solver.solve() + self.solve_time = sec_since_boot() - t + + for i in range(N+1): + self.x_sol[i] = self.solver.get(i, 'x') + for i in range(N): + self.u_sol[i] = self.solver.get(i, 'u') + self.cost = self.solver.get_cost() + + +if __name__ == "__main__": + ocp = gen_lat_ocp() + AcadosOcpSolver.generate(ocp, json_file=JSON_FILE) + # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py new file mode 100644 index 000000000..42e032304 --- /dev/null +++ b/selfdrive/controls/lib/lateral_planner.py @@ -0,0 +1,139 @@ +import numpy as np +from common.realtime import sec_since_boot, DT_MDL +from common.numpy_fast import interp +from system.swaglog import cloudlog +from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc +from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS +from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE +from selfdrive.controls.lib.desire_helper import DesireHelper +import cereal.messaging as messaging +from cereal import log + + +class LateralPlanner: + def __init__(self, use_lanelines=True, wide_camera=False): + self.use_lanelines = use_lanelines + self.LP = LanePlanner(wide_camera) + self.DH = DesireHelper() + + self.last_cloudlog_t = 0 + self.solution_invalid_cnt = 0 + + self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) + self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3)) + self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) + self.t_idxs = np.arange(TRAJECTORY_SIZE) + self.y_pts = np.zeros(TRAJECTORY_SIZE) + self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3)) + + self.lat_mpc = LateralMpc() + self.reset_mpc(np.zeros(4)) + + self.dp_dlp_lanelines = True + + def reset_mpc(self, x0=np.zeros(4)): + self.x0 = x0 + self.lat_mpc.reset(x0=self.x0) + + def update(self, sm): + v_ego = sm['carState'].vEgo + measured_curvature = sm['controlsState'].curvature + + # Parse model predictions + md = sm['modelV2'] + self.LP.parse_model(md) + if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE: + self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) + self.t_idxs = np.array(md.position.t) + self.plan_yaw = list(md.orientation.z) + if len(md.position.xStd) == TRAJECTORY_SIZE: + self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd]) + + # Lane change logic + lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob + self.DH.update(sm['carState'], sm['controlsState'].active, lane_change_prob, sm['dragonConf']) + + # Turn off lanes during lane change + if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft: + self.LP.lll_prob *= self.DH.lane_change_ll_prob + self.LP.rll_prob *= self.DH.lane_change_ll_prob + self.d_path_w_lines_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz) + + if sm.updated['dragonConf'] and sm['dragonConf'].dpUseLanelines: + if self.LP.lll_prob < 0.3 and self.LP.rll_prob < 0.3: + self.dp_dlp_lanelines = False + elif self.LP.lll_prob > 0.5 and self.LP.rll_prob > 0.5: + self.dp_dlp_lanelines = True + self.use_lanelines = self.dp_dlp_lanelines + + # Calculate final driving path and set MPC costs + if self.use_lanelines: + d_path_xyz = self.d_path_w_lines_xyz + self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE) + else: + d_path_xyz = self.path_xyz + # Heading cost is useful at low speed, otherwise end of plan can be off-heading + heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15]) + self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE) + + y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1]) + heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) + self.y_pts = y_pts + + assert len(y_pts) == LAT_MPC_N + 1 + assert len(heading_pts) == LAT_MPC_N + 1 + # self.x0[4] = v_ego + p = np.array([v_ego, CAR_ROTATION_RADIUS]) + self.lat_mpc.run(self.x0, + p, + y_pts, + heading_pts) + # init state for next + # mpc.u_sol is the desired curvature rate given x0 curv state. + # with x0[3] = measured_curvature, this would be the actual desired rate. + # instead, interpolate x_sol so that x0[3] is the desired curvature for lat_control. + self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3]) + + # Check for infeasible MPC solution + mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any() + t = sec_since_boot() + if mpc_nans or self.lat_mpc.solution_status != 0: + self.reset_mpc() + self.x0[3] = measured_curvature + if t > self.last_cloudlog_t + 5.0: + self.last_cloudlog_t = t + cloudlog.warning("Lateral mpc - nan: True") + + if self.lat_mpc.cost > 20000. or mpc_nans: + self.solution_invalid_cnt += 1 + else: + self.solution_invalid_cnt = 0 + + def publish(self, sm, pm): + plan_solution_valid = self.solution_invalid_cnt < 2 + plan_send = messaging.new_message('lateralPlan') + plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) + + lateralPlan = plan_send.lateralPlan + lateralPlan.modelMonoTime = sm.logMonoTime['modelV2'] + lateralPlan.laneWidth = float(self.LP.lane_width) + lateralPlan.dPathPoints = self.y_pts.tolist() + lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() + lateralPlan.curvatures = self.lat_mpc.x_sol[0:CONTROL_N, 3].tolist() + lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] + lateralPlan.lProb = float(self.LP.lll_prob) + lateralPlan.rProb = float(self.LP.rll_prob) + lateralPlan.dProb = float(self.LP.d_prob) + + lateralPlan.mpcSolutionValid = bool(plan_solution_valid) + lateralPlan.solverExecutionTime = self.lat_mpc.solve_time + + lateralPlan.desire = self.DH.desire + lateralPlan.useLaneLines = self.use_lanelines + lateralPlan.laneChangeState = self.DH.lane_change_state + lateralPlan.laneChangeDirection = self.DH.lane_change_direction + + plan_send.lateralPlan.dPathWLinesX = [float(x) for x in self.d_path_w_lines_xyz[:, 0]] + plan_send.lateralPlan.dPathWLinesY = [float(y) for y in self.d_path_w_lines_xyz[:, 1]] + + pm.send('lateralPlan', plan_send) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py new file mode 100644 index 000000000..e9458607d --- /dev/null +++ b/selfdrive/controls/lib/longcontrol.py @@ -0,0 +1,123 @@ +from cereal import car +from common.numpy_fast import clip, interp +from common.realtime import DT_CTRL +from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone +from selfdrive.controls.lib.pid import PIDController +from selfdrive.modeld.constants import T_IDXS + +LongCtrlState = car.CarControl.Actuators.LongControlState + +# As per ISO 15622:2018 for all speeds +ACCEL_MIN_ISO = -3.5 # m/s^2 +ACCEL_MAX_ISO = 2.0 # m/s^2 + + +def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, + v_target_future, brake_pressed, cruise_standstill): + """Update longitudinal control state machine""" + accelerating = v_target_future > v_target + stopping_condition = (v_ego < 2.0 and cruise_standstill) or \ + (v_ego < CP.vEgoStopping and + ((v_target_future < CP.vEgoStopping and not accelerating) or brake_pressed)) + + starting_condition = v_target_future > CP.vEgoStarting and accelerating and not cruise_standstill + + if not active: + long_control_state = LongCtrlState.off + + else: + if long_control_state == LongCtrlState.off: + long_control_state = LongCtrlState.pid + + elif long_control_state == LongCtrlState.pid: + if stopping_condition: + long_control_state = LongCtrlState.stopping + + elif long_control_state == LongCtrlState.stopping: + if starting_condition: + long_control_state = LongCtrlState.pid + + return long_control_state + + +class LongControl: + def __init__(self, CP): + self.CP = CP + self.long_control_state = LongCtrlState.off # initialized to off + self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV), + (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), + k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL) + self.v_pid = 0.0 + self.last_output_accel = 0.0 + + def reset(self, v_pid): + """Reset PID controller and change setpoint""" + self.pid.reset() + self.v_pid = v_pid + + def update(self, active, CS, long_plan, accel_limits, t_since_plan): + """Update longitudinal control. This updates the state machine and runs a PID loop""" + # Interp control trajectory + speeds = long_plan.speeds + if len(speeds) == CONTROL_N: + v_target = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds) + a_target = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels) + + v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds) + a_target_lower = 2 * (v_target_lower - v_target) / self.CP.longitudinalActuatorDelayLowerBound - a_target + + v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds) + a_target_upper = 2 * (v_target_upper - v_target) / self.CP.longitudinalActuatorDelayUpperBound - a_target + a_target = min(a_target_lower, a_target_upper) + + v_target_future = speeds[-1] + else: + v_target = 0.0 + v_target_future = 0.0 + a_target = 0.0 + + # TODO: This check is not complete and needs to be enforced by MPC + a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO) + + self.pid.neg_limit = accel_limits[0] + self.pid.pos_limit = accel_limits[1] + + # Update state machine + output_accel = self.last_output_accel + self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo, + v_target, v_target_future, CS.brakePressed, + CS.cruiseState.standstill) + + if self.long_control_state == LongCtrlState.off: + self.reset(CS.vEgo) + output_accel = 0. + + # tracking objects and driving + elif self.long_control_state == LongCtrlState.pid: + self.v_pid = v_target + + # Toyota starts braking more when it thinks you want to stop + # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration + prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid + deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV) + freeze_integrator = prevent_overshoot + + error = self.v_pid - CS.vEgo + error_deadzone = apply_deadzone(error, deadzone) + output_accel = self.pid.update(error_deadzone, speed=CS.vEgo, feedforward=a_target, freeze_integrator=freeze_integrator) + + if prevent_overshoot: + output_accel = min(output_accel, 0.0) + + # Intention is to stop, switch to a different brake control until we stop + elif self.long_control_state == LongCtrlState.stopping: + # Keep applying brakes until the car is stopped + if not CS.standstill or output_accel > self.CP.stopAccel: + output_accel -= self.CP.stoppingDecelRate * DT_CTRL + output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) + self.reset(CS.vEgo) + + self.last_output_accel = output_accel + final_accel = clip(output_accel, accel_limits[0], accel_limits[1]) + + return final_accel diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore b/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore new file mode 100644 index 000000000..6f09b1aa0 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore @@ -0,0 +1,2 @@ +acados_ocp_long.json +c_generated_code/ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py b/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json b/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json new file mode 100644 index 000000000..6bfb9b2a2 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json @@ -0,0 +1,626 @@ +{ + "acados_include_path": "/data/openpilot/third_party/acados/include/acados/include", + "acados_lib_path": "/data/openpilot/third_party/acados/include/acados/lib", + "code_export_directory": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code", + "constraints": { + "C": [], + "C_e": [], + "D": [], + "constr_type": "BGH", + "constr_type_e": "BGH", + "idxbu": [], + "idxbx": [], + "idxbx_0": [ + 0, + 1, + 2 + ], + "idxbx_e": [], + "idxbxe_0": [ + 0, + 1, + 2 + ], + "idxsbu": [], + "idxsbx": [], + "idxsbx_e": [], + "idxsg": [], + "idxsg_e": [], + "idxsh": [ + 0, + 1, + 2, + 3 + ], + "idxsh_e": [], + "idxsphi": [], + "idxsphi_e": [], + "lbu": [], + "lbx": [], + "lbx_0": [ + 0.0, + 0.0, + 0.0 + ], + "lbx_e": [], + "lg": [], + "lg_e": [], + "lh": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "lh_e": [], + "lphi": [], + "lphi_e": [], + "lsbu": [], + "lsbx": [], + "lsbx_e": [], + "lsg": [], + "lsg_e": [], + "lsh": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "lsh_e": [], + "lsphi": [], + "lsphi_e": [], + "ubu": [], + "ubx": [], + "ubx_0": [ + 0.0, + 0.0, + 0.0 + ], + "ubx_e": [], + "ug": [], + "ug_e": [], + "uh": [ + 10000.0, + 10000.0, + 10000.0, + 10000.0 + ], + "uh_e": [], + "uphi": [], + "uphi_e": [], + "usbu": [], + "usbx": [], + "usbx_e": [], + "usg": [], + "usg_e": [], + "ush": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "ush_e": [], + "usphi": [], + "usphi_e": [] + }, + "cost": { + "Vu": [ + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "Vu_0": [ + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "Vx": [ + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ] + ], + "Vx_0": [ + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ] + ], + "Vx_e": [ + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ] + ], + "Vz": [], + "Vz_0": [], + "W": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "W_0": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "W_e": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "Zl": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "Zl_e": [], + "Zu": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "Zu_e": [], + "cost_ext_fun_type": "casadi", + "cost_ext_fun_type_0": "casadi", + "cost_ext_fun_type_e": "casadi", + "cost_type": "NONLINEAR_LS", + "cost_type_0": "NONLINEAR_LS", + "cost_type_e": "NONLINEAR_LS", + "yref": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "yref_0": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "yref_e": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "zl": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "zl_e": [], + "zu": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "zu_e": [] + }, + "cython_include_dirs": "/data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include", + "dims": { + "N": 12, + "nbu": 0, + "nbx": 0, + "nbx_0": 3, + "nbx_e": 0, + "nbxe_0": 3, + "ng": 0, + "ng_e": 0, + "nh": 4, + "nh_e": 0, + "np": 5, + "nphi": 0, + "nphi_e": 0, + "nr": 0, + "nr_e": 0, + "ns": 4, + "ns_e": 0, + "nsbu": 0, + "nsbx": 0, + "nsbx_e": 0, + "nsg": 0, + "nsg_e": 0, + "nsh": 4, + "nsh_e": 0, + "nsphi": 0, + "nsphi_e": 0, + "nu": 1, + "nx": 3, + "ny": 6, + "ny_0": 6, + "ny_e": 5, + "nz": 0 + }, + "model": { + "dyn_disc_fun": null, + "dyn_disc_fun_jac": null, + "dyn_disc_fun_jac_hess": null, + "dyn_ext_fun_type": "casadi", + "dyn_source_discrete": null, + "gnsf": { + "nontrivial_f_LO": 1, + "purely_linear": 0 + }, + "name": "long" + }, + "parameter_values": [ + -1.2, + 1.2, + 0.0, + 0.0, + 1.45 + ], + "problem_class": "OCP", + "simulink_opts": { + "inputs": { + "cost_W": 0, + "cost_W_0": 0, + "cost_W_e": 0, + "lbu": 1, + "lbx": 1, + "lbx_0": 1, + "lbx_e": 1, + "lg": 1, + "lh": 1, + "parameter_traj": 1, + "reset_solver": 0, + "u_init": 0, + "ubu": 1, + "ubx": 1, + "ubx_0": 1, + "ubx_e": 1, + "ug": 1, + "uh": 1, + "x_init": 0, + "y_ref": 1, + "y_ref_0": 1, + "y_ref_e": 1 + }, + "outputs": { + "CPU_time": 1, + "CPU_time_lin": 0, + "CPU_time_qp": 0, + "CPU_time_sim": 0, + "KKT_residual": 1, + "solver_status": 1, + "sqp_iter": 1, + "u0": 1, + "utraj": 0, + "x1": 1, + "xtraj": 0 + }, + "samplingtime": "t0" + }, + "solver_options": { + "Tsim": 0.06944444444444445, + "alpha_min": 0.05, + "alpha_reduction": 0.7, + "collocation_type": "GAUSS_LEGENDRE", + "eps_sufficient_descent": 0.0001, + "exact_hess_constr": 1, + "exact_hess_cost": 1, + "exact_hess_dyn": 1, + "ext_cost_num_hess": 0, + "full_step_dual": 0, + "globalization": "FIXED_STEP", + "globalization_use_SOC": 0, + "hessian_approx": "GAUSS_NEWTON", + "hpipm_mode": "BALANCE", + "initialize_t_slacks": 0, + "integrator_type": "ERK", + "levenberg_marquardt": 0.0, + "line_search_use_sufficient_descent": 0, + "model_external_shared_lib_dir": null, + "model_external_shared_lib_name": null, + "nlp_solver_max_iter": 100, + "nlp_solver_step_length": 1.0, + "nlp_solver_tol_comp": 1e-06, + "nlp_solver_tol_eq": 1e-06, + "nlp_solver_tol_ineq": 1e-06, + "nlp_solver_tol_stat": 1e-06, + "nlp_solver_type": "SQP_RTI", + "print_level": 0, + "qp_solver": "PARTIAL_CONDENSING_HPIPM", + "qp_solver_cond_N": 1, + "qp_solver_iter_max": 10, + "qp_solver_tol_comp": 0.001, + "qp_solver_tol_eq": 0.001, + "qp_solver_tol_ineq": 0.001, + "qp_solver_tol_stat": 0.001, + "qp_solver_warm_start": 0, + "regularize_method": null, + "sim_method_jac_reuse": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "sim_method_newton_iter": 3, + "sim_method_num_stages": [ + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4 + ], + "sim_method_num_steps": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ], + "tf": 10.0, + "time_steps": [ + 0.06944444444444445, + 0.20833333333333334, + 0.3472222222222222, + 0.48611111111111116, + 0.6250000000000002, + 0.7638888888888886, + 0.9027777777777786, + 1.041666666666666, + 1.1805555555555554, + 1.3194444444444455, + 1.4583333333333313, + 1.5972222222222232 + ] + } +} \ No newline at end of file diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/Makefile b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/Makefile new file mode 100644 index 000000000..d078e6c5f --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/Makefile @@ -0,0 +1,181 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + + + + +# define sources and use make's implicit rules to generate object files (*.o) + +# model +MODEL_SRC= +MODEL_SRC+= long_model/long_expl_ode_fun.c +MODEL_SRC+= long_model/long_expl_vde_forw.c +MODEL_OBJ := $(MODEL_SRC:.c=.o) + +# optimal control problem - mostly CasADi exports +OCP_SRC= +OCP_SRC+= long_constraints/long_constr_h_fun_jac_uxt_zt.c +OCP_SRC+= long_constraints/long_constr_h_fun.c +OCP_SRC+= long_cost/long_cost_y_0_fun.c +OCP_SRC+= long_cost/long_cost_y_0_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_0_hess.c +OCP_SRC+= long_cost/long_cost_y_fun.c +OCP_SRC+= long_cost/long_cost_y_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_hess.c +OCP_SRC+= long_cost/long_cost_y_e_fun.c +OCP_SRC+= long_cost/long_cost_y_e_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_e_hess.c +OCP_SRC+= acados_solver_long.c +OCP_OBJ := $(OCP_SRC:.c=.o) + +# for sim solver +SIM_SRC= acados_sim_solver_long.c +SIM_OBJ := $(SIM_SRC:.c=.o) + +# for target example +EX_SRC= main_long.c +EX_OBJ := $(EX_SRC:.c=.o) +EX_EXE := $(EX_SRC:.c=) + +# for target example_sim +EX_SIM_SRC= main_sim_long.c +EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o) +EX_SIM_EXE := $(EX_SIM_SRC:.c=) + +# combine model, sim and ocp object files +OBJ= +OBJ+= $(MODEL_OBJ) +OBJ+= $(SIM_OBJ) +OBJ+= $(OCP_OBJ) + +EXTERNAL_DIR= +EXTERNAL_LIB= + +INCLUDE_PATH = /data/openpilot/third_party/acados/include/acados/include +LIB_PATH = /data/openpilot/third_party/acados/include/acados/lib + +# preprocessor flags for make's implicit rules +CPPFLAGS+= -I$(INCLUDE_PATH) +CPPFLAGS+= -I$(INCLUDE_PATH)/acados +CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include +CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include + + +# define the c-compiler flags for make's implicit rules +CFLAGS = -fPIC -std=c99 #-fno-diagnostics-show-line-numbers -g +# # Debugging +# CFLAGS += -g3 + +# linker flags +LDFLAGS+= -L$(LIB_PATH) + +# link to libraries +LDLIBS+= -lacados +LDLIBS+= -lhpipm +LDLIBS+= -lblasfeo +LDLIBS+= -lm +LDLIBS+= + +# libraries +LIBACADOS_SOLVER=libacados_solver_long.so +LIBACADOS_OCP_SOLVER=libacados_ocp_solver_long.so +LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so) + +# virtual targets +.PHONY : all clean + +#all: clean example_sim example shared_lib + +all: clean example_sim example +shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib + +# some linker targets +example: $(EX_OBJ) $(OBJ) + $(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS) + +example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) + $(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS) + +bundled_shared_lib: $(OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS) + +ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \ + -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) + +sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS) + + +# Cython targets +ocp_cython_c: ocp_shared_lib + cython \ + -o acados_ocp_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ + -I /data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code \ + +ocp_cython_o: ocp_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_ocp_solver_pyx.o \ + -I /usr/include/python3.8 \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I /data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include \ + acados_ocp_solver_pyx.c \ + +ocp_cython: ocp_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_ocp_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_ocp_solver_pyx.o \ + $(abspath .)/libacados_ocp_solver_long.so \ + $(LDFLAGS) $(LDLIBS) + +clean: + $(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ) + $(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER) + $(RM) $(EX_EXE) $(EX_SIM_EXE) + +clean_ocp_shared_lib: + $(RM) $(LIBACADOS_OCP_SOLVER) + $(RM) $(OCP_OBJ) + +clean_ocp_cython: + $(RM) libacados_ocp_solver_long.so + $(RM) acados_solver_long.o + $(RM) acados_ocp_solver_pyx.so + $(RM) acados_ocp_solver_pyx.o diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c new file mode 100644 index 000000000..5bceb34b0 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c @@ -0,0 +1,33809 @@ +/* Generated by Cython 0.29.26 */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.6+ or Python 3.3+. +#else +#define CYTHON_ABI "0_29_26" +#define CYTHON_HEX_VERSION 0x001D1AF0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #if PY_VERSION_HEX >= 0x02070000 + #define HAVE_LONG_LONG + #endif +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#ifdef PYPY_VERSION + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#elif defined(PYSTON_VERSION) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_PYSTON 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #if PY_VERSION_HEX < 0x02070000 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #elif !defined(CYTHON_USE_PYLONG_INTERNALS) + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) + #endif + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) + #endif + #ifndef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) + #endif + #ifndef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int32 uint32_t; + #endif + #endif +#else + #include +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) && __cplusplus >= 201103L + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #elif __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__ ) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif + +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #elif defined(__GNUC__) + #define CYTHON_INLINE __inline__ + #elif defined(_MSC_VER) + #define CYTHON_INLINE __inline + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_INLINE inline + #else + #define CYTHON_INLINE + #endif +#endif + +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define Py_OptimizeFlag 0 +#endif +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) + #define __Pyx_DefaultClassType PyClass_Type +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if PY_VERSION_HEX >= 0x030B00A1 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; + PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; + const char *fn_cstr=NULL; + const char *name_cstr=NULL; + PyCodeObject* co=NULL; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + if (!(kwds=PyDict_New())) goto end; + if (!(argcount=PyLong_FromLong(a))) goto end; + if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; + if (!(posonlyargcount=PyLong_FromLong(0))) goto end; + if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; + if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; + if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; + if (!(nlocals=PyLong_FromLong(l))) goto end; + if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; + if (!(stacksize=PyLong_FromLong(s))) goto end; + if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; + if (!(flags=PyLong_FromLong(f))) goto end; + if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; + if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; + if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; + if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; + if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; + if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; + if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here + if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; + Py_XDECREF((PyObject*)co); + co = (PyCodeObject*)call_result; + call_result = NULL; + if (0) { + cleanup_code_too: + Py_XDECREF((PyObject*)co); + co = NULL; + } + end: + Py_XDECREF(kwds); + Py_XDECREF(argcount); + Py_XDECREF(posonlyargcount); + Py_XDECREF(kwonlyargcount); + Py_XDECREF(nlocals); + Py_XDECREF(stacksize); + Py_XDECREF(replace); + Py_XDECREF(call_result); + Py_XDECREF(empty); + if (type) { + PyErr_Restore(type, value, traceback); + } + return co; + } +#else + #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif + #define __Pyx_DefaultClassType PyType_Type +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_FAST_PYCCALL +#define __Pyx_PyFastCFunction_Check(func)\ + ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) +#else +#define __Pyx_PyFastCFunction_Check(func) 0 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 + #define PyMem_RawMalloc(n) PyMem_Malloc(n) + #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) + #define PyMem_RawFree(p) PyMem_Free(p) +#endif +#if CYTHON_COMPILING_IN_PYSTON + #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +#else +#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) +#endif +#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if defined(PyUnicode_IS_READY) + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #else + #define __Pyx_PyUnicode_READY(op) (0) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) + #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) + #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) +#else + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) +#else + #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(WIN32) || defined(MS_WINDOWS) + #define _USE_MATH_DEFINES +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifndef __PYX_EXTERN_C + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__acados_template__acados_ocp_solver_pyx +#define __PYX_HAVE_API__acados_template__acados_ocp_solver_pyx +/* Early includes */ +#include +#include "acados/ocp_nlp/ocp_nlp_common.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_long.h" +#include +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" + + /* NumPy API declarations from "numpy/__init__.pxd" */ + +#include "pythread.h" +#include +#include "pystate.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +static PyObject *__pyx_m = NULL; +static PyObject *__pyx_d; +static PyObject *__pyx_b; +static PyObject *__pyx_cython_runtime = NULL; +static PyObject *__pyx_empty_tuple; +static PyObject *__pyx_empty_bytes; +static PyObject *__pyx_empty_unicode; +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm= __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif defined(_Complex_I) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + + +static const char *__pyx_f[] = { + "pyextra/acados_template/acados_ocp_solver_pyx.pyx", + "stringsource", + "__init__.pxd", + "type.pxd", +}; +/* BufferFormatStructs.proto */ +#define IS_UNSIGNED(type) (((type) -1) > 0) +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __pyx_atomic_int_type int +#if CYTHON_ATOMICS && __GNUC__ >= 4 && (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL >= 2)) &&\ + !defined(__i386__) + #define __pyx_atomic_incr_aligned(value, lock) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value, lock) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) && 0 + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type LONG + #define __pyx_atomic_incr_aligned(value, lock) InterlockedIncrement(value) + #define __pyx_atomic_decr_aligned(value, lock) InterlockedDecrement(value) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#elif CYTHON_ATOMICS && (defined(__ICC) || defined(__INTEL_COMPILER)) && 0 + #define __pyx_atomic_incr_aligned(value, lock) _InterlockedIncrement(value) + #define __pyx_atomic_decr_aligned(value, lock) _InterlockedDecrement(value) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using Intel atomics" + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +typedef volatile __pyx_atomic_int_type __pyx_atomic_int; +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview), memview->lock) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":690 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":691 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":692 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":693 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":697 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":698 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":699 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":700 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":704 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":705 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":714 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong long_t + * ctypedef npy_longlong longlong_t + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":715 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong long_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_longlong __pyx_t_5numpy_long_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":716 + * ctypedef npy_long int_t + * ctypedef npy_longlong long_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":718 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulong_t + * ctypedef npy_ulonglong ulonglong_t + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":719 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulong_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulonglong __pyx_t_5numpy_ulong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":720 + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulong_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":722 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":723 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":725 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":726 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":727 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* Declarations.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + + +/*--- Type declarations ---*/ +struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":729 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":730 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":731 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../data/com.termux/files/usr/lib/python3.8/site-packages/numpy/__init__.pxd":733 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "acados_template/acados_ocp_solver_pyx.pyx":52 + * + * + * cdef class AcadosOcpSolverCython: # <<<<<<<<<<<<<< + * """ + * Class to interact with the acados ocp solver C object. + */ +struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython { + PyObject_HEAD + long_solver_capsule *capsule; + void *nlp_opts; + ocp_nlp_dims *nlp_dims; + ocp_nlp_config *nlp_config; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_in *nlp_in; + ocp_nlp_solver *nlp_solver; + int status; + int solver_created; + PyObject *model_name; + int N; + PyObject *nlp_solver_type; +}; + + +/* "View.MemoryView":105 + * + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":279 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":330 + * + * @cname('__pyx_memoryview') + * cdef class memoryview(object): # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; 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r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#else +#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if CYTHON_FAST_PYCALL + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif // CYTHON_FAST_PYCALL +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectCallNoArg.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); +#else +#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL) +#endif + +/* PyCFunctionFastCall.proto */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); +#else +#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) +#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyObjectCall2Args.proto */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_str(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_str(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +/* IncludeStringH.proto */ +#include + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely((Py_TYPE(obj) == type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* SliceObject.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice( + PyObject* obj, Py_ssize_t cstart, Py_ssize_t cstop, + PyObject** py_start, PyObject** py_stop, PyObject** py_slice, + int has_cstart, int has_cstop, int wraparound); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return __Pyx_PyObject_GetAttrStr(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#else +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* FetchCommonType.proto */ +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED 1 +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { + PyCFunctionObject func; +#if PY_VERSION_HEX < 0x030500A0 + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; + PyObject *func_classobj; + void *defaults; + int defaults_pyobjects; + size_t defaults_size; // used by FusedFunction for copying defaults + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; +} __pyx_CyFunctionObject; +static PyTypeObject *__pyx_CyFunctionType = 0; +#define __Pyx_CyFunction_Check(obj) (__Pyx_TypeCheck(obj, __pyx_CyFunctionType)) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *self, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(void); + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* UnpackTupleError.proto */ +static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); + +/* UnpackTuple2.proto */ +#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ + (likely(is_tuple || PyTuple_Check(tuple)) ?\ + (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ + __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ + (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ + __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); +static int __Pyx_unpack_tuple2_generic( + PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); + +/* dict_iter.proto */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_is_dict); +static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); + +/* None.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* PyIntBinop.proto */ +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); +#else +#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ + (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +#define __Pyx_BufPtrStrided1d(type, buf, i0, s0) (type)((char*)buf + i0 * s0) +/* PyUnicode_Unicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); + +/* GCCDiagnostics.proto */ +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (memview->acquisition_count_aligned_p) +#define __pyx_get_slice_count(memview) (*__pyx_get_slice_count_pointer(memview)) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XDEC_MEMVIEW(slice, have_gil) __Pyx_XDEC_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* None.proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +static CYTHON_UNUSED int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +static CYTHON_UNUSED int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + PyList_SET_ITEM(list, len, x); + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* ListExtend.proto */ +static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) { +#if CYTHON_COMPILING_IN_CPYTHON + PyObject* none = _PyList_Extend((PyListObject*)L, v); + if (unlikely(!none)) + return -1; + Py_DECREF(none); + return 0; +#else + return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v); +#endif +} + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + PyList_SET_ITEM(list, len, x); + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* None.proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* SetupReduce.proto */ +static int __Pyx_setup_reduce(PyObject* type_obj); + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyObject *dict, void *vtable); + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto +#define __PYX_HAVE_RT_ImportType_proto +enum __Pyx_ImportType_CheckSize { + __Pyx_ImportType_CheckSize_Error = 0, + __Pyx_ImportType_CheckSize_Warn = 1, + __Pyx_ImportType_CheckSize_Ignore = 2 +}; +static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size); +#endif + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* Capsule.proto */ +static CYTHON_INLINE PyObject *__pyx_capsule_create(void *p, const char *sig); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *, int writable_flag); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *, int writable_flag); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* CheckBinaryVersion.proto */ +static int __Pyx_check_binary_version(void); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ + +/* Module declarations from 'cython.view' */ + +/* Module declarations from 'cython' */ + +/* Module declarations from 'libc.string' */ + +/* Module declarations from 'libc.stdio' */ + +/* Module declarations from 'libc' */ + +/* Module declarations from 'acados_solver_common' */ + +/* Module declarations from 'acados_solver' */ + +/* Module declarations from 'cpython.buffer' */ + +/* Module declarations from '__builtin__' */ + +/* Module declarations from 'cpython.type' */ +static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; + +/* Module declarations from 'cpython' */ + +/* Module declarations from 'cpython.object' */ + +/* Module declarations from 'cpython.ref' */ + +/* Module declarations from 'cpython.mem' */ + +/* Module declarations from 'numpy' */ + +/* Module declarations from 'numpy' */ +static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; +static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; +static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; +static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; +static PyTypeObject *__pyx_ptype_5numpy_generic = 0; +static PyTypeObject *__pyx_ptype_5numpy_number = 0; +static PyTypeObject *__pyx_ptype_5numpy_integer = 0; +static PyTypeObject *__pyx_ptype_5numpy_signedinteger = 0; +static PyTypeObject *__pyx_ptype_5numpy_unsignedinteger = 0; +static PyTypeObject *__pyx_ptype_5numpy_inexact = 0; +static PyTypeObject *__pyx_ptype_5numpy_floating = 0; +static PyTypeObject *__pyx_ptype_5numpy_complexfloating = 0; +static PyTypeObject *__pyx_ptype_5numpy_flexible = 0; +static PyTypeObject *__pyx_ptype_5numpy_character = 0; +static PyTypeObject *__pyx_ptype_5numpy_ufunc = 0; + +/* Module declarations from 'acados_template.acados_ocp_solver_pyx' */ +static PyTypeObject *__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython = 0; +static PyTypeObject *__pyx_array_type = 0; +static PyTypeObject *__pyx_MemviewEnum_type = 0; +static PyTypeObject *__pyx_memoryview_type = 0; +static PyTypeObject *__pyx_memoryviewslice_type = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static CYTHON_INLINE PyObject *__Pyx_carray_to_py_int(int *, Py_ssize_t); /*proto*/ +static CYTHON_INLINE PyObject *__Pyx_carray_to_tuple_int(int *, Py_ssize_t); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static void *__pyx_align_pointer(void *, size_t); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static PyObject *assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, char *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, char *); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char = { "unsigned char", NULL, sizeof(unsigned char), { 0 }, 0, IS_UNSIGNED(unsigned char) ? 'U' : 'I', IS_UNSIGNED(unsigned char), 0 }; +#define __Pyx_MODULE_NAME "acados_template.acados_ocp_solver_pyx" +extern int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx; +int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx = 0; + +/* Implementation of 'acados_template.acados_ocp_solver_pyx' */ +static PyObject *__pyx_builtin_NotImplementedError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_open; +static PyObject *__pyx_builtin_print; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_ImportError; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static const char __pyx_k_F[] = "F"; +static const char __pyx_k_N[] = "N"; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k_m[] = "m"; +static const char __pyx_k_n[] = "n"; +static const char __pyx_k_p[] = "p"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k_t[] = "t"; +static const char __pyx_k_u[] = "u"; +static const char __pyx_k_w[] = "w"; +static const char __pyx_k_x[] = "x"; +static const char __pyx_k_z[] = "z"; +static const char __pyx_k__4[] = "."; +static const char __pyx_k__5[] = ""; +static const char __pyx_k__6[] = "_"; +static const char __pyx_k_ex[] = "ex"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_np[] = "np"; +static const char __pyx_k_os[] = "os"; +static const char __pyx_k_pi[] = "pi"; +static const char __pyx_k_sl[] = "sl"; +static const char __pyx_k_su[] = "su"; +static const char __pyx_k_SQP[] = "SQP"; +static const char __pyx_k__19[] = ")"; +static const char __pyx_k__22[] = ", "; +static const char __pyx_k_get[] = "get"; +static const char __pyx_k_lam[] = "lam"; +static const char __pyx_k_lbu[] = "lbu"; +static const char __pyx_k_lbx[] = "lbx"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_set[] = "set"; +static const char __pyx_k_t_2[] = "t_"; +static const char __pyx_k_u_2[] = "u_"; +static const char __pyx_k_ubu[] = "ubu"; +static const char __pyx_k_ubx[] = "ubx"; +static const char __pyx_k_x_2[] = "x_"; +static const char __pyx_k_z_2[] = "z_"; +static const char __pyx_k_None[] = "None"; +static const char __pyx_k_TODO[] = "TODO!"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_dump[] = "dump"; +static const char __pyx_k_exit[] = "__exit__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_json[] = "json"; +static const char __pyx_k_keys[] = "keys"; +static const char __pyx_k_load[] = "load"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_open[] = "open"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_pi_2[] = "pi_"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_sl_2[] = "sl_"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_su_2[] = "su_"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_yref[] = "yref"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_alpha[] = "alpha"; +static const char __pyx_k_array[] = "array"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_enter[] = "__enter__"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_field[] = "field"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_lam_2[] = "lam_"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_order[] = "order"; +static const char __pyx_k_print[] = "print"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_split[] = "split"; +static const char __pyx_k_stage[] = "stage"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_utf_8[] = "utf-8"; +static const char __pyx_k_value[] = "value_"; +static const char __pyx_k_y_ref[] = "y_ref"; +static const char __pyx_k_zeros[] = "zeros"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_getcwd[] = "getcwd"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_indent[] = "indent"; +static const char __pyx_k_isfile[] = "isfile"; +static const char __pyx_k_json_2[] = ".json"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_qp_mu0[] = "qp_mu0"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_res_eq[] = "res_eq"; +static const char __pyx_k_stat_m[] = "stat_m"; +static const char __pyx_k_stat_n[] = "stat_n"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_tol_eq[] = "tol_eq"; +static const char __pyx_k_tolist[] = "tolist"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_utcnow[] = "utcnow"; +static const char __pyx_k_SQP_RTI[] = "SQP_RTI"; +static const char __pyx_k_default[] = "default"; +static const char __pyx_k_field_2[] = "field_"; +static const char __pyx_k_float64[] = "float64"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_iterate[] = "iterate"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_qp_iter[] = "qp_iter"; +static const char __pyx_k_time_qp[] = "time_qp"; +static const char __pyx_k_z_guess[] = "z_guess"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_at_stage[] = "\" at stage "; +static const char __pyx_k_datetime[] = "datetime"; +static const char __pyx_k_filename[] = "filename"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_res_comp[] = "res_comp"; +static const char __pyx_k_res_ineq[] = "res_ineq"; +static const char __pyx_k_res_stat[] = "res_stat"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_sqp_iter[] = "sqp_iter"; +static const char __pyx_k_strftime[] = "strftime"; +static const char __pyx_k_time_lin[] = "time_lin"; +static const char __pyx_k_time_reg[] = "time_reg"; +static const char __pyx_k_time_sim[] = "time_sim"; +static const char __pyx_k_time_tot[] = "time_tot"; +static const char __pyx_k_tol_comp[] = "tol_comp"; +static const char __pyx_k_tol_ineq[] = "tol_ineq"; +static const char __pyx_k_tol_stat[] = "tol_stat"; +static const char __pyx_k_you_have[] = " (you have "; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_alpha_min[] = "alpha_min"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_for_field[] = " for field \""; +static const char __pyx_k_get_stats[] = "get_stats"; +static const char __pyx_k_overwrite[] = "overwrite"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_qp_tol_eq[] = "qp_tol_eq"; +static const char __pyx_k_recompute[] = "recompute"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_residuals[] = "residuals"; +static const char __pyx_k_rti_phase[] = "rti_phase"; +static const char __pyx_k_sort_keys[] = "sort_keys"; +static const char __pyx_k_time_glob[] = "time_glob"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_model_name[] = "model_name"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_qp_tau_min[] = "qp_tau_min"; +static const char __pyx_k_statistics[] = "statistics"; +static const char __pyx_k_xdot_guess[] = "xdot_guess"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_print_level[] = "print_level"; +static const char __pyx_k_qp_tol_comp[] = "qp_tol_comp"; +static const char __pyx_k_qp_tol_ineq[] = "qp_tol_ineq"; +static const char __pyx_k_qp_tol_stat[] = "qp_tol_stat"; +static const char __pyx_k_step_length[] = "step_length"; +static const char __pyx_k_time_sim_ad[] = "time_sim_ad"; +static const char __pyx_k_time_sim_la[] = "time_sim_la"; +static const char __pyx_k_get_stat_int[] = "__get_stat_int"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = "stringsource"; +static const char __pyx_k_Y_m_d_H_M_S_f[] = "%Y-%m-%d-%H:%M:%S.%f"; +static const char __pyx_k_get_residuals[] = "get_residuals"; +static const char __pyx_k_globalization[] = "globalization"; +static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; +static const char __pyx_k_qp_warm_start[] = "qp_warm_start"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_time_qp_xcond[] = "time_qp_xcond"; +static const char __pyx_k_asfortranarray[] = "asfortranarray"; +static const char __pyx_k_full_step_dual[] = "full_step_dual"; +static const char __pyx_k_with_dimension[] = " with dimension "; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_alpha_reduction[] = "alpha_reduction"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_get_stat_double[] = "__get_stat_double"; +static const char __pyx_k_get_stat_matrix[] = "__get_stat_matrix"; +static const char __pyx_k_nlp_solver_type[] = "nlp_solver_type"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; +static const char __pyx_k_get_pointers_solver[] = "__get_pointers_solver"; +static const char __pyx_k_initialize_t_slacks[] = "initialize_t_slacks"; +static const char __pyx_k_time_qp_solver_call[] = "time_qp_solver_call"; +static const char __pyx_k_warm_start_first_qp[] = "warm_start_first_qp"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_AcadosOcpSolverCython[] = "AcadosOcpSolverCython"; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_globalization_use_SOC[] = "globalization_use_SOC"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_eps_sufficient_descent[] = "eps_sufficient_descent"; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_with_dimension_you_have[] = "with dimension {} (you have {})"; +static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'"; +static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d."; +static const char __pyx_k_stored_current_iterate_in[] = "stored current iterate in "; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_store_iterate_locals_lambda[] = "store_iterate.."; +static const char __pyx_k_time_solution_sensitivities[] = "time_solution_sensitivities"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_AcadosOcpSolverCython_get_field[] = "AcadosOcpSolverCython.get(): field {} does not exist at final stage {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_is_an[] = "AcadosOcpSolverCython.get(): {} is an invalid argument. \n Possible values are {}. Exiting."; +static const char __pyx_k_AcadosOcpSolverCython_get_stage[] = "AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}."; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_AcadosOcpSolverCython_constraint[] = "AcadosOcpSolverCython.constraints_set(): mismatching dimension"; +static const char __pyx_k_AcadosOcpSolverCython_cost_set_m[] = "AcadosOcpSolverCython.cost_set(): mismatching dimension"; +static const char __pyx_k_AcadosOcpSolverCython_does_not_s[] = "AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature"; +static const char __pyx_k_AcadosOcpSolverCython_eval_param[] = "AcadosOcpSolverCython.eval_param_sens(): index must be Integer."; +static const char __pyx_k_AcadosOcpSolverCython_options_se[] = "AcadosOcpSolverCython.options_set() does not support field {}.\n Possible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_set_is_not[] = "AcadosOcpSolverCython.set(): {} is not a valid argument. \nPossible values are {}. Exiting."; +static const char __pyx_k_AcadosOcpSolverCython_set_mismat[] = "AcadosOcpSolverCython.set(): mismatching dimension for field \"{}\" "; +static const char __pyx_k_AcadosOcpSolverCython_solve_argu[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only values 0, 1, 2 for SQP-RTI-type solvers"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_s_vs_0xb0[] = "Incompatible checksums (%s vs 0xb068931 = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s"; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)"; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_acados_template_acados_ocp_solve[] = "acados_template.acados_ocp_solver_pyx"; +static const char __pyx_k_alpha_values_are_not_available_f[] = "alpha values are not available for SQP_RTI"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)"; +static const char __pyx_k_line_search_use_sufficient_desce[] = "line_search_use_sufficient_descent"; +static const char __pyx_k_load_iterate_failed_file_does_no[] = "load_iterate: failed, file does not exist: "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_solver_option_must_be_of_type_fl[] = "solver option {} must be of type float. You have {}."; +static const char __pyx_k_solver_option_must_be_of_type_in[] = "solver option {} must be of type int. You have {}."; +static const char __pyx_k_solver_option_must_be_of_type_st[] = "solver option {} must be of type str. You have {}."; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_AcadosOcpSolverCython_does_not_s_2[] = "AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature"; +static const char __pyx_k_AcadosOcpSolverCython_eval_param_2[] = "AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: "; +static const char __pyx_k_AcadosOcpSolverCython_solve_argu_2[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only value 0 for SQP-type solvers"; +static PyObject *__pyx_n_s_ASCII; +static PyObject *__pyx_n_s_AcadosOcpSolverCython; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_constraint; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_cost_set_m; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param_2; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_field; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_is_an; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_stage; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_options_se; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_is_not; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_mismat; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu; +static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2; +static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; +static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; +static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; +static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; +static PyObject *__pyx_kp_s_Cannot_index_with_type_s; +static PyObject *__pyx_n_s_Ellipsis; +static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; +static PyObject *__pyx_n_u_F; +static PyObject *__pyx_n_s_ImportError; +static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0; +static PyObject *__pyx_n_s_IndexError; +static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; +static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr; +static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d; +static PyObject *__pyx_n_s_MemoryError; +static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; +static PyObject *__pyx_kp_s_MemoryView_of_r_object; +static PyObject *__pyx_n_s_N; +static PyObject *__pyx_kp_u_None; +static PyObject *__pyx_n_s_NotImplementedError; +static PyObject *__pyx_n_b_O; +static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a; +static PyObject *__pyx_n_s_PickleError; +static PyObject *__pyx_n_u_SQP; +static PyObject *__pyx_n_u_SQP_RTI; +static PyObject *__pyx_kp_u_TODO; +static PyObject *__pyx_n_s_TypeError; +static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; +static PyObject *__pyx_n_s_ValueError; +static PyObject *__pyx_n_s_View_MemoryView; +static PyObject *__pyx_kp_u_Y_m_d_H_M_S_f; +static PyObject *__pyx_kp_u__19; +static PyObject *__pyx_kp_u__22; +static PyObject *__pyx_kp_u__4; +static PyObject *__pyx_kp_u__5; +static PyObject *__pyx_n_u__6; +static PyObject *__pyx_n_s_acados_template_acados_ocp_solve; +static PyObject *__pyx_n_s_allocate_buffer; +static PyObject *__pyx_n_u_alpha; +static PyObject *__pyx_n_u_alpha_min; +static PyObject *__pyx_n_u_alpha_reduction; +static PyObject *__pyx_kp_u_alpha_values_are_not_available_f; +static PyObject *__pyx_n_s_array; +static PyObject *__pyx_n_s_ascontiguousarray; +static PyObject *__pyx_n_s_asfortranarray; +static PyObject *__pyx_kp_u_at_stage; +static PyObject *__pyx_n_s_base; +static PyObject *__pyx_n_s_c; +static PyObject *__pyx_n_u_c; +static PyObject *__pyx_n_s_class; +static PyObject *__pyx_n_s_cline_in_traceback; +static PyObject *__pyx_kp_s_contiguous_and_direct; +static PyObject *__pyx_kp_s_contiguous_and_indirect; +static PyObject *__pyx_n_s_datetime; +static PyObject *__pyx_n_s_default; +static PyObject *__pyx_n_s_dict; +static PyObject *__pyx_n_s_dtype; +static PyObject *__pyx_n_s_dtype_is_object; +static PyObject *__pyx_n_s_dump; +static PyObject *__pyx_n_s_encode; +static PyObject *__pyx_n_s_enter; +static PyObject *__pyx_n_s_enumerate; +static PyObject *__pyx_n_u_eps_sufficient_descent; +static PyObject *__pyx_n_s_error; +static PyObject *__pyx_n_u_ex; +static PyObject *__pyx_n_s_exit; +static PyObject *__pyx_n_s_field; +static PyObject *__pyx_n_s_field_2; +static PyObject *__pyx_n_s_filename; +static PyObject *__pyx_n_s_flags; +static PyObject *__pyx_n_s_float64; +static PyObject *__pyx_kp_u_for_field; +static PyObject *__pyx_n_s_format; +static PyObject *__pyx_n_s_fortran; +static PyObject *__pyx_n_u_fortran; +static PyObject *__pyx_n_u_full_step_dual; +static PyObject *__pyx_n_s_get; +static PyObject *__pyx_n_s_get_pointers_solver; +static PyObject *__pyx_n_s_get_residuals; +static PyObject *__pyx_n_s_get_stat_double; +static PyObject *__pyx_n_s_get_stat_int; +static PyObject *__pyx_n_s_get_stat_matrix; +static PyObject *__pyx_n_s_get_stats; +static PyObject *__pyx_n_s_getcwd; +static PyObject *__pyx_n_s_getstate; +static PyObject *__pyx_n_u_globalization; +static PyObject *__pyx_n_u_globalization_use_SOC; +static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; +static PyObject *__pyx_n_s_id; +static PyObject *__pyx_n_s_import; +static PyObject *__pyx_n_s_indent; +static PyObject *__pyx_n_s_index; +static PyObject *__pyx_n_u_initialize_t_slacks; +static PyObject *__pyx_n_s_isfile; +static PyObject *__pyx_n_s_itemsize; +static PyObject *__pyx_kp_s_itemsize_0_for_cython_array; +static PyObject *__pyx_n_u_iterate; +static PyObject *__pyx_n_s_join; +static PyObject *__pyx_n_s_json; +static PyObject *__pyx_kp_u_json_2; +static PyObject *__pyx_n_s_keys; +static PyObject *__pyx_n_u_lam; +static PyObject *__pyx_n_u_lam_2; +static PyObject *__pyx_n_u_lbu; +static PyObject *__pyx_n_u_lbx; +static PyObject *__pyx_n_u_line_search_use_sufficient_desce; +static PyObject *__pyx_n_s_load; +static PyObject *__pyx_kp_u_load_iterate_failed_file_does_no; +static PyObject *__pyx_n_s_m; +static PyObject *__pyx_n_s_main; +static PyObject *__pyx_n_s_memview; +static PyObject *__pyx_n_s_mode; +static PyObject *__pyx_n_s_model_name; +static PyObject *__pyx_n_s_n; +static PyObject *__pyx_n_s_name; +static PyObject *__pyx_n_s_name_2; +static PyObject *__pyx_n_s_ndim; +static PyObject *__pyx_n_s_new; +static PyObject *__pyx_n_s_nlp_solver_type; +static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; +static PyObject *__pyx_n_s_np; +static PyObject *__pyx_n_s_numpy; +static PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; +static PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; +static PyObject *__pyx_n_s_obj; +static PyObject *__pyx_n_s_open; +static PyObject *__pyx_n_s_order; +static PyObject *__pyx_n_s_os; +static PyObject *__pyx_n_s_overwrite; +static PyObject *__pyx_n_u_p; +static PyObject *__pyx_n_s_pack; +static PyObject *__pyx_n_s_path; +static PyObject *__pyx_n_u_pi; +static PyObject *__pyx_n_u_pi_2; +static PyObject *__pyx_n_s_pickle; +static PyObject *__pyx_n_s_print; +static PyObject *__pyx_n_u_print_level; +static PyObject *__pyx_n_s_pyx_PickleError; +static PyObject *__pyx_n_s_pyx_checksum; +static PyObject *__pyx_n_s_pyx_getbuffer; +static PyObject *__pyx_n_s_pyx_result; +static PyObject *__pyx_n_s_pyx_state; +static PyObject *__pyx_n_s_pyx_type; +static PyObject *__pyx_n_s_pyx_unpickle_Enum; +static PyObject *__pyx_n_s_pyx_vtable; +static PyObject *__pyx_n_u_qp_iter; +static PyObject *__pyx_n_u_qp_mu0; +static PyObject *__pyx_n_u_qp_tau_min; +static PyObject *__pyx_n_u_qp_tol_comp; +static PyObject *__pyx_n_u_qp_tol_eq; +static PyObject *__pyx_n_u_qp_tol_ineq; +static PyObject *__pyx_n_u_qp_tol_stat; +static PyObject *__pyx_n_u_qp_warm_start; +static PyObject *__pyx_n_u_r; +static PyObject *__pyx_n_s_range; +static PyObject *__pyx_n_s_recompute; +static PyObject *__pyx_n_s_reduce; +static PyObject *__pyx_n_s_reduce_cython; +static PyObject *__pyx_n_s_reduce_ex; +static PyObject *__pyx_n_b_res_comp; +static PyObject *__pyx_n_b_res_eq; +static PyObject *__pyx_n_b_res_ineq; +static PyObject *__pyx_n_b_res_stat; +static PyObject *__pyx_n_u_residuals; +static PyObject *__pyx_n_u_rti_phase; +static PyObject *__pyx_n_s_set; +static PyObject *__pyx_n_s_setstate; +static PyObject *__pyx_n_s_setstate_cython; +static PyObject *__pyx_n_s_shape; +static PyObject *__pyx_n_s_size; +static PyObject *__pyx_n_u_sl; +static PyObject *__pyx_n_u_sl_2; +static PyObject *__pyx_kp_u_solver_option_must_be_of_type_fl; +static PyObject *__pyx_kp_u_solver_option_must_be_of_type_in; +static PyObject *__pyx_kp_u_solver_option_must_be_of_type_st; +static PyObject *__pyx_n_s_sort_keys; +static PyObject *__pyx_n_s_split; +static PyObject *__pyx_n_u_sqp_iter; +static PyObject *__pyx_n_s_stage; +static PyObject *__pyx_n_s_start; +static PyObject *__pyx_n_u_stat_m; +static PyObject *__pyx_n_u_stat_n; +static PyObject *__pyx_n_u_statistics; +static PyObject *__pyx_n_s_step; +static PyObject *__pyx_n_u_step_length; +static PyObject *__pyx_n_s_stop; +static PyObject *__pyx_n_s_store_iterate_locals_lambda; +static PyObject *__pyx_kp_u_stored_current_iterate_in; +static PyObject *__pyx_n_s_strftime; +static PyObject *__pyx_kp_s_strided_and_direct; +static PyObject *__pyx_kp_s_strided_and_direct_or_indirect; +static PyObject *__pyx_kp_s_strided_and_indirect; +static PyObject *__pyx_kp_s_stringsource; +static PyObject *__pyx_n_s_struct; +static PyObject *__pyx_n_u_su; +static PyObject *__pyx_n_u_su_2; +static PyObject *__pyx_n_u_t; +static PyObject *__pyx_n_u_t_2; +static PyObject *__pyx_n_s_test; +static PyObject *__pyx_n_u_time_glob; +static PyObject *__pyx_n_u_time_lin; +static PyObject *__pyx_n_u_time_qp; +static PyObject *__pyx_n_u_time_qp_solver_call; +static PyObject *__pyx_n_u_time_qp_xcond; +static PyObject *__pyx_n_u_time_reg; +static PyObject *__pyx_n_u_time_sim; +static PyObject *__pyx_n_u_time_sim_ad; +static PyObject *__pyx_n_u_time_sim_la; +static PyObject *__pyx_n_u_time_solution_sensitivities; +static PyObject *__pyx_n_u_time_tot; +static PyObject *__pyx_n_u_tol_comp; +static PyObject *__pyx_n_u_tol_eq; +static PyObject *__pyx_n_u_tol_ineq; +static PyObject *__pyx_n_u_tol_stat; +static PyObject *__pyx_n_s_tolist; +static PyObject *__pyx_n_u_u; +static PyObject *__pyx_n_u_u_2; +static PyObject *__pyx_n_u_ubu; +static PyObject *__pyx_n_u_ubx; +static PyObject *__pyx_kp_s_unable_to_allocate_array_data; +static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; +static PyObject *__pyx_n_s_unpack; +static PyObject *__pyx_n_s_update; +static PyObject *__pyx_n_s_utcnow; +static PyObject *__pyx_kp_u_utf_8; +static PyObject *__pyx_n_s_value; +static PyObject *__pyx_n_u_w; +static PyObject *__pyx_n_u_warm_start_first_qp; +static PyObject *__pyx_kp_u_with_dimension; +static PyObject *__pyx_kp_u_with_dimension_you_have; +static PyObject *__pyx_n_b_x; +static PyObject *__pyx_n_u_x; +static PyObject *__pyx_n_u_x_2; +static PyObject *__pyx_n_u_xdot_guess; +static PyObject *__pyx_n_u_y_ref; +static PyObject *__pyx_kp_u_you_have; +static PyObject *__pyx_n_u_yref; +static PyObject *__pyx_n_u_z; +static PyObject *__pyx_n_u_z_2; +static PyObject *__pyx_n_u_z_guess; +static PyObject *__pyx_n_s_zeros; +static int __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython___cinit__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_model_name, PyObject *__pyx_v_nlp_solver_type, PyObject *__pyx_v_N); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6reset(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8set_new_time_steps(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_new_time_steps); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10update_qp_solver_cond_N(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_qp_solver_cond_N); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12eval_param_sens(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_stage, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16print_statistics(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_lambda_funcdef_lambda(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18store_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename, PyObject *__pyx_v_overwrite); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20load_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22get_stats(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24__get_stat_int(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26__get_stat_double(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_28__get_stat_matrix(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field, PyObject *__pyx_v_n, PyObject *__pyx_v_m); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_30get_cost(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32get_residuals(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_recompute); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36cost_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38constraints_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40dynamics_get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42options_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_44__del__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_46__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_48__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_16_memoryviewslice_4base___get__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); 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function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1140 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + Py_ssize_t __pyx_t_6; + + /* "View.MemoryView":1147 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1148 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1150 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1152 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = ((__pyx_v_ndim == 1) != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = ((__pyx_v_src_stride > 0) != 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = ((__pyx_v_dst_stride > 0) != 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1154 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_3 = (__pyx_t_2 != 0); + __pyx_t_1 = __pyx_t_3; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1155 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1153 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_4 = __pyx_v_dst_extent; + __pyx_t_5 = __pyx_t_4; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1158 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1159 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1160 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1152 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1162 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_4 = __pyx_v_dst_extent; + __pyx_t_5 = __pyx_t_4; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1163 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1168 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1140 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1170 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1173 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1170 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1177 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1179 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1181 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1182 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1184 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1177 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1187 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1196 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = ((__pyx_v_order == 'F') != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":1197 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1198 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1199 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1196 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1201 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1202 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1203 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* "View.MemoryView":1205 + * stride *= shape[idx] + * + * return stride # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_copy_data_to_temp') + */ + __pyx_r = __pyx_v_stride; + goto __pyx_L0; + + /* "View.MemoryView":1187 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) nogil: + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1208 + * + * @cname('__pyx_memoryview_copy_data_to_temp') + * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *tmpslice, + * char order, + */ + +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { + int __pyx_v_i; + void *__pyx_v_result; + size_t __pyx_v_itemsize; + size_t __pyx_v_size; + void *__pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + struct __pyx_memoryview_obj *__pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "View.MemoryView":1219 + * cdef void *result + * + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef size_t size = slice_get_size(src, ndim) + * + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":1220 + * + * cdef size_t itemsize = src.memview.view.itemsize + * cdef size_t size = slice_get_size(src, ndim) # <<<<<<<<<<<<<< + * + * result = malloc(size) + */ + __pyx_v_size = __pyx_memoryview_slice_get_size(__pyx_v_src, __pyx_v_ndim); + + /* "View.MemoryView":1222 + * cdef size_t size = slice_get_size(src, ndim) + * + * result = malloc(size) # <<<<<<<<<<<<<< + * if not result: + * _err(MemoryError, NULL) + */ + __pyx_v_result = malloc(__pyx_v_size); + + /* "View.MemoryView":1223 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err(MemoryError, NULL) + * + */ + __pyx_t_2 = ((!(__pyx_v_result != 0)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1224 + * result = malloc(size) + * if not result: + * _err(MemoryError, NULL) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_3 = __pyx_memoryview_err(__pyx_builtin_MemoryError, NULL); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 1224, __pyx_L1_error) + + /* "View.MemoryView":1223 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err(MemoryError, NULL) + * + */ + } + + /* "View.MemoryView":1227 + * + * + * tmpslice.data = result # <<<<<<<<<<<<<< + * tmpslice.memview = src.memview + * for i in range(ndim): + */ + __pyx_v_tmpslice->data = ((char *)__pyx_v_result); + + /* "View.MemoryView":1228 + * + * tmpslice.data = result + * tmpslice.memview = src.memview # <<<<<<<<<<<<<< + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + */ + __pyx_t_4 = __pyx_v_src->memview; + __pyx_v_tmpslice->memview = __pyx_t_4; + + /* "View.MemoryView":1229 + * tmpslice.data = result + * tmpslice.memview = src.memview + * for i in range(ndim): # <<<<<<<<<<<<<< + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1230 + * tmpslice.memview = src.memview + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] # <<<<<<<<<<<<<< + * tmpslice.suboffsets[i] = -1 + * + */ + (__pyx_v_tmpslice->shape[__pyx_v_i]) = (__pyx_v_src->shape[__pyx_v_i]); + + /* "View.MemoryView":1231 + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, + */ + (__pyx_v_tmpslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1233 + * tmpslice.suboffsets[i] = -1 + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, # <<<<<<<<<<<<<< + * ndim, order) + * + */ + (void)(__pyx_fill_contig_strides_array((&(__pyx_v_tmpslice->shape[0])), (&(__pyx_v_tmpslice->strides[0])), __pyx_v_itemsize, __pyx_v_ndim, __pyx_v_order)); + + /* "View.MemoryView":1237 + * + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1238 + * + * for i in range(ndim): + * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< + * tmpslice.strides[i] = 0 + * + */ + __pyx_t_2 = (((__pyx_v_tmpslice->shape[__pyx_v_i]) == 1) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1239 + * for i in range(ndim): + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 # <<<<<<<<<<<<<< + * + * if slice_is_contig(src[0], order, ndim): + */ + (__pyx_v_tmpslice->strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1238 + * + * for i in range(ndim): + * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< + * tmpslice.strides[i] = 0 + * + */ + } + } + + /* "View.MemoryView":1241 + * tmpslice.strides[i] = 0 + * + * if slice_is_contig(src[0], order, ndim): # <<<<<<<<<<<<<< + * memcpy(result, src.data, size) + * else: + */ + __pyx_t_2 = 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"View.MemoryView":1285 + * + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_src), __pyx_v_src_ndim, __pyx_v_dst_ndim); + + /* "View.MemoryView":1284 + * cdef __Pyx_memviewslice tmp + * + * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1286 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + __pyx_t_2 = ((__pyx_v_dst_ndim < __pyx_v_src_ndim) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1287 + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) # <<<<<<<<<<<<<< + * + * cdef int ndim = max(src_ndim, dst_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_dst), __pyx_v_dst_ndim, __pyx_v_src_ndim); + + /* "View.MemoryView":1286 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + } + __pyx_L3:; + + /* "View.MemoryView":1289 + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + * cdef int ndim = max(src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + __pyx_t_3 = __pyx_v_dst_ndim; + __pyx_t_4 = __pyx_v_src_ndim; + if (((__pyx_t_3 > __pyx_t_4) != 0)) { + __pyx_t_5 = __pyx_t_3; + } else { + __pyx_t_5 = __pyx_t_4; + } + __pyx_v_ndim = __pyx_t_5; + + /* "View.MemoryView":1291 + * cdef int ndim = max(src_ndim, dst_ndim) + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + */ + __pyx_t_5 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_5; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1292 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + __pyx_t_2 = (((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1293 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + __pyx_t_2 = (((__pyx_v_src.shape[__pyx_v_i]) == 1) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1294 + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + * broadcasting = True # <<<<<<<<<<<<<< + * src.strides[i] = 0 + * else: + */ + __pyx_v_broadcasting = 1; + + /* "View.MemoryView":1295 + * if src.shape[i] == 1: + * broadcasting = True + * src.strides[i] = 0 # <<<<<<<<<<<<<< + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) + */ + (__pyx_v_src.strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1293 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + goto __pyx_L7; + } + + /* "View.MemoryView":1297 + * src.strides[i] = 0 + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + * + * if src.suboffsets[i] >= 0: + */ + /*else*/ { + __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1297, __pyx_L1_error) + } + __pyx_L7:; + + /* "View.MemoryView":1292 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + } + + /* "View.MemoryView":1299 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(ValueError, "Dimension %d is not direct", i) + * + */ + __pyx_t_2 = (((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1300 + * + * if src.suboffsets[i] >= 0: + * _err_dim(ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< + * + * if slices_overlap(&src, &dst, ndim, itemsize): + */ + __pyx_t_6 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Dimension %d is not direct"), __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1300, __pyx_L1_error) + + /* "View.MemoryView":1299 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(ValueError, "Dimension %d is not direct", i) + * + */ + } + } + + /* "View.MemoryView":1302 + * _err_dim(ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + __pyx_t_2 = (__pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1304 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = ((!(__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim) != 0)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1305 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1304 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1307 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1307, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1308 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1302 + * _err_dim(ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1310 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = ((!(__pyx_v_broadcasting != 0)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1314 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1313 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1315 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1316 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1315 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1318 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + */ + __pyx_t_2 = (__pyx_v_direct_copy != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1320 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1321 + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1322 + * refcount_copying(&dst, dtype_is_object, ndim, False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1323 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1324 + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1318 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + */ + } + + /* "View.MemoryView":1310 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1326 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + __pyx_t_8 = (__pyx_t_2 != 0); + if (__pyx_t_8) { + + /* "View.MemoryView":1329 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)0))) __PYX_ERR(1, 1329, __pyx_L1_error) + + /* "View.MemoryView":1330 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)0))) __PYX_ERR(1, 1330, __pyx_L1_error) + + /* "View.MemoryView":1326 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1332 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1333 + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1334 + * refcount_copying(&dst, dtype_is_object, ndim, False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1336 + * refcount_copying(&dst, dtype_is_object, ndim, True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1337 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1268 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + } + __pyx_r = -1; + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1340 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1344 + * int ndim_other) nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1346 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1347 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1348 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1349 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1351 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1352 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1353 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1354 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1340 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1362 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, # <<<<<<<<<<<<<< + * int ndim, bint inc) nogil: + * + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + int __pyx_t_1; + + /* "View.MemoryView":1366 + * + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, + * dst.strides, ndim, inc) + */ + __pyx_t_1 = (__pyx_v_dtype_is_object != 0); + if (__pyx_t_1) { + + /* "View.MemoryView":1367 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, # <<<<<<<<<<<<<< + * dst.strides, ndim, inc) + * + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1366 + * + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, + * dst.strides, ndim, 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(PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_33get_residuals, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32get_residuals}, + {"set", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_35set, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34set}, + {"cost_set", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_37cost_set, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36cost_set}, + {"constraints_set", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_39constraints_set, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38constraints_set}, + {"dynamics_get", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_41dynamics_get, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40dynamics_get}, + {"options_set", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_43options_set, METH_VARARGS|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42options_set}, + {"__del__", (PyCFunction)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_45__del__, METH_NOARGS, 0}, + {"__reduce_cython__", (PyCFunction)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_47__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_49__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.AcadosOcpSolverCython", /*tp_name*/ + sizeof(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + "\n Class to interact with the acados ocp solver C object.\n ", /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void 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i, v); + } + else { + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by %.200s", Py_TYPE(o)->tp_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_array_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_array_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", 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(likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + (*Py_TYPE(o)->tp_free)(o); +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + (*Py_TYPE(o)->tp_free)(o); +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by %.200s", Py_TYPE(o)->tp_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"is_c_contig", (PyCFunction)__pyx_memoryview_is_c_contig, METH_NOARGS, 0}, + {"is_f_contig", (PyCFunction)__pyx_memoryview_is_f_contig, METH_NOARGS, 0}, + {"copy", (PyCFunction)__pyx_memoryview_copy, METH_NOARGS, 0}, + {"copy_fortran", (PyCFunction)__pyx_memoryview_copy_fortran, METH_NOARGS, 0}, + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XDEC_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyObject *__pyx_getprop___pyx_memoryviewslice_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_16_memoryviewslice_4base_1__get__(o); +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, METH_O, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets__memoryviewslice[] = { + {(char *)"base", __pyx_getprop___pyx_memoryviewslice_base, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx._memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + "Internal class for passing memoryview slices to Python", /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets__memoryviewslice, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + 0, /*tp_dictoffset*/ + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + 0, /*tp_finalize*/ + #endif + #if PY_VERSION_HEX >= 0x030800b1 + 0, /*tp_vectorcall*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, /*tp_print*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, /*tp_pypy_flags*/ + #endif +}; + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; + +#if PY_MAJOR_VERSION >= 3 +#if CYTHON_PEP489_MULTI_PHASE_INIT +static PyObject* __pyx_pymod_create(PyObject *spec, PyModuleDef *def); /*proto*/ +static int __pyx_pymod_exec_acados_ocp_solver_pyx(PyObject* module); /*proto*/ +static PyModuleDef_Slot __pyx_moduledef_slots[] = { + {Py_mod_create, (void*)__pyx_pymod_create}, + {Py_mod_exec, (void*)__pyx_pymod_exec_acados_ocp_solver_pyx}, + {0, NULL} +}; +#endif + +static struct PyModuleDef __pyx_moduledef = { + PyModuleDef_HEAD_INIT, + "acados_ocp_solver_pyx", + 0, /* m_doc */ + #if CYTHON_PEP489_MULTI_PHASE_INIT + 0, /* m_size */ + #else + -1, /* m_size */ + #endif + __pyx_methods /* m_methods */, + #if CYTHON_PEP489_MULTI_PHASE_INIT + __pyx_moduledef_slots, /* m_slots */ + #else + NULL, /* m_reload */ + #endif + NULL, /* m_traverse */ + NULL, /* m_clear */ + NULL /* m_free */ +}; +#endif +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif + +static __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_n_s_ASCII, __pyx_k_ASCII, sizeof(__pyx_k_ASCII), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython, __pyx_k_AcadosOcpSolverCython, sizeof(__pyx_k_AcadosOcpSolverCython), 0, 0, 1, 1}, + {&__pyx_kp_u_AcadosOcpSolverCython_constraint, __pyx_k_AcadosOcpSolverCython_constraint, sizeof(__pyx_k_AcadosOcpSolverCython_constraint), 0, 1, 0, 0}, + {&__pyx_kp_u_AcadosOcpSolverCython_cost_set_m, __pyx_k_AcadosOcpSolverCython_cost_set_m, sizeof(__pyx_k_AcadosOcpSolverCython_cost_set_m), 0, 1, 0, 0}, + {&__pyx_kp_u_AcadosOcpSolverCython_does_not_s, __pyx_k_AcadosOcpSolverCython_does_not_s, sizeof(__pyx_k_AcadosOcpSolverCython_does_not_s), 0, 1, 0, 0}, + {&__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2, __pyx_k_AcadosOcpSolverCython_does_not_s_2, sizeof(__pyx_k_AcadosOcpSolverCython_does_not_s_2), 0, 1, 0, 0}, + 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"" : "s", num_found); +} + +/* RaiseDoubleKeywords */ +static void __Pyx_RaiseDoubleKeywordsError( + const char* func_name, + PyObject* kw_name) +{ + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION >= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + while (PyDict_Next(kwds, &pos, &key, &value)) { + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; + continue; + } + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = (**name == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + return -1; +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { + return NULL; + } + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallNoArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, NULL, 0); + } +#endif +#ifdef __Pyx_CyFunction_USED + if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) +#else + if (likely(PyCFunction_Check(func))) +#endif + { + if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { + return __Pyx_PyObject_CallMethO(func, NULL); + } + } + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); +} +#endif + +/* PyCFunctionFastCall */ +#if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); + } else { + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); + } +} +#endif + +/* PyObjectCallOneArg */ +#if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); + } +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (__Pyx_PyFastCFunction_Check(func)) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } + } + return __Pyx__PyObject_CallOneArg(func, arg); +} +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +} +#endif + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); + } + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); + } + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + CYTHON_UNUSED Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind; + Py_ssize_t i, char_pos; + void *result_udata; +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely(char_pos + ulength < 0)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + char_pos * result_ukind, udata, (size_t) (ulength * result_ukind)); + } else { + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + result_ulength++; + value_count++; + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", + name, type->tp_name, Py_TYPE(obj)->tp_name); + return 0; +} + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", + Py_TYPE(obj)->tp_name, type->tp_name); + return 0; +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparseable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static PyObject * +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) + return PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + if (*ts != ',' && *ts != ')') + return PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + if (*ts == ',') ts++; + i++; + } + if (i != ndim) + return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return NULL; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return Py_None; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* Import */ + static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *empty_list = 0; + PyObject *module = 0; + PyObject *global_dict = 0; + PyObject *empty_dict = 0; + PyObject *list; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (!py_import) + goto bad; + #endif + if (from_list) + list = from_list; + else { + empty_list = PyList_New(0); + if (!empty_list) + goto bad; + list = empty_list; + } + global_dict = PyModule_GetDict(__pyx_m); + if (!global_dict) + goto bad; + empty_dict = PyDict_New(); + if (!empty_dict) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, 1); + if (!module) { + if (!PyErr_ExceptionMatches(PyExc_ImportError)) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (!py_level) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, level); + #endif + } + } +bad: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + Py_XDECREF(empty_list); + Py_XDECREF(empty_dict); + return module; +} + +/* SliceObject */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj, + Py_ssize_t cstart, Py_ssize_t cstop, + PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice, + int has_cstart, int has_cstop, CYTHON_UNUSED int wraparound) { +#if CYTHON_USE_TYPE_SLOTS + PyMappingMethods* mp; +#if PY_MAJOR_VERSION < 3 + PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence; + if (likely(ms && ms->sq_slice)) { + if (!has_cstart) { + if (_py_start && (*_py_start != Py_None)) { + cstart = __Pyx_PyIndex_AsSsize_t(*_py_start); + if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; + } else + cstart = 0; + } + if (!has_cstop) { + if (_py_stop && (*_py_stop != Py_None)) { + cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop); + if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; + } else + cstop = PY_SSIZE_T_MAX; + } + if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) { + Py_ssize_t l = ms->sq_length(obj); + if (likely(l >= 0)) { + if (cstop < 0) { + cstop += l; + if (cstop < 0) cstop = 0; + } + if (cstart < 0) { + cstart += l; + if (cstart < 0) cstart = 0; + } + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + goto bad; + PyErr_Clear(); + } + } + return ms->sq_slice(obj, cstart, cstop); + } +#endif + mp = Py_TYPE(obj)->tp_as_mapping; + if (likely(mp && mp->mp_subscript)) +#endif + { + PyObject* result; + PyObject *py_slice, *py_start, *py_stop; + if (_py_slice) { + py_slice = *_py_slice; + } else { + PyObject* owned_start = NULL; + PyObject* owned_stop = NULL; + if (_py_start) { + py_start = *_py_start; + } else { + if (has_cstart) { + owned_start = py_start = PyInt_FromSsize_t(cstart); + if (unlikely(!py_start)) goto bad; + } else + py_start = Py_None; + } + if (_py_stop) { + py_stop = *_py_stop; + } else { + if (has_cstop) { + owned_stop = py_stop = PyInt_FromSsize_t(cstop); + if (unlikely(!py_stop)) { + Py_XDECREF(owned_start); + goto bad; + } + } else + py_stop = Py_None; + } + py_slice = PySlice_New(py_start, py_stop, Py_None); + Py_XDECREF(owned_start); + Py_XDECREF(owned_stop); + if (unlikely(!py_slice)) goto bad; + } +#if CYTHON_USE_TYPE_SLOTS + result = mp->mp_subscript(obj, py_slice); +#else + result = PyObject_GetItem(obj, py_slice); +#endif + if (!_py_slice) { + Py_DECREF(py_slice); + } + return result; + } + PyErr_Format(PyExc_TypeError, + "'%.200s' object is unsliceable", Py_TYPE(obj)->tp_name); +bad: + return NULL; +} + +/* FetchCommonType */ + static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* fake_module; + PyTypeObject* cached_type = NULL; + fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI); + if (!fake_module) return NULL; + Py_INCREF(fake_module); + cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name); + if (cached_type) { + if (!PyType_Check((PyObject*)cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", + type->tp_name); + goto bad; + } + if (cached_type->tp_basicsize != type->tp_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + type->tp_name); + goto bad; + } + } else { + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; + } +done: + Py_DECREF(fake_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} + +/* CythonFunctionShared */ + #include +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure) +{ + if (unlikely(op->func_doc == NULL)) { + if (op->func.m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(op->func.m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(op->func.m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp = op->func_doc; + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + op->func_doc = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + if (unlikely(op->func_name == NULL)) { +#if PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(op->func.m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(op->func.m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + tmp = op->func_name; + Py_INCREF(value); + op->func_name = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + tmp = op->func_qualname; + Py_INCREF(value); + op->func_qualname = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_self(__pyx_CyFunctionObject *m, CYTHON_UNUSED void *closure) +{ + PyObject *self; + self = m->func_closure; + if (self == NULL) + self = Py_None; + Py_INCREF(self); + return self; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) +{ + PyObject *tmp; + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + tmp = op->func_dict; + Py_INCREF(value); + op->func_dict = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(CYTHON_UNUSED __pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value) { + value = Py_None; + } else if (value != Py_None && !PyTuple_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + Py_INCREF(value); + tmp = op->defaults_tuple; + op->defaults_tuple = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->defaults_tuple; + if (unlikely(!result)) { + if (op->defaults_getter) { + if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value) { + value = Py_None; + } else if (value != Py_None && !PyDict_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + Py_INCREF(value); + tmp = op->defaults_kwdict; + op->defaults_kwdict = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->defaults_kwdict; + if (unlikely(!result)) { + if (op->defaults_getter) { + if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { + PyObject* tmp; + if (!value || value == Py_None) { + value = NULL; + } else if (!PyDict_Check(value)) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + tmp = op->func_annotations; + op->func_annotations = value; + Py_XDECREF(tmp); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { + PyObject* result = op->func_annotations; + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "__self__", (getter)__Pyx_CyFunction_get_self, 0, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), PY_WRITE_RESTRICTED, 0}, + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, CYTHON_UNUSED PyObject *args) +{ +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(m->func.m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func.m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + if (unlikely(op == NULL)) + return NULL; + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; + op->func.m_ml = ml; + op->func.m_self = (PyObject *) op; + Py_XINCREF(closure); + op->func_closure = closure; + Py_XINCREF(module); + op->func.m_module = module; + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; + op->func_classobj = NULL; + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); + Py_CLEAR(m->func.m_module); + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); + Py_CLEAR(m->func_classobj); + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + PyObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); + Py_VISIT(m->func.m_module); + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); + Py_VISIT(m->func_classobj); + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type) +{ +#if PY_MAJOR_VERSION < 3 + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) { + Py_INCREF(func); + return func; + } + if (m->flags & __Pyx_CYFUNCTION_CLASSMETHOD) { + if (type == NULL) + type = (PyObject *)(Py_TYPE(obj)); + return __Pyx_PyMethod_New(func, type, (PyObject *)(Py_TYPE(type))); + } + if (obj == Py_None) + obj = NULL; +#endif + return __Pyx_PyMethod_New(func, obj, type); +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + Py_ssize_t size; + switch (f->m_ml->ml_flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { + size = PyTuple_GET_SIZE(arg); + if (likely(size == 0)) + return (*meth)(self, NULL); + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { + size = PyTuple_GET_SIZE(arg); + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags in " + "__Pyx_CyFunction_Call. METH_OLDARGS is no " + "longer supported!"); + return NULL; + } + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + return __Pyx_CyFunction_CallMethod(func, ((PyCFunctionObject*)func)->m_self, arg, kw); +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; + argc = PyTuple_GET_SIZE(args); + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, + 0, + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_CyFunction_descr_get, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 + 0, +#endif +}; +static int __pyx_CyFunction_init(void) { + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ + static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* GetTopmostException */ + #if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ + #if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + #endif + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +#endif + +/* GetException */ + #if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type, *local_value, *local_tb; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* IterFinish */ + static CYTHON_INLINE int __Pyx_IterFinish(void) { +#if CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* exc_type = tstate->curexc_type; + if (unlikely(exc_type)) { + if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) { + PyObject *exc_value, *exc_tb; + exc_value = tstate->curexc_value; + exc_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + Py_DECREF(exc_type); + Py_XDECREF(exc_value); + Py_XDECREF(exc_tb); + return 0; + } else { + return -1; + } + } + return 0; +#else + if (unlikely(PyErr_Occurred())) { + if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) { + PyErr_Clear(); + return 0; + } else { + return -1; + } + } + return 0; +#endif +} + +/* PyObjectGetMethod */ + static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (descr != NULL) { + *method = descr; + return 0; + } + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(name)); +#endif + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ + static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* RaiseNeedMoreValuesToUnpack */ + static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseTooManyValuesToUnpack */ + static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* UnpackItemEndCheck */ + static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } else { + return __Pyx_IterFinish(); + } + return 0; +} + +/* RaiseNoneIterError */ + static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* UnpackTupleError */ + static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { + if (t == Py_None) { + __Pyx_RaiseNoneNotIterableError(); + } else if (PyTuple_GET_SIZE(t) < index) { + __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); + } else { + __Pyx_RaiseTooManyValuesError(index); + } +} + +/* UnpackTuple2 */ + static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { + PyObject *value1 = NULL, *value2 = NULL; +#if CYTHON_COMPILING_IN_PYPY + value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; + value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; +#else + value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); + value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); +#endif + if (decref_tuple) { + Py_DECREF(tuple); + } + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +#if CYTHON_COMPILING_IN_PYPY +bad: + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +#endif +} +static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, + int has_known_size, int decref_tuple) { + Py_ssize_t index; + PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; + iternextfunc iternext; + iter = PyObject_GetIter(tuple); + if (unlikely(!iter)) goto bad; + if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } + iternext = Py_TYPE(iter)->tp_iternext; + value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } + value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } + if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; + Py_DECREF(iter); + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +unpacking_failed: + if (!has_known_size && __Pyx_IterFinish() == 0) + __Pyx_RaiseNeedMoreValuesError(index); +bad: + Py_XDECREF(iter); + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +} + +/* dict_iter */ + static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_source_is_dict) { + is_dict = is_dict || likely(PyDict_CheckExact(iterable)); + *p_source_is_dict = is_dict; + if (is_dict) { +#if !CYTHON_COMPILING_IN_PYPY + *p_orig_length = PyDict_Size(iterable); + Py_INCREF(iterable); + return iterable; +#elif PY_MAJOR_VERSION >= 3 + static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; + PyObject **pp = NULL; + if (method_name) { + const char *name = PyUnicode_AsUTF8(method_name); + if (strcmp(name, "iteritems") == 0) pp = &py_items; + else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; + else if (strcmp(name, "itervalues") == 0) pp = &py_values; + if (pp) { + if (!*pp) { + *pp = PyUnicode_FromString(name + 4); + if (!*pp) + return NULL; + } + method_name = *pp; + } + } +#endif + } + *p_orig_length = 0; + if (method_name) { + PyObject* iter; + iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); + if (!iterable) + return NULL; +#if !CYTHON_COMPILING_IN_PYPY + if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) + return iterable; +#endif + iter = PyObject_GetIter(iterable); + Py_DECREF(iterable); + return iter; + } + return PyObject_GetIter(iterable); +} +static CYTHON_INLINE int __Pyx_dict_iter_next( + PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { + PyObject* next_item; +#if !CYTHON_COMPILING_IN_PYPY + if (source_is_dict) { + PyObject *key, *value; + if (unlikely(orig_length != PyDict_Size(iter_obj))) { + PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); + return -1; + } + if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { + return 0; + } + if (pitem) { + PyObject* tuple = PyTuple_New(2); + if (unlikely(!tuple)) { + return -1; + } + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(tuple, 0, key); + PyTuple_SET_ITEM(tuple, 1, value); + *pitem = tuple; + } else { + if (pkey) { + Py_INCREF(key); + *pkey = key; + } + if (pvalue) { + Py_INCREF(value); + *pvalue = value; + } + } + return 1; + } else if (PyTuple_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyTuple_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else if (PyList_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyList_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else +#endif + { + next_item = PyIter_Next(iter_obj); + if (unlikely(!next_item)) { + return __Pyx_IterFinish(); + } + } + if (pitem) { + *pitem = next_item; + } else if (pkey && pvalue) { + if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) + return -1; + } else if (pkey) { + *pkey = next_item; + } else { + *pvalue = next_item; + } + return 1; +} + +/* None */ + static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* GetItemInt */ + static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (!j) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; + if (likely(m && m->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { + Py_ssize_t l = m->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return m->sq_item(o, i); + } + } +#else + if (is_list || PySequence_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* ObjectGetItem */ + #if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { + PyObject *runerr; + Py_ssize_t key_value; + PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; + if (unlikely(!(m && m->sq_item))) { + PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); + return NULL; + } + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { + PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; + if (likely(m && m->mp_subscript)) { + return m->mp_subscript(obj, key); + } + return __Pyx_PyObject_GetIndex(obj, key); +} +#endif + +/* PyIntBinop */ + #if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, int inplace, int zerodivision_check) { + (void)inplace; + (void)zerodivision_check; + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long x; + long a = PyInt_AS_LONG(op1); + x = (long)((unsigned long)a + b); + if (likely((x^a) >= 0 || (x^b) >= 0)) + return PyInt_FromLong(x); + return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + const long b = intval; + long a, x; +#ifdef HAVE_LONG_LONG + const PY_LONG_LONG llb = intval; + PY_LONG_LONG lla, llx; +#endif + const digit* digits = ((PyLongObject*)op1)->ob_digit; + const Py_ssize_t size = Py_SIZE(op1); + if (likely(__Pyx_sst_abs(size) <= 1)) { + a = likely(size) ? digits[0] : 0; + if (size == -1) a = -a; + } else { + switch (size) { + case -2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case -3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case -4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + default: return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + } + x = a + b; + return PyLong_FromLong(x); +#ifdef HAVE_LONG_LONG + long_long: + llx = lla + llb; + return PyLong_FromLongLong(llx); +#endif + + + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; + double a = PyFloat_AS_DOUBLE(op1); + double result; + PyFPE_START_PROTECT("add", return NULL) + result = ((double)a) + (double)b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); + } + return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); +} +#endif + +/* BufferIndexError */ + static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyUnicode_Unicode */ + static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { + if (unlikely(obj == Py_None)) + obj = __pyx_kp_u_None; + return __Pyx_NewRef(obj); +} + +/* CIntToDigits */ + static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ + static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ + static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + if (last_one_off) { + assert(*dpos == '0'); + dpos++; + } + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#ifdef HAVE_STDARG_PROTOTYPES + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + int first_time; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) + return; + if (unlikely(__pyx_get_slice_count(memview) < 0)) + __pyx_fatalerror("Acquisition count is %d (line %d)", + __pyx_get_slice_count(memview), lineno); + first_time = __pyx_add_acquisition_count(memview) == 0; + if (unlikely(first_time)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } +} +static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + int last_time; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + if (unlikely(__pyx_get_slice_count(memview) <= 0)) + __pyx_fatalerror("Acquisition count is %d (line %d)", + __pyx_get_slice_count(memview), lineno); + last_time = __pyx_sub_acquisition_count(memview) == 1; + memslice->data = NULL; + if (unlikely(last_time)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + memslice->memview = NULL; + } +} + +/* PyErrExceptionMatches */ + #if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); +} +#endif + +/* None */ + static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr */ + static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* decode_c_string */ + static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + Py_ssize_t length; + if (unlikely((start < 0) | (stop < 0))) { + size_t slen = strlen(cstring); + if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, + "c-string too long to convert to Python"); + return NULL; + } + length = (Py_ssize_t) slen; + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* GetAttr3 */ + static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r = __Pyx_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +} + +/* SwapException */ + #if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* FastTypeChecks */ + #if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ + static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +} + +/* SetupReduce */ + static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* SetVTable */ + static int __Pyx_SetVtable(PyObject *dict, void *vtable) { +#if PY_VERSION_HEX >= 0x02070000 + PyObject *ob = PyCapsule_New(vtable, 0, 0); +#else + PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); +#endif + if (!ob) + goto bad; + if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType +#define __PYX_HAVE_RT_ImportType +static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, + size_t size, enum __Pyx_ImportType_CheckSize check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; +#ifdef Py_LIMITED_API + PyObject *py_basicsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#ifndef Py_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if ((size_t)basicsize < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* MemviewSliceIsContig */ + static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ + static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* Capsule */ + static CYTHON_INLINE PyObject * +__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) +{ + PyObject *cobj; +#if PY_VERSION_HEX >= 0x02070000 + cobj = PyCapsule_New(p, sig, NULL); +#else + cobj = PyCObject_FromVoidPtr(p, NULL); +#endif + return cobj; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) +{ + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_F_CONTIG, + (PyBUF_F_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG, + (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1, + &__Pyx_TypeInfo_unsigned_char, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if (b.imag == 0) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if (b.imag == 0) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(int) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(int) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (int) 0; + case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) + case -2: + if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(int) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(int) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(int) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } +#endif + if (sizeof(int) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(size_t) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (size_t) 0; + case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) + case 2: + if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(size_t) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (size_t) 0; + case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) + case -2: + if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } +#endif + if (sizeof(size_t) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(long) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(long) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (long) 0; + case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) + case -2: + if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(long) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(long) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(long) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } +#endif + if (sizeof(long) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(char) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (char) 0; + case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) + case 2: + if (8 * sizeof(char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(char) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (char) 0; + case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) + case -2: + if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } +#endif + if (sizeof(char) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(char) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* CheckBinaryVersion */ + static int __Pyx_check_binary_version(void) { + char ctversion[4], rtversion[4]; + PyOS_snprintf(ctversion, 4, "%d.%d", PY_MAJOR_VERSION, PY_MINOR_VERSION); + PyOS_snprintf(rtversion, 4, "%s", Py_GetVersion()); + if (ctversion[0] != rtversion[0] || ctversion[2] != rtversion[2]) { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compiletime version %s of module '%.100s' " + "does not match runtime version %s", + ctversion, __Pyx_MODULE_NAME, rtversion); + return PyErr_WarnEx(NULL, message, 1); + } + return 0; +} + +/* InitStrings */ + static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION < 3 + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + #else + if (t->is_unicode | t->is_str) { + if (t->intern) { + *t->p = PyUnicode_InternFromString(t->s); + } else if (t->encoding) { + *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); + } else { + *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); + } + } else { + *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); + } + #endif + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + ++t; + } + return 0; +} + +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type %.200s). " + "The ability to return an instance of a strict subclass of int " + "is deprecated, and may be removed in a future version of Python.", + Py_TYPE(result)->tp_name)) { + Py_DECREF(result); + return NULL; + } + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type %.200s)", + type_name, type_name, Py_TYPE(result)->tp_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)b)->ob_digit; + const Py_ssize_t size = Py_SIZE(b); + if (likely(__Pyx_sst_abs(size) <= 1)) { + ival = likely(size) ? digits[0] : 0; + if (size == -1) ival = -ival; + return ival; + } else { + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so new file mode 100755 index 000000000..93d707812 Binary files /dev/null and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c new file mode 100644 index 000000000..f38e2639e --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c @@ -0,0 +1,281 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ +// standard +#include +#include + +// acados +#include "acados_c/external_function_interface.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#include "acados/sim/sim_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/print.h" + + +// example specific +#include "long_model/long_model.h" +#include "acados_sim_solver_long.h" + + +// ** solver data ** + +sim_solver_capsule * long_acados_sim_solver_create_capsule() +{ + void* capsule_mem = malloc(sizeof(sim_solver_capsule)); + sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; + + return capsule; +} + + +int long_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) +{ + free(capsule); + return 0; +} + + +int long_acados_sim_create(sim_solver_capsule * capsule) +{ + // initialize + const int nx = LONG_NX; + const int nu = LONG_NU; + const int nz = LONG_NZ; + const int np = LONG_NP; + bool tmp_bool; + + + double Tsim = 0.06944444444444445; + + + // explicit ode + capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + + capsule->sim_forw_vde_casadi->casadi_fun = &long_expl_vde_forw; + capsule->sim_forw_vde_casadi->casadi_n_in = &long_expl_vde_forw_n_in; + capsule->sim_forw_vde_casadi->casadi_n_out = &long_expl_vde_forw_n_out; + capsule->sim_forw_vde_casadi->casadi_sparsity_in = &long_expl_vde_forw_sparsity_in; + capsule->sim_forw_vde_casadi->casadi_sparsity_out = &long_expl_vde_forw_sparsity_out; + capsule->sim_forw_vde_casadi->casadi_work = &long_expl_vde_forw_work; + external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); + + capsule->sim_expl_ode_fun_casadi->casadi_fun = &long_expl_ode_fun; + capsule->sim_expl_ode_fun_casadi->casadi_n_in = &long_expl_ode_fun_n_in; + capsule->sim_expl_ode_fun_casadi->casadi_n_out = &long_expl_ode_fun_n_out; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &long_expl_ode_fun_sparsity_in; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &long_expl_ode_fun_sparsity_out; + capsule->sim_expl_ode_fun_casadi->casadi_work = &long_expl_ode_fun_work; + external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); + + + + // sim plan & config + sim_solver_plan_t plan; + plan.sim_solver = ERK; + + // create correct config based on plan + sim_config * long_sim_config = sim_config_create(plan); + capsule->acados_sim_config = long_sim_config; + + // sim dims + void *long_sim_dims = sim_dims_create(long_sim_config); + capsule->acados_sim_dims = long_sim_dims; + sim_dims_set(long_sim_config, long_sim_dims, "nx", &nx); + sim_dims_set(long_sim_config, long_sim_dims, "nu", &nu); + sim_dims_set(long_sim_config, long_sim_dims, "nz", &nz); + + + // sim opts + sim_opts *long_sim_opts = sim_opts_create(long_sim_config, long_sim_dims); + capsule->acados_sim_opts = long_sim_opts; + int tmp_int = 3; + sim_opts_set(long_sim_config, long_sim_opts, "newton_iter", &tmp_int); + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + sim_opts_set(long_sim_config, long_sim_opts, "collocation_type", &collocation_type); + + + tmp_int = 4; + sim_opts_set(long_sim_config, long_sim_opts, "num_stages", &tmp_int); + tmp_int = 1; + sim_opts_set(long_sim_config, long_sim_opts, "num_steps", &tmp_int); + tmp_bool = 0; + sim_opts_set(long_sim_config, long_sim_opts, "jac_reuse", &tmp_bool); + + + // sim in / out + sim_in *long_sim_in = sim_in_create(long_sim_config, long_sim_dims); + capsule->acados_sim_in = long_sim_in; + sim_out *long_sim_out = sim_out_create(long_sim_config, long_sim_dims); + capsule->acados_sim_out = long_sim_out; + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "T", &Tsim); + + // model functions + long_sim_config->model_set(long_sim_in->model, + "expl_vde_for", capsule->sim_forw_vde_casadi); + long_sim_config->model_set(long_sim_in->model, + "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); + + // sim solver + sim_solver *long_sim_solver = sim_solver_create(long_sim_config, + long_sim_dims, long_sim_opts); + capsule->acados_sim_solver = long_sim_solver; + + + /* initialize parameter values */ + double* p = calloc(np, sizeof(double)); + + p[0] = -1.2; + p[1] = 1.2; + p[4] = 1.45; + + long_acados_sim_update_params(capsule, p, np); + free(p); + + + /* initialize input */ + // x + double x0[3]; + for (int ii = 0; ii < 3; ii++) + x0[ii] = 0.0; + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "x", x0); + + + // u + double u0[1]; + for (int ii = 0; ii < 1; ii++) + u0[ii] = 0.0; + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "u", u0); + + // S_forw + double S_forw[12]; + for (int ii = 0; ii < 12; ii++) + S_forw[ii] = 0.0; + for (int ii = 0; ii < 3; ii++) + S_forw[ii + ii * 3 ] = 1.0; + + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "S_forw", S_forw); + + int status = sim_precompute(long_sim_solver, long_sim_in, long_sim_out); + + return status; +} + + +int long_acados_sim_solve(sim_solver_capsule *capsule) +{ + // integrate dynamics using acados sim_solver + int status = sim_solve(capsule->acados_sim_solver, + capsule->acados_sim_in, capsule->acados_sim_out); + if (status != 0) + printf("error in long_acados_sim_solve()! Exiting.\n"); + + return status; +} + + +int long_acados_sim_free(sim_solver_capsule *capsule) +{ + // free memory + sim_solver_destroy(capsule->acados_sim_solver); + sim_in_destroy(capsule->acados_sim_in); + sim_out_destroy(capsule->acados_sim_out); + sim_opts_destroy(capsule->acados_sim_opts); + sim_dims_destroy(capsule->acados_sim_dims); + sim_config_destroy(capsule->acados_sim_config); + + // free external function + external_function_param_casadi_free(capsule->sim_forw_vde_casadi); + external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); + + return 0; +} + + +int long_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) +{ + int status = 0; + int casadi_np = LONG_NP; + + if (casadi_np != np) { + printf("long_acados_sim_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); + capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); + + return status; +} + +/* getters pointers to C objects*/ +sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_config; +}; + +sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_in; +}; + +sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_out; +}; + +void * long_acados_get_sim_dims(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_dims; +}; + +sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_opts; +}; + +sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_solver; +}; + diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.h new file mode 100644 index 000000000..4a6a4c1fb --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.h @@ -0,0 +1,103 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SIM_long_H_ +#define ACADOS_SIM_long_H_ + +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#define LONG_NX 3 +#define LONG_NZ 0 +#define LONG_NU 1 +#define LONG_NP 5 + +#ifdef __cplusplus +extern "C" { +#endif + + +// ** capsule for solver data ** +typedef struct sim_solver_capsule +{ + // acados objects + sim_in *acados_sim_in; + sim_out *acados_sim_out; + sim_solver *acados_sim_solver; + sim_opts *acados_sim_opts; + sim_config *acados_sim_config; + void *acados_sim_dims; + + /* external functions */ + // ERK + external_function_param_casadi * sim_forw_vde_casadi; + external_function_param_casadi * sim_expl_ode_fun_casadi; + external_function_param_casadi * sim_expl_ode_hess; + + // IRK + external_function_param_casadi * sim_impl_dae_fun; + external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z; + external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z; + external_function_param_casadi * sim_impl_dae_hess; + + // GNSF + external_function_param_casadi * sim_gnsf_phi_fun; + external_function_param_casadi * sim_gnsf_phi_fun_jac_y; + external_function_param_casadi * sim_gnsf_phi_jac_y_uhat; + external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z; + external_function_param_casadi * sim_gnsf_get_matrices_fun; + +} sim_solver_capsule; + + +ACADOS_SYMBOL_EXPORT int long_acados_sim_create(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int long_acados_sim_solve(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int long_acados_sim_free(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT int long_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np); + +ACADOS_SYMBOL_EXPORT sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT void * long_acados_get_sim_dims(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule); + + +ACADOS_SYMBOL_EXPORT sim_solver_capsule * long_acados_sim_solver_create_capsule(void); +ACADOS_SYMBOL_EXPORT int long_acados_sim_solver_free_capsule(sim_solver_capsule *capsule); + +#ifdef __cplusplus +} +#endif + +#endif // ACADOS_SIM_long_H_ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd new file mode 100644 index 000000000..b00b36583 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd @@ -0,0 +1,62 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_solver_common + +cdef extern from "acados_solver_long.h": + ctypedef struct nlp_solver_capsule "long_solver_capsule": + pass + + nlp_solver_capsule * acados_create_capsule "long_acados_create_capsule"() + int acados_free_capsule "long_acados_free_capsule"(nlp_solver_capsule *capsule) + + int acados_create "long_acados_create"(nlp_solver_capsule * capsule) + + int acados_create_with_discretization "long_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps) + int acados_update_time_steps "long_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps) + int acados_update_qp_solver_cond_N "long_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) + + int acados_update_params "long_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) + int acados_solve "long_acados_solve"(nlp_solver_capsule * capsule) + int acados_reset "long_acados_reset"(nlp_solver_capsule * capsule) + int acados_free "long_acados_free"(nlp_solver_capsule * capsule) + void acados_print_stats "long_acados_print_stats"(nlp_solver_capsule * capsule) + + acados_solver_common.ocp_nlp_in *acados_get_nlp_in "long_acados_get_nlp_in"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_nlp_out "long_acados_get_nlp_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_sens_out "long_acados_get_sens_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "long_acados_get_nlp_solver"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_config *acados_get_nlp_config "long_acados_get_nlp_config"(nlp_solver_capsule * capsule) + void *acados_get_nlp_opts "long_acados_get_nlp_opts"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "long_acados_get_nlp_dims"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "long_acados_get_nlp_plan"(nlp_solver_capsule * capsule) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c new file mode 100644 index 000000000..079c82bec --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c @@ -0,0 +1,1011 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// standard +#include +#include +#include +// acados +// #include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "long_model/long_model.h" + + + +#include "long_constraints/long_h_constraint.h" + + +#include "long_cost/long_cost_y_fun.h" +#include "long_cost/long_cost_y_0_fun.h" +#include "long_cost/long_cost_y_e_fun.h" + +#include "acados_solver_long.h" + +#define NX LONG_NX +#define NZ LONG_NZ +#define NU LONG_NU +#define NP LONG_NP +#define NBX LONG_NBX +#define NBX0 LONG_NBX0 +#define NBU LONG_NBU +#define NSBX LONG_NSBX +#define NSBU LONG_NSBU +#define NSH LONG_NSH +#define NSG LONG_NSG +#define NSPHI LONG_NSPHI +#define NSHN LONG_NSHN +#define NSGN LONG_NSGN +#define NSPHIN LONG_NSPHIN +#define NSBXN LONG_NSBXN +#define NS LONG_NS +#define NSN LONG_NSN +#define NG LONG_NG +#define NBXN LONG_NBXN +#define NGN LONG_NGN +#define NY0 LONG_NY0 +#define NY LONG_NY +#define NYN LONG_NYN +// #define N LONG_N +#define NH LONG_NH +#define NPHI LONG_NPHI +#define NHN LONG_NHN +#define NPHIN LONG_NPHIN +#define NR LONG_NR + + +// ** solver data ** + +long_solver_capsule * long_acados_create_capsule(void) +{ + void* capsule_mem = malloc(sizeof(long_solver_capsule)); + long_solver_capsule *capsule = (long_solver_capsule *) capsule_mem; + + return capsule; +} + + +int long_acados_free_capsule(long_solver_capsule *capsule) +{ + free(capsule); + return 0; +} + + +int long_acados_create(long_solver_capsule* capsule) +{ + int N_shooting_intervals = LONG_N; + double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps + return long_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); +} + + +int long_acados_update_time_steps(long_solver_capsule* capsule, int N, double* new_time_steps) +{ + if (N != capsule->nlp_solver_plan->N) { + fprintf(stderr, "long_acados_update_time_steps: given number of time steps (= %d) " \ + "differs from the currently allocated number of " \ + "time steps (= %d)!\n" \ + "Please recreate with new discretization and provide a new vector of time_stamps!\n", + N, capsule->nlp_solver_plan->N); + return 1; + } + + ocp_nlp_config * nlp_config = capsule->nlp_config; + ocp_nlp_dims * nlp_dims = capsule->nlp_dims; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); + } + return 0; +} + +/** + * Internal function for long_acados_create: step 1 + */ +void long_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) +{ + assert(N == nlp_solver_plan->N); + + /************************************************ + * plan + ************************************************/ + nlp_solver_plan->nlp_solver = SQP_RTI; + + nlp_solver_plan->ocp_qp_solver_plan.qp_solver = PARTIAL_CONDENSING_HPIPM; + + nlp_solver_plan->nlp_cost[0] = NONLINEAR_LS; + for (int i = 1; i < N; i++) + nlp_solver_plan->nlp_cost[i] = NONLINEAR_LS; + + nlp_solver_plan->nlp_cost[N] = NONLINEAR_LS; + + for (int i = 0; i < N; i++) + { + nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; + nlp_solver_plan->sim_solver_plan[i].sim_solver = ERK; + } + + for (int i = 0; i < N; i++) + {nlp_solver_plan->nlp_constraints[i] = BGH; + } + nlp_solver_plan->nlp_constraints[N] = BGH; +} + + +/** + * Internal function for long_acados_create: step 2 + */ +ocp_nlp_dims* long_acados_create_2_create_and_set_dimensions(long_solver_capsule* capsule) +{ + ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; + const int N = nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * dimensions + ************************************************/ + #define NINTNP1MEMS 17 + int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); + + int* nx = intNp1mem + (N+1)*0; + int* nu = intNp1mem + (N+1)*1; + int* nbx = intNp1mem + (N+1)*2; + int* nbu = intNp1mem + (N+1)*3; + int* nsbx = intNp1mem + (N+1)*4; + int* nsbu = intNp1mem + (N+1)*5; + int* nsg = intNp1mem + (N+1)*6; + int* nsh = intNp1mem + (N+1)*7; + int* nsphi = intNp1mem + (N+1)*8; + int* ns = intNp1mem + (N+1)*9; + int* ng = intNp1mem + (N+1)*10; + int* nh = intNp1mem + (N+1)*11; + int* nphi = intNp1mem + (N+1)*12; + int* nz = intNp1mem + (N+1)*13; + int* ny = intNp1mem + (N+1)*14; + int* nr = intNp1mem + (N+1)*15; + int* nbxe = intNp1mem + (N+1)*16; + + for (int i = 0; i < N+1; i++) + { + // common + nx[i] = NX; + nu[i] = NU; + nz[i] = NZ; + ns[i] = NS; + // cost + ny[i] = NY; + // constraints + nbx[i] = NBX; + nbu[i] = NBU; + nsbx[i] = NSBX; + nsbu[i] = NSBU; + nsg[i] = NSG; + nsh[i] = NSH; + nsphi[i] = NSPHI; + ng[i] = NG; + nh[i] = NH; + nphi[i] = NPHI; + nr[i] = NR; + nbxe[i] = 0; + } + + // for initial state + nbx[0] = NBX0; + nsbx[0] = 0; + ns[0] = NS - NSBX; + nbxe[0] = 3; + ny[0] = NY0; + + // terminal - common + nu[N] = 0; + nz[N] = 0; + ns[N] = NSN; + // cost + ny[N] = NYN; + // constraint + nbx[N] = NBXN; + nbu[N] = 0; + ng[N] = NGN; + nh[N] = NHN; + nphi[N] = NPHIN; + nr[N] = 0; + + nsbx[N] = NSBXN; + nsbu[N] = 0; + nsg[N] = NSGN; + nsh[N] = NSHN; + nsphi[N] = NSPHIN; + + /* create and set ocp_nlp_dims */ + ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); + + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); + + for (int i = 0; i <= N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); + } + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); + for (int i = 1; i < N; i++) + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); + + for (int i = 0; i < N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]); + } + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); + free(intNp1mem); +return nlp_dims; +} + + +/** + * Internal function for long_acados_create: step 3 + */ +void long_acados_create_3_create_and_set_functions(long_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * external functions + ************************************************/ + +#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ + capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ + capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ + capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ + capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ + external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , 5); \ + }while(false) + + + // constraints.constr_type == "BGH" and dims.nh > 0 + capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun_jac[i], long_constr_h_fun_jac_uxt_zt); + } + capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun[i], long_constr_h_fun); + } + + + + + // explicit ode + capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(forw_vde_casadi[i], long_expl_vde_forw); + } + + capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(expl_ode_fun[i], long_expl_ode_fun); + } + + + // nonlinear least squares function + MAP_CASADI_FNC(cost_y_0_fun, long_cost_y_0_fun); + MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, long_cost_y_0_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_0_hess, long_cost_y_0_hess); + // nonlinear least squares cost + capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun[i], long_cost_y_fun); + } + + capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], long_cost_y_fun_jac_ut_xt); + } + + capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_hess[i], long_cost_y_hess); + } + // nonlinear least square function + MAP_CASADI_FNC(cost_y_e_fun, long_cost_y_e_fun); + MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, long_cost_y_e_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_e_hess, long_cost_y_e_hess); + +#undef MAP_CASADI_FNC +} + + +/** + * Internal function for long_acados_create: step 4 + */ +void long_acados_create_4_set_default_parameters(long_solver_capsule* capsule) { + const int N = capsule->nlp_solver_plan->N; + // initialize parameters to nominal value + double* p = calloc(NP, sizeof(double)); + p[0] = -1.2; + p[1] = 1.2; + p[4] = 1.45; + + for (int i = 0; i <= N; i++) { + long_acados_update_params(capsule, i, p, NP); + } + free(p); +} + + +/** + * Internal function for long_acados_create: step 5 + */ +void long_acados_create_5_set_nlp_in(long_solver_capsule* capsule, const int N, double* new_time_steps) +{ + assert(N == capsule->nlp_solver_plan->N); + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + + /************************************************ + * nlp_in + ************************************************/ +// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); +// capsule->nlp_in = nlp_in; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + // set up time_steps + + + if (new_time_steps) { + long_acados_update_time_steps(capsule, N, new_time_steps); + } else {// time_steps are different + double* time_steps = malloc(N*sizeof(double)); + time_steps[0] = 0.06944444444444445; + time_steps[1] = 0.20833333333333337; + time_steps[2] = 0.3472222222222222; + time_steps[3] = 0.4861111111111112; + time_steps[4] = 0.6250000000000002; + time_steps[5] = 0.7638888888888886; + time_steps[6] = 0.9027777777777786; + time_steps[7] = 1.041666666666666; + time_steps[8] = 1.1805555555555554; + time_steps[9] = 1.3194444444444455; + time_steps[10] = 1.4583333333333313; + time_steps[11] = 1.5972222222222232; + long_acados_update_time_steps(capsule, N, time_steps); + free(time_steps); + } + + /**** Dynamics ****/ + for (int i = 0; i < N; i++) + { + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); + + } + + /**** Cost ****/ + double* W_0 = calloc(NY0*NY0, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); + free(W_0); + + double* yref_0 = calloc(NY0, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); + free(yref_0); + double* W = calloc(NY*NY, sizeof(double)); + // change only the non-zero elements: + + double* yref = calloc(NY, sizeof(double)); + // change only the non-zero elements: + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); + } + free(W); + free(yref); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); + } + double* zlumem = calloc(4*NS, sizeof(double)); + double* Zl = zlumem+NS*0; + double* Zu = zlumem+NS*1; + double* zl = zlumem+NS*2; + double* zu = zlumem+NS*3; + // change only the non-zero elements: + + for (int i = 0; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu); + } + free(zlumem); + + // terminal cost + double* yref_e = calloc(NYN, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); + free(yref_e); + + double* W_e = calloc(NYN*NYN, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); + free(W_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); + + + + /**** Constraints ****/ + + // bounds for initial stage + // x0 + int* idxbx0 = malloc(NBX0 * sizeof(int)); + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + + double* lubx0 = calloc(2*NBX0, sizeof(double)); + double* lbx0 = lubx0; + double* ubx0 = lubx0 + NBX0; + // change only the non-zero elements: + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + free(idxbx0); + free(lubx0); + // idxbxe_0 + int* idxbxe_0 = malloc(3 * sizeof(int)); + + idxbxe_0[0] = 0; + idxbxe_0[1] = 1; + idxbxe_0[2] = 2; + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); + free(idxbxe_0); + + /* constraints that are the same for initial and intermediate */ + + + + + // set up soft bounds for nonlinear constraints + int* idxsh = malloc(NSH * sizeof(int)); + + idxsh[0] = 0; + idxsh[1] = 1; + idxsh[2] = 2; + idxsh[3] = 3; + double* lush = calloc(2*NSH, sizeof(double)); + double* lsh = lush; + double* ush = lush + NSH; + + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush); + } + free(idxsh); + free(lush); + + + + + + + + + // set up nonlinear constraints for stage 0 to N-1 + double* luh = calloc(2*NH, sizeof(double)); + double* lh = luh; + double* uh = luh + NH; + + + + + uh[0] = 10000; + uh[1] = 10000; + uh[2] = 10000; + uh[3] = 10000; + + for (int i = 0; i < N; i++) + { + // nonlinear constraints for stages 0 to N-1 + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac", + &capsule->nl_constr_h_fun_jac[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun", + &capsule->nl_constr_h_fun[i]); + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh); + } + free(luh); + + + + /* terminal constraints */ + + + + + + + + + + + + + + + +} + + +/** + * Internal function for long_acados_create: step 6 + */ +void long_acados_create_6_set_opts(long_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + void *nlp_opts = capsule->nlp_opts; + + /************************************************ + * opts + ************************************************/ + + + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");int full_step_dual = 0; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); + + // set collocation type (relevant for implicit integrators) + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); + + // set up sim_method_num_steps + // all sim_method_num_steps are identical + int sim_method_num_steps = 1; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); + + // set up sim_method_num_stages + // all sim_method_num_stages are identical + int sim_method_num_stages = 4; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); + + int newton_iter_val = 3; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); + + + // set up sim_method_jac_reuse + bool tmp_bool = (bool) 0; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); + + double nlp_solver_step_length = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); + + double levenberg_marquardt = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); + + /* options QP solver */ + int qp_solver_cond_N; + + const int qp_solver_cond_N_ori = 1; + qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); + // set HPIPM mode: should be done before setting other QP solver options + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "BALANCE"); + + + + int qp_solver_iter_max = 10; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); + + + double qp_solver_tol_stat = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat); + double qp_solver_tol_eq = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq); + double qp_solver_tol_ineq = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq); + double qp_solver_tol_comp = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp);int print_level = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); + + + int ext_cost_num_hess = 0; +} + + +/** + * Internal function for long_acados_create: step 7 + */ +void long_acados_create_7_set_nlp_out(long_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + + // initialize primal solution + double* xu0 = calloc(NX+NU, sizeof(double)); + double* x0 = xu0; + + // initialize with x0 + + + + double* u0 = xu0 + NX; + + for (int i = 0; i < N; i++) + { + // x0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); + // u0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); + free(xu0); +} + + +/** + * Internal function for long_acados_create: step 8 + */ +//void long_acados_create_8_create_solver(long_solver_capsule* capsule) +//{ +// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); +//} + +/** + * Internal function for long_acados_create: step 9 + */ +int long_acados_create_9_precompute(long_solver_capsule* capsule) { + int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + if (status != ACADOS_SUCCESS) { + printf("\nocp_nlp_precompute failed!\n\n"); + exit(1); + } + + return status; +} + + +int long_acados_create_with_discretization(long_solver_capsule* capsule, int N, double* new_time_steps) +{ + // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. + if (N != LONG_N && !new_time_steps) { + fprintf(stderr, "long_acados_create_with_discretization: new_time_steps is NULL " \ + "but the number of shooting intervals (= %d) differs from the number of " \ + "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ + N, LONG_N); + return 1; + } + + // number of expected runtime parameters + capsule->nlp_np = NP; + + // 1) create and set nlp_solver_plan; create nlp_config + capsule->nlp_solver_plan = ocp_nlp_plan_create(N); + long_acados_create_1_set_plan(capsule->nlp_solver_plan, N); + capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); + + // 3) create and set dimensions + capsule->nlp_dims = long_acados_create_2_create_and_set_dimensions(capsule); + long_acados_create_3_create_and_set_functions(capsule); + + // 4) set default parameters in functions + long_acados_create_4_set_default_parameters(capsule); + + // 5) create and set nlp_in + capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); + long_acados_create_5_set_nlp_in(capsule, N, new_time_steps); + + // 6) create and set nlp_opts + capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); + long_acados_create_6_set_opts(capsule); + + // 7) create and set nlp_out + // 7.1) nlp_out + capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + // 7.2) sens_out + capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + long_acados_create_7_set_nlp_out(capsule); + + // 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + //long_acados_create_8_create_solver(capsule); + + // 9) do precomputations + int status = long_acados_create_9_precompute(capsule); + return status; +} + +/** + * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. + */ +int long_acados_update_qp_solver_cond_N(long_solver_capsule* capsule, int qp_solver_cond_N) +{ + // 1) destroy solver + ocp_nlp_solver_destroy(capsule->nlp_solver); + + // 2) set new value for "qp_cond_N" + const int N = capsule->nlp_solver_plan->N; + if(qp_solver_cond_N > N) + printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); + ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + // 3) continue with the remaining steps from long_acados_create_with_discretization(...): + // -> 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + + // -> 9) do precomputations + int status = long_acados_create_9_precompute(capsule); + return status; +} + + +int long_acados_reset(long_solver_capsule* capsule) +{ + + // set initialization to all zeros + + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + ocp_nlp_in* nlp_in = capsule->nlp_in; + ocp_nlp_solver* nlp_solver = capsule->nlp_solver; + + int nx, nu, nv, ns, nz, ni, dim; + + double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); + + for(int i=0; i reset memory + int qp_status; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); + if (qp_status == 3) + { + // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); + ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); + } + + free(buffer); + return 0; +} + + + + +int long_acados_update_params(long_solver_capsule* capsule, int stage, double *p, int np) +{ + int solver_status = 0; + + int casadi_np = 5; + if (casadi_np != np) { + printf("acados_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); + capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); + + + // constraints + + capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p); + capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p); + + // cost + if (stage == 0) + { + capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); + capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); + } + else // 0 < stage < N + { + capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); + capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); + capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); + // constraints + + } + + + return solver_status; +} + + + +int long_acados_solve(long_solver_capsule* capsule) +{ + // solve NLP + int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + return solver_status; +} + + +int long_acados_free(long_solver_capsule* capsule) +{ + // before destroying, keep some info + const int N = capsule->nlp_solver_plan->N; + // free memory + ocp_nlp_solver_opts_destroy(capsule->nlp_opts); + ocp_nlp_in_destroy(capsule->nlp_in); + ocp_nlp_out_destroy(capsule->nlp_out); + ocp_nlp_out_destroy(capsule->sens_out); + ocp_nlp_solver_destroy(capsule->nlp_solver); + ocp_nlp_dims_destroy(capsule->nlp_dims); + ocp_nlp_config_destroy(capsule->nlp_config); + ocp_nlp_plan_destroy(capsule->nlp_solver_plan); + + /* free external function */ + // dynamics + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); + external_function_param_casadi_free(&capsule->expl_ode_fun[i]); + } + free(capsule->forw_vde_casadi); + free(capsule->expl_ode_fun); + + // cost + external_function_param_casadi_free(&capsule->cost_y_0_fun); + external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_0_hess); + for (int i = 0; i < N - 1; i++) + { + external_function_param_casadi_free(&capsule->cost_y_fun[i]); + external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); + external_function_param_casadi_free(&capsule->cost_y_hess[i]); + } + free(capsule->cost_y_fun); + free(capsule->cost_y_fun_jac_ut_xt); + free(capsule->cost_y_hess); + external_function_param_casadi_free(&capsule->cost_y_e_fun); + external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_e_hess); + + // constraints + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]); + external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]); + } + free(capsule->nl_constr_h_fun_jac); + free(capsule->nl_constr_h_fun); + + return 0; +} + +ocp_nlp_in *long_acados_get_nlp_in(long_solver_capsule* capsule) { return capsule->nlp_in; } +ocp_nlp_out *long_acados_get_nlp_out(long_solver_capsule* capsule) { return capsule->nlp_out; } +ocp_nlp_out *long_acados_get_sens_out(long_solver_capsule* capsule) { return capsule->sens_out; } +ocp_nlp_solver *long_acados_get_nlp_solver(long_solver_capsule* capsule) { return capsule->nlp_solver; } +ocp_nlp_config *long_acados_get_nlp_config(long_solver_capsule* capsule) { return capsule->nlp_config; } +void *long_acados_get_nlp_opts(long_solver_capsule* capsule) { return capsule->nlp_opts; } +ocp_nlp_dims *long_acados_get_nlp_dims(long_solver_capsule* capsule) { return capsule->nlp_dims; } +ocp_nlp_plan_t *long_acados_get_nlp_plan(long_solver_capsule* capsule) { return capsule->nlp_solver_plan; } + + +void long_acados_print_stats(long_solver_capsule* capsule) +{ + int sqp_iter, stat_m, stat_n, tmp_int; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); + + + double stat[1200]; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); + + int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; + printf("iter\tqp_stat\tqp_iter\n"); + for (int i = 0; i < nrow; i++) + { + for (int j = 0; j < stat_n + 1; j++) + { + tmp_int = (int) stat[i + j * nrow]; + printf("%d\t", tmp_int); + } + printf("\n"); + } +} + diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.h new file mode 100644 index 000000000..8bd6f0929 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.h @@ -0,0 +1,170 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SOLVER_long_H_ +#define ACADOS_SOLVER_long_H_ + +#include "acados/utils/types.h" + +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +#define LONG_NX 3 +#define LONG_NZ 0 +#define LONG_NU 1 +#define LONG_NP 5 +#define LONG_NBX 0 +#define LONG_NBX0 3 +#define LONG_NBU 0 +#define LONG_NSBX 0 +#define LONG_NSBU 0 +#define LONG_NSH 4 +#define LONG_NSG 0 +#define LONG_NSPHI 0 +#define LONG_NSHN 0 +#define LONG_NSGN 0 +#define LONG_NSPHIN 0 +#define LONG_NSBXN 0 +#define LONG_NS 4 +#define LONG_NSN 0 +#define LONG_NG 0 +#define LONG_NBXN 0 +#define LONG_NGN 0 +#define LONG_NY0 6 +#define LONG_NY 6 +#define LONG_NYN 5 +#define LONG_N 12 +#define LONG_NH 4 +#define LONG_NPHI 0 +#define LONG_NHN 0 +#define LONG_NPHIN 0 +#define LONG_NR 0 + +#ifdef __cplusplus +extern "C" { +#endif + +// ** capsule for solver data ** +typedef struct long_solver_capsule +{ + // acados objects + ocp_nlp_in *nlp_in; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_solver *nlp_solver; + void *nlp_opts; + ocp_nlp_plan_t *nlp_solver_plan; + ocp_nlp_config *nlp_config; + ocp_nlp_dims *nlp_dims; + + // number of expected runtime parameters + unsigned int nlp_np; + + /* external functions */ + // dynamics + + external_function_param_casadi *forw_vde_casadi; + external_function_param_casadi *expl_ode_fun; + + + + + // cost + + external_function_param_casadi *cost_y_fun; + external_function_param_casadi *cost_y_fun_jac_ut_xt; + external_function_param_casadi *cost_y_hess; + + + external_function_param_casadi cost_y_0_fun; + external_function_param_casadi cost_y_0_fun_jac_ut_xt; + external_function_param_casadi cost_y_0_hess; + + + + external_function_param_casadi cost_y_e_fun; + external_function_param_casadi cost_y_e_fun_jac_ut_xt; + external_function_param_casadi cost_y_e_hess; + + + // constraints + external_function_param_casadi *nl_constr_h_fun_jac; + external_function_param_casadi *nl_constr_h_fun; + external_function_param_casadi *nl_constr_h_fun_jac_hess; + + + + +} long_solver_capsule; + +ACADOS_SYMBOL_EXPORT long_solver_capsule * long_acados_create_capsule(void); +ACADOS_SYMBOL_EXPORT int long_acados_free_capsule(long_solver_capsule *capsule); + +ACADOS_SYMBOL_EXPORT int long_acados_create(long_solver_capsule * capsule); + +ACADOS_SYMBOL_EXPORT int long_acados_reset(long_solver_capsule* capsule); + +/** + * Generic version of long_acados_create which allows to use a different number of shooting intervals than + * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code + * generation, the time-steps from code generation is used. + */ +ACADOS_SYMBOL_EXPORT int long_acados_create_with_discretization(long_solver_capsule * capsule, int n_time_steps, double* new_time_steps); +/** + * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the + * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0. + */ +ACADOS_SYMBOL_EXPORT int long_acados_update_time_steps(long_solver_capsule * capsule, int N, double* new_time_steps); +/** + * This function is used for updating an already initialized solver with a different number of qp_cond_N. + */ +ACADOS_SYMBOL_EXPORT int long_acados_update_qp_solver_cond_N(long_solver_capsule * capsule, int qp_solver_cond_N); +ACADOS_SYMBOL_EXPORT int long_acados_update_params(long_solver_capsule * capsule, int stage, double *value, int np); +ACADOS_SYMBOL_EXPORT int long_acados_solve(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int long_acados_free(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void long_acados_print_stats(long_solver_capsule * capsule); + +ACADOS_SYMBOL_EXPORT ocp_nlp_in *long_acados_get_nlp_in(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *long_acados_get_nlp_out(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *long_acados_get_sens_out(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_solver *long_acados_get_nlp_solver(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_config *long_acados_get_nlp_config(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void *long_acados_get_nlp_opts(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_dims *long_acados_get_nlp_dims(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *long_acados_get_nlp_plan(long_solver_capsule * capsule); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SOLVER_long_H_ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_sfunction_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_sfunction_long.c new file mode 100644 index 000000000..1260bfc8f --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_sfunction_long.c @@ -0,0 +1,264 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#define S_FUNCTION_NAME acados_solver_sfunction_long +#define S_FUNCTION_LEVEL 2 + +#define MDL_START + +// acados +// #include "acados/utils/print.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "long_model/long_model.h" +#include "acados_solver_long.h" + +#include "simstruc.h" + +#define SAMPLINGTIME 0.06944444444444445 + +static void mdlInitializeSizes (SimStruct *S) +{ + // specify the number of continuous and discrete states + ssSetNumContStates(S, 0); + ssSetNumDiscStates(S, 0);// specify the number of input ports + if ( !ssSetNumInputPorts(S, 8) ) + return; + + // specify the number of output ports + if ( !ssSetNumOutputPorts(S, 6) ) + return; + + // specify dimension information for the input ports + // lbx_0 + ssSetInputPortVectorDimension(S, 0, 3); + // ubx_0 + ssSetInputPortVectorDimension(S, 1, 3); + // parameters + ssSetInputPortVectorDimension(S, 2, (12+1) * 5); + // y_ref_0 + ssSetInputPortVectorDimension(S, 3, 6); + // y_ref + ssSetInputPortVectorDimension(S, 4, 66); + // y_ref_e + ssSetInputPortVectorDimension(S, 5, 5); + // lh + ssSetInputPortVectorDimension(S, 6, 4); + // uh + ssSetInputPortVectorDimension(S, 7, 4);/* specify dimension information for the OUTPUT ports */ + ssSetOutputPortVectorDimension(S, 0, 1 ); + ssSetOutputPortVectorDimension(S, 1, 1 ); + ssSetOutputPortVectorDimension(S, 2, 1 ); + ssSetOutputPortVectorDimension(S, 3, 3 ); // state at shooting node 1 + ssSetOutputPortVectorDimension(S, 4, 1); + ssSetOutputPortVectorDimension(S, 5, 1 ); + + // specify the direct feedthrough status + // should be set to 1 for all inputs used in mdlOutputs + ssSetInputPortDirectFeedThrough(S, 0, 1); + ssSetInputPortDirectFeedThrough(S, 1, 1); + ssSetInputPortDirectFeedThrough(S, 2, 1); + ssSetInputPortDirectFeedThrough(S, 3, 1); + ssSetInputPortDirectFeedThrough(S, 4, 1); + ssSetInputPortDirectFeedThrough(S, 5, 1); + ssSetInputPortDirectFeedThrough(S, 6, 1); + ssSetInputPortDirectFeedThrough(S, 7, 1); + + // one sample time + ssSetNumSampleTimes(S, 1); +} + + +#if defined(MATLAB_MEX_FILE) + +#define MDL_SET_INPUT_PORT_DIMENSION_INFO +#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO + +static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) +{ + if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) + return; +} + +#endif /* MATLAB_MEX_FILE */ + + +static void mdlInitializeSampleTimes(SimStruct *S) +{ + ssSetSampleTime(S, 0, SAMPLINGTIME); + ssSetOffsetTime(S, 0, 0.0); +} + + +static void mdlStart(SimStruct *S) +{ + long_solver_capsule *capsule = long_acados_create_capsule(); + long_acados_create(capsule); + + ssSetUserData(S, (void*)capsule); +} + + +static void mdlOutputs(SimStruct *S, int_T tid) +{ + long_solver_capsule *capsule = ssGetUserData(S); + ocp_nlp_config *nlp_config = long_acados_get_nlp_config(capsule); + ocp_nlp_dims *nlp_dims = long_acados_get_nlp_dims(capsule); + ocp_nlp_in *nlp_in = long_acados_get_nlp_in(capsule); + ocp_nlp_out *nlp_out = long_acados_get_nlp_out(capsule); + + InputRealPtrsType in_sign; + + // local buffer + real_t buffer[6]; + + /* go through inputs */ + // lbx_0 + in_sign = ssGetInputPortRealSignalPtrs(S, 0); + for (int i = 0; i < 3; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer); + // ubx_0 + in_sign = ssGetInputPortRealSignalPtrs(S, 1); + for (int i = 0; i < 3; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer); + // parameters - stage-variant !!! + in_sign = ssGetInputPortRealSignalPtrs(S, 2); + + // update value of parameters + for (int ii = 0; ii <= 12; ii++) + { + for (int jj = 0; jj < 5; jj++) + buffer[jj] = (double)(*in_sign[ii*5+jj]); + long_acados_update_params(capsule, ii, buffer, 5); + } + + + // y_ref_0 + in_sign = ssGetInputPortRealSignalPtrs(S, 3); + + for (int i = 0; i < 6; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer); + + + // y_ref - for stages 1 to N-1 + in_sign = ssGetInputPortRealSignalPtrs(S, 4); + + for (int ii = 1; ii < 12; ii++) + { + for (int jj = 0; jj < 6; jj++) + buffer[jj] = (double)(*in_sign[(ii-1)*6+jj]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer); + } + + + // y_ref_e + in_sign = ssGetInputPortRealSignalPtrs(S, 5); + + for (int i = 0; i < 5; i++) + buffer[i] = (double)(*in_sign[i]); + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 12, "yref", (void *) buffer); + // lh + in_sign = ssGetInputPortRealSignalPtrs(S, 6); + + for (int i = 0; i < 4; i++) + buffer[i] = (double)(*in_sign[i]); + + for (int ii = 0; ii < 12; ii++) + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", buffer); + // uh + in_sign = ssGetInputPortRealSignalPtrs(S, 7); + + for (int i = 0; i < 4; i++) + buffer[i] = (double)(*in_sign[i]); + + for (int ii = 0; ii < 12; ii++) + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", buffer); + + /* call solver */ + int rti_phase = 0; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase); + int acados_status = long_acados_solve(capsule); + + + /* set outputs */ + // assign pointers to output signals + real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin; + int tmp_int; + out_u0 = ssGetOutputPortRealSignal(S, 0); + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0); + + + out_status = ssGetOutputPortRealSignal(S, 1); + *out_status = (real_t) acados_status; + out_KKT_res = ssGetOutputPortRealSignal(S, 2); + *out_KKT_res = (real_t) nlp_out->inf_norm_res; + out_x1 = ssGetOutputPortRealSignal(S, 3); + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1); + out_cpu_time = ssGetOutputPortRealSignal(S, 4); + // get solution time + ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time); + out_sqp_iter = ssGetOutputPortRealSignal(S, 5); + // get sqp iter + ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int); + *out_sqp_iter = (real_t) tmp_int; + +} + +static void mdlTerminate(SimStruct *S) +{ + long_solver_capsule *capsule = ssGetUserData(S); + + long_acados_free(capsule); + long_acados_free_capsule(capsule); +} + + +#ifdef MATLAB_MEX_FILE +#include "simulink.c" +#else +#include "cg_sfun.h" +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so new file mode 100755 index 000000000..f4c6f7f03 Binary files /dev/null and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c new file mode 100644 index 000000000..27bc8ad8d --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c @@ -0,0 +1,174 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_constr_h_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s4[8] = {4, 1, 0, 4, 0, 1, 2, 3}; + +/* long_constr_h_fun:(i0[3],i1,i2[],i3[5])->(o0[4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a1=arg[0]? arg[0][2] : 0; + a2=arg[3]? arg[3][0] : 0; + a2=(a1-a2); + if (res[0]!=0) res[0][1]=a2; + a2=arg[3]? arg[3][1] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][2]=a2; + a2=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a2=(a2-a1); + a1=7.5000000000000000e-01; + a3=casadi_sq(a0); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a4=(a4*a0); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a1=(a1*a3); + a2=(a2-a1); + a1=10.; + a0=(a0+a1); + a2=(a2/a0); + if (res[0]!=0) res[0][3]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_constr_h_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c new file mode 100644 index 000000000..8b058791d --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c @@ -0,0 +1,200 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_constr_h_fun_jac_uxt_zt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_s6 CASADI_PREFIX(s6) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s4[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s5[12] = {4, 4, 0, 1, 2, 3, 5, 2, 3, 3, 1, 2}; +static const casadi_int casadi_s6[3] = {4, 0, 0}; + +/* long_constr_h_fun_jac_uxt_zt:(i0[3],i1,i2[],i3[5])->(o0[4],o1[4x4,5nz],o2[4x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a1=arg[0]? arg[0][2] : 0; + a2=arg[3]? arg[3][0] : 0; + a2=(a1-a2); + if (res[0]!=0) res[0][1]=a2; + a2=arg[3]? arg[3][1] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][2]=a2; + a2=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a2=(a2-a1); + a1=7.5000000000000000e-01; + a3=casadi_sq(a0); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a5=(a4*a0); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a3=(a1*a3); + a2=(a2-a3); + a3=10.; + a3=(a0+a3); + a2=(a2/a3); + if (res[0]!=0) res[0][3]=a2; + a5=1.; + if (res[1]!=0) res[1][0]=a5; + if (res[1]!=0) res[1][1]=a5; + a5=-1.; + if (res[1]!=0) res[1][2]=a5; + a5=(1./a3); + a5=(-a5); + if (res[1]!=0) res[1][3]=a5; + a5=2.0000000000000001e-01; + a0=(a0+a0); + a5=(a5*a0); + a5=(a5+a4); + a1=(a1*a5); + a1=(a1/a3); + a2=(a2/a3); + a1=(a1+a2); + a1=(-a1); + if (res[1]!=0) res[1][4]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_jac_uxt_zt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_jac_uxt_zt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_constr_h_fun_jac_uxt_zt_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_jac_uxt_zt_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_jac_uxt_zt_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_jac_uxt_zt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_jac_uxt_zt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + case 1: return casadi_s5; + case 2: return casadi_s6; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_h_constraint.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_h_constraint.h new file mode 100644 index 000000000..eab2d0d9b --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_h_constraint.h @@ -0,0 +1,63 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef long_H_CONSTRAINT +#define long_H_CONSTRAINT + +#ifdef __cplusplus +extern "C" { +#endif + + +int long_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *); +const int *long_constr_h_fun_jac_uxt_zt_sparsity_in(int); +const int *long_constr_h_fun_jac_uxt_zt_sparsity_out(int); +int long_constr_h_fun_jac_uxt_zt_n_in(void); +int long_constr_h_fun_jac_uxt_zt_n_out(void); + +int long_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_constr_h_fun_work(int *, int *, int *, int *); +const int *long_constr_h_fun_sparsity_in(int); +const int *long_constr_h_fun_sparsity_out(int); +int long_constr_h_fun_n_in(void); +int long_constr_h_fun_n_out(void); + + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // long_H_CONSTRAINT diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c new file mode 100644 index 000000000..19df4abe8 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c @@ -0,0 +1,169 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_0_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; + +/* long_cost_y_0_fun:(i0[3],i1,i2[5])->(o0[6]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[2]? arg[2][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[2]? arg[2][4] : 0; + a4=(a4*a2); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a2=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a2; + a1=arg[2]? arg[2][3] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][4]=a2; + a2=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.h new file mode 100644 index 000000000..928ef7a8c --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef long_Y_0_COST +#define long_Y_0_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +int long_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_0_fun_work(int *, int *, int *, int *); +const int *long_cost_y_0_fun_sparsity_in(int); +const int *long_cost_y_0_fun_sparsity_out(int); +int long_cost_y_0_fun_n_in(void); +int long_cost_y_0_fun_n_out(void); + +int long_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *long_cost_y_0_fun_jac_ut_xt_sparsity_in(int); +const int *long_cost_y_0_fun_jac_ut_xt_sparsity_out(int); +int long_cost_y_0_fun_jac_ut_xt_n_in(void); +int long_cost_y_0_fun_jac_ut_xt_n_out(void); + +int long_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_0_hess_work(int *, int *, int *, int *); +const int *long_cost_y_0_hess_sparsity_in(int); +const int *long_cost_y_0_hess_sparsity_out(int); +int long_cost_y_0_hess_n_in(void); +int long_cost_y_0_hess_n_out(void); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // long_Y_0_COST diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c new file mode 100644 index 000000000..c596deba9 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c @@ -0,0 +1,191 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_0_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[16] = {4, 6, 0, 2, 3, 4, 5, 6, 7, 1, 2, 1, 2, 3, 3, 0}; + +/* long_cost_y_0_fun_jac_ut_xt:(i0[3],i1,i2[5])->(o0[6],o1[4x6,7nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[2]? arg[2][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[2]? arg[2][4] : 0; + a5=(a4*a2); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a1=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a1; + a5=arg[2]? arg[2][3] : 0; + a1=(a1-a5); + if (res[0]!=0) res[0][4]=a1; + a1=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a1; + a1=(1./a3); + a1=(-a1); + if (res[1]!=0) res[1][0]=a1; + a1=2.0000000000000001e-01; + a2=(a2+a2); + a1=(a1*a2); + a1=(a1+a4); + a1=(a1/a3); + a0=(a0/a3); + a1=(a1+a0); + a1=(-a1); + if (res[1]!=0) res[1][1]=a1; + a1=1.; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a1; + if (res[1]!=0) res[1][6]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_jac_ut_xt_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_jac_ut_xt_n_out(void) { return 2;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 2; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c new file mode 100644 index 000000000..441db286d --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c @@ -0,0 +1,194 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_0_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s4[10] = {4, 4, 0, 0, 1, 3, 3, 2, 1, 2}; + +/* long_cost_y_0_hess:(i0[3],i1,i2[6],i3[5])->(o0[4x4,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[2]? arg[2][0] : 0; + a1=arg[0]? arg[0][1] : 0; + a2=10.; + a2=(a1+a2); + a3=(1./a2); + a3=(a3/a2); + a3=(a0*a3); + if (res[0]!=0) res[0][0]=a3; + a3=(a0/a2); + a4=(a3/a2); + if (res[0]!=0) res[0][1]=a4; + a5=2.0000000000000001e-01; + a6=(a1+a1); + a6=(a5*a6); + a7=arg[3]? arg[3][4] : 0; + a6=(a6+a7); + a6=(a6/a2); + a8=arg[3]? arg[3][2] : 0; + a9=arg[0]? arg[0][0] : 0; + a8=(a8-a9); + a9=casadi_sq(a1); + a10=5.; + a9=(a9/a10); + a10=(a7*a1); + a9=(a9+a10); + a10=6.; + a9=(a9+a10); + a8=(a8-a9); + a8=(a8/a2); + a9=(a8/a2); + a6=(a6+a9); + a6=(a6/a2); + a8=(a8/a2); + a8=(a8/a2); + a6=(a6+a8); + a0=(a0*a6); + a7=(a7*a4); + a0=(a0+a7); + a7=2.; + a3=(a5*a3); + a7=(a7*a3); + a1=(a1+a1); + a5=(a5*a4); + a1=(a1*a5); + a7=(a7-a1); + a0=(a0-a7); + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_hess_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_hess_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_hess_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_hess_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c new file mode 100644 index 000000000..78a08dfe1 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c @@ -0,0 +1,165 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_e_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; + +/* long_cost_y_e_fun:(i0[3],i1[],i2[5])->(o0[5]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[2]? arg[2][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[2]? arg[2][4] : 0; + a4=(a4*a2); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a2=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a2; + a1=arg[2]? arg[2][3] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][4]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.h new file mode 100644 index 000000000..41db4d27a --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef long_Y_E_COST +#define long_Y_E_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +int long_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_e_fun_work(int *, int *, int *, int *); +const int *long_cost_y_e_fun_sparsity_in(int); +const int *long_cost_y_e_fun_sparsity_out(int); +int long_cost_y_e_fun_n_in(void); +int long_cost_y_e_fun_n_out(void); + +int long_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *long_cost_y_e_fun_jac_ut_xt_sparsity_in(int); +const int *long_cost_y_e_fun_jac_ut_xt_sparsity_out(int); +int long_cost_y_e_fun_jac_ut_xt_n_in(void); +int long_cost_y_e_fun_jac_ut_xt_n_out(void); + +int long_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_e_hess_work(int *, int *, int *, int *); +const int *long_cost_y_e_hess_sparsity_in(int); +const int *long_cost_y_e_hess_sparsity_out(int); +int long_cost_y_e_hess_n_in(void); +int long_cost_y_e_hess_n_out(void); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // long_Y_E_COST diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c new file mode 100644 index 000000000..c6f8d45af --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c @@ -0,0 +1,186 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_e_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s3[14] = {3, 5, 0, 2, 3, 4, 5, 6, 0, 1, 0, 1, 2, 2}; + +/* long_cost_y_e_fun_jac_ut_xt:(i0[3],i1[],i2[5])->(o0[5],o1[3x5,6nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[2]? arg[2][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[2]? arg[2][4] : 0; + a5=(a4*a2); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a1=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a1; + a5=arg[2]? arg[2][3] : 0; + a1=(a1-a5); + if (res[0]!=0) res[0][4]=a1; + a1=(1./a3); + a1=(-a1); + if (res[1]!=0) res[1][0]=a1; + a1=2.0000000000000001e-01; + a2=(a2+a2); + a1=(a1*a2); + a1=(a1+a4); + a1=(a1/a3); + a0=(a0/a3); + a1=(a1+a0); + a1=(-a1); + if (res[1]!=0) res[1][1]=a1; + a1=1.; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_jac_ut_xt_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_jac_ut_xt_n_out(void) { return 2;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s2; + case 1: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 2; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c new file mode 100644 index 000000000..d2600a83c --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c @@ -0,0 +1,192 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_e_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s3[9] = {3, 3, 0, 1, 3, 3, 1, 0, 1}; + +/* long_cost_y_e_hess:(i0[3],i1[],i2[5],i3[5])->(o0[3x3,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[2]? arg[2][0] : 0; + a1=arg[0]? arg[0][1] : 0; + a2=10.; + a2=(a1+a2); + a3=(1./a2); + a3=(a3/a2); + a3=(a0*a3); + if (res[0]!=0) res[0][0]=a3; + a3=(a0/a2); + a4=(a3/a2); + if (res[0]!=0) res[0][1]=a4; + a5=2.0000000000000001e-01; + a6=(a1+a1); + a6=(a5*a6); + a7=arg[3]? arg[3][4] : 0; + a6=(a6+a7); + a6=(a6/a2); + a8=arg[3]? arg[3][2] : 0; + a9=arg[0]? arg[0][0] : 0; + a8=(a8-a9); + a9=casadi_sq(a1); + a10=5.; + a9=(a9/a10); + a10=(a7*a1); + a9=(a9+a10); + a10=6.; + a9=(a9+a10); + a8=(a8-a9); + a8=(a8/a2); + a9=(a8/a2); + a6=(a6+a9); + a6=(a6/a2); + a8=(a8/a2); + a8=(a8/a2); + a6=(a6+a8); + a0=(a0*a6); + a7=(a7*a4); + a0=(a0+a7); + a7=2.; + a3=(a5*a3); + a7=(a7*a3); + a1=(a1+a1); + a5=(a5*a4); + a1=(a1*a5); + a7=(a7-a1); + a0=(a0-a7); + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_hess_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_hess_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_hess_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_hess_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c new file mode 100644 index 000000000..f69e6186f --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c @@ -0,0 +1,169 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; + +/* long_cost_y_fun:(i0[3],i1,i2[5])->(o0[6]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[2]? arg[2][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[2]? arg[2][4] : 0; + a4=(a4*a2); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a2=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a2; + a1=arg[2]? arg[2][3] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][4]=a2; + a2=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.h new file mode 100644 index 000000000..63e9d84c0 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef long_Y_COST +#define long_Y_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +int long_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_fun_work(int *, int *, int *, int *); +const int *long_cost_y_fun_sparsity_in(int); +const int *long_cost_y_fun_sparsity_out(int); +int long_cost_y_fun_n_in(void); +int long_cost_y_fun_n_out(void); + +int long_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *long_cost_y_fun_jac_ut_xt_sparsity_in(int); +const int *long_cost_y_fun_jac_ut_xt_sparsity_out(int); +int long_cost_y_fun_jac_ut_xt_n_in(void); +int long_cost_y_fun_jac_ut_xt_n_out(void); + +int long_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_hess_work(int *, int *, int *, int *); +const int *long_cost_y_hess_sparsity_in(int); +const int *long_cost_y_hess_sparsity_out(int); +int long_cost_y_hess_n_in(void); +int long_cost_y_hess_n_out(void); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // long_Y_COST diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c new file mode 100644 index 000000000..db3da67c7 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c @@ -0,0 +1,191 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[16] = {4, 6, 0, 2, 3, 4, 5, 6, 7, 1, 2, 1, 2, 3, 3, 0}; + +/* long_cost_y_fun_jac_ut_xt:(i0[3],i1,i2[5])->(o0[6],o1[4x6,7nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[2]? arg[2][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[2]? arg[2][4] : 0; + a5=(a4*a2); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a1=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a1; + a5=arg[2]? arg[2][3] : 0; + a1=(a1-a5); + if (res[0]!=0) res[0][4]=a1; + a1=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a1; + a1=(1./a3); + a1=(-a1); + if (res[1]!=0) res[1][0]=a1; + a1=2.0000000000000001e-01; + a2=(a2+a2); + a1=(a1*a2); + a1=(a1+a4); + a1=(a1/a3); + a0=(a0/a3); + a1=(a1+a0); + a1=(-a1); + if (res[1]!=0) res[1][1]=a1; + a1=1.; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a1; + if (res[1]!=0) res[1][6]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_jac_ut_xt_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_jac_ut_xt_n_out(void) { return 2;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_fun_jac_ut_xt_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_jac_ut_xt_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_jac_ut_xt_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 2; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c new file mode 100644 index 000000000..4a5837169 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c @@ -0,0 +1,194 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s4[10] = {4, 4, 0, 0, 1, 3, 3, 2, 1, 2}; + +/* long_cost_y_hess:(i0[3],i1,i2[6],i3[5])->(o0[4x4,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[2]? arg[2][0] : 0; + a1=arg[0]? arg[0][1] : 0; + a2=10.; + a2=(a1+a2); + a3=(1./a2); + a3=(a3/a2); + a3=(a0*a3); + if (res[0]!=0) res[0][0]=a3; + a3=(a0/a2); + a4=(a3/a2); + if (res[0]!=0) res[0][1]=a4; + a5=2.0000000000000001e-01; + a6=(a1+a1); + a6=(a5*a6); + a7=arg[3]? arg[3][4] : 0; + a6=(a6+a7); + a6=(a6/a2); + a8=arg[3]? arg[3][2] : 0; + a9=arg[0]? arg[0][0] : 0; + a8=(a8-a9); + a9=casadi_sq(a1); + a10=5.; + a9=(a9/a10); + a10=(a7*a1); + a9=(a9+a10); + a10=6.; + a9=(a9+a10); + a8=(a8-a9); + a8=(a8/a2); + a9=(a8/a2); + a6=(a6+a9); + a6=(a6/a2); + a8=(a8/a2); + a8=(a8/a2); + a6=(a6+a8); + a0=(a0*a6); + a7=(a7*a4); + a0=(a0+a7); + a7=2.; + a3=(a5*a3); + a7=(a7*a3); + a1=(a1+a1); + a5=(a5*a4); + a1=(a1*a5); + a7=(a7-a1); + a0=(a0-a7); + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_hess_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_hess_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_hess_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_hess_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c new file mode 100644 index 000000000..8d69c200a --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c @@ -0,0 +1,144 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_expl_ode_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; + +/* long_expl_ode_fun:(i0[3],i1,i2[5])->(o0[3]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_ode_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_ode_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_expl_ode_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_ode_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_ode_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_ode_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_ode_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c new file mode 100644 index 000000000..53c7bac38 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c @@ -0,0 +1,150 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_expl_vde_adj_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s3[8] = {4, 1, 0, 4, 0, 1, 2, 3}; + +/* long_expl_vde_adj:(i0[3],i1[3],i2,i3[5])->(o0[4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0; + a0=0.; + if (res[0]!=0) res[0][0]=a0; + a0=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[1]? arg[1][1] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[1]? arg[1][2] : 0; + if (res[0]!=0) res[0][3]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_adj_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_adj_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_expl_vde_adj_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_adj_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_adj_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_adj_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s0; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_adj_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c new file mode 100644 index 000000000..b0a2775be --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c @@ -0,0 +1,176 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_expl_vde_forw_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[15] = {3, 3, 0, 3, 6, 9, 0, 1, 2, 0, 1, 2, 0, 1, 2}; +static const casadi_int casadi_s2[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; + +/* long_expl_vde_forw:(i0[3],i1[3x3],i2[3],i3,i4[5])->(o0[3],o1[3x3],o2[3]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[3]? arg[3][0] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[1]? arg[1][1] : 0; + if (res[1]!=0) res[1][0]=a0; + a0=arg[1]? arg[1][2] : 0; + if (res[1]!=0) res[1][1]=a0; + a0=0.; + if (res[1]!=0) res[1][2]=a0; + a1=arg[1]? arg[1][4] : 0; + if (res[1]!=0) res[1][3]=a1; + a1=arg[1]? arg[1][5] : 0; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a0; + a1=arg[1]? arg[1][7] : 0; + if (res[1]!=0) res[1][6]=a1; + a1=arg[1]? arg[1][8] : 0; + if (res[1]!=0) res[1][7]=a1; + if (res[1]!=0) res[1][8]=a0; + a0=arg[2]? arg[2][1] : 0; + if (res[2]!=0) res[2][0]=a0; + a0=arg[2]? arg[2][2] : 0; + if (res[2]!=0) res[2][1]=a0; + a0=1.; + if (res[2]!=0) res[2][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_forw_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_forw_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_expl_vde_forw_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_forw_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_forw_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_forw_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s0; + case 3: return casadi_s2; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_forw_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_model.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_model.h new file mode 100644 index 000000000..723316848 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_model.h @@ -0,0 +1,74 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef long_MODEL +#define long_MODEL + +#ifdef __cplusplus +extern "C" { +#endif + + +/* explicit ODE */ + +// explicit ODE +int long_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_expl_ode_fun_work(int *, int *, int *, int *); +const int *long_expl_ode_fun_sparsity_in(int); +const int *long_expl_ode_fun_sparsity_out(int); +int long_expl_ode_fun_n_in(void); +int long_expl_ode_fun_n_out(void); + +// explicit forward VDE +int long_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_expl_vde_forw_work(int *, int *, int *, int *); +const int *long_expl_vde_forw_sparsity_in(int); +const int *long_expl_vde_forw_sparsity_out(int); +int long_expl_vde_forw_n_in(void); +int long_expl_vde_forw_n_out(void); + +// explicit adjoint VDE +int long_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_expl_vde_adj_work(int *, int *, int *, int *); +const int *long_expl_vde_adj_sparsity_in(int); +const int *long_expl_vde_adj_sparsity_out(int); +int long_expl_vde_adj_n_in(void); +int long_expl_vde_adj_n_out(void); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // long_MODEL diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c new file mode 100644 index 000000000..401454943 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c @@ -0,0 +1,215 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" +#include "acados_solver_long.h" + +#define NX LONG_NX +#define NZ LONG_NZ +#define NU LONG_NU +#define NP LONG_NP +#define NBX LONG_NBX +#define NBX0 LONG_NBX0 +#define NBU LONG_NBU +#define NSBX LONG_NSBX +#define NSBU LONG_NSBU +#define NSH LONG_NSH +#define NSG LONG_NSG +#define NSPHI LONG_NSPHI +#define NSHN LONG_NSHN +#define NSGN LONG_NSGN +#define NSPHIN LONG_NSPHIN +#define NSBXN LONG_NSBXN +#define NS LONG_NS +#define NSN LONG_NSN +#define NG LONG_NG +#define NBXN LONG_NBXN +#define NGN LONG_NGN +#define NY0 LONG_NY0 +#define NY LONG_NY +#define NYN LONG_NYN +#define NH LONG_NH +#define NPHI LONG_NPHI +#define NHN LONG_NHN +#define NPHIN LONG_NPHIN +#define NR LONG_NR + + +int main() +{ + + long_solver_capsule *acados_ocp_capsule = long_acados_create_capsule(); + // there is an opportunity to change the number of shooting intervals in C without new code generation + int N = LONG_N; + // allocate the array and fill it accordingly + double* new_time_steps = NULL; + int status = long_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); + + if (status) + { + printf("long_acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + ocp_nlp_config *nlp_config = long_acados_get_nlp_config(acados_ocp_capsule); + ocp_nlp_dims *nlp_dims = long_acados_get_nlp_dims(acados_ocp_capsule); + ocp_nlp_in *nlp_in = long_acados_get_nlp_in(acados_ocp_capsule); + ocp_nlp_out *nlp_out = long_acados_get_nlp_out(acados_ocp_capsule); + ocp_nlp_solver *nlp_solver = long_acados_get_nlp_solver(acados_ocp_capsule); + void *nlp_opts = long_acados_get_nlp_opts(acados_ocp_capsule); + + // initial condition + int idxbx0[NBX0]; + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + + double lbx0[NBX0]; + double ubx0[NBX0]; + lbx0[0] = 0; + ubx0[0] = 0; + lbx0[1] = 0; + ubx0[1] = 0; + lbx0[2] = 0; + ubx0[2] = 0; + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + + // initialization for state values + double x_init[NX]; + x_init[0] = 0.0; + x_init[1] = 0.0; + x_init[2] = 0.0; + + // initial value for control input + double u0[NU]; + u0[0] = 0.0; + // set parameters + double p[NP]; + p[0] = -1.2; + p[1] = 1.2; + p[2] = 0; + p[3] = 0; + p[4] = 1.45; + + for (int ii = 0; ii <= N; ii++) + { + long_acados_update_params(acados_ocp_capsule, ii, p, NP); + } + + + // prepare evaluation + int NTIMINGS = 1; + double min_time = 1e12; + double kkt_norm_inf; + double elapsed_time; + int sqp_iter; + + double xtraj[NX * (N+1)]; + double utraj[NU * N]; + + + // solve ocp in loop + int rti_phase = 0; + + for (int ii = 0; ii < NTIMINGS; ii++) + { + // initialize solution + for (int i = 0; i < N; i++) + { + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); + status = long_acados_solve(acados_ocp_capsule); + ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); + min_time = MIN(elapsed_time, min_time); + } + + /* print solution and statistics */ + for (int ii = 0; ii <= nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); + for (int ii = 0; ii < nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); + + printf("\n--- xtraj ---\n"); + d_print_exp_tran_mat( NX, N+1, xtraj, NX); + printf("\n--- utraj ---\n"); + d_print_exp_tran_mat( NU, N, utraj, NU ); + // ocp_nlp_out_print(nlp_solver->dims, nlp_out); + + printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); + + if (status == ACADOS_SUCCESS) + { + printf("long_acados_solve(): SUCCESS!\n"); + } + else + { + printf("long_acados_solve() failed with status %d.\n", status); + } + + // get solution + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); + ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); + + long_acados_print_stats(acados_ocp_capsule); + + printf("\nSolver info:\n"); + printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", + sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); + + // free solver + status = long_acados_free(acados_ocp_capsule); + if (status) { + printf("long_acados_free() returned status %d. \n", status); + } + // free solver capsule + status = long_acados_free_capsule(acados_ocp_capsule); + if (status) { + printf("long_acados_free_capsule() returned status %d. \n", status); + } + + return status; +} diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c new file mode 100644 index 000000000..571dce390 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c @@ -0,0 +1,129 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/sim_interface.h" +#include "acados_sim_solver_long.h" + +#define NX LONG_NX +#define NZ LONG_NZ +#define NU LONG_NU +#define NP LONG_NP + + +int main() +{ + int status = 0; + sim_solver_capsule *capsule = long_acados_sim_solver_create_capsule(); + status = long_acados_sim_create(capsule); + + if (status) + { + printf("acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + sim_config *acados_sim_config = long_acados_get_sim_config(capsule); + sim_in *acados_sim_in = long_acados_get_sim_in(capsule); + sim_out *acados_sim_out = long_acados_get_sim_out(capsule); + void *acados_sim_dims = long_acados_get_sim_dims(capsule); + + // initial condition + double x_current[NX]; + x_current[0] = 0.0; + x_current[1] = 0.0; + x_current[2] = 0.0; + + + x_current[0] = 0; + x_current[1] = 0; + x_current[2] = 0; + + + + + // initial value for control input + double u0[NU]; + u0[0] = 0.0; + // set parameters + double p[NP]; + p[0] = -1.2; + p[1] = 1.2; + p[2] = 0; + p[3] = 0; + p[4] = 1.45; + + long_acados_sim_update_params(capsule, p, NP); + + + int n_sim_steps = 3; + // solve ocp in loop + for (int ii = 0; ii < n_sim_steps; ii++) + { + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "x", x_current); + status = long_acados_sim_solve(capsule); + + if (status != ACADOS_SUCCESS) + { + printf("acados_solve() failed with status %d.\n", status); + } + + sim_out_get(acados_sim_config, acados_sim_dims, + acados_sim_out, "x", x_current); + + printf("\nx_current, %d\n", ii); + for (int jj = 0; jj < NX; jj++) + { + printf("%e\n", x_current[jj]); + } + } + + printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); + + // free solver + status = long_acados_sim_free(capsule); + if (status) { + printf("long_acados_sim_free() returned status %d. \n", status); + } + + long_acados_sim_solver_free_capsule(capsule); + + return status; +} diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/make_sfun_long.m b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/make_sfun_long.m new file mode 100644 index 000000000..0f657cdc5 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/make_sfun_long.m @@ -0,0 +1,128 @@ +% +% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% +% This file is part of acados. +% +% The 2-Clause BSD License +% +% Redistribution and use in source and binary forms, with or without +% modification, are permitted provided that the following conditions are met: +% +% 1. Redistributions of source code must retain the above copyright notice, +% this list of conditions and the following disclaimer. +% +% 2. Redistributions in binary form must reproduce the above copyright notice, +% this list of conditions and the following disclaimer in the documentation +% and/or other materials provided with the distribution. +% +% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% POSSIBILITY OF SUCH DAMAGE.; +% + +SOURCES = { ... + 'long_model/long_expl_ode_fun.c', ... + 'long_model/long_expl_vde_forw.c',... + 'long_cost/long_cost_y_0_fun.c',... + 'long_cost/long_cost_y_0_fun_jac_ut_xt.c',... + 'long_cost/long_cost_y_0_hess.c',... + 'long_cost/long_cost_y_fun.c',... + 'long_cost/long_cost_y_fun_jac_ut_xt.c',... + 'long_cost/long_cost_y_hess.c',... + 'long_cost/long_cost_y_e_fun.c',... + 'long_cost/long_cost_y_e_fun_jac_ut_xt.c',... + 'long_cost/long_cost_y_e_hess.c',... + 'long_constraints/long_constr_h_fun.c', ... + 'long_constraints/long_constr_h_fun_jac_uxt_zt_hess.c', ... + 'long_constraints/long_constr_h_fun_jac_uxt_zt.c', ... + 'acados_solver_sfunction_long.c', ... + 'acados_solver_long.c' + }; + +INC_PATH = '/data/openpilot/third_party/acados/include/acados/include'; + +INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ... + ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ... + ['-I', fullfile(INC_PATH, 'acados')], ... + ['-I', fullfile(INC_PATH)]}; + + + +CFLAGS = 'CFLAGS=$CFLAGS'; +LDFLAGS = 'LDFLAGS=$LDFLAGS'; +COMPFLAGS = 'COMPFLAGS=$COMPFLAGS'; +COMPDEFINES = 'COMPDEFINES=$COMPDEFINES'; + + + +LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/include/acados/lib')]; + +LIBS = {'-lacados', '-lhpipm', '-lblasfeo'}; + +% acados linking libraries and flags + + +mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... + LIB_PATH, LIBS{:}, SOURCES{:}, ... + '-output', 'acados_solver_sfunction_long' ); + +fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_long', '.', ... + eval('mexext')] ); + + +%% print note on usage of s-function +fprintf('\n\nNote: Usage of Sfunction is as follows:\n') +input_note = 'Inputs are:\n'; +i_in = 1; +input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',... + ' size [3]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',... + ' size [3]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',... + ' size [65]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [6]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',... + ' size [66]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [5]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') lh, size [4]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') uh, size [4]\n '); +i_in = i_in + 1; + +fprintf(input_note) + +disp(' ') + +output_note = 'Outputs are:\n'; +i_out = 0; +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n '); +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n '); +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') KKT residual\n '); +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n '); +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') CPU time\n '); +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n '); + +fprintf(output_note) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py new file mode 100644 index 000000000..eaa72a852 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -0,0 +1,436 @@ +#!/usr/bin/env python3 +import os +import numpy as np + +from common.realtime import sec_since_boot +from common.numpy_fast import clip, interp +from system.swaglog import cloudlog +from selfdrive.modeld.constants import index_function +from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU + +if __name__ == '__main__': # generating code + from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver +else: + from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error + +from casadi import SX, vertcat + +MODEL_NAME = 'long' +LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) +EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code") +JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json") + +SOURCES = ['lead0', 'lead1', 'cruise'] + +X_DIM = 3 +U_DIM = 1 +PARAM_DIM = 5 +COST_E_DIM = 5 +COST_DIM = COST_E_DIM + 1 +CONSTR_DIM = 4 + +X_EGO_OBSTACLE_COST = 3. +X_EGO_COST = 0. +V_EGO_COST = 0. +A_EGO_COST = 0. +J_EGO_COST = 5.0 +A_CHANGE_COST = 200. +DANGER_ZONE_COST = 100. +CRASH_DISTANCE = .5 +LIMIT_COST = 1e6 +ACADOS_SOLVER_TYPE = 'SQP_RTI' + + +# Fewer timestamps don't hurt performance and lead to +# much better convergence of the MPC with low iterations +N = 12 +MAX_T = 10.0 +T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1)] + +T_IDXS = np.array(T_IDXS_LST) +T_DIFFS = np.diff(T_IDXS, prepend=[0.]) +MIN_ACCEL = -3.5 +T_FOLLOW = 1.45 +COMFORT_BRAKE = 2.5 +STOP_DISTANCE = 6.0 + +def get_stopped_equivalence_factor(v_lead, t_follow=T_FOLLOW): + return (v_lead**2) / (2 * COMFORT_BRAKE) + +def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW): + return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE + +def desired_follow_distance(v_ego, v_lead, t_follow=T_FOLLOW): + return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead, t_follow) + + +def gen_long_model(): + model = AcadosModel() + model.name = MODEL_NAME + + # set up states & controls + x_ego = SX.sym('x_ego') + v_ego = SX.sym('v_ego') + a_ego = SX.sym('a_ego') + model.x = vertcat(x_ego, v_ego, a_ego) + + # controls + j_ego = SX.sym('j_ego') + model.u = vertcat(j_ego) + + # xdot + x_ego_dot = SX.sym('x_ego_dot') + v_ego_dot = SX.sym('v_ego_dot') + a_ego_dot = SX.sym('a_ego_dot') + model.xdot = vertcat(x_ego_dot, v_ego_dot, a_ego_dot) + + # live parameters + a_min = SX.sym('a_min') + a_max = SX.sym('a_max') + x_obstacle = SX.sym('x_obstacle') + prev_a = SX.sym('prev_a') + desired_TF = SX.sym('desired_TF') + model.p = vertcat(a_min, a_max, x_obstacle, prev_a, desired_TF) + + # dynamics model + f_expl = vertcat(v_ego, a_ego, j_ego) + model.f_impl_expr = model.xdot - f_expl + model.f_expl_expr = f_expl + return model + + +def gen_long_ocp(): + ocp = AcadosOcp() + ocp.model = gen_long_model() + + Tf = T_IDXS[-1] + + # set dimensions + ocp.dims.N = N + + # set cost module + ocp.cost.cost_type = 'NONLINEAR_LS' + ocp.cost.cost_type_e = 'NONLINEAR_LS' + + QR = np.zeros((COST_DIM, COST_DIM)) + Q = np.zeros((COST_E_DIM, COST_E_DIM)) + + ocp.cost.W = QR + ocp.cost.W_e = Q + + x_ego, v_ego, a_ego = ocp.model.x[0], ocp.model.x[1], ocp.model.x[2] + j_ego = ocp.model.u[0] + + a_min, a_max = ocp.model.p[0], ocp.model.p[1] + x_obstacle = ocp.model.p[2] + prev_a = ocp.model.p[3] + desired_TF = ocp.model.p[4] + + ocp.cost.yref = np.zeros((COST_DIM, )) + ocp.cost.yref_e = np.zeros((COST_E_DIM, )) + + desired_dist_comfort = get_safe_obstacle_distance(v_ego, desired_TF) + + # The main cost in normal operation is how close you are to the "desired" distance + # from an obstacle at every timestep. This obstacle can be a lead car + # or other object. In e2e mode we can use x_position targets as a cost + # instead. + costs = [((x_obstacle - x_ego) - (desired_dist_comfort)) / (v_ego + 10.), + x_ego, + v_ego, + a_ego, + a_ego - prev_a, + j_ego] + ocp.model.cost_y_expr = vertcat(*costs) + ocp.model.cost_y_expr_e = vertcat(*costs[:-1]) + + # Constraints on speed, acceleration and desired distance to + # the obstacle, which is treated as a slack constraint so it + # behaves like an asymmetrical cost. + constraints = vertcat(v_ego, + (a_ego - a_min), + (a_max - a_ego), + ((x_obstacle - x_ego) - (3/4) * (desired_dist_comfort)) / (v_ego + 10.)) + ocp.model.con_h_expr = constraints + + x0 = np.zeros(X_DIM) + ocp.constraints.x0 = x0 + ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW]) + + # We put all constraint cost weights to 0 and only set them at runtime + cost_weights = np.zeros(CONSTR_DIM) + ocp.cost.zl = cost_weights + ocp.cost.Zl = cost_weights + ocp.cost.Zu = cost_weights + ocp.cost.zu = cost_weights + + ocp.constraints.lh = np.zeros(CONSTR_DIM) + ocp.constraints.uh = 1e4*np.ones(CONSTR_DIM) + ocp.constraints.idxsh = np.arange(CONSTR_DIM) + + # The HPIPM solver can give decent solutions even when it is stopped early + # Which is critical for our purpose where compute time is strictly bounded + # We use HPIPM in the SPEED_ABS mode, which ensures fastest runtime. This + # does not cause issues since the problem is well bounded. + ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM' + ocp.solver_options.hessian_approx = 'GAUSS_NEWTON' + ocp.solver_options.integrator_type = 'ERK' + ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE + ocp.solver_options.qp_solver_cond_N = 1 + + # More iterations take too much time and less lead to inaccurate convergence in + # some situations. Ideally we would run just 1 iteration to ensure fixed runtime. + ocp.solver_options.qp_solver_iter_max = 10 + ocp.solver_options.qp_tol = 1e-3 + + # set prediction horizon + ocp.solver_options.tf = Tf + ocp.solver_options.shooting_nodes = T_IDXS + + ocp.code_export_directory = EXPORT_DIR + return ocp + + +class LongitudinalMpc: + def __init__(self, e2e=False): + self.e2e = e2e + self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) + self.desired_TF = T_FOLLOW + self.reset() + self.source = SOURCES[2] + + def reset(self): + # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) + self.solver.reset() + # self.solver.options_set('print_level', 2) + self.v_solution = np.zeros(N+1) + self.a_solution = np.zeros(N+1) + self.prev_a = np.array(self.a_solution) + self.j_solution = np.zeros(N) + self.yref = np.zeros((N+1, COST_DIM)) + for i in range(N): + self.solver.cost_set(i, "yref", self.yref[i]) + self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) + self.x_sol = np.zeros((N+1, X_DIM)) + self.u_sol = np.zeros((N,1)) + self.params = np.zeros((N+1, PARAM_DIM)) + for i in range(N+1): + self.solver.set(i, 'x', np.zeros(X_DIM)) + self.last_cloudlog_t = 0 + self.status = False + self.crash_cnt = 0.0 + self.solution_status = 0 + # timers + self.solve_time = 0.0 + self.time_qp_solution = 0.0 + self.time_linearization = 0.0 + self.time_integrator = 0.0 + self.x0 = np.zeros(X_DIM) + self.set_weights() + + def set_weights(self, prev_accel_constraint=True): + if self.e2e: + self.set_weights_for_xva_policy() + self.params[:,0] = -10. + self.params[:,1] = 10. + self.params[:,2] = 1e5 + else: + self.set_weights_for_lead_policy(prev_accel_constraint) + + def get_cost_multipliers(self): + TFs = [1.0, 1.25, T_FOLLOW] + # KRKeegan adjustments to costs for different TFs + # these were calculated using the test_longitudial.py deceleration tests + a_change_tf = interp(self.desired_TF, TFs, [.1, .8, 1.]) + j_ego_tf = interp(self.desired_TF, TFs, [.6, .8, 1.]) + d_zone_tf = interp(self.desired_TF, TFs, [1.6, 1.3, 1.]) + return (a_change_tf, j_ego_tf, d_zone_tf) + + def set_weights_for_lead_policy(self, prev_accel_constraint=True): + a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 + cost_mulitpliers = self.get_cost_multipliers() + W = np.asfortranarray(np.diag([X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, + A_EGO_COST, a_change_cost * cost_mulitpliers[0], + J_EGO_COST * cost_mulitpliers[1]])) + for i in range(N): + W[4,4] = a_change_cost * cost_mulitpliers[0] * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0]) + self.solver.cost_set(i, 'W', W) + # Setting the slice without the copy make the array not contiguous, + # causing issues with the C interface. + self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM])) + + # Set L2 slack cost on lower bound constraints + Zl = np.array([LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST * cost_mulitpliers[2]]) + for i in range(N): + self.solver.cost_set(i, 'Zl', Zl) + + def set_weights_for_xva_policy(self): + W = np.asfortranarray(np.diag([0., 0.2, 0.25, 1., 0.0, .1])) + for i in range(N): + self.solver.cost_set(i, 'W', W) + # Setting the slice without the copy make the array not contiguous, + # causing issues with the C interface. + self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM])) + + # Set L2 slack cost on lower bound constraints + Zl = np.array([LIMIT_COST, LIMIT_COST, LIMIT_COST, 0.0]) + for i in range(N): + self.solver.cost_set(i, 'Zl', Zl) + + def set_cur_state(self, v, a): + v_prev = self.x0[1] + self.x0[1] = v + self.x0[2] = a + if abs(v_prev - v) > 2.: # probably only helps if v < v_prev + for i in range(0, N+1): + self.solver.set(i, 'x', self.x0) + + @staticmethod + def extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau): + a_lead_traj = a_lead * np.exp(-a_lead_tau * (T_IDXS**2)/2.) + v_lead_traj = np.clip(v_lead + np.cumsum(T_DIFFS * a_lead_traj), 0.0, 1e8) + x_lead_traj = x_lead + np.cumsum(T_DIFFS * v_lead_traj) + lead_xv = np.column_stack((x_lead_traj, v_lead_traj)) + return lead_xv + + def process_lead(self, lead): + v_ego = self.x0[1] + if lead is not None and lead.status: + x_lead = lead.dRel + v_lead = lead.vLead + a_lead = lead.aLeadK + a_lead_tau = lead.aLeadTau + else: + # Fake a fast lead car, so mpc can keep running in the same mode + x_lead = 50.0 + v_lead = v_ego + 10.0 + a_lead = 0.0 + a_lead_tau = _LEAD_ACCEL_TAU + + # MPC will not converge if immediate crash is expected + # Clip lead distance to what is still possible to brake for + min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-MIN_ACCEL * 2) + x_lead = clip(x_lead, min_x_lead, 1e8) + v_lead = clip(v_lead, 0.0, 1e8) + a_lead = clip(a_lead, -10., 5.) + lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau) + return lead_xv + + def set_accel_limits(self, min_a, max_a): + self.cruise_min_a = min_a + self.cruise_max_a = max_a + + def update_TF(self, carstate): + if carstate.distanceLines == 1: # Traffic + # At slow speeds more time, decrease time up to 60mph + # in mph ~= 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 + x_vel = [0, 2.25, 4.5, 6.75, 9, 11.25, 13.5, 15.75, 18, 20.25, 22.5, 24.75, 27, 29.25, 31.5, 33.75, 36, 38.25, 40.5] + y_dist = [1.25, 1.24, 1.23, 1.22, 1.21, 1.20, 1.18, 1.16, 1.13, 1.11, 1.09, 1.07, 1.05, 1.05, 1.05, 1.05, 1.05, 1.05, 1.05] + self.desired_TF = np.interp(carstate.vEgo, x_vel, y_dist) + elif carstate.distanceLines == 2: # Relaxed + self.desired_TF = 1.25 + else: + self.desired_TF = T_FOLLOW + + def update(self, carstate, radarstate, v_cruise, prev_accel_constraint): + v_ego = self.x0[1] + self.status = radarstate.leadOne.status or radarstate.leadTwo.status + + lead_xv_0 = self.process_lead(radarstate.leadOne) + lead_xv_1 = self.process_lead(radarstate.leadTwo) + + self.update_TF(carstate) + self.set_weights(prev_accel_constraint) + + # set accel limits in params + self.params[:,0] = interp(float(self.status), [0.0, 1.0], [self.cruise_min_a, MIN_ACCEL]) + self.params[:,1] = self.cruise_max_a + + # To estimate a safe distance from a moving lead, we calculate how much stopping + # distance that lead needs as a minimum. We can add that to the current distance + # and then treat that as a stopped car/obstacle at this new distance. + lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1], self.desired_TF) + lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1], self.desired_TF) + + # Fake an obstacle for cruise, this ensures smooth acceleration to set speed + # when the leads are no factor. + v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05) + v_upper = v_ego + (T_IDXS * self.cruise_max_a * 1.05) + v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), + v_lower, + v_upper) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, self.desired_TF) + + x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) + self.source = SOURCES[np.argmin(x_obstacles[0])] + self.params[:,2] = np.min(x_obstacles, axis=1) + self.params[:,3] = np.copy(self.prev_a) + self.params[:,4] = self.desired_TF + + self.run() + if (np.any(lead_xv_0[:,0] - self.x_sol[:,0] < CRASH_DISTANCE) and + radarstate.leadOne.modelProb > 0.9): + self.crash_cnt += 1 + else: + self.crash_cnt = 0 + + def update_with_xva(self, x, v, a): + # v, and a are in local frame, but x is wrt the x[0] position + # In >90degree turns, x goes to 0 (and may even be -ve) + # So, we use integral(v) + x[0] to obtain the forward-distance + xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1]) + x = np.cumsum(np.insert(xforward, 0, x[0])) + self.yref[:,1] = x + self.yref[:,2] = v + self.yref[:,3] = a + for i in range(N): + self.solver.cost_set(i, "yref", self.yref[i]) + self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) + self.params[:,3] = np.copy(self.prev_a) + self.run() + + def run(self): + # t0 = sec_since_boot() + # reset = 0 + for i in range(N+1): + self.solver.set(i, 'p', self.params[i]) + self.solver.constraints_set(0, "lbx", self.x0) + self.solver.constraints_set(0, "ubx", self.x0) + + self.solution_status = self.solver.solve() + self.solve_time = float(self.solver.get_stats('time_tot')[0]) + self.time_qp_solution = float(self.solver.get_stats('time_qp')[0]) + self.time_linearization = float(self.solver.get_stats('time_lin')[0]) + self.time_integrator = float(self.solver.get_stats('time_sim')[0]) + + # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific + # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, integrator {self.time_integrator:.2e}, qp_iter {qp_iter}") + # res = self.solver.get_residuals() + # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}") + # self.solver.print_statistics() + + for i in range(N+1): + self.x_sol[i] = self.solver.get(i, 'x') + for i in range(N): + self.u_sol[i] = self.solver.get(i, 'u') + + self.v_solution = self.x_sol[:,1] + self.a_solution = self.x_sol[:,2] + self.j_solution = self.u_sol[:,0] + + self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution) + + t = sec_since_boot() + if self.solution_status != 0: + if t > self.last_cloudlog_t + 5.0: + self.last_cloudlog_t = t + cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}") + self.reset() + # reset = 1 + # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}") + + +if __name__ == "__main__": + ocp = gen_long_ocp() + AcadosOcpSolver.generate(ocp, json_file=JSON_FILE) + # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py new file mode 100755 index 000000000..8e824a132 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -0,0 +1,232 @@ +#!/usr/bin/env python3 +import math +import numpy as np +from common.numpy_fast import interp + +import cereal.messaging as messaging +from common.conversions import Conversions as CV +from common.filter_simple import FirstOrderFilter +from common.realtime import DT_MDL +from selfdrive.modeld.constants import T_IDXS +from selfdrive.controls.lib.longcontrol import LongCtrlState +from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc +from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N +from system.swaglog import cloudlog +from selfdrive.controls.lib.vision_turn_controller import VisionTurnController +from selfdrive.controls.lib.speed_limit_controller import SpeedLimitController, SpeedLimitResolver +from selfdrive.controls.lib.turn_speed_controller import TurnSpeedController +from selfdrive.controls.lib.events import Events + +LON_MPC_STEP = 0.2 # first step is 0.2s +AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted +A_CRUISE_MIN = -1.2 +A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6] +A_CRUISE_MAX_BP = [0., 15., 25., 40.] + +# Lookup table for turns +_A_TOTAL_MAX_V = [1.7, 3.2] +_A_TOTAL_MAX_BP = [20., 40.] + +#DP_FOLLOWING_DIST = { +# 0: 1.0, +# 1: 1.2, +# 2: 1.4, +# 3: 1.8, +#} + +DP_ACCEL_ECO = 0 +DP_ACCEL_NORMAL = 1 +DP_ACCEL_SPORT = 2 + +# accel profile by @arne182 modified by cgw +_DP_CRUISE_MIN_V = [-0.05, -0.1, -0.3, -0.4, -0.4, -0.23, -0.1] +_DP_CRUISE_MIN_V_ECO = [-0.01, -0.1, -0.2, -0.3, -0.4, -0.2, -0.09] +_DP_CRUISE_MIN_V_SPORT = [-0.1, -0.2, -0.4, -0.5, -0.5, -0.25, -0.1] +_DP_CRUISE_MIN_BP = [0.0, 3.0, 5.0, 20.0, 33.3, 40.0, 55.0] + +_DP_CRUISE_MAX_V = [3.5, 1.7, 1.31, 0.95, 0.77, 0.67, 0.55, 0.47, 0.31, 0.13] +_DP_CRUISE_MAX_V_ECO = [3.5, 1.65, 1.25, 0.85, 0.65, 0.55, 0.45, 0.42, 0.24, 0.09] +_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 2.5, 1.5, 2.0, 2.0, 2.0, 1.5, 1.0, 0.5] +_DP_CRUISE_MAX_BP = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.] + +def dp_calc_cruise_accel_limits(v_ego, dp_profile): + if dp_profile == DP_ACCEL_ECO: + a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, _DP_CRUISE_MIN_V_ECO) + a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, _DP_CRUISE_MAX_V_ECO) + elif dp_profile == DP_ACCEL_SPORT: + a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, _DP_CRUISE_MIN_V_SPORT) + a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, _DP_CRUISE_MAX_V_SPORT) + else: + a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, _DP_CRUISE_MIN_V) + a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, _DP_CRUISE_MAX_V) + return a_cruise_min, a_cruise_max + +def get_max_accel(v_ego): + return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS) + + +def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): + """ + This function returns a limited long acceleration allowed, depending on the existing lateral acceleration + this should avoid accelerating when losing the target in turns + """ + + # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel + # The lookup table for turns should also be updated if we do this + a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V) + a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase) + a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.)) + + return [a_target[0], min(a_target[1], a_x_allowed)] + + +class Planner: + def __init__(self, CP, init_v=0.0, init_a=0.0): + self.CP = CP + self.mpc = LongitudinalMpc() + + self.fcw = False + + self.a_desired = init_a + self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) + + self.v_desired_trajectory = np.zeros(CONTROL_N) + self.a_desired_trajectory = np.zeros(CONTROL_N) + self.j_desired_trajectory = np.zeros(CONTROL_N) + self.solverExecutionTime = 0.0 + + # dp + self.dp_accel_profile_ctrl = False + self.dp_accel_profile = DP_ACCEL_ECO + self.cruise_source = 'cruise' + self.vision_turn_controller = VisionTurnController(CP) + self.speed_limit_controller = SpeedLimitController() + self.events = Events() + self.turn_speed_controller = TurnSpeedController() + + def update(self, sm): + v_ego = sm['carState'].vEgo + + # dp + self.dp_accel_profile_ctrl = sm['dragonConf'].dpAccelProfileCtrl + self.dp_accel_profile = sm['dragonConf'].dpAccelProfile + + v_cruise_kph = sm['controlsState'].vCruise + v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX) + v_cruise = v_cruise_kph * CV.KPH_TO_MS + + long_control_off = sm['controlsState'].longControlState == LongCtrlState.off + force_slow_decel = sm['controlsState'].forceDecel + + # Reset current state when not engaged, or user is controlling the speed + reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled + + # No change cost when user is controlling the speed, or when standstill + prev_accel_constraint = not (reset_state or sm['carState'].standstill) + + if reset_state: + self.v_desired_filter.x = v_ego + self.a_desired = 0.0 + + # Prevent divergence, smooth in current v_ego + self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) + + # Get acceleration and active solutions for custom long mpc. + self.cruise_source, a_min_sol, v_cruise_sol = self.cruise_solutions(not reset_state, self.v_desired_filter.x, + self.a_desired, v_cruise, sm) + + if not self.dp_accel_profile_ctrl: + accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] + else: + accel_limits = dp_calc_cruise_accel_limits(v_ego, self.dp_accel_profile) + accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) + if force_slow_decel: + # if required so, force a smooth deceleration + accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL) + accel_limits_turns[0] = min(accel_limits_turns[0], accel_limits_turns[1]) + + # clip limits, cannot init MPC outside of bounds + accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05, a_min_sol) + accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) + + self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) + self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) + self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, prev_accel_constraint) + + self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution) + self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution) + self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution) + + # TODO counter is only needed because radar is glitchy, remove once radar is gone + self.fcw = self.mpc.crash_cnt > 5 + if self.fcw: + cloudlog.info("FCW triggered") + + # Interpolate 0.05 seconds and save as starting point for next iteration + a_prev = self.a_desired + self.a_desired = float(interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory)) + self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0 + + def publish(self, sm, pm): + plan_send = messaging.new_message('longitudinalPlan') + + plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState']) + + longitudinalPlan = plan_send.longitudinalPlan + longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2'] + longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2'] + + longitudinalPlan.speeds = self.v_desired_trajectory.tolist() + longitudinalPlan.accels = self.a_desired_trajectory.tolist() + longitudinalPlan.jerks = self.j_desired_trajectory.tolist() + + longitudinalPlan.hasLead = sm['radarState'].leadOne.status + longitudinalPlan.longitudinalPlanSource = self.mpc.source if self.mpc.source != 'cruise' else self.cruise_source + longitudinalPlan.fcw = self.fcw + + longitudinalPlan.solverExecutionTime = self.mpc.solve_time + + longitudinalPlan.visionTurnControllerState = self.vision_turn_controller.state + longitudinalPlan.visionTurnSpeed = float(self.vision_turn_controller.v_turn) + + longitudinalPlan.speedLimitControlState = self.speed_limit_controller.state + longitudinalPlan.speedLimit = float(self.speed_limit_controller.speed_limit) + longitudinalPlan.speedLimitOffset = float(self.speed_limit_controller.speed_limit_offset) + longitudinalPlan.distToSpeedLimit = float(self.speed_limit_controller.distance) + longitudinalPlan.isMapSpeedLimit = bool(self.speed_limit_controller.source == SpeedLimitResolver.Source.map_data) + longitudinalPlan.eventsDEPRECATED = self.events.to_msg() + + longitudinalPlan.turnSpeedControlState = self.turn_speed_controller.state + longitudinalPlan.turnSpeed = float(self.turn_speed_controller.speed_limit) + longitudinalPlan.distToTurn = float(self.turn_speed_controller.distance) + longitudinalPlan.turnSign = int(self.turn_speed_controller.turn_sign) + + pm.send('longitudinalPlan', plan_send) + + def cruise_solutions(self, enabled, v_ego, a_ego, v_cruise, sm): + # Update controllers + self.vision_turn_controller.update(enabled, v_ego, a_ego, v_cruise, sm) + self.events = Events() + self.speed_limit_controller.update(enabled, v_ego, a_ego, sm, v_cruise, self.events) + self.turn_speed_controller.update(enabled, v_ego, a_ego, sm) + + # Pick solution with lowest velocity target. + a_solutions = {'cruise': float("inf")} + v_solutions = {'cruise': v_cruise} + + if self.vision_turn_controller.is_active: + a_solutions['turn'] = self.vision_turn_controller.a_target + v_solutions['turn'] = self.vision_turn_controller.v_turn + + if self.speed_limit_controller.is_active: + a_solutions['limit'] = self.speed_limit_controller.a_target + v_solutions['limit'] = self.speed_limit_controller.speed_limit_offseted + + if self.turn_speed_controller.is_active: + a_solutions['turnlimit'] = self.turn_speed_controller.a_target + v_solutions['turnlimit'] = self.turn_speed_controller.speed_limit + + source = min(v_solutions, key=v_solutions.get) + + return source, a_solutions[source], v_solutions[source] diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py new file mode 100644 index 000000000..965158131 --- /dev/null +++ b/selfdrive/controls/lib/pid.py @@ -0,0 +1,75 @@ +import numpy as np +from numbers import Number + +from common.numpy_fast import clip, interp + + +class PIDController(): + def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100): + self._k_p = k_p + self._k_i = k_i + self._k_d = k_d + self.k_f = k_f # feedforward gain + if isinstance(self._k_p, Number): + self._k_p = [[0], [self._k_p]] + if isinstance(self._k_i, Number): + self._k_i = [[0], [self._k_i]] + if isinstance(self._k_d, Number): + self._k_d = [[0], [self._k_d]] + + self.pos_limit = pos_limit + self.neg_limit = neg_limit + + self.i_unwind_rate = 0.3 / rate + self.i_rate = 1.0 / rate + self.speed = 0.0 + + self.reset() + + @property + def k_p(self): + return interp(self.speed, self._k_p[0], self._k_p[1]) + + @property + def k_i(self): + return interp(self.speed, self._k_i[0], self._k_i[1]) + + @property + def k_d(self): + return interp(self.speed, self._k_d[0], self._k_d[1]) + + @property + def error_integral(self): + return self.i/self.k_i + + def reset(self): + self.p = 0.0 + self.i = 0.0 + self.d = 0.0 + self.f = 0.0 + self.control = 0 + + def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False): + self.speed = speed + + self.p = float(error) * self.k_p + self.f = feedforward * self.k_f + self.d = error_rate * self.k_d + + if override: + self.i -= self.i_unwind_rate * float(np.sign(self.i)) + else: + i = self.i + error * self.k_i * self.i_rate + control = self.p + i + self.d + self.f + + # Update when changing i will move the control away from the limits + # or when i will move towards the sign of the error + if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or + (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \ + not freeze_integrator: + self.i = i + + control = self.p + self.i + self.d + self.f + + self.control = clip(control, self.neg_limit, self.pos_limit) + return self.control diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py new file mode 100644 index 000000000..85699866b --- /dev/null +++ b/selfdrive/controls/lib/radar_helpers.py @@ -0,0 +1,158 @@ +from common.numpy_fast import mean +from common.kalman.simple_kalman import KF1D + + +# the longer lead decels, the more likely it will keep decelerating +# TODO is this a good default? +_LEAD_ACCEL_TAU = 1.5 + +# radar tracks +SPEED, ACCEL = 0, 1 # Kalman filter states enum + +# stationary qualification parameters +v_ego_stationary = 4. # no stationary object flag below this speed + +RADAR_TO_CENTER = 2.7 # (deprecated) RADAR is ~ 2.7m ahead from center of car +RADAR_TO_CAMERA = 1.52 # RADAR is ~ 1.5m ahead from center of mesh frame + +class Track(): + def __init__(self, v_lead, kalman_params): + self.cnt = 0 + self.aLeadTau = _LEAD_ACCEL_TAU + self.K_A = kalman_params.A + self.K_C = kalman_params.C + self.K_K = kalman_params.K + self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K) + + def update(self, d_rel, y_rel, v_rel, v_lead, measured): + # relative values, copy + self.dRel = d_rel # LONG_DIST + self.yRel = y_rel # -LAT_DIST + self.vRel = v_rel # REL_SPEED + self.vLead = v_lead + self.measured = measured # measured or estimate + + # computed velocity and accelerations + if self.cnt > 0: + self.kf.update(self.vLead) + + self.vLeadK = float(self.kf.x[SPEED][0]) + self.aLeadK = float(self.kf.x[ACCEL][0]) + + # Learn if constant acceleration + if abs(self.aLeadK) < 0.5: + self.aLeadTau = _LEAD_ACCEL_TAU + else: + self.aLeadTau *= 0.9 + + self.cnt += 1 + + def get_key_for_cluster(self): + # Weigh y higher since radar is inaccurate in this dimension + return [self.dRel, self.yRel*2, self.vRel] + + def reset_a_lead(self, aLeadK, aLeadTau): + self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K) + self.aLeadK = aLeadK + self.aLeadTau = aLeadTau + + +class Cluster(): + def __init__(self): + self.tracks = set() + + def add(self, t): + # add the first track + self.tracks.add(t) + + # TODO: make generic + @property + def dRel(self): + return mean([t.dRel for t in self.tracks]) + + @property + def yRel(self): + return mean([t.yRel for t in self.tracks]) + + @property + def vRel(self): + return mean([t.vRel for t in self.tracks]) + + @property + def aRel(self): + return mean([t.aRel for t in self.tracks]) + + @property + def vLead(self): + return mean([t.vLead for t in self.tracks]) + + @property + def dPath(self): + return mean([t.dPath for t in self.tracks]) + + @property + def vLat(self): + return mean([t.vLat for t in self.tracks]) + + @property + def vLeadK(self): + return mean([t.vLeadK for t in self.tracks]) + + @property + def aLeadK(self): + if all(t.cnt <= 1 for t in self.tracks): + return 0. + else: + return mean([t.aLeadK for t in self.tracks if t.cnt > 1]) + + @property + def aLeadTau(self): + if all(t.cnt <= 1 for t in self.tracks): + return _LEAD_ACCEL_TAU + else: + return mean([t.aLeadTau for t in self.tracks if t.cnt > 1]) + + @property + def measured(self): + return any(t.measured for t in self.tracks) + + def get_RadarState(self, model_prob=0.0): + return { + "dRel": float(self.dRel), + "yRel": float(self.yRel), + "vRel": float(self.vRel), + "vLead": float(self.vLead), + "vLeadK": float(self.vLeadK), + "aLeadK": float(self.aLeadK), + "status": True, + "fcw": self.is_potential_fcw(model_prob), + "modelProb": model_prob, + "radar": True, + "aLeadTau": float(self.aLeadTau) + } + + def get_RadarState_from_vision(self, lead_msg, v_ego): + return { + "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA), + "yRel": float(-lead_msg.y[0]), + "vRel": float(lead_msg.v[0] - v_ego), + "vLead": float(lead_msg.v[0]), + "vLeadK": float(lead_msg.v[0]), + "aLeadK": float(0), + "aLeadTau": _LEAD_ACCEL_TAU, + "fcw": False, + "modelProb": float(lead_msg.prob), + "radar": False, + "status": True + } + + def __str__(self): + ret = f"x: {self.dRel:4.1f} y: {self.yRel:4.1f} v: {self.vRel:4.1f} a: {self.aLeadK:4.1f}" + return ret + + def potential_low_speed_lead(self, v_ego): + # stop for stuff in front of you and low speed, even without model confirmation + return abs(self.yRel) < 1.5 and (v_ego < v_ego_stationary) and self.dRel < 25 + + def is_potential_fcw(self, model_prob): + return model_prob > .9 diff --git a/selfdrive/controls/lib/speed_limit_controller.py b/selfdrive/controls/lib/speed_limit_controller.py new file mode 100644 index 000000000..cc5ff132c --- /dev/null +++ b/selfdrive/controls/lib/speed_limit_controller.py @@ -0,0 +1,408 @@ +import numpy as np +import time +from common.numpy_fast import interp +from enum import IntEnum +from cereal import log, car +from common.params import Params +from common.realtime import sec_since_boot +from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \ + LIMIT_MAX_MAP_DATA_AGE, CONTROL_N +from selfdrive.controls.lib.events import Events +from selfdrive.modeld.constants import T_IDXS + + +_PARAMS_UPDATE_PERIOD = 2. # secs. Time between parameter updates. +_TEMP_INACTIVE_GUARD_PERIOD = 1. # secs. Time to wait after activation before considering temp deactivation signal. + +# Lookup table for speed limit percent offset depending on speed. +_LIMIT_PERC_OFFSET_V = [ 0.0, 0.1, 0.14, 0.11, 0.2, 0.18, 0.17, 0.14, 0.065, 0.0] # 20, 33, 40, 50, 65, 75, 80, 80, 80 mph +_LIMIT_PERC_OFFSET_BP = [11.0, 13.4, 15.6, 20.1, 22.3, 24.58, 29.0, 31.2, 33.4, 35.7] # 20, 30, 35, 45, 55, 65, 70, 75, 80 mph + +SpeedLimitControlState = log.LongitudinalPlan.SpeedLimitControlState +EventName = car.CarEvent.EventName + +_DEBUG = False + + +def _debug(msg): + if not _DEBUG: + return + print(msg) + + +def _description_for_state(speed_limit_control_state): + if speed_limit_control_state == SpeedLimitControlState.inactive: + return 'INACTIVE' + if speed_limit_control_state == SpeedLimitControlState.tempInactive: + return 'TEMP_INACTIVE' + if speed_limit_control_state == SpeedLimitControlState.adapting: + return 'ADAPTING' + if speed_limit_control_state == SpeedLimitControlState.active: + return 'ACTIVE' + + +class SpeedLimitResolver(): + class Source(IntEnum): + none = 0 + car_state = 1 + map_data = 2 + nav = 3 + + class Policy(IntEnum): + car_state_only = 0 + map_data_only = 1 + car_state_priority = 2 + map_data_priority = 3 + combined = 4 + nav_only = 5 + nav_priority = 6 + + def __init__(self, policy=Policy.nav_priority): + self._limit_solutions = {} # Store for speed limit solutions from different sources + self._distance_solutions = {} # Store for distance to current speed limit start for different sources + self._v_ego = 0. + self._current_speed_limit = 0. + self._policy = policy + self._next_speed_limit_prev = 0. + self.speed_limit = 0. + self.distance = 0. + self.source = SpeedLimitResolver.Source.none + + def resolve(self, v_ego, current_speed_limit, sm): + self._v_ego = v_ego + self._current_speed_limit = current_speed_limit + self._sm = sm + + self._get_from_car_state() + self._get_from_nav() + self._get_from_map_data() + self._consolidate() + + return self.speed_limit, self.distance, self.source + + def _get_from_car_state(self): + self._limit_solutions[SpeedLimitResolver.Source.car_state] = self._sm['carState'].cruiseState.speedLimit + self._distance_solutions[SpeedLimitResolver.Source.car_state] = 0. + + def _get_from_nav(self): + self._limit_solutions[SpeedLimitResolver.Source.nav] = self._sm['navInstruction'].speedLimit + self._distance_solutions[SpeedLimitResolver.Source.nav] = 0. + + def _get_from_map_data(self): + # Ignore if no live map data + sock = 'liveMapData' + if self._sm.logMonoTime[sock] is None: + self._limit_solutions[SpeedLimitResolver.Source.map_data] = 0. + self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0. + _debug('SL: No map data for speed limit') + return + + #if not self._sm.updated[sock]: + # self._limit_solutions[SpeedLimitResolver.Source.map_data] = 0. + # self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0. + # _debug('SL: not updated, mapd crashed?') + # return + + # Load limits from map_data + map_data = self._sm[sock] + speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0. + next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0. + + # Calculate the age of the gps fix. Ignore if too old. + gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3 + if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE: + self._limit_solutions[SpeedLimitResolver.Source.map_data] = 0. + self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0. + _debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}') + return + + # When we have no ahead speed limit to consider or it is greater than current speed limit + # or car has stopped, then provide current value and reset tracking. + if next_speed_limit == 0. or self._v_ego <= 0. or next_speed_limit > self._current_speed_limit: + self._limit_solutions[SpeedLimitResolver.Source.map_data] = speed_limit + self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0. + self._next_speed_limit_prev = 0. + return + + # Calculate the actual distance to the speed limit ahead corrected by gps_fix_age + distance_since_fix = self._v_ego * gps_fix_age + distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix) + + # When we have a next_speed_limit value that has not changed from a provided next speed limit value + # in previous resolutions, we keep providing it. + if next_speed_limit == self._next_speed_limit_prev: + self._limit_solutions[SpeedLimitResolver.Source.map_data] = next_speed_limit + self._distance_solutions[SpeedLimitResolver.Source.map_data] = distance_to_speed_limit_ahead + return + + # Reset tracking + self._next_speed_limit_prev = 0. + + # Calculated the time needed to adapt to the new limit and the corresponding distance. + adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC + adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time**2 + + # When we detect we are close enough, we provide the next limit value and track it. + if distance_to_speed_limit_ahead <= adapt_distance: + self._limit_solutions[SpeedLimitResolver.Source.map_data] = next_speed_limit + self._distance_solutions[SpeedLimitResolver.Source.map_data] = distance_to_speed_limit_ahead + self._next_speed_limit_prev = next_speed_limit + return + + # Otherwise we just provide the map data speed limit. + self.distance_to_map_speed_limit = 0. + self._limit_solutions[SpeedLimitResolver.Source.map_data] = speed_limit + self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0. + + def _consolidate(self): + limits = np.array([], dtype=float) + distances = np.array([], dtype=float) + sources = np.array([], dtype=int) + + if self._policy == SpeedLimitResolver.Policy.car_state_only or \ + self._policy == SpeedLimitResolver.Policy.car_state_priority or \ + self._policy == SpeedLimitResolver.Policy.combined: + limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.car_state]) + distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.car_state]) + sources = np.append(sources, SpeedLimitResolver.Source.car_state.value) + + if self._policy == SpeedLimitResolver.Policy.nav_only or \ + self._policy == SpeedLimitResolver.Policy.nav_priority or \ + self._policy == SpeedLimitResolver.Policy.combined: + limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.nav]) + distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.nav]) + sources = np.append(sources, SpeedLimitResolver.Source.nav.value) + + if self._policy == SpeedLimitResolver.Policy.map_data_only or \ + self._policy == SpeedLimitResolver.Policy.map_data_priority or \ + self._policy == SpeedLimitResolver.Policy.combined: + limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.map_data]) + distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.map_data]) + sources = np.append(sources, SpeedLimitResolver.Source.map_data.value) + + if np.amax(limits) == 0.: + if self._policy == SpeedLimitResolver.Policy.car_state_priority: + limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.map_data]) + distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.map_data]) + sources = np.append(sources, SpeedLimitResolver.Source.map_data.value) + + elif self._policy == SpeedLimitResolver.Policy.map_data_priority: + limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.car_state]) + distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.car_state]) + sources = np.append(sources, SpeedLimitResolver.Source.car_state.value) + + elif self._policy == SpeedLimitResolver.Policy.nav_priority: + limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.map_data]) + distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.map_data]) + sources = np.append(sources, SpeedLimitResolver.Source.map_data.value) + + if np.amax(limits) == 0.: + limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.car_state]) + distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.car_state]) + sources = np.append(sources, SpeedLimitResolver.Source.car_state.value) + + # Get all non-zero values and set the minimum if any, otherwise 0. + mask = limits > 0. + limits = limits[mask] + distances = distances[mask] + sources = sources[mask] + + if len(limits) > 0: + min_idx = np.argmin(limits) + self.speed_limit = limits[min_idx] + self.distance = distances[min_idx] + self.source = SpeedLimitResolver.Source(sources[min_idx]) + else: + self.speed_limit = 0. + self.distance = 0. + self.source = SpeedLimitResolver.Source.none + + _debug(f'SL: *** Speed Limit set: {self.speed_limit}, distance: {self.distance}, source: {self.source}') + + +class SpeedLimitController(): + def __init__(self): + self._params = Params() + self._resolver = SpeedLimitResolver() + self._last_params_update = 0.0 + self._last_op_enabled_time = 0.0 + self._is_metric = self._params.get_bool("IsMetric") + self._is_enabled = self._params.get_bool("SpeedLimitControl") + self._offset_enabled = self._params.get_bool("SpeedLimitPercOffset") + self._op_enabled = False + self._op_enabled_prev = False + self._v_ego = 0. + self._a_ego = 0. + self._v_offset = 0. + self._v_cruise_setpoint = 0. + self._v_cruise_setpoint_prev = 0. + self._v_cruise_setpoint_changed = False + self._speed_limit = 0. + self._speed_limit_prev = 0. + self._speed_limit_changed = False + self._distance = 0. + self._source = SpeedLimitResolver.Source.none + self._state = SpeedLimitControlState.inactive + self._state_prev = SpeedLimitControlState.inactive + self._gas_pressed = False + self._a_target = 0. + + @property + def a_target(self): + return self._a_target if self.is_active else self._a_ego + + @property + def state(self): + return self._state + + @state.setter + def state(self, value): + if value != self._state: + _debug(f'Speed Limit Controller state: {_description_for_state(value)}') + + if value == SpeedLimitControlState.tempInactive: + # Reset previous speed limit to current value as to prevent going out of tempInactive in + # a single cycle when the speed limit changes at the same time the user has temporarily deactivate it. + self._speed_limit_prev = self._speed_limit + + self._state = value + + @property + def is_active(self): + return self.state > SpeedLimitControlState.tempInactive + + @property + def speed_limit_offseted(self): + return self._speed_limit + self.speed_limit_offset + + @property + def speed_limit_offset(self): + if self._offset_enabled: + return interp(self._speed_limit, _LIMIT_PERC_OFFSET_BP, _LIMIT_PERC_OFFSET_V) * self._speed_limit + return 0. + + @property + def speed_limit(self): + return self._speed_limit + + @property + def distance(self): + return self._distance + + @property + def source(self): + return self._source + + def _update_params(self): + time = sec_since_boot() + if time > self._last_params_update + _PARAMS_UPDATE_PERIOD: + self._is_enabled = self._params.get_bool("SpeedLimitControl") + self._offset_enabled = self._params.get_bool("SpeedLimitPercOffset") + _debug(f'Updated Speed limit params. enabled: {self._is_enabled}, with offset: {self._offset_enabled}') + self._last_params_update = time + + def _update_calculations(self): + # Update current velocity offset (error) + self._v_offset = self.speed_limit_offseted - self._v_ego + + # Track the time op becomes active to prevent going to tempInactive right away after + # op enabling since controlsd will change the cruise speed every time on enabling and this will + # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise + # speed. + if not self._op_enabled_prev and self._op_enabled: + self._last_op_enabled_time = sec_since_boot() + + # Update change tracking variables + self._speed_limit_changed = self._speed_limit != self._speed_limit_prev + self._v_cruise_setpoint_changed = self._v_cruise_setpoint != self._v_cruise_setpoint_prev + self._speed_limit_prev = self._speed_limit + self._v_cruise_setpoint_prev = self._v_cruise_setpoint + self._op_enabled_prev = self._op_enabled + + def _state_transition(self): + self._state_prev = self._state + + # In any case, if op is disabled, or speed limit control is disabled + # or the reported speed limit is 0 or gas is pressed, deactivate. + if not self._op_enabled or not self._is_enabled or self._speed_limit == 0 or self._gas_pressed: + self.state = SpeedLimitControlState.inactive + return + + # In any case, we deactivate the speed limit controller temporarily if the user changes the cruise speed. + # Ignore if a minimum ammount of time has not passed since activation. This is to prevent temp inactivations + # due to controlsd logic changing cruise setpoint when going active. + if self._v_cruise_setpoint_changed and \ + sec_since_boot() > (self._last_op_enabled_time + _TEMP_INACTIVE_GUARD_PERIOD): + self.state = SpeedLimitControlState.tempInactive + return + + # inactive + if self.state == SpeedLimitControlState.inactive: + # If the limit speed offset is negative (i.e. reduce speed) and lower than threshold + # we go to adapting state to quickly reduce speed, otherwise we go directly to active + if self._v_offset < LIMIT_SPEED_OFFSET_TH: + self.state = SpeedLimitControlState.adapting + else: + self.state = SpeedLimitControlState.active + # tempInactive + elif self.state == SpeedLimitControlState.tempInactive: + # if speed limit changes, transition to inactive, + # proper active state will be set on next iteration. + if self._speed_limit_changed: + self.state = SpeedLimitControlState.inactive + # adapting + elif self.state == SpeedLimitControlState.adapting: + # Go to active once the speed offset is over threshold. + if self._v_offset >= LIMIT_SPEED_OFFSET_TH: + self.state = SpeedLimitControlState.active + # active + elif self.state == SpeedLimitControlState.active: + # Go to adapting if the speed offset goes below threshold. + if self._v_offset < LIMIT_SPEED_OFFSET_TH: + self.state = SpeedLimitControlState.adapting + + def _update_solution(self): + # inactive or tempInactive state + if self.state <= SpeedLimitControlState.tempInactive: + # Preserve current values + a_target = self._a_ego + # adapting + elif self.state == SpeedLimitControlState.adapting: + # When adapting we target to achieve the speed limit on the distance if not there yet, + # otherwise try to keep the speed constant around the control time horizon. + if self.distance > 0: + a_target = (self.speed_limit_offseted**2 - self._v_ego**2) / (2. * self.distance) + else: + a_target = self._v_offset / T_IDXS[CONTROL_N] + # active + elif self.state == SpeedLimitControlState.active: + # When active we are trying to keep the speed constant around the control time horizon. + a_target = self._v_offset / T_IDXS[CONTROL_N] + + # Keep solution limited. + self._a_target = np.clip(a_target, LIMIT_MIN_ACC, LIMIT_MAX_ACC) + + def _update_events(self, events): + if not self.is_active: + # no event while inactive + return + + if self._state_prev <= SpeedLimitControlState.tempInactive: + events.add(EventName.speedLimitActive) + elif self._speed_limit_changed != 0: + events.add(EventName.speedLimitValueChange) + + def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events=Events()): + self._op_enabled = enabled + self._v_ego = v_ego + self._a_ego = a_ego + self._v_cruise_setpoint = v_cruise_setpoint + self._gas_pressed = sm['carState'].gasPressed + + self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm) + + self._update_params() + self._update_calculations() + self._state_transition() + self._update_solution() + self._update_events(events) diff --git a/selfdrive/controls/lib/turn_speed_controller.py b/selfdrive/controls/lib/turn_speed_controller.py new file mode 100644 index 000000000..a98b34a78 --- /dev/null +++ b/selfdrive/controls/lib/turn_speed_controller.py @@ -0,0 +1,248 @@ +import numpy as np +import time +from common.params import Params +from cereal import log +from common.realtime import sec_since_boot +from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_SPEED, LIMIT_MAX_MAP_DATA_AGE, \ + LIMIT_SPEED_OFFSET_TH, CONTROL_N, LIMIT_MIN_ACC, LIMIT_MAX_ACC +from selfdrive.modeld.constants import T_IDXS + + +_ACTIVE_LIMIT_MIN_ACC = -0.5 # m/s^2 Maximum deceleration allowed while active. +_ACTIVE_LIMIT_MAX_ACC = 0.5 # m/s^2 Maximum acelration allowed while active. + + +_DEBUG = False + +TurnSpeedControlState = log.LongitudinalPlan.SpeedLimitControlState + + +def _debug(msg): + if not _DEBUG: + return + print(msg) + + +def _description_for_state(turn_speed_control_state): + if turn_speed_control_state == TurnSpeedControlState.inactive: + return 'INACTIVE' + if turn_speed_control_state == TurnSpeedControlState.tempInactive: + return 'TEMP INACTIVE' + if turn_speed_control_state == TurnSpeedControlState.adapting: + return 'ADAPTING' + if turn_speed_control_state == TurnSpeedControlState.active: + return 'ACTIVE' + + +class TurnSpeedController(): + def __init__(self): + self._params = Params() + self._last_params_update = 0. + self._is_enabled = self._params.get_bool("TurnSpeedControl") + self._op_enabled = False + self._v_ego = 0. + self._a_ego = 0. + self._v_cruise_setpoint = 0. + + self._v_offset = 0. + self._speed_limit = 0. + self._speed_limit_temp_inactive = 0. + self._distance = 0. + self._turn_sign = 0 + self._state = TurnSpeedControlState.inactive + + self._next_speed_limit_prev = 0. + + self._a_target = 0. + + @property + def a_target(self): + return self._a_target if self.is_active else self._a_ego + + @property + def state(self): + return self._state + + @state.setter + def state(self, value): + if value != self._state: + _debug(f'Turn Speed Controller state: {_description_for_state(value)}') + + if value == TurnSpeedControlState.adapting: + _debug('TSC: Enteriing Adapting as speed offset is below threshold') + _debug(f'_v_offset: {self._v_offset * 3.6}\nspeed_limit: {self.speed_limit * 3.6}') + _debug(f'_v_ego: {self._v_ego * 3.6}\ndistance: {self.distance}') + + if value == TurnSpeedControlState.tempInactive: + # Track the speed limit value when controller was set to temp inactive. + self._speed_limit_temp_inactive = self._speed_limit + + self._state = value + + @property + def is_active(self): + return self.state > TurnSpeedControlState.tempInactive + + @property + def speed_limit(self): + return max(self._speed_limit, LIMIT_MIN_SPEED) if self._speed_limit > 0. else 0. + + @property + def distance(self): + return max(self._distance, 0.) + + @property + def turn_sign(self): + return self._turn_sign + + def _get_limit_from_map_data(self, sm): + """Provides the speed limit, distance and turn sign to it for turns based on map data. + """ + # Ignore if no live map data + sock = 'liveMapData' + if sm.logMonoTime[sock] is None: + _debug('TS: No map data for turn speed limit') + return 0., 0., 0 + + #if not sm.updated[sock]: + # _debug('TS: not updated, mapd crashed?') + # return 0., 0., 0 + + # Load map_data and initialize + map_data = sm[sock] + speed_limit = 0. + + # Calculate the age of the gps fix. Ignore if too old. + gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3 + if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE: + _debug(f'TS: Ignoring map data as is too old. Age: {gps_fix_age}') + return 0., 0., 0 + + # Load turn ahead sections info from map_data with distances corrected by gps_fix_age + distance_since_fix = self._v_ego * gps_fix_age + distances_to_sections_ahead = np.maximum(0., np.array(map_data.turnSpeedLimitsAheadDistances) - distance_since_fix) + speed_limit_in_sections_ahead = map_data.turnSpeedLimitsAhead + turn_signs_in_sections_ahead = map_data.turnSpeedLimitsAheadSigns + + # Ensure current speed limit is considered only if we are inside the section. + if map_data.turnSpeedLimitValid and self._v_ego > 0.: + speed_limit_end_time = (map_data.turnSpeedLimitEndDistance / self._v_ego) - gps_fix_age + if speed_limit_end_time > 0.: + speed_limit = map_data.turnSpeedLimit + + # When we have no ahead speed limit to consider or all are greater than current speed limit + # or car has stopped, then provide current value and reset tracking. + turn_sign = map_data.turnSpeedLimitSign if map_data.turnSpeedLimitValid else 0 + if len(speed_limit_in_sections_ahead) == 0 or self._v_ego <= 0. or \ + (speed_limit > 0 and np.amin(speed_limit_in_sections_ahead) > speed_limit): + self._next_speed_limit_prev = 0. + return speed_limit, 0., turn_sign + + # Calculated the time needed to adapt to the limits ahead and the corresponding distances. + adapt_times = (np.maximum(speed_limit_in_sections_ahead, LIMIT_MIN_SPEED) - self._v_ego) / LIMIT_ADAPT_ACC + adapt_distances = self._v_ego * adapt_times + 0.5 * LIMIT_ADAPT_ACC * adapt_times**2 + distance_gaps = distances_to_sections_ahead - adapt_distances + + # We select as next speed limit, the one that have the lowest distance gap. + next_idx = np.argmin(distance_gaps) + next_speed_limit = speed_limit_in_sections_ahead[next_idx] + distance_to_section_ahead = distances_to_sections_ahead[next_idx] + next_turn_sign = turn_signs_in_sections_ahead[next_idx] + distance_gap = distance_gaps[next_idx] + + # When we have a next_speed_limit value that has not changed from a provided next speed limit value + # in previous resolutions, we keep providing it along with the udpated distance to it. + if next_speed_limit == self._next_speed_limit_prev: + return next_speed_limit, distance_to_section_ahead, next_turn_sign + + # Reset tracking + self._next_speed_limit_prev = 0. + + # When we detect we are close enough, we provide the next limit value and track it. + if distance_gap <= 0.: + self._next_speed_limit_prev = next_speed_limit + return next_speed_limit, distance_to_section_ahead, next_turn_sign + + # Otherwise we just provide the calculated speed_limit + return speed_limit, 0., turn_sign + + def _update_params(self): + time = sec_since_boot() + if time > self._last_params_update + 5.0: + self._is_enabled = self._params.get_bool("TurnSpeedControl") + self._last_params_update = time + + def _update_calculations(self): + # Update current velocity offset (error) + self._v_offset = self.speed_limit - self._v_ego + + def _state_transition(self, sm): + # In any case, if op is disabled, or turn speed limit control is disabled + # or the reported speed limit is 0, deactivate. + if not self._op_enabled or not self._is_enabled or self.speed_limit == 0.: + self.state = TurnSpeedControlState.inactive + return + + # In any case, we deactivate the speed limit controller temporarily + # if gas is pressed (to support gas override implementations). + if sm['carState'].gasPressed: + self.state = TurnSpeedControlState.tempInactive + return + + # inactive + if self.state == TurnSpeedControlState.inactive: + # If the limit speed offset is negative (i.e. reduce speed) and lower than threshold and distanct to turn limit + # is positive (not in turn yet) we go to adapting state to reduce speed, otherwise we go directly to active + if self._v_offset < LIMIT_SPEED_OFFSET_TH and self.distance > 0.: + self.state = TurnSpeedControlState.adapting + else: + self.state = TurnSpeedControlState.active + # tempInactive + elif self.state == TurnSpeedControlState.tempInactive: + # if the speed limit recorded when going to temp Inactive changes + # then set to inactive, activation will happen on next cycle + if self._speed_limit != self._speed_limit_temp_inactive: + self.state = TurnSpeedControlState.inactive + # adapting + elif self.state == TurnSpeedControlState.adapting: + # Go to active once the speed offset is over threshold or the distance to turn is now 0. + if self._v_offset >= LIMIT_SPEED_OFFSET_TH or self.distance == 0.: + self.state = TurnSpeedControlState.active + # active + elif self.state == TurnSpeedControlState.active: + # Go to adapting if the speed offset goes below threshold as long as the distance to turn is still positive. + if self._v_offset < LIMIT_SPEED_OFFSET_TH and self.distance > 0.: + self.state = TurnSpeedControlState.adapting + + def _update_solution(self): + # inactive or tempInactive state + if self.state <= TurnSpeedControlState.tempInactive: + # Preserve current values + a_target = self._a_ego + # adapting + elif self.state == TurnSpeedControlState.adapting: + # When adapting we target to achieve the speed limit on the distance. + a_target = (self.speed_limit**2 - self._v_ego**2) / (2. * self.distance) + a_target = np.clip(a_target, LIMIT_MIN_ACC, LIMIT_MAX_ACC) + # active + elif self.state == TurnSpeedControlState.active: + # When active we are trying to keep the speed constant around the control time horizon. + # but under constrained acceleration limits since we are in a turn. + a_target = self._v_offset / T_IDXS[CONTROL_N] + a_target = np.clip(a_target, _ACTIVE_LIMIT_MIN_ACC, _ACTIVE_LIMIT_MAX_ACC) + + # update solution values. + self._a_target = a_target + + def update(self, enabled, v_ego, a_ego, sm): + self._op_enabled = enabled + self._v_ego = v_ego + self._a_ego = a_ego + + # Get the speed limit from Map Data + self._speed_limit, self._distance, self._turn_sign = self._get_limit_from_map_data(sm) + + self._update_params() + self._update_calculations() + self._state_transition(sm) + self._update_solution() diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py new file mode 100755 index 000000000..075038491 --- /dev/null +++ b/selfdrive/controls/lib/vehicle_model.py @@ -0,0 +1,231 @@ +#!/usr/bin/env python3 +""" +Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani" + +The state is x = [v, r]^T +with v lateral speed [m/s], and r rotational speed [rad/s] + +The input u is the steering angle [rad], and roll [rad] + +The system is defined by +x_dot = A*x + B*u + +A depends on longitudinal speed, u [m/s], and vehicle parameters CP +""" +from typing import Tuple + +import numpy as np +from numpy.linalg import solve + +from cereal import car + +ACCELERATION_DUE_TO_GRAVITY = 9.8 + + +class VehicleModel: + def __init__(self, CP: car.CarParams): + """ + Args: + CP: Car Parameters + """ + # for math readability, convert long names car params into short names + self.m: float = CP.mass + self.j: float = CP.rotationalInertia + self.l: float = CP.wheelbase + self.aF: float = CP.centerToFront + self.aR: float = CP.wheelbase - CP.centerToFront + self.chi: float = CP.steerRatioRear + + self.cF_orig: float = CP.tireStiffnessFront + self.cR_orig: float = CP.tireStiffnessRear + self.update_params(1.0, CP.steerRatio) + + def update_params(self, stiffness_factor: float, steer_ratio: float) -> None: + """Update the vehicle model with a new stiffness factor and steer ratio""" + self.cF: float = stiffness_factor * self.cF_orig + self.cR: float = stiffness_factor * self.cR_orig + self.sR: float = steer_ratio + + def steady_state_sol(self, sa: float, u: float, roll: float) -> np.ndarray: + """Returns the steady state solution. + + If the speed is too low we can't use the dynamic model (tire slip is undefined), + we then have to use the kinematic model + + Args: + sa: Steering wheel angle [rad] + u: Speed [m/s] + roll: Road Roll [rad] + + Returns: + 2x1 matrix with steady state solution (lateral speed, rotational speed) + """ + if u > 0.1: + return dyn_ss_sol(sa, u, roll, self) + else: + return kin_ss_sol(sa, u, self) + + def calc_curvature(self, sa: float, u: float, roll: float) -> float: + """Returns the curvature. Multiplied by the speed this will give the yaw rate. + + Args: + sa: Steering wheel angle [rad] + u: Speed [m/s] + roll: Road Roll [rad] + + Returns: + Curvature factor [1/m] + """ + return (self.curvature_factor(u) * sa / self.sR) + self.roll_compensation(roll, u) + + def curvature_factor(self, u: float) -> float: + """Returns the curvature factor. + Multiplied by wheel angle (not steering wheel angle) this will give the curvature. + + Args: + u: Speed [m/s] + + Returns: + Curvature factor [1/m] + """ + sf = calc_slip_factor(self) + return (1. - self.chi) / (1. - sf * u**2) / self.l + + def get_steer_from_curvature(self, curv: float, u: float, roll: float) -> float: + """Calculates the required steering wheel angle for a given curvature + + Args: + curv: Desired curvature [1/m] + u: Speed [m/s] + roll: Road Roll [rad] + + Returns: + Steering wheel angle [rad] + """ + + return (curv - self.roll_compensation(roll, u)) * self.sR * 1.0 / self.curvature_factor(u) + + def roll_compensation(self, roll: float, u: float) -> float: + """Calculates the roll-compensation to curvature + + Args: + roll: Road Roll [rad] + u: Speed [m/s] + + Returns: + Roll compensation curvature [rad] + """ + sf = calc_slip_factor(self) + + if abs(sf) < 1e-6: + return 0 + else: + return (ACCELERATION_DUE_TO_GRAVITY * roll) / ((1 / sf) - u**2) + + def get_steer_from_yaw_rate(self, yaw_rate: float, u: float, roll: float) -> float: + """Calculates the required steering wheel angle for a given yaw_rate + + Args: + yaw_rate: Desired yaw rate [rad/s] + u: Speed [m/s] + roll: Road Roll [rad] + + Returns: + Steering wheel angle [rad] + """ + curv = yaw_rate / u + return self.get_steer_from_curvature(curv, u, roll) + + def yaw_rate(self, sa: float, u: float, roll: float) -> float: + """Calculate yaw rate + + Args: + sa: Steering wheel angle [rad] + u: Speed [m/s] + roll: Road Roll [rad] + + Returns: + Yaw rate [rad/s] + """ + return self.calc_curvature(sa, u, roll) * u + + +def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray: + """Calculate the steady state solution at low speeds + At low speeds the tire slip is undefined, so a kinematic + model is used. + + Args: + sa: Steering angle [rad] + u: Speed [m/s] + VM: Vehicle model + + Returns: + 2x1 matrix with steady state solution + """ + K = np.zeros((2, 1)) + K[0, 0] = VM.aR / VM.sR / VM.l * u + K[1, 0] = 1. / VM.sR / VM.l * u + return K * sa + + +def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, np.ndarray]: + """Returns the A and B matrix for the dynamics system + + Args: + u: Vehicle speed [m/s] + VM: Vehicle model + + Returns: + A tuple with the 2x2 A matrix, and 2x2 B matrix + + Parameters in the vehicle model: + cF: Tire stiffness Front [N/rad] + cR: Tire stiffness Front [N/rad] + aF: Distance from CG to front wheels [m] + aR: Distance from CG to rear wheels [m] + m: Mass [kg] + j: Rotational inertia [kg m^2] + sR: Steering ratio [-] + chi: Steer ratio rear [-] + """ + A = np.zeros((2, 2)) + B = np.zeros((2, 2)) + A[0, 0] = - (VM.cF + VM.cR) / (VM.m * u) + A[0, 1] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.m * u) - u + A[1, 0] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.j * u) + A[1, 1] = - (VM.cF * VM.aF**2 + VM.cR * VM.aR**2) / (VM.j * u) + + # Steering input + B[0, 0] = (VM.cF + VM.chi * VM.cR) / VM.m / VM.sR + B[1, 0] = (VM.cF * VM.aF - VM.chi * VM.cR * VM.aR) / VM.j / VM.sR + + # Roll input + B[0, 1] = -ACCELERATION_DUE_TO_GRAVITY + + return A, B + + +def dyn_ss_sol(sa: float, u: float, roll: float, VM: VehicleModel) -> np.ndarray: + """Calculate the steady state solution when x_dot = 0, + Ax + Bu = 0 => x = -A^{-1} B u + + Args: + sa: Steering angle [rad] + u: Speed [m/s] + roll: Road Roll [rad] + VM: Vehicle model + + Returns: + 2x1 matrix with steady state solution + """ + A, B = create_dyn_state_matrices(u, VM) + inp = np.array([[sa], [roll]]) + return -solve(A, B) @ inp # type: ignore + + +def calc_slip_factor(VM: VehicleModel) -> float: + """The slip factor is a measure of how the curvature changes with speed + it's positive for Oversteering vehicle, negative (usual case) otherwise. + """ + return VM.m * (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.l**2 * VM.cF * VM.cR) diff --git a/selfdrive/controls/lib/vision_turn_controller.py b/selfdrive/controls/lib/vision_turn_controller.py new file mode 100644 index 000000000..9d5e9b76e --- /dev/null +++ b/selfdrive/controls/lib/vision_turn_controller.py @@ -0,0 +1,292 @@ +import numpy as np +import math +from cereal import log +from common.numpy_fast import interp +from common.params import Params +from common.realtime import sec_since_boot +from common.conversions import Conversions as CV +from selfdrive.controls.lib.lane_planner import TRAJECTORY_SIZE +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX + + +_MIN_V = 5.6 # Do not operate under 20km/h + +_ENTERING_PRED_LAT_ACC_TH = 1.3 # Predicted Lat Acc threshold to trigger entering turn state. +_ABORT_ENTERING_PRED_LAT_ACC_TH = 1.1 # Predicted Lat Acc threshold to abort entering state if speed drops. + +_TURNING_LAT_ACC_TH = 1.6 # Lat Acc threshold to trigger turning turn state. + +_LEAVING_LAT_ACC_TH = 1.3 # Lat Acc threshold to trigger leaving turn state. +_FINISH_LAT_ACC_TH = 1.1 # Lat Acc threshold to trigger end of turn cycle. + +_EVAL_STEP = 5. # mts. Resolution of the curvature evaluation. +_EVAL_START = 20. # mts. Distance ahead where to start evaluating vision curvature. +_EVAL_LENGHT = 150. # mts. Distance ahead where to stop evaluating vision curvature. +_EVAL_RANGE = np.arange(_EVAL_START, _EVAL_LENGHT, _EVAL_STEP) + +_A_LAT_REG_MAX = 2. # Maximum lateral acceleration + +_NO_OVERSHOOT_TIME_HORIZON = 4. # s. Time to use for velocity desired based on a_target when not overshooting. + +# Lookup table for the minimum smooth deceleration during the ENTERING state +# depending on the actual maximum absolute lateral acceleration predicted on the turn ahead. +_ENTERING_SMOOTH_DECEL_V = [-0.2, -0.5] # min decel value allowed on ENTERING state +_ENTERING_SMOOTH_DECEL_BP = [1.3, 3.] # absolute value of lat acc ahead + +# Lookup table for the acceleration for the TURNING state +# depending on the current lateral acceleration of the vehicle. +_TURNING_ACC_V = [0.5, 0., -0.4] # acc value +_TURNING_ACC_BP = [1.5, 2.3, 3.] # absolute value of current lat acc + +_LEAVING_ACC = 0.5 # Confortble acceleration to regain speed while leaving a turn. + +_MIN_LANE_PROB = 0.6 # Minimum lanes probability to allow curvature prediction based on lanes. + +_DEBUG = False + + +def _debug(msg): + if not _DEBUG: + return + print(msg) + + +VisionTurnControllerState = log.LongitudinalPlan.VisionTurnControllerState + + +def eval_curvature(poly, x_vals): + """ + This function returns a vector with the curvature based on path defined by `poly` + evaluated on distance vector `x_vals` + """ + # https://en.wikipedia.org/wiki/Curvature# Local_expressions + def curvature(x): + a = abs(2 * poly[1] + 6 * poly[0] * x) / (1 + (3 * poly[0] * x**2 + 2 * poly[1] * x + poly[2])**2)**(1.5) + return a + + return np.vectorize(curvature)(x_vals) + + +def eval_lat_acc(v_ego, x_curv): + """ + This function returns a vector with the lateral acceleration based + for the provided speed `v_ego` evaluated over curvature vector `x_curv` + """ + + def lat_acc(curv): + a = v_ego**2 * curv + return a + + return np.vectorize(lat_acc)(x_curv) + + +def _description_for_state(turn_controller_state): + if turn_controller_state == VisionTurnControllerState.disabled: + return 'DISABLED' + if turn_controller_state == VisionTurnControllerState.entering: + return 'ENTERING' + if turn_controller_state == VisionTurnControllerState.turning: + return 'TURNING' + if turn_controller_state == VisionTurnControllerState.leaving: + return 'LEAVING' + + +class VisionTurnController(): + def __init__(self, CP): + self._params = Params() + self._CP = CP + self._op_enabled = False + self._gas_pressed = False + self._is_enabled = self._params.get_bool("TurnVisionControl") + self._last_params_update = 0. + self._v_cruise_setpoint = 0. + self._v_ego = 0. + self._a_ego = 0. + self._a_target = 0. + self._v_overshoot = 0. + self._state = VisionTurnControllerState.disabled + + self._reset() + + @property + def state(self): + return self._state + + @state.setter + def state(self, value): + if value != self._state: + _debug(f'TVC: TurnVisionController state: {_description_for_state(value)}') + if value == VisionTurnControllerState.disabled: + self._reset() + self._state = value + + @property + def a_target(self): + return self._a_target if self.is_active else self._a_ego + + @property + def v_turn(self): + if not self.is_active: + return self._v_cruise_setpoint + return self._v_overshoot if self._lat_acc_overshoot_ahead \ + else self._v_ego + self._a_target * _NO_OVERSHOOT_TIME_HORIZON + + @property + def is_active(self): + return self._state != VisionTurnControllerState.disabled + + def _reset(self): + self._current_lat_acc = 0. + self._max_v_for_current_curvature = 0. + self._max_pred_lat_acc = 0. + self._v_overshoot_distance = 200. + self._lat_acc_overshoot_ahead = False + + def _update_params(self): + time = sec_since_boot() + if time > self._last_params_update + 5.0: + self._is_enabled = self._params.get_bool("TurnVisionControl") + self._last_params_update = time + + def _update_calculations(self, sm): + # Get path polynomial aproximation for curvature estimation from model data. + path_poly = None + model_data = sm['modelV2'] if sm.valid.get('modelV2', False) else None + lat_planner_data = sm['lateralPlan'] if sm.valid.get('lateralPlan', False) else None + + # 1. When the probability of lanes is good enough, compute polynomial from lanes as they are way more stable + # on current mode than drving path. + if model_data is not None and len(model_data.laneLines) == 4 and len(model_data.laneLines[0].t) == TRAJECTORY_SIZE: + ll_x = model_data.laneLines[1].x # left and right ll x is the same + lll_y = np.array(model_data.laneLines[1].y) + rll_y = np.array(model_data.laneLines[2].y) + l_prob = model_data.laneLineProbs[1] + r_prob = model_data.laneLineProbs[2] + lll_std = model_data.laneLineStds[1] + rll_std = model_data.laneLineStds[2] + + # Reduce reliance on lanelines that are too far apart or will be in a few seconds + width_pts = rll_y - lll_y + prob_mods = [] + for t_check in [0.0, 1.5, 3.0]: + width_at_t = interp(t_check * (self._v_ego + 7), ll_x, width_pts) + prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0])) + mod = min(prob_mods) + l_prob *= mod + r_prob *= mod + + # Reduce reliance on uncertain lanelines + l_std_mod = interp(lll_std, [.15, .3], [1.0, 0.0]) + r_std_mod = interp(rll_std, [.15, .3], [1.0, 0.0]) + l_prob *= l_std_mod + r_prob *= r_std_mod + + # Find path from lanes as the average center lane only if min probability on both lanes is above threshold. + if l_prob > _MIN_LANE_PROB and r_prob > _MIN_LANE_PROB: + c_y = width_pts / 2 + lll_y + path_poly = np.polyfit(ll_x, c_y, 3) + + # 2. If not polynomial derived from lanes, then derive it from compensated driving path with lanes as + # provided by `lateralPlanner`. + if path_poly is None and lat_planner_data is not None and len(lat_planner_data.dPathWLinesX) > 0 \ + and lat_planner_data.dPathWLinesX[0] > 0: + path_poly = np.polyfit(lat_planner_data.dPathWLinesX, lat_planner_data.dPathWLinesY, 3) + + # 3. If no polynomial derived from lanes or driving path, then provide a straight line poly. + if path_poly is None: + path_poly = np.array([0., 0., 0., 0.]) + + current_curvature = abs( + sm['carState'].steeringAngleDeg * CV.DEG_TO_RAD / (self._CP.steerRatio * self._CP.wheelbase)) + self._current_lat_acc = current_curvature * self._v_ego**2 + self._max_v_for_current_curvature = math.sqrt(_A_LAT_REG_MAX / current_curvature) if current_curvature > 0 \ + else V_CRUISE_MAX * CV.KPH_TO_MS + + pred_curvatures = eval_curvature(path_poly, _EVAL_RANGE) + max_pred_curvature = np.amax(pred_curvatures) + self._max_pred_lat_acc = self._v_ego**2 * max_pred_curvature + + max_curvature_for_vego = _A_LAT_REG_MAX / max(self._v_ego, 0.1)**2 + lat_acc_overshoot_idxs = np.nonzero(pred_curvatures >= max_curvature_for_vego)[0] + self._lat_acc_overshoot_ahead = len(lat_acc_overshoot_idxs) > 0 + + if self._lat_acc_overshoot_ahead: + self._v_overshoot = min(math.sqrt(_A_LAT_REG_MAX / max_pred_curvature), self._v_cruise_setpoint) + self._v_overshoot_distance = max(lat_acc_overshoot_idxs[0] * _EVAL_STEP + _EVAL_START, _EVAL_STEP) + _debug(f'TVC: High LatAcc. Dist: {self._v_overshoot_distance:.2f}, v: {self._v_overshoot * CV.MS_TO_KPH:.2f}') + + def _state_transition(self): + # In any case, if system is disabled or the feature is disabeld or gas is pressed, disable. + if not self._op_enabled or not self._is_enabled or self._gas_pressed: + self.state = VisionTurnControllerState.disabled + return + + # DISABLED + if self.state == VisionTurnControllerState.disabled: + # Do not enter a turn control cycle if speed is low. + if self._v_ego <= _MIN_V: + pass + # If substantial lateral acceleration is predicted ahead, then move to Entering turn state. + elif self._max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH: + self.state = VisionTurnControllerState.entering + # ENTERING + elif self.state == VisionTurnControllerState.entering: + # Transition to Turning if current lateral acceleration is over the threshold. + if self._current_lat_acc >= _TURNING_LAT_ACC_TH: + self.state = VisionTurnControllerState.turning + # Abort if the predicted lateral acceleration drops + elif self._max_pred_lat_acc < _ABORT_ENTERING_PRED_LAT_ACC_TH: + self.state = VisionTurnControllerState.disabled + # TURNING + elif self.state == VisionTurnControllerState.turning: + # Transition to Leaving if current lateral acceleration drops drops below threshold. + if self._current_lat_acc <= _LEAVING_LAT_ACC_TH: + self.state = VisionTurnControllerState.leaving + # LEAVING + elif self.state == VisionTurnControllerState.leaving: + # Transition back to Turning if current lateral acceleration goes back over the threshold. + if self._current_lat_acc >= _TURNING_LAT_ACC_TH: + self.state = VisionTurnControllerState.turning + # Finish if current lateral acceleration goes below threshold. + elif self._current_lat_acc < _FINISH_LAT_ACC_TH: + self.state = VisionTurnControllerState.disabled + + def _update_solution(self): + # DISABLED + if self.state == VisionTurnControllerState.disabled: + # when not overshooting, calculate v_turn as the speed at the prediction horizon when following + # the smooth deceleration. + a_target = self._a_ego + # ENTERING + elif self.state == VisionTurnControllerState.entering: + # when not overshooting, target a smooth deceleration in preparation for a sharp turn to come. + a_target = interp(self._max_pred_lat_acc, _ENTERING_SMOOTH_DECEL_BP, _ENTERING_SMOOTH_DECEL_V) + if self._lat_acc_overshoot_ahead: + # when overshooting, target the acceleration needed to achieve the overshoot speed at + # the required distance + a_target = min((self._v_overshoot**2 - self._v_ego**2) / (2 * self._v_overshoot_distance), a_target) + _debug(f'TVC Entering: Overshooting: {self._lat_acc_overshoot_ahead}') + _debug(f' Decel: {a_target:.2f}, target v: {self.v_turn * CV.MS_TO_KPH}') + # TURNING + elif self.state == VisionTurnControllerState.turning: + # When turning we provide a target acceleration that is confortable for the lateral accelearation felt. + a_target = interp(self._current_lat_acc, _TURNING_ACC_BP, _TURNING_ACC_V) + # LEAVING + elif self.state == VisionTurnControllerState.leaving: + # When leaving we provide a confortable acceleration to regain speed. + a_target = _LEAVING_ACC + + # update solution values. + self._a_target = a_target + + def update(self, enabled, v_ego, a_ego, v_cruise_setpoint, sm): + self._op_enabled = enabled + self._gas_pressed = sm['carState'].gasPressed + self._v_ego = v_ego + self._a_ego = a_ego + self._v_cruise_setpoint = v_cruise_setpoint + + self._update_params() + self._update_calculations(sm) + self._state_transition() + self._update_solution() diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py new file mode 100755 index 000000000..92f351750 --- /dev/null +++ b/selfdrive/controls/plannerd.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 +from cereal import car +from common.params import Params +from common.realtime import Priority, config_realtime_process +from system.swaglog import cloudlog +from selfdrive.controls.lib.longitudinal_planner import Planner +from selfdrive.controls.lib.lateral_planner import LateralPlanner +import cereal.messaging as messaging +from system.hardware import TICI + + +def plannerd_thread(sm=None, pm=None): + config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW) + + cloudlog.info("plannerd is waiting for CarParams") + params = Params() + CP = car.CarParams.from_bytes(params.get("CarParams", block=True)) + cloudlog.info("plannerd got CarParams: %s", CP.carName) + + use_lanelines = False + wide_camera = False #params.get_bool('WideCameraOnly') + + cloudlog.event("e2e mode", on=use_lanelines) + + longitudinal_planner = Planner(CP) + lateral_planner = LateralPlanner(use_lanelines=use_lanelines, wide_camera=wide_camera) + + if sm is None: + sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2', 'dragonConf', 'lateralPlan', 'navInstruction', 'liveMapData'], + poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState']) + + if pm is None: + pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan']) + + while True: + sm.update() + + if sm.updated['modelV2']: + lateral_planner.update(sm) + lateral_planner.publish(sm, pm) + longitudinal_planner.update(sm) + longitudinal_planner.publish(sm, pm) + + +def main(sm=None, pm=None): + plannerd_thread(sm, pm) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py new file mode 100755 index 000000000..66e47f552 --- /dev/null +++ b/selfdrive/controls/radard.py @@ -0,0 +1,241 @@ +#!/usr/bin/env python3 +import importlib +import math +from collections import defaultdict, deque + +import cereal.messaging as messaging +from cereal import car +from common.numpy_fast import interp +from common.params import Params +from common.realtime import Ratekeeper, Priority, config_realtime_process +from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid +from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA +from system.swaglog import cloudlog +from system.hardware import TICI + + +class KalmanParams(): + def __init__(self, dt): + # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library. + # hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s + assert dt > .01 and dt < .2, "Radar time step must be between .01s and 0.2s" + self.A = [[1.0, dt], [0.0, 1.0]] + self.C = [1.0, 0.0] + #Q = np.matrix([[10., 0.0], [0.0, 100.]]) + #R = 1e3 + #K = np.matrix([[ 0.05705578], [ 0.03073241]]) + dts = [dt * 0.01 for dt in range(1, 21)] + K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689, 0.21372394, + 0.22761098, 0.24069424, 0.253096, 0.26491023, 0.27621103, 0.28705801, + 0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814, + 0.35353899, 0.36200124] + K1 = [0.29666309, 0.29330885, 0.29042818, 0.28787125, 0.28555364, 0.28342219, + 0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714, + 0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557, + 0.26393339, 0.26278425] + self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]] + + +def laplacian_cdf(x, mu, b): + b = max(b, 1e-4) + return math.exp(-abs(x-mu)/b) + + +def match_vision_to_cluster(v_ego, lead, clusters): + # match vision point to best statistical cluster match + offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA + + def prob(c): + prob_d = laplacian_cdf(c.dRel, offset_vision_dist, lead.xStd[0]) + prob_y = laplacian_cdf(c.yRel, -lead.y[0], lead.yStd[0]) + prob_v = laplacian_cdf(c.vRel + v_ego, lead.v[0], lead.vStd[0]) + + # This is isn't exactly right, but good heuristic + return prob_d * prob_y * prob_v + + cluster = max(clusters, key=prob) + + # if no 'sane' match is found return -1 + # stationary radar points can be false positives + dist_sane = abs(cluster.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0]) + vel_sane = (abs(cluster.vRel + v_ego - lead.v[0]) < 10) or (v_ego + cluster.vRel > 3) + if dist_sane and vel_sane: + return cluster + else: + return None + + +def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True): + # Determine leads, this is where the essential logic happens + if len(clusters) > 0 and ready and lead_msg.prob > .5: + cluster = match_vision_to_cluster(v_ego, lead_msg, clusters) + else: + cluster = None + + lead_dict = {'status': False} + if cluster is not None: + lead_dict = cluster.get_RadarState(lead_msg.prob) + elif (cluster is None) and ready and (lead_msg.prob > .5): + lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego) + + if low_speed_override: + low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)] + if len(low_speed_clusters) > 0: + closest_cluster = min(low_speed_clusters, key=lambda c: c.dRel) + + # Only choose new cluster if it is actually closer than the previous one + if (not lead_dict['status']) or (closest_cluster.dRel < lead_dict['dRel']): + lead_dict = closest_cluster.get_RadarState() + + return lead_dict + + +class RadarD(): + def __init__(self, radar_ts, delay=0): + self.current_time = 0 + + self.tracks = defaultdict(dict) + self.kalman_params = KalmanParams(radar_ts) + + # v_ego + self.v_ego = 0. + self.v_ego_hist = deque([0], maxlen=delay+1) + + self.ready = False + + def update(self, sm, rr): + self.current_time = 1e-9*max(sm.logMonoTime.values()) + + if sm.updated['carState']: + self.v_ego = sm['carState'].vEgo + self.v_ego_hist.append(self.v_ego) + if sm.updated['modelV2']: + self.ready = True + + ar_pts = {} + for pt in rr.points: + ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured] + + # *** remove missing points from meta data *** + for ids in list(self.tracks.keys()): + if ids not in ar_pts: + self.tracks.pop(ids, None) + + # *** compute the tracks *** + for ids in ar_pts: + rpt = ar_pts[ids] + + # align v_ego by a fixed time to align it with the radar measurement + v_lead = rpt[2] + self.v_ego_hist[0] + + # create the track if it doesn't exist or it's a new track + if ids not in self.tracks: + self.tracks[ids] = Track(v_lead, self.kalman_params) + self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3]) + + idens = list(sorted(self.tracks.keys())) + track_pts = [self.tracks[iden].get_key_for_cluster() for iden in idens] + + # If we have multiple points, cluster them + if len(track_pts) > 1: + cluster_idxs = cluster_points_centroid(track_pts, 2.5) + clusters = [None] * (max(cluster_idxs) + 1) + + for idx in range(len(track_pts)): + cluster_i = cluster_idxs[idx] + if clusters[cluster_i] is None: + clusters[cluster_i] = Cluster() + clusters[cluster_i].add(self.tracks[idens[idx]]) + elif len(track_pts) == 1: + # FIXME: cluster_point_centroid hangs forever if len(track_pts) == 1 + cluster_idxs = [0] + clusters = [Cluster()] + clusters[0].add(self.tracks[idens[0]]) + else: + clusters = [] + + # if a new point, reset accel to the rest of the cluster + for idx in range(len(track_pts)): + if self.tracks[idens[idx]].cnt <= 1: + aLeadK = clusters[cluster_idxs[idx]].aLeadK + aLeadTau = clusters[cluster_idxs[idx]].aLeadTau + self.tracks[idens[idx]].reset_a_lead(aLeadK, aLeadTau) + + # *** publish radarState *** + dat = messaging.new_message('radarState') + dat.valid = sm.all_checks() and len(rr.errors) == 0 + radarState = dat.radarState + radarState.mdMonoTime = sm.logMonoTime['modelV2'] + radarState.canMonoTimes = list(rr.canMonoTimes) + radarState.radarErrors = list(rr.errors) + radarState.carStateMonoTime = sm.logMonoTime['carState'] + + leads_v3 = sm['modelV2'].leadsV3 + if len(leads_v3) > 1: + radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True) + radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False) + return dat + + +# fuses camera and radar data for best lead detection +def radard_thread(sm=None, pm=None, can_sock=None): + config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW) + + # wait for stats about the car to come in from controls + cloudlog.info("radard is waiting for CarParams") + CP = car.CarParams.from_bytes(Params().get("CarParams", block=True)) + cloudlog.info("radard got CarParams") + + # import the radar from the fingerprint + cloudlog.info("radard is importing %s", CP.carName) + RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface + + # *** setup messaging + if can_sock is None: + can_sock = messaging.sub_sock('can') + if sm is None: + sm = messaging.SubMaster(['modelV2', 'carState'], ignore_avg_freq=['modelV2', 'carState']) # Can't check average frequency, since radar determines timing + if pm is None: + pm = messaging.PubMaster(['radarState', 'liveTracks']) + + RI = RadarInterface(CP) + + rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None) + RD = RadarD(CP.radarTimeStep, RI.delay) + + while 1: + can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) + rr = RI.update(can_strings) + + if rr is None: + continue + + sm.update(0) + + dat = RD.update(sm, rr) + dat.radarState.cumLagMs = -rk.remaining*1000. + + pm.send('radarState', dat) + + # *** publish tracks for UI debugging (keep last) *** + tracks = RD.tracks + dat = messaging.new_message('liveTracks', len(tracks)) + + for cnt, ids in enumerate(sorted(tracks.keys())): + dat.liveTracks[cnt] = { + "trackId": ids, + "dRel": float(tracks[ids].dRel), + "yRel": float(tracks[ids].yRel), + "vRel": float(tracks[ids].vRel), + } + pm.send('liveTracks', dat) + + rk.monitor_time() + + +def main(sm=None, pm=None, can_sock=None): + radard_thread(sm, pm, can_sock) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py new file mode 100755 index 000000000..3f991d4e6 --- /dev/null +++ b/selfdrive/debug/can_printer.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +import argparse +import binascii +from collections import defaultdict + +import cereal.messaging as messaging +from common.realtime import sec_since_boot + + +def can_printer(bus, max_msg, addr, ascii_decode): + logcan = messaging.sub_sock('can', addr=addr) + + start = sec_since_boot() + lp = sec_since_boot() + msgs = defaultdict(list) + while 1: + can_recv = messaging.drain_sock(logcan, wait_for_one=True) + for x in can_recv: + for y in x.can: + if y.src == bus: + msgs[y.address].append(y.dat) + + if sec_since_boot() - lp > 0.1: + dd = chr(27) + "[2J" + dd += f"{sec_since_boot() - start:5.2f}\n" + for addr in sorted(msgs.keys()): + a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else "" + x = binascii.hexlify(msgs[addr][-1]).decode('ascii') + freq = len(msgs[addr]) / (sec_since_boot() - start) + if max_msg is None or addr < max_msg: + dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a) + print(dd) + lp = sec_since_boot() + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="simple CAN data viewer", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + + parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0) + parser.add_argument("--max_msg", type=int, help="max addr") + parser.add_argument("--ascii", action='store_true', help="decode as ascii") + parser.add_argument("--addr", default="127.0.0.1") + + args = parser.parse_args() + can_printer(args.bus, args.max_msg, args.addr, args.ascii) diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py new file mode 100755 index 000000000..b6f3c91bd --- /dev/null +++ b/selfdrive/debug/check_freq.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 +import argparse +import numpy as np +from collections import defaultdict, deque +from typing import DefaultDict, Deque + +from common.realtime import sec_since_boot +import cereal.messaging as messaging + + +if __name__ == "__main__": + context = messaging.Context() + poller = messaging.Poller() + + parser = argparse.ArgumentParser() + parser.add_argument("socket", type=str, nargs='*', help="socket name") + args = parser.parse_args() + + socket_names = args.socket + sockets = {} + + rcv_times: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100)) + valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100)) + + t = sec_since_boot() + for name in socket_names: + sock = messaging.sub_sock(name, poller=poller) + sockets[sock] = name + + prev_print = t + while True: + for socket in poller.poll(100): + msg = messaging.recv_one(socket) + if msg is None: + continue + + name = msg.which() + + t = sec_since_boot() + rcv_times[name].append(msg.logMonoTime / 1e9) + valids[name].append(msg.valid) + + if t - prev_print > 1: + print() + for name in socket_names: + dts = np.diff(rcv_times[name]) + mean = np.mean(dts) + print(f"{name}: Freq {1.0 / mean:.2f} Hz, Min {np.min(dts) / mean * 100:.2f}%, Max {np.max(dts) / mean * 100:.2f}%, valid ", all(valids[name])) + + prev_print = t diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py new file mode 100755 index 000000000..fdb825eea --- /dev/null +++ b/selfdrive/debug/dump.py @@ -0,0 +1,73 @@ +#!/usr/bin/env python3 +import os +import sys +import argparse +import json +from hexdump import hexdump +import codecs +codecs.register_error("strict", codecs.backslashreplace_errors) + +from cereal import log +import cereal.messaging as messaging +from cereal.services import service_list + +if __name__ == "__main__": + + parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.') + parser.add_argument('--pipe', action='store_true') + parser.add_argument('--raw', action='store_true') + parser.add_argument('--json', action='store_true') + parser.add_argument('--dump-json', action='store_true') + parser.add_argument('--no-print', action='store_true') + parser.add_argument('--addr', default='127.0.0.1') + parser.add_argument('--values', help='values to monitor (instead of entire event)') + parser.add_argument("socket", type=str, nargs='*', help="socket names to dump. defaults to all services defined in cereal") + args = parser.parse_args() + + if args.addr != "127.0.0.1": + os.environ["ZMQ"] = "1" + messaging.context = messaging.Context() + + poller = messaging.Poller() + + for m in args.socket if len(args.socket) > 0 else service_list: + messaging.sub_sock(m, poller, addr=args.addr) + + values = None + if args.values: + values = [s.strip().split(".") for s in args.values.split(",")] + + while 1: + polld = poller.poll(100) + for sock in polld: + msg = sock.receive() + evt = log.Event.from_bytes(msg) + + if not args.no_print: + if args.pipe: + sys.stdout.write(msg) + sys.stdout.flush() + elif args.raw: + hexdump(msg) + elif args.json: + print(json.loads(msg)) + elif args.dump_json: + print(json.dumps(evt.to_dict())) + elif values: + print(f"logMonotime = {evt.logMonoTime}") + for value in values: + if hasattr(evt, value[0]): + item = evt + for key in value: + item = getattr(item, key) + print(f"{'.'.join(value)} = {item}") + print("") + else: + try: + print(evt) + except UnicodeDecodeError: + w = evt.which() + s = f"( logMonoTime {evt.logMonoTime} \n {w} = " + s += str(evt.__getattr__(w)) + s += f"\n valid = {evt.valid} )" + print(s) diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py new file mode 100755 index 000000000..af5295393 --- /dev/null +++ b/selfdrive/debug/filter_log_message.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 +import os +import argparse +import json + +import cereal.messaging as messaging +from tools.lib.logreader import LogReader +from tools.lib.route import Route + +LEVELS = { + "DEBUG": 10, + "INFO": 20, + "WARNING": 30, + "ERROR": 40, + "CRITICAL": 50, +} + +ANDROID_LOG_SOURCE = { + 0: "MAIN", + 1: "RADIO", + 2: "EVENTS", + 3: "SYSTEM", + 4: "CRASH", + 5: "KERNEL", +} + + +def print_logmessage(t, msg, min_level): + try: + log = json.loads(msg) + if log['levelnum'] >= min_level: + print(f"[{t / 1e9:.6f}] {log['filename']}:{log.get('lineno', '')} - {log.get('funcname', '')}: {log['msg']}") + if 'exc_info' in log: + print(log['exc_info']) + except json.decoder.JSONDecodeError: + print(f"[{t / 1e9:.6f}] decode error: {msg}") + + +def print_androidlog(t, msg): + source = ANDROID_LOG_SOURCE[msg.id] + try: + m = json.loads(msg.message)['MESSAGE'] + except Exception: + m = msg.message + + print(f"[{t / 1e9:.6f}] {source} {msg.pid} {msg.tag} - {m}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument('--level', default='DEBUG') + parser.add_argument('--addr', default='127.0.0.1') + parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage") + args = parser.parse_args() + + logs = None + if len(args.route): + if os.path.exists(args.route[0]): + logs = [args.route[0]] + else: + r = Route(args.route[0]) + logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths())] + + if len(args.route) == 2 and logs: + n = int(args.route[1]) + logs = [logs[n]] + + min_level = LEVELS[args.level] + + if logs: + for log in logs: + if log: + lr = LogReader(log) + for m in lr: + if m.which() == 'logMessage': + print_logmessage(m.logMonoTime, m.logMessage, min_level) + elif m.which() == 'errorLogMessage' and 'qlog' in log: + print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) + elif m.which() == 'androidLog': + print_androidlog(m.logMonoTime, m.androidLog) + else: + sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr) + while True: + sm.update() + + if sm.updated['logMessage']: + print_logmessage(sm.logMonoTime['logMessage'], sm['logMessage'], min_level) + + if sm.updated['androidLog']: + print_androidlog(sm.logMonoTime['androidLog'], sm['androidLog']) diff --git a/selfdrive/debug/get_fingerprint.py b/selfdrive/debug/get_fingerprint.py new file mode 100755 index 000000000..e678db4f1 --- /dev/null +++ b/selfdrive/debug/get_fingerprint.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python3 + +# simple script to get a vehicle fingerprint. + +# Instructions: +# - connect to a Panda +# - run selfdrive/boardd/boardd +# - launching this script +# Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint +# - since some messages are published at low frequency, keep this script running for at least 30s, +# until all messages are received at least once + +import cereal.messaging as messaging + +logcan = messaging.sub_sock('can') +msgs = {} +while True: + lc = messaging.recv_sock(logcan, True) + if lc is None: + continue + + for c in lc.can: + # read also msgs sent by EON on CAN bus 0x80 and filter out the + # addr with more than 11 bits + if c.src in [0, 2] and c.address < 0x800: + msgs[c.address] = len(c.dat) + + fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items())) + + print(f"number of messages {len(msgs)}:") + print(f"fingerprint {fingerprint}") diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py new file mode 100755 index 000000000..f182026aa --- /dev/null +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -0,0 +1,114 @@ +#!/usr/bin/env python3 +"""Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1. +Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier +endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known +firmware versions. If you want to try on a new radar make sure to note the default config value +in case it's different from the other radars and you need to revert the changes. + +After changing the config the car should not show any faults when openpilot is not running. +These config changes are persistent accross car reboots. You need to run this script again +to go back to the default values. + +USE AT YOUR OWN RISK! Safety features, like AEB and FCW, might be affected by these changes.""" + +import sys +import argparse +from typing import NamedTuple +from subprocess import check_output, CalledProcessError + +from panda.python import Panda +from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE + +class ConfigValues(NamedTuple): + default_config: bytes + tracks_enabled: bytes + +# If your radar supports changing data identifier 0x0142 as well make a PR to +# this file to add your firmware version. Make sure to post a drive as proof! +# NOTE: these firmware versions do not match what openpilot uses +# because this script uses a different diagnostic session type +SUPPORTED_FW_VERSIONS = { + # 2020 SONATA + b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2021 SONATA HYBRID + b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2020 PALISADE + b"LX2_ SCC FHCUP 1.00 1.04 99110-S8100\x19\x05\x02\x16V ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2022 PALISADE + b"LX2_ SCC FHCUP 1.00 1.00 99110-S8110!\x04\x05\x17\x01 ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2020 SANTA FE + b"TM__ SCC F-CUP 1.00 1.03 99110-S2000\x19\x050\x13' ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2020 GENESIS G70 + b'IK__ SCC F-CUP 1.00 1.02 96400-G9100\x18\x07\x06\x17\x12 ': ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), +} + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description='configure radar to output points (or reset to default)') + parser.add_argument('--default', action="store_true", default=False, help='reset to default configuration (default: false)') + parser.add_argument('--debug', action="store_true", default=False, help='enable debug output (default: false)') + parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)') + args = parser.parse_args() + + try: + check_output(["pidof", "boardd"]) + print("boardd is running, please kill openpilot before running this script! (aborted)") + sys.exit(1) + except CalledProcessError as e: + if e.returncode != 1: # 1 == no process found (boardd not running) + raise e + + confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip() + if confirm != "OK": + print("\nyou didn't type 'OK! (aborted)") + sys.exit(0) + + panda = Panda() + panda.set_safety_mode(Panda.SAFETY_ELM327) + uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug) + + print("\n[START DIAGNOSTIC SESSION]") + session_type : SESSION_TYPE = 0x07 # type: ignore + uds_client.diagnostic_session_control(session_type) + + print("[HARDWARE/SOFTWARE VERSION]") + fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore + fw_version = uds_client.read_data_by_identifier(fw_version_data_id) + print(fw_version) + if fw_version not in SUPPORTED_FW_VERSIONS.keys(): + print("radar not supported! (aborted)") + sys.exit(1) + + print("[GET CONFIGURATION]") + config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore + current_config = uds_client.read_data_by_identifier(config_data_id) + config_values = SUPPORTED_FW_VERSIONS[fw_version] + new_config = config_values.default_config if args.default else config_values.tracks_enabled + print(f"current config: 0x{current_config.hex()}") + if current_config != new_config: + print("[CHANGE CONFIGURATION]") + print(f"new config: 0x{new_config.hex()}") + uds_client.write_data_by_identifier(config_data_id, new_config) + if not args.default and current_config != SUPPORTED_FW_VERSIONS[fw_version].default_config: + print("\ncurrent config does not match expected default! (aborted)") + sys.exit(1) + + print("[DONE]") + print("\nrestart your vehicle and ensure there are no faults") + if not args.default: + print("you can run this script again with --default to go back to the original (factory) settings") + else: + print("[DONE]") + print("\ncurrent config is already the desired configuration") + sys.exit(0) diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py new file mode 100755 index 000000000..93d901f7c --- /dev/null +++ b/selfdrive/debug/uiview.py @@ -0,0 +1,33 @@ +#!/usr/bin/env python3 +import time + +from cereal import car, log, messaging +from common.params import Params +from selfdrive.manager.process_config import managed_processes + +if __name__ == "__main__": + CP = car.CarParams(notCar=True) + Params().put("CarParams", CP.to_bytes()) + + procs = ['camerad', 'ui', 'modeld', 'calibrationd'] + for p in procs: + managed_processes[p].start() + + pm = messaging.PubMaster(['controlsState', 'deviceState', 'pandaStates', 'carParams']) + + msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams']} + msgs['deviceState'].deviceState.started = True + msgs['carParams'].carParams.openpilotLongitudinalControl = True + + msgs['pandaStates'] = messaging.new_message('pandaStates', 1) + msgs['pandaStates'].pandaStates[0].ignitionLine = True + msgs['pandaStates'].pandaStates[0].pandaType = log.PandaState.PandaType.uno + + try: + while True: + time.sleep(1 / 100) # continually send, rate doesn't matter + for s in msgs: + pm.send(s, msgs[s]) + except KeyboardInterrupt: + for p in procs: + managed_processes[p].stop() diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py new file mode 100755 index 000000000..c55a05815 --- /dev/null +++ b/selfdrive/debug/vw_mqb_config.py @@ -0,0 +1,145 @@ +#!/usr/bin/env python3 + +import argparse +import struct +from enum import IntEnum +from panda import Panda +from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\ + DATA_IDENTIFIER_TYPE, ACCESS_TYPE + +# TODO: extend UDS library to allow custom/vendor-defined data identifiers without ignoring type checks +class VOLKSWAGEN_DATA_IDENTIFIER_TYPE(IntEnum): + CODING = 0x0600 + +# TODO: extend UDS library security_access() to take an access level offset per ISO 14229-1:2020 10.4 and remove this +class ACCESS_TYPE_LEVEL_1(IntEnum): + REQUEST_SEED = ACCESS_TYPE.REQUEST_SEED + 2 + SEND_KEY = ACCESS_TYPE.SEND_KEY + 2 + +MQB_EPS_CAN_ADDR = 0x712 +RX_OFFSET = 0x6a + +if __name__ == "__main__": + desc_text = "Shows Volkswagen EPS software and coding info, and enables or disables Heading Control Assist " + \ + "(Lane Assist). Useful for enabling HCA on cars without factory Lane Assist that want to use " + \ + "openpilot integrated at the CAN gateway (J533)." + epilog_text = "This tool is meant to run directly on a vehicle-installed comma three, with the " + \ + "openpilot/tmux processes stopped. It should also work on a separate PC with a USB-attached comma " + \ + "panda. Vehicle ignition must be on. Recommend engine not be running when making changes. Must " + \ + "turn ignition off and on again for any changes to take effect." + parser = argparse.ArgumentParser(description=desc_text, epilog=epilog_text) + parser.add_argument("--debug", action="store_true", help="enable ISO-TP/UDS stack debugging output") + parser.add_argument("action", choices={"show", "enable", "disable"}, help="show or modify current EPS HCA config") + args = parser.parse_args() + + panda = Panda() + panda.set_safety_mode(Panda.SAFETY_ELM327) + bus = 1 if panda.has_obd() else 0 + uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2, debug=args.debug) + + try: + uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) + except MessageTimeoutError: + print("Timeout opening session with EPS") + quit() + + odx_file, current_coding = None, None + try: + hw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER).decode("utf-8") + sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8") + sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8") + component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8") + odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8") + current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore + coding_text = current_coding.hex() + + print("\nEPS diagnostic data\n") + print(f" Part No HW: {hw_pn}") + print(f" Part No SW: {sw_pn}") + print(f" SW Version: {sw_ver}") + print(f" Component: {component}") + print(f" Coding: {coding_text}") + print(f" ASAM Dataset: {odx_file}") + except NegativeResponseError: + print("Error fetching data from EPS") + quit() + except MessageTimeoutError: + print("Timeout fetching data from EPS") + quit() + + coding_variant, current_coding_array = None, None + # EV_SteerAssisMQB covers the majority of MQB racks (EPS_MQB_ZFLS) + # APA racks (MQB_PP_APA) have a different coding layout, which should + # be easy to support once we identify the specific config bit + if odx_file == "EV_SteerAssisMQB\x00": + coding_variant = "ZF" + current_coding_array = struct.unpack("!4B", current_coding) + hca_enabled = (current_coding_array[0] & (1 << 4) != 0) + hca_text = ("DISABLED", "ENABLED")[hca_enabled] + print(f" Lane Assist: {hca_text}") + else: + print("Configuration changes not yet supported on this EPS!") + quit() + + try: + params = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION).decode("utf-8") + param_version_system_params = params[1:3] + param_vehicle_type = params[3:5] + param_index_char_curve = params[5:7] + param_version_char_values = params[7:9] + param_version_memory_map = params[9:11] + print("\nEPS parameterization (per-vehicle calibration) data\n") + print(f" Version of system parameters: {param_version_system_params}") + print(f" Vehicle type: {param_vehicle_type}") + print(f" Index of characteristic curve: {param_index_char_curve}") + print(f" Version of characteristic values: {param_version_char_values}") + print(f" Version of memory map: {param_version_memory_map}") + except (NegativeResponseError, MessageTimeoutError): + print("Error fetching parameterization data from EPS!") + quit() + + if args.action in ["enable", "disable"]: + print("\nAttempting configuration update") + + assert(coding_variant == "ZF") # revisit when we have the APA rack coding bit + # ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the + # bit we care about is always in the same place in the first byte + if args.action == "enable": + new_byte_0 = current_coding_array[0] | (1 << 4) + else: + new_byte_0 = current_coding_array[0] & ~(1 << 4) + new_coding = new_byte_0.to_bytes(1, "little") + current_coding[1:] + + try: + seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED) # type: ignore + key = struct.unpack("!I", seed)[0] + 28183 # yeah, it's like that + uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key)) # type: ignore + except (NegativeResponseError, MessageTimeoutError): + print("Security access failed!") + quit() + + try: + # Programming date and tester number must be written before making + # a change, or write to CODING will fail with request sequence error + # Encoding on tester is unclear, it contains the workshop code in the + # last two bytes, but not the VZ/importer or tester serial number + # Can't seem to read it back, but we can read the calibration tester, + # so fib a little and say that same tester did the programming + # TODO: encode the actual current date + prog_date = b'\x22\x02\x08' + uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date) + tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER) + uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num) + uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding) # type: ignore + except (NegativeResponseError, MessageTimeoutError): + print("Writing new configuration failed!") + quit() + + try: + # Read back result just to make 100% sure everything worked + current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex() # type: ignore + print(f" New coding: {current_coding_text}") + except (NegativeResponseError, MessageTimeoutError): + print("Reading back updated coding failed!") + quit() + print("EPS configuration successfully updated") diff --git a/selfdrive/dragonpilot/LICENSE.md b/selfdrive/dragonpilot/LICENSE.md new file mode 100644 index 000000000..76e9bfcbb --- /dev/null +++ b/selfdrive/dragonpilot/LICENSE.md @@ -0,0 +1,21 @@ +The MIT License + +Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. \ No newline at end of file diff --git a/selfdrive/dragonpilot/dmonitoringd.py b/selfdrive/dragonpilot/dmonitoringd.py new file mode 100755 index 000000000..cb0016b34 --- /dev/null +++ b/selfdrive/dragonpilot/dmonitoringd.py @@ -0,0 +1,88 @@ +#!/usr/bin/env python3 +# a simple steering only driver monitor module for C2 + +import gc + +import cereal.messaging as messaging +from common.realtime import set_realtime_priority +from selfdrive.controls.lib.events import Events +from selfdrive.dragonpilot.driver_monitor import DriverStatus +from cereal import car + +from common.realtime import DT_DMON +MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts +MAX_TERMINAL_DURATION = int(30 / DT_DMON) # not allowed to engage after 30s of terminal alerts +from common.realtime import Ratekeeper + +def dmonitoringd_thread(sm=None, pm=None): + rk = Ratekeeper(20, print_delay_threshold=None) # Keeps rate at 20 hz + gc.disable() + set_realtime_priority(2) + + if pm is None: + pm = messaging.PubMaster(['driverMonitoringState']) + + if sm is None: + sm = messaging.SubMaster(['carState', 'controlsState']) + + driver_status = DriverStatus() + + sm['carState'].buttonEvents = [] + sm['carState'].standstill = True + + v_cruise_last = 0 + driver_engaged = False + + while True: + sm.update() + + # Get interaction + if sm.updated['carState']: + v_cruise = sm['carState'].cruiseState.speed + driver_engaged = len(sm['carState'].buttonEvents) > 0 or \ + v_cruise != v_cruise_last or \ + sm['carState'].steeringPressed or \ + sm['carState'].gasPressed or \ + sm['carState'].brakePressed + v_cruise_last = v_cruise + + events = Events() + + if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or \ + driver_status.terminal_time >= MAX_TERMINAL_DURATION: + events.add(car.CarEvent.EventName.tooDistracted) + + # Update events from driver state + driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill) + # driver_status.update_events(events, driver_engaged, True, False) + + # build driverMonitoringState packet + dat = messaging.new_message('driverMonitoringState') + dat.driverMonitoringState = { + "events": events.to_msg(), + # "faceDetected": False, + # "isDistracted": True, + # "distractedType": sum(driver_status.distracted_types), + "awarenessStatus": driver_status.awareness, + # "posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(), + # "posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n, + # "poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(), + # "poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n, + # "stepChange": driver_status.step_change, + # "awarenessActive": driver_status.awareness_active, + # "awarenessPassive": driver_status.awareness_passive, + # "isLowStd": driver_status.pose.low_std, + # "hiStdCount": driver_status.hi_stds, + "isActiveMode": driver_status.awareness <= driver_status.threshold_prompt, + # "isRHD": driver_status.wheel_on_right, + } + pm.send('driverMonitoringState', dat) + rk.keep_time() + + +def main(sm=None, pm=None): + dmonitoringd_thread(sm, pm) + + +if __name__ == '__main__': + main() diff --git a/selfdrive/dragonpilot/driver_monitor.py b/selfdrive/dragonpilot/driver_monitor.py new file mode 100644 index 000000000..654063d3c --- /dev/null +++ b/selfdrive/dragonpilot/driver_monitor.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python3 +# a simple steering only driver monitor module for C2 + +from cereal import car +EventName = car.CarEvent.EventName +from common.realtime import DT_DMON # 0.05 = 20hz + +# ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2 +_AWARENESS_TIME = 30. # 30 secs limit without user touching steering wheels make the car enter a terminal status +_AWARENESS_PRE_TIME_TILL_TERMINAL = 15. # a first alert is issued 15s before expiration +_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6. # a second alert is issued 6s before start decelerating the car + +class DriverStatus(): + def __init__(self): + self.terminal_alert_cnt = 0 + self.terminal_time = 0 + + self.awareness = 1. + + self.ts_last_check = 0. + + self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME + self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME + self.step_change = DT_DMON / _AWARENESS_TIME + + def update_events(self, events, driver_engaged, ctrl_active, standstill): + if (driver_engaged and self.awareness > 0) or not ctrl_active: + # always reset if driver is in control (unless we are in red alert state) or op isn't active + self.awareness = 1. + return + + awareness_prev = self.awareness + + if not (standstill and self.awareness - self.step_change <= self.threshold_prompt): + self.awareness = max(self.awareness - self.step_change, -0.1) + + alert = None + if self.awareness <= 0.: + # terminal red alert: disengagement required + alert = EventName.driverUnresponsive + self.terminal_time += 1 + if awareness_prev > 0.: + self.terminal_alert_cnt += 1 + elif self.awareness <= self.threshold_prompt: + # prompt orange alert + alert = EventName.promptDriverUnresponsive + elif self.awareness <= self.threshold_pre: + # pre green alert + alert = EventName.preDriverUnresponsive + + # print("trigger to green in: %s secs" % ((self.threshold_pre - self.awareness) / self.step_change * DT_DMON)) + # print("trigger to orange in: %s secs" % ((self.threshold_prompt - self.awareness) / self.step_change * DT_DMON)) + # print("trigger to red in: %s secs" % ((0 - self.awareness) / self.step_change * DT_DMON)) + # print("---------------------------------------------------------------------------") + + if alert is not None: + events.add(alert) + +if __name__ == "__main__": + pass + diff --git a/selfdrive/dragonpilot/gpx_uploader.py b/selfdrive/dragonpilot/gpx_uploader.py new file mode 100644 index 000000000..3d139ce7e --- /dev/null +++ b/selfdrive/dragonpilot/gpx_uploader.py @@ -0,0 +1,138 @@ +#!/usr/bin/env python3 +# The MIT License +# +# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import os +import time +from common.params import Params +from system.version import get_version + +# for uploader +from selfdrive.loggerd.xattr_cache import getxattr, setxattr +import glob +import requests +import json + +# customisable values +GPX_LOG_PATH = '/data/media/0/gpx_logs/' +LOG_HERTZ = 1/10 # 0.1 Hz = 10 sec, higher for higher accuracy, 10hz seems fine + +# uploader +UPLOAD_ATTR_NAME = 'user.upload' +UPLOAD_ATTR_VALUE = b'1' +LOG_PATH = '/data/media/0/gpx_logs/' + +# osm api +API_HEADER = {'Authorization': 'Bearer 2pvUyXfk9vizuh7PwQFSEYBtFWcM-Pu7vxApUjSA0fc'} +VERSION_URL = 'https://api.openstreetmap.org/api/versions' +UPLOAD_URL = 'https://api.openstreetmap.org/api/0.6/gpx/create' + +_DEBUG = False + +def _debug(msg): + if not _DEBUG: + return + print(msg, flush=True) + +class GpxUploader(): + def __init__(self): + self._delete_after_upload = not Params().get_bool('dp_gpxd') + self._car_model = "Unknown Model" + # read model from LiveParameters + params = Params().get("LiveParameters") + if params is not None: + params = json.loads(params) + self._car_model = params.get('carFingerprint', self._car_model) + self._dp_version = get_version() + _debug("GpxUploader init - _delete_after_upload = %s" % self._delete_after_upload) + _debug("GpxUploader init - _car_model = %s" % self._car_model) + + def _is_online(self): + try: + r = requests.get(VERSION_URL, headers=API_HEADER) + _debug("is_online? status_code = %s" % r.status_code) + return r.status_code >= 200 + except Exception: + return False + + def _get_is_uploaded(self, filename): + _debug("%s is uploaded: %s" % (filename, getxattr(filename, UPLOAD_ATTR_NAME) is not None)) + return getxattr(filename, UPLOAD_ATTR_NAME) is not None + + def _set_is_uploaded(self, filename): + _debug("%s set to uploaded" % filename) + setxattr(filename, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) + + def _get_files(self): + return sorted( filter( os.path.isfile, glob.glob(LOG_PATH + '*') ) ) + + def _get_files_to_be_uploaded(self): + files = self._get_files() + files_to_be_uploaded = [] + for file in files: + if not self._get_is_uploaded(file): + files_to_be_uploaded.append(file) + return files_to_be_uploaded + + def _do_upload(self, filename): + fn = os.path.basename(filename) + data = { + 'description': "Routes from dragonpilot %s (%s)." % (self._dp_version, self._car_model), + 'visibility': 'identifiable' + } + files = { + "file": (fn, open(filename, 'rb')) + } + try: + r = requests.post(UPLOAD_URL, files=files, data=data, headers=API_HEADER) + _debug("do_upload - %s - %s" % (filename, r.status_code)) + return r.status_code == 200 + except Exception: + return False + + def run(self): + while True: + files = self._get_files_to_be_uploaded() + if len(files) == 0 or not self._is_online(): + _debug("run - not online or no files") + else: + for file in files: + if self._do_upload(file): + if self._delete_after_upload: + _debug("run - _delete_after_upload") + os.remove(file) + else: + _debug("run - set_is_uploaded") + self._set_is_uploaded(file) + # sleep for 300 secs if offroad + # otherwise sleep 60 secs + time.sleep(300 if Params().get_bool("IsOffroad") else 60) + +def gpx_uploader_thread(): + gpx_uploader = GpxUploader() + gpx_uploader.run() + +def main(): + gpx_uploader_thread() + +if __name__ == "__main__": + main() diff --git a/selfdrive/dragonpilot/gpxd.py b/selfdrive/dragonpilot/gpxd.py new file mode 100644 index 000000000..7a10d7dea --- /dev/null +++ b/selfdrive/dragonpilot/gpxd.py @@ -0,0 +1,151 @@ +#!/usr/bin/env python3 +#pylint: skip-file +# The MIT License +# +# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import cereal.messaging as messaging +import os +import datetime +import signal +import threading +from common.realtime import Ratekeeper + +# customisable values +GPX_LOG_PATH = '/data/media/0/gpx_logs/' +LOG_HERTZ = 10 # 10 hz = 0.1 sec, higher for higher accuracy, 10hz seems fine +LOG_LENGTH = 10 # mins, higher means it keeps more data in the memory, will take more time to write into a file too. +LOST_SIGNAL_COUNT_LENGTH = 30 # secs, output log file if we lost signal for this long + +# do not change +LOST_SIGNAL_COUNT_MAX = LOST_SIGNAL_COUNT_LENGTH * LOG_HERTZ # secs, +LOGS_PER_FILE = LOG_LENGTH * 60 * LOG_HERTZ # e.g. 10 * 60 * 10 = 6000 points per file + +class WaitTimeHelper: + ready_event = threading.Event() + shutdown = False + + def __init__(self): + signal.signal(signal.SIGTERM, self.graceful_shutdown) + signal.signal(signal.SIGINT, self.graceful_shutdown) + signal.signal(signal.SIGHUP, self.graceful_shutdown) + + def graceful_shutdown(self, signum, frame): + self.shutdown = True + self.ready_event.set() + +class GpxD(): + def __init__(self): + self.log_count = 0 + self.logs = list() + self.lost_signal_count = 0 + self.wait_helper = WaitTimeHelper() + self.started_time = datetime.datetime.utcnow().isoformat() + self.v_ego_prev = 0. + self.pause = False + + def log(self, sm): + gps = sm['gpsLocationExternal'] + v_ego = sm['carState'].vEgo + + if abs(v_ego) > 0.01: + self.pause = False + + # do not log when no fix or accuracy is too low, add lost_signal_count + if gps.flags % 2 == 0 or gps.accuracy > 5.: + if self.log_count > 0: + self.lost_signal_count += 1 + elif self.pause: + pass + else: + self.logs.append([datetime.datetime.utcfromtimestamp(gps.timestamp*0.001).isoformat(), str(gps.latitude), str(gps.longitude), str(gps.altitude)]) + self.log_count += 1 + self.lost_signal_count = 0 + + if abs(v_ego) < 0.01 and abs(self.v_ego_prev) > 0.: + self.pause = True + + self.v_ego_prev = v_ego + + def write_log(self, force = False): + if self.log_count == 0: + return + + if force or (self.log_count >= LOGS_PER_FILE or self.lost_signal_count >= LOST_SIGNAL_COUNT_MAX): + self._write_gpx() + self.lost_signal_count = 0 + self.log_count = 0 + self.logs.clear() + self.started_time = datetime.datetime.utcnow().isoformat() + + def _write_gpx(self): + if len(self.logs) > 1: + if not os.path.exists(GPX_LOG_PATH): + os.makedirs(GPX_LOG_PATH) + filename = self.started_time.replace(':','-') + str = '' + str += "\n" + str += "\n" + str += "\n" + str += " " + self.started_time + "" + str += " \n" + for trkpt in self.logs: + str += self._trkpt_template(trkpt[1], trkpt[2], trkpt[3], trkpt[0]) + str += " \n" + str += "\n" + str += "\n" + try: + f = open('%s%sZ.gpx' % (GPX_LOG_PATH, filename), 'w') + f.write(str) + f.close() + except: + pass + + def _trkpt_template(self, lat, lon, ele, time): + str = "" + str += " \n" + str += " " + ele + "\n" + str += " \n" + str += " \n" + return str + +def gpxd_thread(sm=None, pm=None): + if sm is None: + sm = messaging.SubMaster(['gpsLocationExternal', 'carState']) + + wait_helper = WaitTimeHelper() + gpxd = GpxD() + rk = Ratekeeper(LOG_HERTZ, print_delay_threshold=None) + + while True: + sm.update(0) + gpxd.log(sm) + gpxd.write_log() + if wait_helper.shutdown: + gpxd.write_log(True) + break + rk.keep_time() + +def main(sm=None, pm=None): + gpxd_thread(sm, pm) + +if __name__ == "__main__": + main() diff --git a/selfdrive/dragonpilot/otisserv.py b/selfdrive/dragonpilot/otisserv.py new file mode 100644 index 000000000..754ea4e99 --- /dev/null +++ b/selfdrive/dragonpilot/otisserv.py @@ -0,0 +1,400 @@ +#!/usr/bin/env python3.8 +#pylint: skip-file +# The MIT License +# +# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from http.server import BaseHTTPRequestHandler, HTTPServer +from cgi import parse_header, parse_multipart +from urllib.parse import parse_qs, unquote +import json +import requests +import math +from common.basedir import BASEDIR +from common.params import Params +params = Params() + +hostName = "" +serverPort = 8082 + +pi = 3.1415926535897932384626 +x_pi = 3.14159265358979324 * 3000.0 / 180.0 +a = 6378245.0 +ee = 0.00669342162296594323 + + +class OtisServ(BaseHTTPRequestHandler): + def do_GET(self): + use_amap = params.get_bool('dp_nav_amap_enable') + use_gmap = not use_amap and params.get_bool('dp_nav_gmap_enable') + + if self.path == '/logo.png': + self.get_logo() + return + if self.path == '/?reset=1': + params.put("NavDestination", "") + if use_amap: + if self.path == '/style.css': + self.send_response(200) + self.send_header("Content-type", "text/css") + self.end_headers() + self.get_amap_css() + return + elif self.path == '/index.js': + self.send_response(200) + self.send_header("Content-type", "text/javascript") + self.end_headers() + self.get_amap_js() + return + else: + self.send_response(200) + self.send_header("Content-type", "text/html") + self.end_headers() + if self.get_amap_key() is None or self.get_amap_key_2() is None: + self.display_page_amap_key() + return + if self.get_app_token() is None: + self.display_page_app_token() + return + self.display_page_amap() + elif use_gmap: + if self.path == '/style.css': + self.send_response(200) + self.send_header("Content-type", "text/css") + self.end_headers() + self.get_gmap_css() + return + elif self.path == '/index.js': + self.send_response(200) + self.send_header("Content-type", "text/javascript") + self.end_headers() + self.get_gmap_js() + return + else: + self.send_response(200) + self.send_header("Content-type", "text/html") + self.end_headers() + if self.get_gmap_key() is None: + self.display_page_gmap_key() + return + if self.get_app_token() is None: + self.display_page_app_token() + return + self.display_page_gmap() + else: + self.send_response(200) + self.send_header("Content-type", "text/html") + self.end_headers() + if self.get_public_token() is None: + self.display_page_public_token() + return + if self.get_app_token() is None: + self.display_page_app_token() + return + self.display_page_addr_input() + + def do_POST(self): + use_amap = params.get_bool('dp_nav_amap_enable') + use_gmap = not use_amap and params.get_bool('dp_nav_gmap_enable') + + postvars = self.parse_POST() + self.send_response(200) + self.send_header("Content-type", "text/html") + self.end_headers() + + if use_amap: + # amap token + if self.get_amap_key() is None or self.get_amap_key_2() is None: + if postvars is None or \ + ("amap_key_val" not in postvars or postvars.get("amap_key_val")[0] == "") or \ + ("amap_key_val_2" not in postvars or postvars.get("amap_key_val_2")[0] == ""): + self.display_page_amap_key() + return + params.put('dp_nav_amap_key', postvars.get("amap_key_val")[0]) + params.put('dp_nav_amap_key_2', postvars.get("amap_key_val_2")[0]) + + elif use_gmap: + # gmap token + if self.get_gmap_key() is None: + if postvars is None or "gmap_key_val" not in postvars or postvars.get("gmap_key_val")[0] == "": + self.display_page_gmap_key() + return + params.put('dp_nav_gmap_key', postvars.get("gmap_key_val")[0]) + + else: + # mapbox public key + if self.get_public_token() is None: + if postvars is None or "pk_token_val" not in postvars or postvars.get("pk_token_val")[0] == "": + self.display_page_public_token() + return + token = postvars.get("pk_token_val")[0] + if "pk." not in token: + self.display_page_public_token("Your token was incorrect!") + return + params.put('dp_nav_mapbox_token_pk', token) + + # app key + if self.get_app_token() is None: + if postvars is None or "sk_token_val" not in postvars or postvars.get("sk_token_val")[0] == "": + self.display_page_app_token() + return + token = postvars.get("sk_token_val")[0] + if "sk." not in token: + self.display_page_app_token("Your token was incorrect!") + return + params.put('dp_nav_mapbox_token_sk', token) + + # nav confirmed + if postvars is not None: + if "lat" in postvars and postvars.get("lat")[0] != "" and "lon" in postvars and postvars.get("lon")[0] != "": + lat = float(postvars.get("lat")[0]) + lng = float(postvars.get("lon")[0]) + save_type = postvars.get("save_type")[0] + name = postvars.get("name")[0] if postvars.get("name") is not None else "" + if use_amap: + lng, lat = self.gcj02towgs84(lng, lat) + params.put('NavDestination', "{\"latitude\": %f, \"longitude\": %f, \"place_name\": \"%s\"}" % (lat, lng, name)) + self.to_json(lat, lng, save_type, name) + # search + if not use_gmap and "addr_val" in postvars: + addr = postvars.get("addr_val")[0] + if addr != "": + real_addr, lat, lon = self.query_addr(addr) + if real_addr is not None: + self.display_page_nav_confirmation(real_addr, lon, lat) + return + else: + self.display_page_addr_input("Place Not Found") + return + if use_amap: + self.display_page_amap() + elif use_gmap: + self.display_page_gmap() + else: + self.display_page_addr_input() + + def get_logo(self): + self.send_response(200) + self.send_header('Content-type','image/png') + self.end_headers() + f = open("%s/selfdrive/assets/img_spinner_comma.png" % BASEDIR, "rb") + self.wfile.write(f.read()) + f.close() + + def get_gmap_css(self): + self.wfile.write(bytes(self.get_parsed_template("gmap/style.css"), "utf-8")) + + def get_gmap_js(self): + lon, lat = self.get_last_lon_lat() + self.wfile.write(bytes(self.get_parsed_template("gmap/index.js", {"{{lat}}": lat, "{{lon}}": lon}), "utf-8")) + + def get_gmap_key(self): + token = params.get("dp_nav_gmap_key", encoding='utf8') + if token is not None and token != "": + return token.rstrip('\x00') + return None + + def get_amap_css(self): + self.wfile.write(bytes(self.get_parsed_template("amap/style.css"), "utf-8")) + + def get_amap_js(self): + lon, lat = self.get_last_lon_lat() + self.wfile.write(bytes(self.get_parsed_template("amap/index.js", {"{{lat}}": lat, "{{lon}}": lon}), "utf-8")) + + def get_amap_key(self): + token = params.get("dp_nav_amap_key", encoding='utf8') + if token is not None and token != "": + return token.rstrip('\x00') + return None + + def get_amap_key_2(self): + token = params.get("dp_nav_amap_key_2", encoding='utf8') + if token is not None and token != "": + return token.rstrip('\x00') + return None + + def get_public_token(self): + token = params.get("dp_nav_mapbox_token_pk", encoding='utf8') + if token is not None and token != "": + return token.rstrip('\x00') + return None + + def get_app_token(self): + token = params.get("dp_nav_mapbox_token_sk", encoding='utf8') + if token is not None and token != "": + return token.rstrip('\x00') + return None + + def get_last_lon_lat(self): + last_pos = Params().get("LastGPSPosition") + if last_pos is not None and last_pos != "": + l = json.loads(last_pos) + return l["longitude"], l["latitude"] + else: + locale = params.get("dp_locale", encoding='utf8') + if locale == "zh-TW": + return "121.3149803", "24.996256935" + return "-117.1662042", "32.7207742" + + def display_page_gmap_key(self): + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("gmap/key_input")}), "utf-8")) + + def display_page_amap_key(self): + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("amap/key_input")}), "utf-8")) + + def display_page_public_token(self, msg = ""): + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("public_token_input", {"{{msg}}": msg})}), "utf-8")) + + def display_page_app_token(self, msg = ""): + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("app_token_input", {"{{msg}}": msg})}), "utf-8")) + + def display_page_addr_input(self, msg = ""): + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("addr_input", {"{{msg}}": msg})}), "utf-8")) + + def display_page_nav_confirmation(self, addr, lon, lat): + content = self.get_parsed_template("addr_input", {"{{msg}}": ""}) + self.get_parsed_template("nav_confirmation", {"{{token}}": self.get_public_token(), "{{lon}}": lon, "{{lat}}": lat, "{{addr}}": addr}) + self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": content }), "utf-8")) + + def display_page_gmap(self): + self.wfile.write(bytes(self.get_parsed_template("gmap/index.html", {"{{gmap_key}}": self.get_gmap_key()}), "utf-8")) + + def display_page_amap(self): + self.wfile.write(bytes(self.get_parsed_template("amap/index.html", {"{{amap_key}}": self.get_amap_key(), "{{amap_key_2}}": self.get_amap_key_2()}), "utf-8")) + + def get_parsed_template(self, name, replace = {}): + f = open('%s/selfdrive/dragonpilot/tpl/%s.tpl' % (BASEDIR, name), mode='r', encoding='utf-8') + content = f.read() + for key in replace: + content = content.replace(key, str(replace[key])) + f.close() + return content + + def query_addr(self, addr): + if addr == "": + return None, None, None + query = "https://api.mapbox.com/geocoding/v5/mapbox.places/" + unquote(addr) + ".json?access_token=" + self.get_public_token() + "&limit=1" + # focus on place around last gps position + last_pos = Params().get("LastGPSPosition") + if last_pos is not None and last_pos != "": + l = json.loads(last_pos) + query += "&proximity=%s,%s" % (l["longitude"], l["latitude"]) + + r = requests.get(query) + if r.status_code != 200: + return None, None, None + + j = json.loads(r.text) + if not j["features"]: + return None, None, None + + feature = j["features"][0] + return feature["place_name"], feature["center"][1], feature["center"][0] + + def parse_POST(self): + ctype, pdict = parse_header(self.headers['content-type']) + if ctype == 'application/x-www-form-urlencoded': + length = int(self.headers['content-length']) + postvars = parse_qs( + self.rfile.read(length).decode('utf-8'), + keep_blank_values=1) + else: + postvars = {} + return postvars + + def gcj02towgs84(self, lng, lat): + dlat = self.transform_lat(lng - 105.0, lat - 35.0) + dlng = self.transform_lng(lng - 105.0, lat - 35.0) + radlat = lat / 180.0 * pi + magic = math.sin(radlat) + magic = 1 - ee * magic * magic + sqrtmagic = math.sqrt(magic) + dlat = (dlat * 180.0) / ((a * (1 - ee)) / (magic * sqrtmagic) * pi) + dlng = (dlng * 180.0) / (a / sqrtmagic * math.cos(radlat) * pi) + mglat = lat + dlat + mglng = lng + dlng + return [lng * 2 - mglng, lat * 2 - mglat] + + def transform_lat(self, lng, lat): + ret = -100.0 + 2.0 * lng + 3.0 * lat + 0.2 * lat * lat + 0.1 * lng * lat + 0.2 * math.sqrt(abs(lng)) + ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0 + ret += (20.0 * math.sin(lat * pi) + 40.0 * math.sin(lat / 3.0 * pi)) * 2.0 / 3.0 + ret += (160.0 * math.sin(lat / 12.0 * pi) + 320 * math.sin(lat * pi / 30.0)) * 2.0 / 3.0 + return ret + + def transform_lng(self, lng, lat): + ret = 300.0 + lng + 2.0 * lat + 0.1 * lng * lng + 0.1 * lng * lat + 0.1 * math.sqrt(abs(lng)) + ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0 + ret += (20.0 * math.sin(lng * pi) + 40.0 * math.sin(lng / 3.0 * pi)) * 2.0 / 3.0 + ret += (150.0 * math.sin(lng / 12.0 * pi) + 300.0 * math.sin(lng / 30.0 * pi)) * 2.0 / 3.0 + return ret + + def to_json(self, lat, lng, type = "recent", name = ""): + if name == "": + name = str(lat) + "," + str(lng) + new_dest = {"latitude": float(lat), "longitude": float(lng), "place_name": name} + + if type == "recent": + new_dest["save_type"] = "recent" + else: + new_dest["save_type"] = "favorite" + new_dest["label"] = type + + val = params.get("ApiCache_NavDestinations", encoding='utf8') + if val is not None: + val = val.rstrip('\x00') + dests = [] if val is None else json.loads(val) + + # type idx + type_label_ids = {"home": None, "work": None, "recent": []} + idx = 0 + for d in dests: + if d["save_type"] == "favorite": + type_label_ids[d["label"]] = idx + else: + type_label_ids["recent"].append(idx) + idx += 1 + + if type == "recent": + id = None + if len(type_label_ids["recent"]) > 10: + dests.pop(type_label_ids["recent"][-1]) + else: + id = type_label_ids[type] + + if id is None: + dests.insert(0, new_dest) + else: + dests[id] = new_dest + + params.put("ApiCache_NavDestinations", json.dumps(dests).rstrip("\n\r")) + +def main(): + webServer = HTTPServer((hostName, serverPort), OtisServ) + + try: + webServer.serve_forever() + except KeyboardInterrupt: + pass + + webServer.server_close() + +if __name__ == "__main__": + main() diff --git a/selfdrive/dragonpilot/systemd.py b/selfdrive/dragonpilot/systemd.py new file mode 100644 index 000000000..64d9446b6 --- /dev/null +++ b/selfdrive/dragonpilot/systemd.py @@ -0,0 +1,272 @@ +#!/usr/bin/env python3 +#pylint: disable=W0105 +# The MIT License +# +# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +''' +This is a service that broadcast dp config values to openpilot's messaging queues +''' +import cereal.messaging as messaging + +from common.dp_conf import confs, get_struct_name, to_struct_val +from common.params import Params +import os +#from system.hardware import HARDWARE +params = Params() +from common.dp_helpers import get_last_modified, LAST_MODIFIED_TIMER_SYSTEMD +import socket +from common.realtime import Ratekeeper +import threading +from selfdrive.dragonpilot.gpx_uploader import gpx_uploader_thread +from typing import Dict, Any + +PARAM_PATH = params.get_param_path() + "/" + +HERTZ = 1 + +last_modified_confs: Dict[str, Any] = {} + +def confd_thread(): + sm = messaging.SubMaster(['deviceState']) + pm = messaging.PubMaster(['dragonConf']) + + last_dp_msg = None + frame = 0 + update_params = False + modified = None + last_modified = None + last_modified_check = None + started = False + # free_space = 1 + last_started = False + # dashcamd = Dashcamd() + # is_eon = EON + rk = Ratekeeper(HERTZ, print_delay_threshold=None) # Keeps rate at 2 hz + uploader_thread = None + + while True: + if uploader_thread is None: + uploader_thread = threading.Thread(target=gpx_uploader_thread) + uploader_thread.start() + + msg = messaging.new_message('dragonConf') + if last_dp_msg is not None: + msg.dragonConf = last_dp_msg + + ''' + =================================================== + load thermalState data every 3 seconds + =================================================== + ''' + # if frame % (HERTZ * 3) == 0: + # sm.update(0) + # if sm.updated['deviceState']: + # started = sm['deviceState'].started + # free_space = sm['deviceState'].freeSpacePercent + ''' + =================================================== + hotspot on boot + we do it after 30 secs just in case + =================================================== + ''' + # if is_eon and frame == (HERTZ * 30) and param_get("dp_hotspot_on_boot", "bool", False): + # os.system("service call wifi 37 i32 0 i32 1 &") + ''' + =================================================== + check dp_last_modified every second + =================================================== + ''' + if not update_params: + last_modified_check, modified = get_last_modified(LAST_MODIFIED_TIMER_SYSTEMD, last_modified_check, modified) + if last_modified != modified: + update_params = True + last_modified = modified + ''' + =================================================== + conditionally set update_params to true + =================================================== + ''' + # force updating param when just started or `started` changed + if frame == 0 or last_started != started: + update_params = True + ''' + =================================================== + push param vals to message + =================================================== + ''' + if update_params: + msg = update_conf_all(confs, msg, frame == 0) + update_params = False + ''' + =================================================== + push once + =================================================== + ''' + # if frame == 0: + # setattr(msg.dragonConf, get_struct_name('dp_locale'), params.get("dp_locale")) + # + # # mirror EndToEndToggle to dp_lane_less_model_ctrl first time, after all + # put_nonblocking('dp_lane_less_mode_ctrl', "1" if params.get_bool('EndToEndToggle') else "0") + ''' + =================================================== + push ip addr every 10 secs + =================================================== + ''' + if frame % (HERTZ * 10) == 0: + msg = update_ip(msg) + ''' + =================================================== + update msg based on some custom logic + =================================================== + ''' + msg = update_custom_logic(msg) + ''' + =================================================== + battery ctrl every 30 secs + PowerMonitor in thermald turns back on every mins + so lets turn it off more frequent + =================================================== + ''' + # if frame % (HERTZ * 30) == 0: + # last_charging_ctrl = process_charging_ctrl(msg, last_charging_ctrl, battery_percent) + ''' + =================================================== + dashcam + =================================================== + ''' + # if msg.dragonConf.dpDashcamd and frame % HERTZ == 0: + # dashcamd.run(started, free_space) + ''' + =================================================== + finalise + =================================================== + ''' + last_dp_msg = msg.dragonConf + last_started = started + pm.send('dragonConf', msg) + frame += 1 + rk.keep_time() + +def update_conf(msg, conf, first_run = False): + conf_type = conf.get('conf_type') + + if 'param' in conf_type and 'struct' in conf_type: + access_time = os.path.getatime(PARAM_PATH + conf['name']) + if (last_modified_confs.get(conf['name'])) is not None and last_modified_confs.get(conf['name']) == access_time: + return msg + + update_this_conf = True + + if not first_run: + update_once = conf.get('update_once') + if update_once is not None and update_once is True: + return msg + if update_this_conf: + update_this_conf = check_dependencies(msg, conf) + + if update_this_conf: + msg = set_message(msg, conf) + if os.path.isfile(PARAM_PATH + conf['name']): + last_modified_confs[conf['name']] = access_time + return msg + +def update_conf_all(confs, msg, first_run = False): + for conf in confs: + msg = update_conf(msg, conf, first_run) + return msg + +# def process_charging_ctrl(msg, last_charging_ctrl, battery_percent): +# charging_ctrl = msg.dragonConf.dpChargingCtrl +# if last_charging_ctrl != charging_ctrl: +# HARDWARE.set_battery_charging(True) +# if charging_ctrl: +# if battery_percent >= msg.dragonConf.dpDischargingAt and HARDWARE.get_battery_charging(): +# HARDWARE.set_battery_charging(False) +# elif battery_percent <= msg.dragonConf.dpChargingAt and not HARDWARE.get_battery_charging(): +# HARDWARE.set_battery_charging(True) +# return charging_ctrl + +def update_custom_logic(msg): + return msg +# if msg.dragonConf.dpAtl: +# msg.dragonConf.dpAllowGas = True +# msg.dragonConf.dpGearCheck = False +# if not msg.dragonConf.dpAtlOpLong: +# # msg.dragonConf.dpFollowingProfileCtrl = False +# msg.dragonConf.dpAccelProfileCtrl = False +# if msg.dragonConf.dpLcMinMph > msg.dragonConf.dpLcAutoMinMph: +# put_nonblocking('dp_lc_auto_min_mph', str(msg.dragonConf.dpLcMinMph)) +# msg.dragonConf.dpLcAutoMinMph = msg.dragonConf.dpLcMinMph +# return msg + + +def update_ip(msg): + val = 'N/A' + s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + try: + # doesn't even have to be reachable + s.connect(('10.255.255.255', 1)) + IP = s.getsockname()[0] + except: + IP = 'N/A' + finally: + s.close() + setattr(msg.dragonConf, get_struct_name('dp_ip_addr'), IP) + return msg + + +def set_message(msg, conf): + val = params.get(conf['name'], encoding='utf8') + if val is not None: + val = val.rstrip('\x00') + else: + val = conf.get('default') + params.put(conf['name'], str(val)) + struct_val = to_struct_val(conf['name'], val) + orig_val = struct_val + if struct_val is not None: + if conf.get('min') is not None: + struct_val = max(struct_val, conf.get('min')) + if conf.get('max') is not None: + struct_val = min(struct_val, conf.get('max')) + if orig_val != struct_val: + params.put(conf['name'], str(struct_val)) + setattr(msg.dragonConf, get_struct_name(conf['name']), struct_val) + return msg + +def check_dependencies(msg, conf): + passed = True + # if has dependency and the depend param val is not in depend_vals, we dont update that conf val + # this should reduce chance of reading unnecessary params + dependencies = conf.get('depends') + if dependencies is not None: + for dependency in dependencies: + if getattr(msg.dragonConf, get_struct_name(dependency['name'])) not in dependency['vals']: + passed = False + break + return passed + +def main(): + confd_thread() + +if __name__ == "__main__": + main() diff --git a/selfdrive/dragonpilot/tpl/addr_input.tpl b/selfdrive/dragonpilot/tpl/addr_input.tpl new file mode 100644 index 000000000..4bb2bac1e --- /dev/null +++ b/selfdrive/dragonpilot/tpl/addr_input.tpl @@ -0,0 +1,9 @@ +
+
+
+ +
{{msg}}
+ +
+
+
\ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/amap/index.html.tpl b/selfdrive/dragonpilot/tpl/amap/index.html.tpl new file mode 100644 index 000000000..e7fd6dd4a --- /dev/null +++ b/selfdrive/dragonpilot/tpl/amap/index.html.tpl @@ -0,0 +1,47 @@ + + + + + + + 输入提示后查询 + + + + + + + + + + + + +
+
+
+ +
+
+ +
+
+ + +
+ + + \ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/amap/index.js.tpl b/selfdrive/dragonpilot/tpl/amap/index.js.tpl new file mode 100644 index 000000000..845c65bff --- /dev/null +++ b/selfdrive/dragonpilot/tpl/amap/index.js.tpl @@ -0,0 +1,120 @@ +var windowsArr = []; +var markers = []; +var map = new AMap.Map("container", { + resizeEnable: true, + center: [{{lon}}, {{lat}}], //地图中心点 + zoom: 13, //地图显示的缩放级别 + keyboardEnable: false, +}); + +var infoWindow; +function openInfo(name, addr, lng, lat) { + //构建信息窗体中显示的内容 + var info = []; + info.push('
'); + info.push(''); + info.push("

" + name + "

"); + info.push("

" + addr + "

"); + info.push('
'); + info.push('
'); + info.push(' '); + info.push(' '); + info.push(' '); + info.push(' '); + info.push(' '); + info.push('
'); + info.push('
'); + info.push("
"); + + var pos = new AMap.LngLat(lng, lat) + infoWindow = new AMap.InfoWindow({ + position: pos, + isCustom: true, + offset: new AMap.Pixel(0, -30), + content: info.join(""), //使用默认信息窗体框样式，显示信息内容 + }); + + infoWindow.open(map, pos); +} +AMap.plugin(["AMap.Autocomplete", "AMap.PlaceSearch"], function () { + var autoOptions = { + city: "全国", //城市，默认全国 + input: "keyword", //使用联想输入的input的id + }; + autocomplete = new AMap.Autocomplete(autoOptions); + var placeSearch = new AMap.PlaceSearch({ + map: "", + }); + AMap.event.addListener(autocomplete, "select", function (e) { + //TODO 针对选中的poi实现自己的功能 + //重寫搜尋點及其提示資訊begin===== + placeSearch.setCity(e.poi.adcode); + if (e.poi && e.poi.location) { + map.setZoom(17); + map.setCenter(e.poi.location); + } + placeSearch.search(e.poi.name, check_dest); //關鍵字查詢查詢 + + function check_dest(status, result) { + if (status === "complete" && result.info === "OK") { + for (var h = 0; h < result.poiList.pois.length; h++) { + //返回搜尋列表迴圈繫結marker + var jy = result.poiList.pois[h]["location"]; //經緯度 + var name = result.poiList.pois[h]["name"]; //地址 + marker = new AMap.Marker({ + //加點 + map: map, + position: jy, + }); + marker.extData = { + getLng: jy["lng"], + getLat: jy["lat"], + name: name, + address: result.poiList.pois[h]["address"], + }; //自定義想傳入的引數 + + marker.on("click", function (e) { + var hs = e.target.extData; + var content = openInfo( + hs["name"], + hs["address"], + hs["getLng"], + hs["getLat"] + ); + }); + markers.push(marker); + } + } + } + //重寫搜尋點及其提示資訊end===== + }); +}); +var clickEventListener = map.on('click', function(e) { + map.remove(markers); + document.getElementById('longitude').value = e.lnglat.getLng(); + document.getElementById('latitude').value = e.lnglat.getLat(); + lnglatXY = [e.lnglat.getLng(), e.lnglat.getLat()]; + var marker = new AMap.Marker({ + //加點 + map: map, + position: lnglatXY, + }); + marker.extData = { + getLng: e.lnglat.getLng(), + getLat: e.lnglat.getLat(), + }; //自定義想傳入的引數 + + marker.on("click", function (e) { + var hs = e.target.extData; + var content = openInfo( + "", + "(" + hs["getLat"] + ", " + hs["getLng"] + ")", + hs["getLng"], + hs["getLat"] + ); + }); + markers.push(marker); + if (typeof(infoWindow) != "undefined") { + infoWindow.close(); + } +}); \ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/amap/key_input.tpl b/selfdrive/dragonpilot/tpl/amap/key_input.tpl new file mode 100644 index 000000000..f7efbb150 --- /dev/null +++ b/selfdrive/dragonpilot/tpl/amap/key_input.tpl @@ -0,0 +1,11 @@ +
+
+ 请输入您的高德地图 API KEY +
因系统升级，若于 2021/12/02 前申请 key 的人请重新申请新的「key」和「安全密钥」配对。
+
+ + + +
+
+
\ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/amap/style.css.tpl b/selfdrive/dragonpilot/tpl/amap/style.css.tpl new file mode 100644 index 000000000..c83bb043f --- /dev/null +++ b/selfdrive/dragonpilot/tpl/amap/style.css.tpl @@ -0,0 +1,40 @@ +html, body { + margin: 0; + height: 100%; + width: 100%; + position: absolute; +} + +#mapContainer { + top: 0; + left: 0; + right: 0; + bottom: 0; + width: 100%; + height: 100%; +} + +.button-group { + position: absolute; + bottom: 20px; + right: 20px; + font-size: 12px; + padding: 10px; +} + +.button-group .button { + height: 28px; + line-height: 28px; + background-color: #0D9BF2; + color: #FFF; + border: 0; + outline: none; + padding-left: 5px; + padding-right: 5px; + border-radius: 3px; + margin-bottom: 4px; + cursor: pointer; +} +.amap-info-content { + font-size: 12px; +} \ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/app_token_input.tpl b/selfdrive/dragonpilot/tpl/app_token_input.tpl new file mode 100644 index 000000000..7bd9b0b66 --- /dev/null +++ b/selfdrive/dragonpilot/tpl/app_token_input.tpl @@ -0,0 +1,10 @@ +
+
+ Set your Mapbox APP TOKEN +
{{msg}}
+
+ + +
+
+
\ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/body.tpl b/selfdrive/dragonpilot/tpl/body.tpl new file mode 100644 index 000000000..39276e5d7 --- /dev/null +++ b/selfdrive/dragonpilot/tpl/body.tpl @@ -0,0 +1,20 @@ + + + + + dragonpilot + + + + + + + + + +
+
+ {{content}} +
+ + \ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/gmap/index.html.tpl b/selfdrive/dragonpilot/tpl/gmap/index.html.tpl new file mode 100644 index 000000000..d53757273 --- /dev/null +++ b/selfdrive/dragonpilot/tpl/gmap/index.html.tpl @@ -0,0 +1,39 @@ + + + + + dragonpilot + + + + + + + + + + + + + +
+
+
+ +
+
+ +
+
+
+ + + + \ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/gmap/index.js.tpl b/selfdrive/dragonpilot/tpl/gmap/index.js.tpl new file mode 100644 index 000000000..201a2ef02 --- /dev/null +++ b/selfdrive/dragonpilot/tpl/gmap/index.js.tpl @@ -0,0 +1,86 @@ +// This example adds a search box to a map, using the Google Place Autocomplete +// feature. People can enter geographical searches. The search box will return a +// pick list containing a mix of places and predicted search terms. +// This example requires the Places library. Include the libraries=places +// parameter when you first load the API. For example: +// + + +
+ +""" + +@app.route("/") +def hello_world(): + return index + +last_send_time = time.monotonic() +@app.route("/control//") +def control(x, y): + global last_send_time + x,y = float(x), float(y) + x = max(-1, min(1, x)) + y = max(-1, min(1, y)) + dat = messaging.new_message('testJoystick') + dat.testJoystick.axes = [y,x] + dat.testJoystick.buttons = [False] + pm.send('testJoystick', dat) + last_send_time = time.monotonic() + return "" + +def handle_timeout(): + while 1: + this_time = time.monotonic() + if (last_send_time+0.5) < this_time: + #print("timeout, no web in %.2f s" % (this_time-last_send_time)) + dat = messaging.new_message('testJoystick') + dat.testJoystick.axes = [0,0] + dat.testJoystick.buttons = [False] + pm.send('testJoystick', dat) + time.sleep(0.1) + +def main(): + threading.Thread(target=handle_timeout, daemon=True).start() + app.run(host="0.0.0.0") + +if __name__ == '__main__': + main() diff --git a/tools/lib/README.md b/tools/lib/README.md new file mode 100644 index 000000000..241232eae --- /dev/null +++ b/tools/lib/README.md @@ -0,0 +1,51 @@ +## LogReader + +Route is a class for conviently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. + +```python +from tools.lib.route import Route +from tools.lib.logreader import LogReader + +r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36") + +# get a list of paths for the route's rlog files +print(r.log_paths()) + +# and road camera (fcamera.hevc) files +print(r.camera_paths()) + +# setup a LogReader to read the route's first rlog +lr = LogReader(r.log_paths()[0]) + +# print out all the messages in the log +import codecs +codecs.register_error("strict", codecs.backslashreplace_errors) +for msg in lr: + print(msg) + +# setup a LogReader for the route's second qlog +lr = LogReader(r.log_paths()[1]) + +# print all the steering angles values from the log +for msg in lr: + if msg.which() == "carState": + print(msg.carState.steeringAngleDeg) +``` + +### MultiLogIterator + +`MultiLogIterator` is similar to `LogReader`, but reads multiple logs. + +```python +from tools.lib.route import Route +from tools.lib.logreader import MultiLogIterator + +# setup a MultiLogIterator to read all the logs in the route +r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36") +lr = MultiLogIterator(r.log_paths()) + +# print all the steering angles values from all the logs in the route +for msg in lr: + if msg.which() == "carState": + print(msg.carState.steeringAngleDeg) +``` diff --git a/tools/lib/__init__.py b/tools/lib/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/tools/lib/api.py b/tools/lib/api.py new file mode 100644 index 000000000..e9d363838 --- /dev/null +++ b/tools/lib/api.py @@ -0,0 +1,35 @@ +import os +import requests +from common.params import Params +API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') if not Params().get_bool("dp_api_custom") else Params().get("dp_api_custom_url", encoding='utf-8') + +class CommaApi(): + def __init__(self, token=None): + self.session = requests.Session() + self.session.headers['User-agent'] = 'OpenpilotTools' + if token: + self.session.headers['Authorization'] = 'JWT ' + token + + def request(self, method, endpoint, **kwargs): + resp = self.session.request(method, API_HOST + '/' + endpoint, **kwargs) + resp_json = resp.json() + if isinstance(resp_json, dict) and resp_json.get('error'): + if resp.status_code in [401, 403]: + raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py') + + e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error']))) + e.status_code = resp.status_code + raise e + return resp_json + + def get(self, endpoint, **kwargs): + return self.request('GET', endpoint, **kwargs) + + def post(self, endpoint, **kwargs): + return self.request('POST', endpoint, **kwargs) + +class APIError(Exception): + pass + +class UnauthorizedError(Exception): + pass diff --git a/tools/lib/auth.py b/tools/lib/auth.py new file mode 100755 index 000000000..086027968 --- /dev/null +++ b/tools/lib/auth.py @@ -0,0 +1,145 @@ +#!/usr/bin/env python3 +""" +Usage:: + + usage: auth.py [-h] [{google,apple,github,jwt}] [jwt] + + Login to your comma account + + positional arguments: + {google,apple,github,jwt} + jwt + + optional arguments: + -h, --help show this help message and exit + + +Examples:: + + ./auth.py # Log in with google account + ./auth.py github # Log in with GitHub Account + ./auth.py jwt ey......hw # Log in with a JWT from https://jwt.comma.ai, for use in CI +""" + +import argparse +import sys +import pprint +import webbrowser +from http.server import BaseHTTPRequestHandler, HTTPServer +from typing import Any, Dict +from urllib.parse import parse_qs, urlencode + +from tools.lib.api import APIError, CommaApi, UnauthorizedError +from tools.lib.auth_config import set_token, get_token + +PORT = 3000 + + +class ClientRedirectServer(HTTPServer): + query_params: Dict[str, Any] = {} + + +class ClientRedirectHandler(BaseHTTPRequestHandler): + def do_GET(self): + if not self.path.startswith('/auth'): + self.send_response(204) + return + + query = self.path.split('?', 1)[-1] + query_parsed = parse_qs(query, keep_blank_values=True) + self.server.query_params = query_parsed + + self.send_response(200) + self.send_header('Content-type', 'text/plain') + self.end_headers() + self.wfile.write(b'Return to the CLI to continue') + + def log_message(self, format, *args): # pylint: disable=redefined-builtin + pass # this prevent http server from dumping messages to stdout + + +def auth_redirect_link(method): + provider_id = { + 'google': 'g', + 'apple': 'a', + 'github': 'h', + }[method] + + params = { + 'redirect_uri': f"https://api.comma.ai/v2/auth/{provider_id}/redirect/", + 'state': f'service,localhost:{PORT}', + } + + if method == 'google': + params.update({ + 'type': 'web_server', + 'client_id': '45471411055-ornt4svd2miog6dnopve7qtmh5mnu6id.apps.googleusercontent.com', + 'response_type': 'code', + 'scope': 'https://www.googleapis.com/auth/userinfo.email', + 'prompt': 'select_account', + }) + return 'https://accounts.google.com/o/oauth2/auth?' + urlencode(params) + elif method == 'github': + params.update({ + 'client_id': '28c4ecb54bb7272cb5a4', + 'scope': 'read:user', + }) + return 'https://github.com/login/oauth/authorize?' + urlencode(params) + elif method == 'apple': + params.update({ + 'client_id': 'ai.comma.login', + 'response_type': 'code', + 'response_mode': 'form_post', + 'scope': 'name email', + }) + return 'https://appleid.apple.com/auth/authorize?' + urlencode(params) + else: + raise NotImplementedError(f"no redirect implemented for method {method}") + + +def login(method): + oauth_uri = auth_redirect_link(method) + + web_server = ClientRedirectServer(('localhost', PORT), ClientRedirectHandler) + print(f'To sign in, use your browser and navigate to {oauth_uri}') + webbrowser.open(oauth_uri, new=2) + + while True: + web_server.handle_request() + if 'code' in web_server.query_params: + break + elif 'error' in web_server.query_params: + print('Authentication Error: "{}". Description: "{}" '.format( + web_server.query_params['error'], + web_server.query_params.get('error_description')), file=sys.stderr) + break + + try: + auth_resp = CommaApi().post('v2/auth/', data={'code': web_server.query_params['code'], 'provider': web_server.query_params['provider']}) + set_token(auth_resp['access_token']) + except APIError as e: + print(f'Authentication Error: {e}', file=sys.stderr) + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description='Login to your comma account') + parser.add_argument('method', default='google', const='google', nargs='?', choices=['google', 'apple', 'github', 'jwt']) + parser.add_argument('jwt', nargs='?') + + args = parser.parse_args() + if args.method == 'jwt': + if args.jwt is None: + print("method JWT selected, but no JWT was provided") + exit(1) + + set_token(args.jwt) + else: + login(args.method) + + try: + me = CommaApi(token=get_token()).get('/v1/me') + print("Authenticated!") + pprint.pprint(me) + except UnauthorizedError: + print("Got invalid JWT") + exit(1) diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py new file mode 100644 index 000000000..7952fee49 --- /dev/null +++ b/tools/lib/auth_config.py @@ -0,0 +1,34 @@ +import json +import os +from common.file_helpers import mkdirs_exists_ok +from system.hardware import PC + + +class MissingAuthConfigError(Exception): + pass + + +if PC: + CONFIG_DIR = os.path.expanduser('~/.comma') +else: + CONFIG_DIR = "/tmp/.comma" + +mkdirs_exists_ok(CONFIG_DIR) + + +def get_token(): + try: + with open(os.path.join(CONFIG_DIR, 'auth.json')) as f: + auth = json.load(f) + return auth['access_token'] + except Exception: + return None + + +def set_token(token): + with open(os.path.join(CONFIG_DIR, 'auth.json'), 'w') as f: + json.dump({'access_token': token}, f) + + +def clear_token(): + os.unlink(os.path.join(CONFIG_DIR, 'auth.json')) diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py new file mode 100644 index 000000000..351537082 --- /dev/null +++ b/tools/lib/bootlog.py @@ -0,0 +1,55 @@ +import datetime +import functools +import re + +from tools.lib.auth_config import get_token +from tools.lib.api import CommaApi +from tools.lib.helpers import RE, timestamp_to_datetime + + +@functools.total_ordering +class Bootlog: + def __init__(self, url: str): + self._url = url + + r = re.search(RE.BOOTLOG_NAME, url) + if not r: + raise Exception(f"Unable to parse: {url}") + + self._dongle_id = r.group('dongle_id') + self._timestamp = r.group('timestamp') + + @property + def url(self) -> str: + return self._url + + @property + def dongle_id(self) -> str: + return self._dongle_id + + @property + def timestamp(self) -> str: + return self._timestamp + + @property + def datetime(self) -> datetime.datetime: + return timestamp_to_datetime(self._timestamp) + + def __str__(self): + return f"{self._dongle_id}|{self._timestamp}" + + def __eq__(self, b) -> bool: + if not isinstance(b, Bootlog): + return False + return self.datetime == b.datetime + + def __lt__(self, b) -> bool: + if not isinstance(b, Bootlog): + return False + return self.datetime < b.datetime + + +def get_bootlogs(dongle_id: str): + api = CommaApi(get_token()) + r = api.get(f'v1/devices/{dongle_id}/bootlogs') + return [Bootlog(b) for b in r] diff --git a/tools/lib/cache.py b/tools/lib/cache.py new file mode 100644 index 000000000..82b229873 --- /dev/null +++ b/tools/lib/cache.py @@ -0,0 +1,15 @@ +import os +import urllib.parse +from common.file_helpers import mkdirs_exists_ok + +DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache") + +def cache_path_for_file_path(fn, cache_prefix=None): + dir_ = os.path.join(DEFAULT_CACHE_DIR, "local") + mkdirs_exists_ok(dir_) + fn_parsed = urllib.parse.urlparse(fn) + if fn_parsed.scheme == '': + cache_fn = os.path.abspath(fn).replace("/", "_") + else: + cache_fn = f'{fn_parsed.hostname}_{fn_parsed.path.replace("/", "_")}' + return os.path.join(dir_, cache_fn) diff --git a/tools/lib/exceptions.py b/tools/lib/exceptions.py new file mode 100644 index 000000000..41de2e864 --- /dev/null +++ b/tools/lib/exceptions.py @@ -0,0 +1,2 @@ +class DataUnreadableError(Exception): + pass diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py new file mode 100644 index 000000000..4ea9ad429 --- /dev/null +++ b/tools/lib/filereader.py @@ -0,0 +1,11 @@ +import os +from tools.lib.url_file import URLFile + +DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.internal/") + +def FileReader(fn, debug=False): + if fn.startswith("cd:/"): + fn = fn.replace("cd:/", DATA_ENDPOINT) + if fn.startswith("http://") or fn.startswith("https://"): + return URLFile(fn, debug=debug) + return open(fn, "rb") diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py new file mode 100644 index 000000000..d9920ab12 --- /dev/null +++ b/tools/lib/framereader.py @@ -0,0 +1,611 @@ +# pylint: skip-file +import json +import os +import pickle +import struct +import subprocess +import tempfile +import threading +from enum import IntEnum +from functools import wraps + +import numpy as np +from lru import LRU + +import _io +from tools.lib.cache import cache_path_for_file_path +from tools.lib.exceptions import DataUnreadableError +from common.file_helpers import atomic_write_in_dir + +from tools.lib.filereader import FileReader + +HEVC_SLICE_B = 0 +HEVC_SLICE_P = 1 +HEVC_SLICE_I = 2 + + +class GOPReader: + def get_gop(self, num): + # returns (start_frame_num, num_frames, frames_to_skip, gop_data) + raise NotImplementedError + + +class DoNothingContextManager: + def __enter__(self): + return self + + def __exit__(self, *x): + pass + + +class FrameType(IntEnum): + raw = 1 + h265_stream = 2 + + +def fingerprint_video(fn): + with FileReader(fn) as f: + header = f.read(4) + if len(header) == 0: + raise DataUnreadableError(f"{fn} is empty") + elif header == b"\x00\xc0\x12\x00": + return FrameType.raw + elif header == b"\x00\x00\x00\x01": + if 'hevc' in fn: + return FrameType.h265_stream + else: + raise NotImplementedError(fn) + else: + raise NotImplementedError(fn) + + +def ffprobe(fn, fmt=None): + cmd = ["ffprobe", + "-v", "quiet", + "-print_format", "json", + "-show_format", "-show_streams"] + if fmt: + cmd += ["-f", fmt] + cmd += [fn] + + try: + ffprobe_output = subprocess.check_output(cmd) + except subprocess.CalledProcessError: + raise DataUnreadableError(fn) + + return json.loads(ffprobe_output) + + +def vidindex(fn, typ): + vidindex_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "vidindex") + vidindex = os.path.join(vidindex_dir, "vidindex") + + subprocess.check_call(["make"], cwd=vidindex_dir, stdout=open("/dev/null", "w")) + + with tempfile.NamedTemporaryFile() as prefix_f, \ + tempfile.NamedTemporaryFile() as index_f: + try: + subprocess.check_call([vidindex, typ, fn, prefix_f.name, index_f.name]) + except subprocess.CalledProcessError: + raise DataUnreadableError(f"vidindex failed on file {fn}") + with open(index_f.name, "rb") as f: + index = f.read() + with open(prefix_f.name, "rb") as f: + prefix = f.read() + + index = np.frombuffer(index, np.uint32).reshape(-1, 2) + + assert index[-1, 0] == 0xFFFFFFFF + assert index[-1, 1] == os.path.getsize(fn) + + return index, prefix + + +def cache_fn(func): + @wraps(func) + def cache_inner(fn, *args, **kwargs): + if kwargs.pop('no_cache', None): + cache_path = None + else: + cache_prefix = kwargs.pop('cache_prefix', None) + cache_path = cache_path_for_file_path(fn, cache_prefix) + + if cache_path and os.path.exists(cache_path): + with open(cache_path, "rb") as cache_file: + cache_value = pickle.load(cache_file) + else: + cache_value = func(fn, *args, **kwargs) + + if cache_path: + with atomic_write_in_dir(cache_path, mode="wb", overwrite=True) as cache_file: + pickle.dump(cache_value, cache_file, -1) + + return cache_value + + return cache_inner + + +@cache_fn +def index_stream(fn, typ): + assert typ in ("hevc", ) + + with FileReader(fn) as f: + assert os.path.exists(f.name), fn + index, prefix = vidindex(f.name, typ) + probe = ffprobe(f.name, typ) + + return { + 'index': index, + 'global_prefix': prefix, + 'probe': probe + } + + +def index_videos(camera_paths, cache_prefix=None): + """Requires that paths in camera_paths are contiguous and of the same type.""" + if len(camera_paths) < 1: + raise ValueError("must provide at least one video to index") + + frame_type = fingerprint_video(camera_paths[0]) + for fn in camera_paths: + index_video(fn, frame_type, cache_prefix) + + +def index_video(fn, frame_type=None, cache_prefix=None): + cache_path = cache_path_for_file_path(fn, cache_prefix) + + if os.path.exists(cache_path): + return + + if frame_type is None: + frame_type = fingerprint_video(fn[0]) + + if frame_type == FrameType.h265_stream: + index_stream(fn, "hevc", cache_prefix=cache_prefix) + else: + raise NotImplementedError("Only h265 supported") + + +def get_video_index(fn, frame_type, cache_prefix=None): + cache_path = cache_path_for_file_path(fn, cache_prefix) + + if not os.path.exists(cache_path): + index_video(fn, frame_type, cache_prefix) + + if not os.path.exists(cache_path): + return None + with open(cache_path, "rb") as cache_file: + return pickle.load(cache_file) + + +def read_file_check_size(f, sz, cookie): + buff = bytearray(sz) + bytes_read = f.readinto(buff) + assert bytes_read == sz, (bytes_read, sz) + return buff + + +def rgb24toyuv(rgb): + yuv_from_rgb = np.array([[ 0.299 , 0.587 , 0.114 ], + [-0.14714119, -0.28886916, 0.43601035 ], + [ 0.61497538, -0.51496512, -0.10001026 ]]) + img = np.dot(rgb.reshape(-1, 3), yuv_from_rgb.T).reshape(rgb.shape) + + + + ys = img[:, :, 0] + us = (img[::2, ::2, 1] + img[1::2, ::2, 1] + img[::2, 1::2, 1] + img[1::2, 1::2, 1]) / 4 + 128 + vs = (img[::2, ::2, 2] + img[1::2, ::2, 2] + img[::2, 1::2, 2] + img[1::2, 1::2, 2]) / 4 + 128 + + return ys, us, vs + + +def rgb24toyuv420(rgb): + ys, us, vs = rgb24toyuv(rgb) + + y_len = rgb.shape[0] * rgb.shape[1] + uv_len = y_len // 4 + + yuv420 = np.empty(y_len + 2 * uv_len, dtype=rgb.dtype) + yuv420[:y_len] = ys.reshape(-1) + yuv420[y_len:y_len + uv_len] = us.reshape(-1) + yuv420[y_len + uv_len:y_len + 2 * uv_len] = vs.reshape(-1) + + return yuv420.clip(0, 255).astype('uint8') + + +def rgb24tonv12(rgb): + ys, us, vs = rgb24toyuv(rgb) + + y_len = rgb.shape[0] * rgb.shape[1] + uv_len = y_len // 4 + + nv12 = np.empty(y_len + 2 * uv_len, dtype=rgb.dtype) + nv12[:y_len] = ys.reshape(-1) + nv12[y_len::2] = us.reshape(-1) + nv12[y_len+1::2] = vs.reshape(-1) + + return nv12.clip(0, 255).astype('uint8') + + +def decompress_video_data(rawdat, vid_fmt, w, h, pix_fmt): + # using a tempfile is much faster than proc.communicate for some reason + + with tempfile.TemporaryFile() as tmpf: + tmpf.write(rawdat) + tmpf.seek(0) + + threads = os.getenv("FFMPEG_THREADS", "0") + cuda = os.getenv("FFMPEG_CUDA", "0") == "1" + proc = subprocess.Popen( + ["ffmpeg", + "-threads", threads, + "-hwaccel", "none" if not cuda else "cuda", + "-c:v", "hevc", + "-vsync", "0", + "-f", vid_fmt, + "-flags2", "showall", + "-i", "pipe:0", + "-threads", threads, + "-f", "rawvideo", + "-pix_fmt", pix_fmt, + "pipe:1"], + stdin=tmpf, stdout=subprocess.PIPE, stderr=open("/dev/null")) + + # dat = proc.communicate()[0] + dat = proc.stdout.read() + if proc.wait() != 0: + raise DataUnreadableError("ffmpeg failed") + + if pix_fmt == "rgb24": + ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3) + elif pix_fmt == "nv12": + ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2)) + elif pix_fmt == "yuv420p": + ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2)) + elif pix_fmt == "yuv444p": + ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, 3, h, w) + else: + raise NotImplementedError + + return ret + + +class BaseFrameReader: + # properties: frame_type, frame_count, w, h + + def __enter__(self): + return self + + def __exit__(self, *args): + self.close() + + def close(self): + pass + + def get(self, num, count=1, pix_fmt="yuv420p"): + raise NotImplementedError + + +def FrameReader(fn, cache_prefix=None, readahead=False, readbehind=False, index_data=None): + frame_type = fingerprint_video(fn) + if frame_type == FrameType.raw: + return RawFrameReader(fn) + elif frame_type in (FrameType.h265_stream,): + if not index_data: + index_data = get_video_index(fn, frame_type, cache_prefix) + return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind) + else: + raise NotImplementedError(frame_type) + + +class RawData: + def __init__(self, f): + self.f = _io.FileIO(f, 'rb') + self.lenn = struct.unpack("I", self.f.read(4))[0] + self.count = os.path.getsize(f) / (self.lenn+4) + + def read(self, i): + self.f.seek((self.lenn+4)*i + 4) + return self.f.read(self.lenn) + + +class RawFrameReader(BaseFrameReader): + def __init__(self, fn): + # raw camera + self.fn = fn + self.frame_type = FrameType.raw + self.rawfile = RawData(self.fn) + self.frame_count = self.rawfile.count + self.w, self.h = 640, 480 + + def load_and_debayer(self, img): + img = np.frombuffer(img, dtype='uint8').reshape(960, 1280) + cimg = np.dstack([img[0::2, 1::2], ((img[0::2, 0::2].astype("uint16") + img[1::2, 1::2].astype("uint16")) >> 1).astype("uint8"), img[1::2, 0::2]]) + return cimg + + def get(self, num, count=1, pix_fmt="yuv420p"): + assert self.frame_count is not None + assert num+count <= self.frame_count + + if pix_fmt not in ("nv12", "yuv420p", "rgb24"): + raise ValueError(f"Unsupported pixel format {pix_fmt!r}") + + app = [] + for i in range(num, num+count): + dat = self.rawfile.read(i) + rgb_dat = self.load_and_debayer(dat) + if pix_fmt == "rgb24": + app.append(rgb_dat) + elif pix_fmt == "nv12": + app.append(rgb24tonv12(rgb_dat)) + elif pix_fmt == "yuv420p": + app.append(rgb24toyuv420(rgb_dat)) + else: + raise NotImplementedError + + return app + + +class VideoStreamDecompressor: + def __init__(self, fn, vid_fmt, w, h, pix_fmt): + self.fn = fn + self.vid_fmt = vid_fmt + self.w = w + self.h = h + self.pix_fmt = pix_fmt + + if pix_fmt in ("nv12", "yuv420p"): + self.out_size = w*h*3//2 # yuv420p + elif pix_fmt in ("rgb24", "yuv444p"): + self.out_size = w*h*3 + else: + raise NotImplementedError + + self.proc = None + self.t = threading.Thread(target=self.write_thread) + self.t.daemon = True + + def write_thread(self): + try: + with FileReader(self.fn) as f: + while True: + r = f.read(1024*1024) + if len(r) == 0: + break + self.proc.stdin.write(r) + except BrokenPipeError: + pass + finally: + self.proc.stdin.close() + + def read(self): + threads = os.getenv("FFMPEG_THREADS", "0") + cuda = os.getenv("FFMPEG_CUDA", "0") == "1" + cmd = [ + "ffmpeg", + "-threads", threads, + "-hwaccel", "none" if not cuda else "cuda", + "-c:v", "hevc", + # "-avioflags", "direct", + "-analyzeduration", "0", + "-probesize", "32", + "-flush_packets", "0", + # "-fflags", "nobuffer", + "-vsync", "0", + "-f", self.vid_fmt, + "-i", "pipe:0", + "-threads", threads, + "-f", "rawvideo", + "-pix_fmt", self.pix_fmt, + "pipe:1" + ] + self.proc = subprocess.Popen(cmd, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL) + try: + self.t.start() + + while True: + dat = self.proc.stdout.read(self.out_size) + if len(dat) == 0: + break + assert len(dat) == self.out_size + if self.pix_fmt == "rgb24": + ret = np.frombuffer(dat, dtype=np.uint8).reshape((self.h, self.w, 3)) + elif self.pix_fmt == "yuv420p": + ret = np.frombuffer(dat, dtype=np.uint8) + elif self.pix_fmt == "nv12": + ret = np.frombuffer(dat, dtype=np.uint8) + elif self.pix_fmt == "yuv444p": + ret = np.frombuffer(dat, dtype=np.uint8).reshape((3, self.h, self.w)) + else: + assert False + yield ret + + result_code = self.proc.wait() + assert result_code == 0, result_code + finally: + self.proc.kill() + self.t.join() + +class StreamGOPReader(GOPReader): + def __init__(self, fn, frame_type, index_data): + assert frame_type == FrameType.h265_stream + + self.fn = fn + + self.frame_type = frame_type + self.frame_count = None + self.w, self.h = None, None + + self.prefix = None + self.index = None + + self.index = index_data['index'] + self.prefix = index_data['global_prefix'] + probe = index_data['probe'] + + self.prefix_frame_data = None + self.num_prefix_frames = 0 + self.vid_fmt = "hevc" + + i = 0 + while i < self.index.shape[0] and self.index[i, 0] != HEVC_SLICE_I: + i += 1 + self.first_iframe = i + + assert self.first_iframe == 0 + + self.frame_count = len(self.index) - 1 + + self.w = probe['streams'][0]['width'] + self.h = probe['streams'][0]['height'] + + def _lookup_gop(self, num): + frame_b = num + while frame_b > 0 and self.index[frame_b, 0] != HEVC_SLICE_I: + frame_b -= 1 + + frame_e = num + 1 + while frame_e < (len(self.index) - 1) and self.index[frame_e, 0] != HEVC_SLICE_I: + frame_e += 1 + + offset_b = self.index[frame_b, 1] + offset_e = self.index[frame_e, 1] + + return (frame_b, frame_e, offset_b, offset_e) + + def get_gop(self, num): + frame_b, frame_e, offset_b, offset_e = self._lookup_gop(num) + assert frame_b <= num < frame_e + + num_frames = frame_e - frame_b + + with FileReader(self.fn) as f: + f.seek(offset_b) + rawdat = f.read(offset_e - offset_b) + + if num < self.first_iframe: + assert self.prefix_frame_data + rawdat = self.prefix_frame_data + rawdat + + rawdat = self.prefix + rawdat + + skip_frames = 0 + if num < self.first_iframe: + skip_frames = self.num_prefix_frames + + return frame_b, num_frames, skip_frames, rawdat + + +class GOPFrameReader(BaseFrameReader): + #FrameReader with caching and readahead for formats that are group-of-picture based + + def __init__(self, readahead=False, readbehind=False): + self.open_ = True + + self.readahead = readahead + self.readbehind = readbehind + self.frame_cache = LRU(64) + + if self.readahead: + self.cache_lock = threading.RLock() + self.readahead_last = None + self.readahead_len = 30 + self.readahead_c = threading.Condition() + self.readahead_thread = threading.Thread(target=self._readahead_thread) + self.readahead_thread.daemon = True + self.readahead_thread.start() + else: + self.cache_lock = DoNothingContextManager() + + def close(self): + if not self.open_: + return + self.open_ = False + + if self.readahead: + self.readahead_c.acquire() + self.readahead_c.notify() + self.readahead_c.release() + self.readahead_thread.join() + + def _readahead_thread(self): + while True: + self.readahead_c.acquire() + try: + if not self.open_: + break + self.readahead_c.wait() + finally: + self.readahead_c.release() + if not self.open_: + break + assert self.readahead_last + num, pix_fmt = self.readahead_last + + if self.readbehind: + for k in range(num - 1, max(0, num - self.readahead_len), -1): + self._get_one(k, pix_fmt) + else: + for k in range(num, min(self.frame_count, num + self.readahead_len)): + self._get_one(k, pix_fmt) + + def _get_one(self, num, pix_fmt): + assert num < self.frame_count + + if (num, pix_fmt) in self.frame_cache: + return self.frame_cache[(num, pix_fmt)] + + with self.cache_lock: + if (num, pix_fmt) in self.frame_cache: + return self.frame_cache[(num, pix_fmt)] + + frame_b, num_frames, skip_frames, rawdat = self.get_gop(num) + + ret = decompress_video_data(rawdat, self.vid_fmt, self.w, self.h, pix_fmt) + ret = ret[skip_frames:] + assert ret.shape[0] == num_frames + + for i in range(ret.shape[0]): + self.frame_cache[(frame_b+i, pix_fmt)] = ret[i] + + return self.frame_cache[(num, pix_fmt)] + + def get(self, num, count=1, pix_fmt="yuv420p"): + assert self.frame_count is not None + + if num + count > self.frame_count: + raise ValueError(f"{num + count} > {self.frame_count}") + + if pix_fmt not in ("nv12", "yuv420p", "rgb24", "yuv444p"): + raise ValueError(f"Unsupported pixel format {pix_fmt!r}") + + ret = [self._get_one(num + i, pix_fmt) for i in range(count)] + + if self.readahead: + self.readahead_last = (num+count, pix_fmt) + self.readahead_c.acquire() + self.readahead_c.notify() + self.readahead_c.release() + + return ret + + +class StreamFrameReader(StreamGOPReader, GOPFrameReader): + def __init__(self, fn, frame_type, index_data, readahead=False, readbehind=False): + StreamGOPReader.__init__(self, fn, frame_type, index_data) + GOPFrameReader.__init__(self, readahead, readbehind) + + +def GOPFrameIterator(gop_reader, pix_fmt): + dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt) + yield from dec.read() + + +def FrameIterator(fn, pix_fmt, **kwargs): + fr = FrameReader(fn, **kwargs) + if isinstance(fr, GOPReader): + yield from GOPFrameIterator(fr, pix_fmt) + else: + for i in range(fr.frame_count): + yield fr.get(i, pix_fmt=pix_fmt)[0] diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py new file mode 100644 index 000000000..efe704b9e --- /dev/null +++ b/tools/lib/helpers.py @@ -0,0 +1,20 @@ +import datetime + +TIME_FMT = "%Y-%m-%d--%H-%M-%S" + +# regex patterns +class RE: + DONGLE_ID = r'(?P[a-z0-9]{16})' + TIMESTAMP = r'(?P[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})' + ROUTE_NAME = r'{}[|_/]{}'.format(DONGLE_ID, TIMESTAMP) + SEGMENT_NAME = r'{}(?:--|/)(?P[0-9]+)'.format(ROUTE_NAME) + BOOTLOG_NAME = ROUTE_NAME + + EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) + OP_SEGMENT_DIR = r'^(?P{})$'.format(SEGMENT_NAME) + +def timestamp_to_datetime(t: str) -> datetime.datetime: + """ + Convert an openpilot route timestamp to a python datetime + """ + return datetime.datetime.strptime(t, TIME_FMT) diff --git a/tools/lib/kbhit.py b/tools/lib/kbhit.py new file mode 100644 index 000000000..4451d02ae --- /dev/null +++ b/tools/lib/kbhit.py @@ -0,0 +1,81 @@ +#!/usr/bin/env python +import sys +import termios +import atexit +from select import select + +STDIN_FD = sys.stdin.fileno() + +class KBHit: + def __init__(self) -> None: + ''' Creates a KBHit object that you can call to do various keyboard things. + ''' + + self.set_kbhit_terminal() + + def set_kbhit_terminal(self) -> None: + ''' Save old terminal settings for closure, remove ICANON & ECHO flags. + ''' + + # Save the terminal settings + self.old_term = termios.tcgetattr(STDIN_FD) + self.new_term = self.old_term.copy() + + # New terminal setting unbuffered + self.new_term[3] &= ~(termios.ICANON | termios.ECHO) + termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.new_term) + + # Support normal-terminal reset at exit + atexit.register(self.set_normal_term) + + def set_normal_term(self) -> None: + ''' Resets to normal terminal. On Windows this is a no-op. + ''' + + termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.old_term) + + @staticmethod + def getch() -> str: + ''' Returns a keyboard character after kbhit() has been called. + Should not be called in the same program as getarrow(). + ''' + return sys.stdin.read(1) + + @staticmethod + def getarrow() -> int: + ''' Returns an arrow-key code after kbhit() has been called. Codes are + 0 : up + 1 : right + 2 : down + 3 : left + Should not be called in the same program as getch(). + ''' + + c = sys.stdin.read(3)[2] + vals = [65, 67, 66, 68] + + return vals.index(ord(c)) + + @staticmethod + def kbhit(): + ''' Returns True if keyboard character was hit, False otherwise. + ''' + return select([sys.stdin], [], [], 0)[0] != [] + + +# Test +if __name__ == "__main__": + + kb = KBHit() + + print('Hit any key, or ESC to exit') + + while True: + + if kb.kbhit(): + c = kb.getch() + if c == '\x1b': # ESC + break + print(c) + + kb.set_normal_term() diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py new file mode 100755 index 000000000..46c648ef1 --- /dev/null +++ b/tools/lib/logreader.py @@ -0,0 +1,138 @@ +#!/usr/bin/env python3 +import os +import sys +import bz2 +import urllib.parse +import capnp +import warnings + + +from cereal import log as capnp_log +from tools.lib.filereader import FileReader +from tools.lib.route import Route, SegmentName + +# this is an iterator itself, and uses private variables from LogReader +class MultiLogIterator: + def __init__(self, log_paths, sort_by_time=False): + self._log_paths = log_paths + self.sort_by_time = sort_by_time + + self._first_log_idx = next(i for i in range(len(log_paths)) if log_paths[i] is not None) + self._current_log = self._first_log_idx + self._idx = 0 + self._log_readers = [None]*len(log_paths) + self.start_time = self._log_reader(self._first_log_idx)._ts[0] + + def _log_reader(self, i): + if self._log_readers[i] is None and self._log_paths[i] is not None: + log_path = self._log_paths[i] + self._log_readers[i] = LogReader(log_path, sort_by_time=self.sort_by_time) + + return self._log_readers[i] + + def __iter__(self): + return self + + def _inc(self): + lr = self._log_reader(self._current_log) + if self._idx < len(lr._ents)-1: + self._idx += 1 + else: + self._idx = 0 + self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1) + if i == len(self._log_readers) or self._log_paths[i] is not None) + if self._current_log == len(self._log_readers): + raise StopIteration + + def __next__(self): + while 1: + lr = self._log_reader(self._current_log) + ret = lr._ents[self._idx] + self._inc() + return ret + + def tell(self): + # returns seconds from start of log + return (self._log_reader(self._current_log)._ts[self._idx] - self.start_time) * 1e-9 + + def seek(self, ts): + # seek to nearest minute + minute = int(ts/60) + if minute >= len(self._log_paths) or self._log_paths[minute] is None: + return False + + self._current_log = minute + + # HACK: O(n) seek afterward + self._idx = 0 + while self.tell() < ts: + self._inc() + return True + + def reset(self): + self.__init__(self._log_paths, sort_by_time=self.sort_by_time) + + +class LogReader: + def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): + self.data_version = None + self._only_union_types = only_union_types + + ext = None + if not dat: + _, ext = os.path.splitext(urllib.parse.urlparse(fn).path) + if ext not in ('', '.bz2'): + # old rlogs weren't bz2 compressed + raise Exception(f"unknown extension {ext}") + + with FileReader(fn) as f: + dat = f.read() + + if ext == ".bz2" or dat.startswith(b'BZh9'): + dat = bz2.decompress(dat) + + ents = capnp_log.Event.read_multiple_bytes(dat) + + _ents = [] + try: + for e in ents: + _ents.append(e) + except capnp.KjException: + warnings.warn("Corrupted events detected", RuntimeWarning) + + self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents) + self._ts = [x.logMonoTime for x in self._ents] + + @classmethod + def from_bytes(cls, dat): + return cls("", dat=dat) + + def __iter__(self): + for ent in self._ents: + if self._only_union_types: + try: + ent.which() + yield ent + except capnp.lib.capnp.KjException: + pass + else: + yield ent + +def logreader_from_route_or_segment(r, sort_by_time=False): + sn = SegmentName(r, allow_route_name=True) + route = Route(sn.route_name.canonical_name) + if sn.segment_num < 0: + return MultiLogIterator(route.log_paths(), sort_by_time=sort_by_time) + else: + return LogReader(route.log_paths()[sn.segment_num], sort_by_time=sort_by_time) + + +if __name__ == "__main__": + import codecs + # capnproto <= 0.8.0 throws errors converting byte data to string + # below line catches those errors and replaces the bytes with \x__ + codecs.register_error("strict", codecs.backslashreplace_errors) + log_path = sys.argv[1] + lr = LogReader(log_path, sort_by_time=True) + for msg in lr: + print(msg) diff --git a/tools/lib/route.py b/tools/lib/route.py new file mode 100644 index 000000000..388cb003e --- /dev/null +++ b/tools/lib/route.py @@ -0,0 +1,231 @@ +import os +import re +from urllib.parse import urlparse +from collections import defaultdict +from itertools import chain +from typing import Optional + +from tools.lib.auth_config import get_token +from tools.lib.api import CommaApi +from tools.lib.helpers import RE + +QLOG_FILENAMES = ['qlog', 'qlog.bz2'] +QCAMERA_FILENAMES = ['qcamera.ts'] +LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2'] +CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc'] +DCAMERA_FILENAMES = ['dcamera.hevc'] +ECAMERA_FILENAMES = ['ecamera.hevc'] + +class Route: + def __init__(self, name, data_dir=None): + self._name = RouteName(name) + self.files = None + if data_dir is not None: + self._segments = self._get_segments_local(data_dir) + else: + self._segments = self._get_segments_remote() + self.max_seg_number = self._segments[-1].name.segment_num + + @property + def name(self): + return self._name + + @property + def segments(self): + return self._segments + + def log_paths(self): + log_path_by_seg_num = {s.name.segment_num: s.log_path for s in self._segments} + return [log_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] + + def qlog_paths(self): + qlog_path_by_seg_num = {s.name.segment_num: s.qlog_path for s in self._segments} + return [qlog_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] + + def camera_paths(self): + camera_path_by_seg_num = {s.name.segment_num: s.camera_path for s in self._segments} + return [camera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] + + def dcamera_paths(self): + dcamera_path_by_seg_num = {s.name.segment_num: s.dcamera_path for s in self._segments} + return [dcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] + + def ecamera_paths(self): + ecamera_path_by_seg_num = {s.name.segment_num: s.ecamera_path for s in self._segments} + return [ecamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] + + def qcamera_paths(self): + qcamera_path_by_seg_num = {s.name.segment_num: s.qcamera_path for s in self._segments} + return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] + + # TODO: refactor this, it's super repetitive + def _get_segments_remote(self): + api = CommaApi(get_token()) + route_files = api.get('v1/route/' + self.name.canonical_name + '/files') + self.files = list(chain.from_iterable(route_files.values())) + + segments = {} + for url in self.files: + _, dongle_id, time_str, segment_num, fn = urlparse(url).path.rsplit('/', maxsplit=4) + segment_name = f'{dongle_id}|{time_str}--{segment_num}' + if segments.get(segment_name): + segments[segment_name] = Segment( + segment_name, + url if fn in LOG_FILENAMES else segments[segment_name].log_path, + url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path, + url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path, + url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path, + url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path, + url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path, + ) + else: + segments[segment_name] = Segment( + segment_name, + url if fn in LOG_FILENAMES else None, + url if fn in QLOG_FILENAMES else None, + url if fn in CAMERA_FILENAMES else None, + url if fn in DCAMERA_FILENAMES else None, + url if fn in ECAMERA_FILENAMES else None, + url if fn in QCAMERA_FILENAMES else None, + ) + + return sorted(segments.values(), key=lambda seg: seg.name.segment_num) + + def _get_segments_local(self, data_dir): + files = os.listdir(data_dir) + segment_files = defaultdict(list) + + for f in files: + fullpath = os.path.join(data_dir, f) + explorer_match = re.match(RE.EXPLORER_FILE, f) + op_match = re.match(RE.OP_SEGMENT_DIR, f) + + if explorer_match: + segment_name = explorer_match.group('segment_name') + fn = explorer_match.group('file_name') + if segment_name.replace('_', '|').startswith(self.name.canonical_name): + segment_files[segment_name].append((fullpath, fn)) + elif op_match and os.path.isdir(fullpath): + segment_name = op_match.group('segment_name') + if segment_name.startswith(self.name.canonical_name): + for seg_f in os.listdir(fullpath): + segment_files[segment_name].append((os.path.join(fullpath, seg_f), seg_f)) + elif f == self.name.canonical_name: + for seg_num in os.listdir(fullpath): + if not seg_num.isdigit(): + continue + + segment_name = f'{self.name.canonical_name}--{seg_num}' + for seg_f in os.listdir(os.path.join(fullpath, seg_num)): + segment_files[segment_name].append((os.path.join(fullpath, seg_num, seg_f), seg_f)) + + segments = [] + for segment, files in segment_files.items(): + + try: + log_path = next(path for path, filename in files if filename in LOG_FILENAMES) + except StopIteration: + log_path = None + + try: + qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES) + except StopIteration: + qlog_path = None + + try: + camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES) + except StopIteration: + camera_path = None + + try: + dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES) + except StopIteration: + dcamera_path = None + + try: + ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES) + except StopIteration: + ecamera_path = None + + try: + qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES) + except StopIteration: + qcamera_path = None + + segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path)) + + if len(segments) == 0: + raise ValueError(f'Could not find segments for route {self.name.canonical_name} in data directory {data_dir}') + return sorted(segments, key=lambda seg: seg.name.segment_num) + +class Segment: + def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path): + self._name = SegmentName(name) + self.log_path = log_path + self.qlog_path = qlog_path + self.camera_path = camera_path + self.dcamera_path = dcamera_path + self.ecamera_path = ecamera_path + self.qcamera_path = qcamera_path + + @property + def name(self): + return self._name + +class RouteName: + def __init__(self, name_str: str): + self._name_str = name_str + delim = next(c for c in self._name_str if c in ("|", "/")) + self._dongle_id, self._time_str = self._name_str.split(delim) + + assert len(self._dongle_id) == 16, self._name_str + assert len(self._time_str) == 20, self._name_str + self._canonical_name = f"{self._dongle_id}|{self._time_str}" + + @property + def canonical_name(self) -> str: return self._canonical_name + + @property + def dongle_id(self) -> str: return self._dongle_id + + @property + def time_str(self) -> str: return self._time_str + + def __str__(self) -> str: return self._canonical_name + +class SegmentName: + # TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances + # of this class instead of manually constructing a segment name (use canonical_name prop instead) + def __init__(self, name_str: str, allow_route_name=False): + data_dir_path_separator_index = name_str.rsplit("|", 1)[0].rfind("/") + use_data_dir = (data_dir_path_separator_index != -1) and ("|" in name_str) + self._name_str = name_str[data_dir_path_separator_index + 1:] if use_data_dir else name_str + self._data_dir = name_str[:data_dir_path_separator_index] if use_data_dir else None + + seg_num_delim = "--" if self._name_str.count("--") == 2 else "/" + name_parts = self._name_str.rsplit(seg_num_delim, 1) + if allow_route_name and len(name_parts) == 1: + name_parts.append("-1") # no segment number + self._route_name = RouteName(name_parts[0]) + self._num = int(name_parts[1]) + self._canonical_name = f"{self._route_name._dongle_id}|{self._route_name._time_str}--{self._num}" + + @property + def canonical_name(self) -> str: return self._canonical_name + + @property + def dongle_id(self) -> str: return self._route_name.dongle_id + + @property + def time_str(self) -> str: return self._route_name.time_str + + @property + def segment_num(self) -> int: return self._num + + @property + def route_name(self) -> RouteName: return self._route_name + + @property + def data_dir(self) -> Optional[str]: return self._data_dir + + def __str__(self) -> str: return self._canonical_name diff --git a/tools/lib/tests/__init__.py b/tools/lib/tests/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py new file mode 100644 index 000000000..d2a2a6872 --- /dev/null +++ b/tools/lib/tests/test_caching.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python3 +import os +import shutil +import unittest + +os.environ["COMMA_CACHE"] = "/tmp/__test_cache__" +from tools.lib.url_file import URLFile, CACHE_DIR + + +class TestFileDownload(unittest.TestCase): + + def compare_loads(self, url, start=0, length=None): + """Compares range between cached and non cached version""" + shutil.rmtree(CACHE_DIR) + + file_cached = URLFile(url, cache=True) + file_downloaded = URLFile(url, cache=False) + + file_cached.seek(start) + file_downloaded.seek(start) + + self.assertEqual(file_cached.get_length(), file_downloaded.get_length()) + self.assertLessEqual(length + start if length is not None else 0, file_downloaded.get_length()) + + response_cached = file_cached.read(ll=length) + response_downloaded = file_downloaded.read(ll=length) + + self.assertEqual(response_cached, response_downloaded) + + # Now test with cache in place + file_cached = URLFile(url, cache=True) + file_cached.seek(start) + response_cached = file_cached.read(ll=length) + + self.assertEqual(file_cached.get_length(), file_downloaded.get_length()) + self.assertEqual(response_cached, response_downloaded) + + def test_small_file(self): + # Make sure we don't force cache + os.environ["FILEREADER_CACHE"] = "0" + small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md" + # If you want large file to be larger than a chunk + # large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/fcamera.hevc" + + # Load full small file + self.compare_loads(small_file_url) + + file_small = URLFile(small_file_url) + length = file_small.get_length() + + self.compare_loads(small_file_url, length - 100, 100) + self.compare_loads(small_file_url, 50, 100) + + # Load small file 100 bytes at a time + for i in range(length // 100): + self.compare_loads(small_file_url, 100 * i, 100) + + def test_large_file(self): + large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" + # Load the end 100 bytes of both files + file_large = URLFile(large_file_url) + length = file_large.get_length() + + self.compare_loads(large_file_url, length - 100, 100) + self.compare_loads(large_file_url) + + +if __name__ == "__main__": + unittest.main() diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py new file mode 100755 index 000000000..1d8918ba5 --- /dev/null +++ b/tools/lib/tests/test_readers.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python +import unittest +import requests +import tempfile + +from collections import defaultdict +import numpy as np +from tools.lib.framereader import FrameReader +from tools.lib.logreader import LogReader + + +class TestReaders(unittest.TestCase): + @unittest.skip("skip for bandwith reasons") + def test_logreader(self): + def _check_data(lr): + hist = defaultdict(int) + for l in lr: + hist[l.which()] += 1 + + self.assertEqual(hist['carControl'], 6000) + self.assertEqual(hist['logMessage'], 6857) + + with tempfile.NamedTemporaryFile(suffix=".bz2") as fp: + r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true") + fp.write(r.content) + fp.flush() + + lr_file = LogReader(fp.name) + _check_data(lr_file) + + lr_url = LogReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true") + _check_data(lr_url) + + @unittest.skip("skip for bandwith reasons") + def test_framereader(self): + def _check_data(f): + self.assertEqual(f.frame_count, 1200) + self.assertEqual(f.w, 1164) + self.assertEqual(f.h, 874) + + frame_first_30 = f.get(0, 30) + self.assertEqual(len(frame_first_30), 30) + + print(frame_first_30[15]) + + print("frame_0") + frame_0 = f.get(0, 1) + frame_15 = f.get(15, 1) + + print(frame_15[0]) + + assert np.all(frame_first_30[0] == frame_0[0]) + assert np.all(frame_first_30[15] == frame_15[0]) + + with tempfile.NamedTemporaryFile(suffix=".hevc") as fp: + r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true") + fp.write(r.content) + fp.flush() + + fr_file = FrameReader(fp.name) + _check_data(fr_file) + + fr_url = FrameReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true") + _check_data(fr_url) + +if __name__ == "__main__": + unittest.main() diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py new file mode 100755 index 000000000..fbe7f3e77 --- /dev/null +++ b/tools/lib/tests/test_route_library.py @@ -0,0 +1,32 @@ +#!/usr/bin/env python +import unittest +from collections import namedtuple + +from tools.lib.route import SegmentName + +class TestRouteLibrary(unittest.TestCase): + def test_segment_name_formats(self): + Case = namedtuple('Case', ['input', 'expected_route', 'expected_segment_num', 'expected_data_dir']) + + cases = [ Case("4cf7a6ad03080c90|2021-09-29--13-46-36", "4cf7a6ad03080c90|2021-09-29--13-46-36", -1, None), + Case("4cf7a6ad03080c90/2021-09-29--13-46-36--1", "4cf7a6ad03080c90|2021-09-29--13-46-36", 1, None), + Case("4cf7a6ad03080c90|2021-09-29--13-46-36/2", "4cf7a6ad03080c90|2021-09-29--13-46-36", 2, None), + Case("4cf7a6ad03080c90/2021-09-29--13-46-36/3", "4cf7a6ad03080c90|2021-09-29--13-46-36", 3, None), + Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36", "4cf7a6ad03080c90|2021-09-29--13-46-36", -1, "/data/media/0/realdata"), + Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36--1", "4cf7a6ad03080c90|2021-09-29--13-46-36", 1, "/data/media/0/realdata"), + Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36/2", "4cf7a6ad03080c90|2021-09-29--13-46-36", 2, "/data/media/0/realdata") ] + + def _validate(case): + route_or_segment_name = case.input + + s = SegmentName(route_or_segment_name, allow_route_name=True) + + self.assertEqual(str(s.route_name), case.expected_route) + self.assertEqual(s.segment_num, case.expected_segment_num) + self.assertEqual(s.data_dir, case.expected_data_dir) + + for case in cases: + _validate(case) + +if __name__ == "__main__": + unittest.main() diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py new file mode 100644 index 000000000..1e94a588f --- /dev/null +++ b/tools/lib/url_file.py @@ -0,0 +1,199 @@ +# pylint: skip-file + +import os +import time +import tempfile +import threading +import urllib.parse +import pycurl +from hashlib import sha256 +from io import BytesIO +from tenacity import retry, wait_random_exponential, stop_after_attempt +from common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir +# Cache chunk size +K = 1000 +CHUNK_SIZE = 1000 * K + +CACHE_DIR = os.environ.get("COMMA_CACHE", "/tmp/comma_download_cache/") + + +def hash_256(link): + hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest()) + return hsh + + +class URLFile: + _tlocal = threading.local() + + def __init__(self, url, debug=False, cache=None): + self._url = url + self._pos = 0 + self._length = None + self._local_file = None + self._debug = debug + # True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input + self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0")) + if cache is not None: + self._force_download = not cache + + try: + self._curl = self._tlocal.curl + except AttributeError: + self._curl = self._tlocal.curl = pycurl.Curl() + mkdirs_exists_ok(CACHE_DIR) + + def __enter__(self): + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self._local_file is not None: + os.remove(self._local_file.name) + self._local_file.close() + self._local_file = None + + @retry(wait=wait_random_exponential(multiplier=1, max=5), stop=stop_after_attempt(3), reraise=True) + def get_length_online(self): + c = self._curl + c.reset() + c.setopt(pycurl.NOSIGNAL, 1) + c.setopt(pycurl.TIMEOUT_MS, 500000) + c.setopt(pycurl.FOLLOWLOCATION, True) + c.setopt(pycurl.URL, self._url) + c.setopt(c.NOBODY, 1) + c.perform() + length = int(c.getinfo(c.CONTENT_LENGTH_DOWNLOAD)) + c.reset() + return length + + def get_length(self): + if self._length is not None: + return self._length + file_length_path = os.path.join(CACHE_DIR, hash_256(self._url) + "_length") + if os.path.exists(file_length_path) and not self._force_download: + with open(file_length_path) as file_length: + content = file_length.read() + self._length = int(content) + return self._length + + self._length = self.get_length_online() + if not self._force_download: + with atomic_write_in_dir(file_length_path, mode="w") as file_length: + file_length.write(str(self._length)) + return self._length + + def read(self, ll=None): + if self._force_download: + return self.read_aux(ll=ll) + + file_begin = self._pos + file_end = self._pos + ll if ll is not None else self.get_length() + assert file_end != -1, f"Remote file is empty or doesn't exist: {self._url}" + # We have to align with chunks we store. Position is the begginiing of the latest chunk that starts before or at our file + position = (file_begin // CHUNK_SIZE) * CHUNK_SIZE + response = b"" + while True: + self._pos = position + chunk_number = self._pos / CHUNK_SIZE + file_name = hash_256(self._url) + "_" + str(chunk_number) + full_path = os.path.join(CACHE_DIR, str(file_name)) + data = None + # If we don't have a file, download it + if not os.path.exists(full_path): + data = self.read_aux(ll=CHUNK_SIZE) + with atomic_write_in_dir(full_path, mode="wb") as new_cached_file: + new_cached_file.write(data) + else: + with open(full_path, "rb") as cached_file: + data = cached_file.read() + + response += data[max(0, file_begin - position): min(CHUNK_SIZE, file_end - position)] + + position += CHUNK_SIZE + if position >= file_end: + self._pos = file_end + return response + + @retry(wait=wait_random_exponential(multiplier=1, max=5), stop=stop_after_attempt(3), reraise=True) + def read_aux(self, ll=None): + download_range = False + headers = ["Connection: keep-alive"] + if self._pos != 0 or ll is not None: + if ll is None: + end = self.get_length() - 1 + else: + end = min(self._pos + ll, self.get_length()) - 1 + if self._pos >= end: + return b"" + headers.append(f"Range: bytes={self._pos}-{end}") + download_range = True + + dats = BytesIO() + c = self._curl + c.setopt(pycurl.URL, self._url) + c.setopt(pycurl.WRITEDATA, dats) + c.setopt(pycurl.NOSIGNAL, 1) + c.setopt(pycurl.TIMEOUT_MS, 500000) + c.setopt(pycurl.HTTPHEADER, headers) + c.setopt(pycurl.FOLLOWLOCATION, True) + + if self._debug: + print("downloading", self._url) + + def header(x): + if b'MISS' in x: + print(x.strip()) + + c.setopt(pycurl.HEADERFUNCTION, header) + + def test(debug_type, debug_msg): + print(" debug(%d): %s" % (debug_type, debug_msg.strip())) + + c.setopt(pycurl.VERBOSE, 1) + c.setopt(pycurl.DEBUGFUNCTION, test) + t1 = time.time() + + c.perform() + + if self._debug: + t2 = time.time() + if t2 - t1 > 0.1: + print(f"get {self._url} {headers!r} {t2 - t1:.f} slow") + + response_code = c.getinfo(pycurl.RESPONSE_CODE) + if response_code == 416: # Requested Range Not Satisfiable + raise Exception(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}") + if download_range and response_code != 206: # Partial Content + raise Exception(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}") + if (not download_range) and response_code != 200: # OK + raise Exception(f"Error {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}") + + ret = dats.getvalue() + self._pos += len(ret) + return ret + + def seek(self, pos): + self._pos = pos + + @property + def name(self): + """Returns a local path to file with the URLFile's contents. + + This can be used to interface with modules that require local files. + """ + if self._local_file is None: + _, ext = os.path.splitext(urllib.parse.urlparse(self._url).path) + local_fd, local_path = tempfile.mkstemp(suffix=ext) + try: + os.write(local_fd, self.read()) + local_file = open(local_path, "rb") + except Exception: + os.remove(local_path) + raise + finally: + os.close(local_fd) + + self._local_file = local_file + self.read = self._local_file.read + self.seek = self._local_file.seek + + return self._local_file.name diff --git a/tools/lib/vidindex/.gitignore b/tools/lib/vidindex/.gitignore new file mode 100644 index 000000000..a77a06e97 --- /dev/null +++ b/tools/lib/vidindex/.gitignore @@ -0,0 +1 @@ +vidindex diff --git a/tools/lib/vidindex/Makefile b/tools/lib/vidindex/Makefile new file mode 100644 index 000000000..f6526db21 --- /dev/null +++ b/tools/lib/vidindex/Makefile @@ -0,0 +1,6 @@ +CC := gcc + +vidindex: bitstream.c bitstream.h vidindex.c + $(eval $@_TMP := $(shell mktemp)) + $(CC) -std=c99 bitstream.c vidindex.c -o $($@_TMP) + mv $($@_TMP) $@ diff --git a/tools/lib/vidindex/bitstream.c b/tools/lib/vidindex/bitstream.c new file mode 100644 index 000000000..d174ffa8a --- /dev/null +++ b/tools/lib/vidindex/bitstream.c @@ -0,0 +1,118 @@ +#include +#include + +#include "bitstream.h" + +static const uint32_t BS_MASKS[33] = { + 0, 0x1L, 0x3L, 0x7L, 0xFL, 0x1FL, + 0x3FL, 0x7FL, 0xFFL, 0x1FFL, 0x3FFL, 0x7FFL, + 0xFFFL, 0x1FFFL, 0x3FFFL, 0x7FFFL, 0xFFFFL, 0x1FFFFL, + 0x3FFFFL, 0x7FFFFL, 0xFFFFFL, 0x1FFFFFL, 0x3FFFFFL, 0x7FFFFFL, + 0xFFFFFFL, 0x1FFFFFFL, 0x3FFFFFFL, 0x7FFFFFFL, 0xFFFFFFFL, 0x1FFFFFFFL, + 0x3FFFFFFFL, 0x7FFFFFFFL, 0xFFFFFFFFL}; + +void bs_init(struct bitstream* bs, const uint8_t* buffer, size_t input_size) { + bs->buffer_ptr = buffer; + bs->buffer_end = buffer + input_size; + bs->value = 0; + bs->pos = 0; + bs->shift = 8; + bs->size = input_size * 8; +} + +uint32_t bs_get(struct bitstream* bs, int n) { + if (n > 32) + return 0; + + bs->pos += n; + bs->shift += n; + while (bs->shift > 8) { + if (bs->buffer_ptr < bs->buffer_end) { + bs->value <<= 8; + bs->value |= *bs->buffer_ptr++; + bs->shift -= 8; + } else { + bs_seek(bs, bs->pos - n); + return 0; + // bs->value <<= 8; + // bs->shift -= 8; + } + } + return (bs->value >> (8 - bs->shift)) & BS_MASKS[n]; +} + +void bs_seek(struct bitstream* bs, size_t new_pos) { + bs->pos = (new_pos / 32) * 32; + bs->shift = 8; + bs->value = 0; + bs_get(bs, new_pos % 32); +} + +uint32_t bs_peek(struct bitstream* bs, int n) { + struct bitstream bak = *bs; + return bs_get(&bak, n); +} + +size_t bs_remain(struct bitstream* bs) { + return bs->size - bs->pos; +} + +int bs_eof(struct bitstream* bs) { + return bs_remain(bs) == 0; +} + +uint32_t bs_ue(struct bitstream* bs) { + static const uint8_t exp_golomb_bits[256] = { + 8, 7, 6, 6, 5, 5, 5, 5, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, + 3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, + 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + }; + uint32_t bits, read = 0; + int bits_left; + uint8_t coded; + int done = 0; + bits = 0; + // we want to read 8 bits at a time - if we don't have 8 bits, + // read what's left, and shift. The exp_golomb_bits calc remains the + // same. + while (!done) { + bits_left = bs_remain(bs); + if (bits_left < 8) { + read = bs_peek(bs, bits_left) << (8 - bits_left); + done = 1; + } else { + read = bs_peek(bs, 8); + if (read == 0) { + bs_get(bs, 8); + bits += 8; + } else { + done = 1; + } + } + } + coded = exp_golomb_bits[read]; + bs_get(bs, coded); + bits += coded; + + // printf("ue - bits %d\n", bits); + return bs_get(bs, bits + 1) - 1; +} + +int32_t bs_se(struct bitstream* bs) { + uint32_t ret; + ret = bs_ue(bs); + if ((ret & 0x1) == 0) { + ret >>= 1; + int32_t temp = 0 - ret; + return temp; + } + return (ret + 1) >> 1; +} diff --git a/tools/lib/vidindex/bitstream.h b/tools/lib/vidindex/bitstream.h new file mode 100644 index 000000000..0f538a59a --- /dev/null +++ b/tools/lib/vidindex/bitstream.h @@ -0,0 +1,26 @@ +#ifndef bitstream_H +#define bitstream_H + + +#include +#include + +struct bitstream { + const uint8_t *buffer_ptr; + const uint8_t *buffer_end; + uint64_t value; + uint32_t pos; + uint32_t shift; + size_t size; +}; + +void bs_init(struct bitstream *bs, const uint8_t *buffer, size_t input_size); +void bs_seek(struct bitstream *bs, size_t new_pos); +uint32_t bs_get(struct bitstream *bs, int n); +uint32_t bs_peek(struct bitstream *bs, int n); +size_t bs_remain(struct bitstream *bs); +int bs_eof(struct bitstream *bs); +uint32_t bs_ue(struct bitstream *bs); +int32_t bs_se(struct bitstream *bs); + +#endif diff --git a/tools/lib/vidindex/vidindex.c b/tools/lib/vidindex/vidindex.c new file mode 100644 index 000000000..4857c60dd --- /dev/null +++ b/tools/lib/vidindex/vidindex.c @@ -0,0 +1,307 @@ +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "bitstream.h" + +#define START_CODE 0x000001 + +static uint32_t read24be(const uint8_t* ptr) { + return (ptr[0] << 16) | (ptr[1] << 8) | ptr[2]; +} +static void write32le(FILE *of, uint32_t v) { + uint8_t va[4] = { + v & 0xff, (v >> 8) & 0xff, (v >> 16) & 0xff, (v >> 24) & 0xff + }; + fwrite(va, 1, sizeof(va), of); +} + +// Table 7-1 +enum hevc_nal_type { + HEVC_NAL_TYPE_TRAIL_N = 0, + HEVC_NAL_TYPE_TRAIL_R = 1, + HEVC_NAL_TYPE_TSA_N = 2, + HEVC_NAL_TYPE_TSA_R = 3, + HEVC_NAL_TYPE_STSA_N = 4, + HEVC_NAL_TYPE_STSA_R = 5, + HEVC_NAL_TYPE_RADL_N = 6, + HEVC_NAL_TYPE_RADL_R = 7, + HEVC_NAL_TYPE_RASL_N = 8, + HEVC_NAL_TYPE_RASL_R = 9, + HEVC_NAL_TYPE_BLA_W_LP = 16, + HEVC_NAL_TYPE_BLA_W_RADL = 17, + HEVC_NAL_TYPE_BLA_N_LP = 18, + HEVC_NAL_TYPE_IDR_W_RADL = 19, + HEVC_NAL_TYPE_IDR_N_LP = 20, + HEVC_NAL_TYPE_CRA_NUT = 21, + HEVC_NAL_TYPE_RSV_IRAP_VCL23 = 23, + HEVC_NAL_TYPE_VPS_NUT = 32, + HEVC_NAL_TYPE_SPS_NUT = 33, + HEVC_NAL_TYPE_PPS_NUT = 34, + HEVC_NAL_TYPE_AUD_NUT = 35, + HEVC_NAL_TYPE_EOS_NUT = 36, + HEVC_NAL_TYPE_EOB_NUT = 37, + HEVC_NAL_TYPE_FD_NUT = 38, + HEVC_NAL_TYPE_PREFIX_SEI_NUT = 39, + HEVC_NAL_TYPE_SUFFIX_SEI_NUT = 40, +}; + +// Table 7-7 +enum hevc_slice_type { + HEVC_SLICE_B = 0, + HEVC_SLICE_P = 1, + HEVC_SLICE_I = 2, +}; + +static void hevc_index(const uint8_t *data, size_t file_size, FILE *of_prefix, FILE *of_index) { + const uint8_t* ptr = data; + const uint8_t* ptr_end = data + file_size; + + assert(ptr[0] == 0); + ptr++; + assert(read24be(ptr) == START_CODE); + + // pps. ignore for now + uint32_t num_extra_slice_header_bits = 0; + uint32_t dependent_slice_segments_enabled_flag = 0; + + while (ptr < ptr_end) { + const uint8_t* next = ptr+1; + for (; next < ptr_end-4; next++) { + if (read24be(next) == START_CODE) break; + } + size_t nal_size = next - ptr; + if (nal_size < 6) { + break; + } + + { + struct bitstream bs = {0}; + bs_init(&bs, ptr, nal_size); + + uint32_t start_code = bs_get(&bs, 24); + assert(start_code == 0x000001); + + // nal_unit_header + uint32_t forbidden_zero_bit = bs_get(&bs, 1); + uint32_t nal_unit_type = bs_get(&bs, 6); + uint32_t nuh_layer_id = bs_get(&bs, 6); + uint32_t nuh_temporal_id_plus1 = bs_get(&bs, 3); + + // if (nal_unit_type != 1) printf("%3d -- %3d %10d %lu\n", nal_unit_type, frame_num, (uint32_t)(ptr-data), nal_size); + + switch (nal_unit_type) { + case HEVC_NAL_TYPE_VPS_NUT: + case HEVC_NAL_TYPE_SPS_NUT: + case HEVC_NAL_TYPE_PPS_NUT: + fwrite(ptr, 1, nal_size, of_prefix); + break; + case HEVC_NAL_TYPE_TRAIL_N: + case HEVC_NAL_TYPE_TRAIL_R: + case HEVC_NAL_TYPE_TSA_N: + case HEVC_NAL_TYPE_TSA_R: + case HEVC_NAL_TYPE_STSA_N: + case HEVC_NAL_TYPE_STSA_R: + case HEVC_NAL_TYPE_RADL_N: + case HEVC_NAL_TYPE_RADL_R: + case HEVC_NAL_TYPE_RASL_N: + case HEVC_NAL_TYPE_RASL_R: + case HEVC_NAL_TYPE_BLA_W_LP: + case HEVC_NAL_TYPE_BLA_W_RADL: + case HEVC_NAL_TYPE_BLA_N_LP: + case HEVC_NAL_TYPE_IDR_W_RADL: + case HEVC_NAL_TYPE_IDR_N_LP: + case HEVC_NAL_TYPE_CRA_NUT: { + // slice_segment_header + uint32_t first_slice_segment_in_pic_flag = bs_get(&bs, 1); + if (nal_unit_type >= HEVC_NAL_TYPE_BLA_W_LP && nal_unit_type <= HEVC_NAL_TYPE_RSV_IRAP_VCL23) { + uint32_t no_output_of_prior_pics_flag = bs_get(&bs, 1); + } + uint32_t slice_pic_parameter_set_id = bs_get(&bs, 1); + if (!first_slice_segment_in_pic_flag) { + // ... + break; + } + + if (!dependent_slice_segments_enabled_flag) { + for (int i=0; i 4); + + const uint8_t* data = (const uint8_t*)mmap(NULL, file_size, PROT_READ, MAP_PRIVATE, fd, 0); + assert(data != MAP_FAILED); + + if (strcmp(file_type, "hevc") == 0) { + hevc_index(data, file_size, of_prefix, of_index); + } else if (strcmp(file_type, "h264") == 0) { + h264_index(data, file_size, of_prefix, of_index); + } else { + assert(false); + } + + munmap((void*)data, file_size); + close(fd); + + return 0; +} diff --git a/tools/replay/camera.h b/tools/replay/camera.h new file mode 100644 index 000000000..66d33142f --- /dev/null +++ b/tools/replay/camera.h @@ -0,0 +1,38 @@ +#pragma once + +#include +#include "cereal/visionipc/visionipc_server.h" +#include "common/queue.h" +#include "tools/replay/framereader.h" +#include "tools/replay/logreader.h" + +class CameraServer { +public: + CameraServer(std::pair camera_size[MAX_CAMERAS] = nullptr); + ~CameraServer(); + void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx); + void waitForSent(); + +protected: + struct Camera { + CameraType type; + VisionStreamType stream_type; + int width; + int height; + std::thread thread; + SafeQueue> queue; + int cached_id = -1; + int cached_seg = -1; + VisionBuf * cached_buf; + }; + void startVipcServer(); + void cameraThread(Camera &cam); + + Camera cameras_[MAX_CAMERAS] = { + {.type = RoadCam, .stream_type = VISION_STREAM_ROAD}, + {.type = DriverCam, .stream_type = VISION_STREAM_DRIVER}, + {.type = WideRoadCam, .stream_type = VISION_STREAM_WIDE_ROAD}, + }; + std::atomic publishing_ = 0; + std::unique_ptr vipc_server_; +}; diff --git a/tools/replay/consoleui.h b/tools/replay/consoleui.h new file mode 100644 index 000000000..20e07524d --- /dev/null +++ b/tools/replay/consoleui.h @@ -0,0 +1,50 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "tools/replay/replay.h" +#include + +class ConsoleUI : public QObject { + Q_OBJECT + +public: + ConsoleUI(Replay *replay, QObject *parent = 0); + ~ConsoleUI(); + +private: + void initWindows(); + void handleKey(char c); + void displayHelp(); + void displayTimelineDesc(); + void updateTimeline(); + void updateSummary(); + void updateStatus(); + void pauseReplay(bool pause); + + enum Status { Waiting, Playing, Paused }; + enum Win { Title, Stats, Log, LogBorder, DownloadBar, Timeline, TimelineDesc, Help, CarState, Max}; + std::array w{}; + SubMaster sm; + Replay *replay; + QBasicTimer getch_timer; + QTimer sm_timer; + QSocketNotifier notifier{0, QSocketNotifier::Read, this}; + int max_width, max_height; + Status status = Status::Waiting; + +signals: + void updateProgressBarSignal(uint64_t cur, uint64_t total, bool success); + void logMessageSignal(ReplyMsgType type, const QString &msg); + +private slots: + void readyRead(); + void timerEvent(QTimerEvent *ev); + void updateProgressBar(uint64_t cur, uint64_t total, bool success); + void logMessage(ReplyMsgType type, const QString &msg); +}; diff --git a/tools/replay/filereader.h b/tools/replay/filereader.h new file mode 100644 index 000000000..34aa91e85 --- /dev/null +++ b/tools/replay/filereader.h @@ -0,0 +1,20 @@ +#pragma once + +#include +#include + +class FileReader { +public: + FileReader(bool cache_to_local, size_t chunk_size = 0, int retries = 3) + : cache_to_local_(cache_to_local), chunk_size_(chunk_size), max_retries_(retries) {} + virtual ~FileReader() {} + std::string read(const std::string &file, std::atomic *abort = nullptr); + +private: + std::string download(const std::string &url, std::atomic *abort); + size_t chunk_size_; + int max_retries_; + bool cache_to_local_; +}; + +std::string cacheFilePath(const std::string &url); diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h new file mode 100644 index 000000000..e50b61d7f --- /dev/null +++ b/tools/replay/framereader.h @@ -0,0 +1,51 @@ +#pragma once + +#include +#include +#include + +#include "tools/replay/filereader.h" + +extern "C" { +#include +#include +} + +struct AVFrameDeleter { + void operator()(AVFrame* frame) const { av_frame_free(&frame); } +}; + +class FrameReader { +public: + FrameReader(); + ~FrameReader(); + bool load(const std::string &url, bool no_hw_decoder = false, std::atomic *abort = nullptr, bool local_cache = false, + int chunk_size = -1, int retries = 0); + bool load(const std::byte *data, size_t size, bool no_hw_decoder = false, std::atomic *abort = nullptr); + bool get(int idx, uint8_t *yuv); + int getYUVSize() const { return width * height * 3 / 2; } + size_t getFrameCount() const { return packets.size(); } + bool valid() const { return valid_; } + + int width = 0, height = 0; + int aligned_width = 0, aligned_height = 0; + +private: + bool initHardwareDecoder(AVHWDeviceType hw_device_type); + bool decode(int idx, uint8_t *yuv); + AVFrame * decodeFrame(AVPacket *pkt); + bool copyBuffers(AVFrame *f, uint8_t *yuv); + + std::vector packets; + std::unique_ptrav_frame_, hw_frame; + AVFormatContext *input_ctx = nullptr; + AVCodecContext *decoder_ctx = nullptr; + int key_frames_count_ = 0; + bool valid_ = false; + AVIOContext *avio_ctx_ = nullptr; + + AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE; + AVBufferRef *hw_device_ctx = nullptr; + int prev_idx = -1; + inline static std::atomic has_hw_decoder = true; +}; diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h new file mode 100644 index 000000000..bd666d0a7 --- /dev/null +++ b/tools/replay/logreader.h @@ -0,0 +1,64 @@ +#pragma once + +#if __has_include() +#define HAS_MEMORY_RESOURCE 1 +#include +#endif + +#include "cereal/gen/cpp/log.capnp.h" +#include "system/camerad/cameras/camera_common.h" +#include "tools/replay/filereader.h" + +const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam}; +const int MAX_CAMERAS = std::size(ALL_CAMERAS); +const int DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE = 65000; + +class Event { +public: + Event(cereal::Event::Which which, uint64_t mono_time) : reader(kj::ArrayPtr{}) { + // construct a dummy Event for binary search, e.g std::upper_bound + this->which = which; + this->mono_time = mono_time; + } + Event(const kj::ArrayPtr &amsg, bool frame = false); + inline kj::ArrayPtr bytes() const { return words.asBytes(); } + + struct lessThan { + inline bool operator()(const Event *l, const Event *r) { + return l->mono_time < r->mono_time || (l->mono_time == r->mono_time && l->which < r->which); + } + }; + +#if HAS_MEMORY_RESOURCE + void *operator new(size_t size, std::pmr::monotonic_buffer_resource *mbr) { + return mbr->allocate(size); + } + void operator delete(void *ptr) { + // No-op. memory used by EventMemoryPool increases monotonically until the logReader is destroyed. + } +#endif + + uint64_t mono_time; + cereal::Event::Which which; + cereal::Event::Reader event; + capnp::FlatArrayMessageReader reader; + kj::ArrayPtr words; + bool frame; +}; + +class LogReader { +public: + LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE); + ~LogReader(); + bool load(const std::string &url, std::atomic *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0); + bool load(const std::byte *data, size_t size, std::atomic *abort = nullptr); + std::vector events; + +private: + bool parse(std::atomic *abort); + std::string raw_; +#ifdef HAS_MEMORY_RESOURCE + std::pmr::monotonic_buffer_resource *mbr_ = nullptr; + void *pool_buffer_ = nullptr; +#endif +}; diff --git a/tools/replay/replay.h b/tools/replay/replay.h new file mode 100644 index 000000000..13269d3ec --- /dev/null +++ b/tools/replay/replay.h @@ -0,0 +1,111 @@ +#pragma once + +#include + +#include + +#include "tools/replay/camera.h" +#include "tools/replay/route.h" + +// one segment uses about 100M of memory +constexpr int FORWARD_SEGS = 5; + +enum REPLAY_FLAGS { + REPLAY_FLAG_NONE = 0x0000, + REPLAY_FLAG_DCAM = 0x0002, + REPLAY_FLAG_ECAM = 0x0004, + REPLAY_FLAG_NO_LOOP = 0x0010, + REPLAY_FLAG_NO_FILE_CACHE = 0x0020, + REPLAY_FLAG_QCAMERA = 0x0040, + REPLAY_FLAG_NO_HW_DECODER = 0x0100, + REPLAY_FLAG_FULL_SPEED = 0x0200, + REPLAY_FLAG_NO_VIPC = 0x0400, +}; + +enum class FindFlag { + nextEngagement, + nextDisEngagement +}; + +enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical }; + +class Replay : public QObject { + Q_OBJECT + +public: + Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, + uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0); + ~Replay(); + bool load(); + void start(int seconds = 0); + void stop(); + void pause(bool pause); + void seekToFlag(FindFlag flag); + void seekTo(int seconds, bool relative); + inline bool isPaused() const { return paused_; } + inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; } + inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; } + inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; } + inline const Route* route() const { return route_.get(); } + inline int currentSeconds() const { return (cur_mono_time_ - route_start_ts_) / 1e9; } + inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; } + inline int totalSeconds() const { return segments_.size() * 60; } + inline const std::string &carFingerprint() const { return car_fingerprint_; } + inline const std::vector> getTimeline() { + std::lock_guard lk(timeline_lock); + return timeline; + } + +signals: + void streamStarted(); + +protected slots: + void segmentLoadFinished(bool sucess); + +protected: + typedef std::map> SegmentMap; + std::optional find(FindFlag flag); + void startStream(const Segment *cur_segment); + void stream(); + void setCurrentSegment(int n); + void queueSegment(); + void mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end); + void updateEvents(const std::function& lambda); + void publishMessage(const Event *e); + void publishFrame(const Event *e); + void buildTimeline(); + inline bool isSegmentMerged(int n) { + return std::find(segments_merged_.begin(), segments_merged_.end(), n) != segments_merged_.end(); + } + + QThread *stream_thread_ = nullptr; + + // logs + std::mutex stream_lock_; + std::condition_variable stream_cv_; + std::atomic updating_events_ = false; + std::atomic current_segment_ = 0; + SegmentMap segments_; + // the following variables must be protected with stream_lock_ + std::atomic exit_ = false; + bool paused_ = false; + bool events_updated_ = false; + uint64_t route_start_ts_ = 0; + uint64_t cur_mono_time_ = 0; + std::unique_ptr> events_; + std::unique_ptr> new_events_; + std::vector segments_merged_; + + // messaging + SubMaster *sm = nullptr; + std::unique_ptr pm; + std::vector sockets_; + std::unique_ptr route_; + std::unique_ptr camera_server_; + std::atomic flags_ = REPLAY_FLAG_NONE; + + std::mutex timeline_lock; + QFuture timeline_future; + std::vector> timeline; + std::string car_fingerprint_; +}; diff --git a/tools/replay/route.h b/tools/replay/route.h new file mode 100644 index 000000000..6ca9c3b88 --- /dev/null +++ b/tools/replay/route.h @@ -0,0 +1,68 @@ +#pragma once + +#include + +#include "tools/replay/framereader.h" +#include "tools/replay/logreader.h" +#include "tools/replay/util.h" + +struct RouteIdentifier { + QString dongle_id; + QString timestamp; + int segment_id; + QString str; +}; + +struct SegmentFile { + QString rlog; + QString qlog; + QString road_cam; + QString driver_cam; + QString wide_road_cam; + QString qcamera; +}; + +class Route { +public: + Route(const QString &route, const QString &data_dir = {}); + bool load(); + inline const QString &name() const { return route_.str; } + inline const QString &dir() const { return data_dir_; } + inline const RouteIdentifier &identifier() const { return route_; } + inline const std::map &segments() const { return segments_; } + inline const SegmentFile &at(int n) { return segments_.at(n); } + static RouteIdentifier parseRoute(const QString &str); + +protected: + bool loadFromLocal(); + bool loadFromServer(); + bool loadFromJson(const QString &json); + void addFileToSegment(int seg_num, const QString &file); + RouteIdentifier route_ = {}; + QString data_dir_; + std::map segments_; +}; + +class Segment : public QObject { + Q_OBJECT + +public: + Segment(int n, const SegmentFile &files, uint32_t flags); + ~Segment(); + inline bool isLoaded() const { return !loading_ && !abort_; } + + const int seg_num = 0; + std::unique_ptr log; + std::unique_ptr frames[MAX_CAMERAS] = {}; + +signals: + void loadFinished(bool success); + +protected: + void loadFile(int id, const std::string file); + + std::atomic abort_ = false; + std::atomic loading_ = 0; + QFutureSynchronizer synchronizer_; + uint32_t flags; +}; diff --git a/tools/replay/util.h b/tools/replay/util.h new file mode 100644 index 000000000..6c808095e --- /dev/null +++ b/tools/replay/util.h @@ -0,0 +1,34 @@ +#pragma once + +#include +#include +#include + +enum class ReplyMsgType { + Info, + Debug, + Warning, + Critical +}; + +typedef std::function ReplayMessageHandler; +void installMessageHandler(ReplayMessageHandler); +void logMessage(ReplyMsgType type, const char* fmt, ...); + +#define rInfo(fmt, ...) ::logMessage(ReplyMsgType::Info, fmt, ## __VA_ARGS__) +#define rDebug(fmt, ...) ::logMessage(ReplyMsgType::Debug, fmt, ## __VA_ARGS__) +#define rWarning(fmt, ...) ::logMessage(ReplyMsgType::Warning, fmt, ## __VA_ARGS__) +#define rError(fmt, ...) ::logMessage(ReplyMsgType::Critical , fmt, ## __VA_ARGS__) + +std::string sha256(const std::string &str); +void precise_nano_sleep(long sleep_ns); +std::string decompressBZ2(const std::string &in, std::atomic *abort = nullptr); +std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic *abort = nullptr); +std::string getUrlWithoutQuery(const std::string &url); +size_t getRemoteFileSize(const std::string &url, std::atomic *abort = nullptr); +std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic *abort = nullptr); + +typedef std::function DownloadProgressHandler; +void installDownloadProgressHandler(DownloadProgressHandler); +bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic *abort = nullptr); +std::string formattedDataSize(size_t size);